JP5549631B2 - Portable setting terminal and monitoring system - Google Patents

Description

  The present invention relates to a portable setting terminal and a monitoring system used in a monitoring system.

  Conventionally, a monitoring system using a monitoring device such as a laser radar device has been provided. For example, in the monitoring system of Patent Document 1, scanning with a laser beam is performed in a space to be monitored, and object detection is performed by detecting reflected light from the object when the laser beam is irradiated on the object by a light receiving unit. It is carried out. Furthermore, in this monitoring system, the position of the detected object in the space is grasped based on the direction of the laser beam when the object is irradiated and the time required from the projection of the laser beam to the reception of the reflected light. When this position is within a preset monitoring range, it is detected as an intruder.

JP-A-7-160956

  By the way, in the above monitoring system, it is necessary to register in advance which area in the space is to be monitored before the object is monitored by the monitoring device, and the monitoring area can be accurately and easily set in a desired area. It is required to be possible.

  For example, in a monitoring system using a laser radar device, due to the property of projecting laser light, if an object detection is performed without setting any conditions, all objects existing within the range that the laser light can reach are detected. Therefore, in general, a range from a device to a certain distance (for example, a simple circular or fan-shaped range) is defined as a monitoring area, and for an object whose distance from the device exceeds a certain distance, The method of ignoring it as an object outside the area is employed.

  However, in a system that monitors suspicious persons on the premises of a house or facility, or a system that monitors the proximity of workers to equipment in the vicinity of equipment operating in the factory, the monitoring area is set to a more complicated range shape. May be required to do. For example, when setting a monitoring area in a garden of a house, avoid these fixed objects so that fixed objects in the garden (trees, fences, other external structures, ledges of buildings, etc.) are not detected. It is necessary to set so that the outside of the site does not become a monitoring area so that a person passing through the outside of the site (outside the garden) is not detected each time. In addition, it is desired to set the monitoring area in a complicated manner according to the shape of the site and the position of the solid object so that the undetectable area in the site is minimized.

  In response to such a request, Patent Document 1 uses a method in which an operator specifically inputs a distance and an angle in advance and defines a monitoring area so as to set a boundary position reflecting the input data. Yes. By using such a method, it becomes possible for the operator to adjust the range to some extent compared with the case where the monitoring area is set to a simple shape (for example, circular shape, fan shape, etc.). Easy to adapt to the environment.

  However, in the method of Patent Document 1, there is a concern that considerable labor is required such as data preparation for setting a detection area, preparation of a setting device, or data input work. In particular, when the detection area is set in a complicated manner, more detailed condition setting is required, and a huge amount of data must be prepared. In such a method, the load of data preparation and data input becomes extremely large, and a considerable degree of skill is required for the determination of how much set value to use.

  The method of Patent Document 1 uses an information processing device such as a computer to try to set a desired area by simply inputting a distance and an angle. It is difficult to obtain a standard for judging whether it is appropriate. Therefore, in such a method, it is not easy to set the monitoring area so as to be finely adapted to the actual environment. For example, since the input value is not valid, the set monitoring area is a boundary that is desired in the actual environment. It is likely that the position will be greatly deviated from the position. In such a case, it is necessary to repeat the input value setting change operation and the confirmation operation with the actual machine many times.

  The present invention has been made to solve the above-described problems, and accurately sets a monitoring area at a desired position without depending on skill level and without complicated data input work. It is an object of the present invention to provide a portable setting terminal and a monitoring system capable of performing the above.

In order to achieve the above object, the invention of claim 1
A portable setting terminal used in a monitoring system for monitoring a monitoring area set in a real space and configured to change the setting of the monitoring area,
Registration means for registering boundary position data of the monitoring area set in the real space;
An imaging means for imaging an image of the real space so that a predetermined direction in the portable setting terminal is an imaging direction;
Direction detecting means capable of detecting a direction in the real space of the imaging direction by the imaging means or a predetermined direction defined in a fixed relationship with the imaging direction;
Coordinate detection means for detecting coordinates in real space of the portable setting terminal;
The boundary position data registered in the registration unit, the imaging direction detected by the direction detection unit or the orientation of the predetermined direction in the real space, and the portable setting detected by the coordinate detection unit Based on the coordinates in the real space of the terminal, a composite image obtained by incorporating a boundary image at a position specified by the boundary position data in the image with respect to the image in the real space captured by the imaging unit Synthetic image generation means for generating
Display means for displaying the composite image generated by the composite image generation means;
An input means for accepting external input operations;
Designated position detecting means for detecting the designated position in the boundary image displayed on the display means when a predetermined designation operation for designating a part of the boundary image is performed in the input means;
Instruction operation detecting means for detecting that a predetermined instruction operation for instructing a change position of the boundary image is performed in the input means;
When the instruction operation is detected by the instruction operation detection means, the designated position detected by the designated position detection means is changed to an instruction position in the instruction operation detected by the instruction operation detection means. Regenerating means for regenerating the boundary position data;
Output means for outputting the boundary position data regenerated by the regenerating means;
It is provided with.

The portable setting terminal according to the invention of claim 1 is provided with a composite image generating means, and this composite image generating means is the boundary position data registered in the registration means and the imaging detected by the direction detecting means. Based on the direction or direction in the real space of the predetermined direction and the coordinates in the real space of the portable setting terminal detected by the coordinate detection unit, the image of the real space captured by the imaging unit A combined image is generated by incorporating a boundary image at a position specified by boundary position data in the image. Then, the display means is configured to display the generated composite image.
In this configuration, since the coordinates of the terminal and the imaging direction of the imaging means can be specified in the terminal, the coordinates of each position (the coordinates in the real space) in the obtained captured image (the real space image) ) Can be specified. Therefore, it is possible to generate a composite image by more accurately incorporating the boundary image at the position specified by the boundary position data and display it. As a result, it is possible to visually grasp where the boundary is set in the real space together with the objects existing in the real space, and in the real space without performing special data analysis etc. It becomes possible to determine whether or not the boundary is set to an appropriate position.
Further, when a predetermined designation operation for designating a part of the boundary image is performed in the input unit, a designated position detection unit that detects the designated position in the boundary image displayed on the display unit, and Instruction operation detecting means for detecting that a predetermined instruction operation for indicating a change position has been performed, and the regenerating means is a designated position detecting means when the instruction operation is detected by the instruction operation detecting means. The boundary position data is regenerated so as to change the designated position detected by the instruction operation detection means to the instruction position in the instruction operation detected by the instruction operation detection means. The regenerated boundary position data is output by the output means.
In this configuration, when it is desired to partially change the boundary position while specifically grasping the boundary position together with the image in the real space, the position is specified in the boundary image and the change position is indicated, thereby specifying a desired position. The setting can be easily changed to the position. Therefore, the monitoring area can be accurately set according to a desired position without depending on the skill level so much and without complicated data input work.

In the invention of claim 2, the regenerating means calculates the coordinates in the real space of the portable setting terminal at the time of the instruction operation based on the detection result by the coordinate detection means when the instruction operation is detected by the instruction operation detecting means. The boundary position data is regenerated so that the specified position of the boundary image detected by the specified position detecting means is changed to the specified coordinate position.
In this configuration, when the position to be changed in the boundary image is designated and then the terminal is moved to a desired position and an instruction operation is performed, the indicated position can be reset as a new boundary. Therefore, even a person who is not accustomed to setting work can accurately and easily set a boundary at a desired position in the real space while grasping the actual position in the real space.

According to a third aspect of the present invention, the display means comprises a touch panel including a display section capable of displaying a composite image and an operation panel covering the display section, and the operation panel is configured as an input means.
The designated position detecting means detects the pressed position in the boundary image as the designated position when the position of the boundary image is pressed on the operation panel in a state where the composite image is displayed on the display unit, and the regeneration means When the predetermined release operation is performed on the operation panel after the specified position is detected by the specified position detection unit, the real space of the portable setting terminal at the time of the release operation based on the detection result by the coordinate detection unit The boundary position data is regenerated so as to change the designated position detected by the designated position detecting means to the specified coordinate position.
In this configuration, in the boundary image displayed together with the image in the real space, the portion to be changed can be easily designated by a pressing operation on the touch panel while visually recognizing the portion to be changed. After such designation, the terminal may be moved to a desired position and a release operation may be performed on the touch panel. With this, the position (coordinates) at the time of the release operation can be easily reset as a new boundary position. Can be set.

According to a fourth aspect of the present invention, the display means includes a touch panel including a display unit capable of displaying a composite image and an operation panel covering the display unit, and the operation panel is configured as an input unit. The designated position detecting means is configured to detect the pressed position in the boundary image as the designated position when the position of the boundary image is pressed on the operation panel in a state where the composite image is displayed on the display unit. . Furthermore, when the position or orientation of the portable setting terminal is changed after the designated position is detected by the designated position detecting means, the imaging means is configured so that the predetermined direction after the change is the imaging direction. The imaging unit is configured to repeat image capturing, and the display unit is configured to sequentially update and display captured images repeatedly acquired by the imaging unit.
Then, after the designated position is detected by the designated position detecting means, the regeneration means is operated by the operation panel so as to designate the position in the captured image of the real space that is updated and displayed on the display unit. Sometimes, the coordinates of the designated position in the real space are specified, and the boundary position data is regenerated so as to change the designated position detected by the designated position detection means to the specified coordinate position. It is configured.
In this configuration, in the boundary image displayed together with the image in the real space, the portion to be changed can be easily designated by a pressing operation on the touch panel while visually recognizing the portion to be changed. After such designation, if the terminal is changed to a desired position or orientation and a release operation is performed so as to indicate the desired position on the screen to be updated and displayed, the position on the indicated screen Can be easily reset as a new boundary position.

The invention of claim 5 is provided with a communication means for performing communication with the laser radar device as a communication object, and this communication means is configured as an output means.
When the communication means receives data from the laser radar device, the registration means registers the boundary position data based on the received data, and the communication means regenerates the boundary position data by the regeneration means. In this case, the regenerated boundary position data is output to the laser radar device.
According to this configuration, the monitoring area data set in the laser radar device can be developed on the portable setting terminal and displayed together with the actual image, and further, the monitoring area data can be obtained using the above method. Can be regenerated to the contents of In addition, after the monitoring area is regenerated at the terminal, the reproduced data can be expanded to the laser radar apparatus. Therefore, the monitoring area can be set to a desired area without performing complicated setting work in the laser radar apparatus. It can be easily adjusted to an area configuration.

The invention of claim 6 comprises candidate image storage means for storing candidate images to be combined with the composite image, and selection means for selecting candidate images from the candidate image storage means. The composite image generation means incorporates the boundary image into the position specified by the boundary position data in the image and the candidate image selected by the selection means with respect to the real space image captured by the imaging means. A composite image is generated. And the designation | designated operation and instruction | indication operation in an input means are enabled in the state by which the composite image in which the candidate image was integrated was displayed by the display means.
In this configuration, it is possible to adjust the boundary position in a state where an object that does not actually exist is incorporated in an image in real space. Therefore, in an environment where it is difficult to set up the terminal (moving to the vicinity of the object, etc.) when an object exists in real space (for example, when setting a monitoring area in the vicinity of a robot operating in a factory) This is particularly advantageous when performing boundary setting assuming the object.

  According to the seventh aspect of the present invention, a monitoring system having the same effect as that of the first aspect can be realized.

FIG. 1 is a block diagram illustrating the electrical configuration of the monitoring system according to the first embodiment. FIG. 2 is a cross-sectional view schematically illustrating a laser radar device used in the monitoring system of FIG. FIG. 3 is a flowchart illustrating the flow of boundary position data update processing performed in the portable setting terminal. FIG. 4 is an explanatory diagram for conceptually explaining the portable setting terminal located in the real space together with the region configuration in the real space of the monitoring area. FIG. 5 is an explanatory diagram showing a state where the portable setting terminal has moved to a desired position (update target position) in the real space. FIG. 6A is an explanatory diagram illustrating an image displayed on the display unit when the real space is imaged in the monitoring area. FIG. 6B is an explanatory diagram illustrating the captured image after moving and updating as shown in FIG. FIG. 7 is an explanatory diagram conceptually illustrating a monitoring area set based on updated boundary position data. FIG. 8A is an explanatory diagram conceptually illustrating the coordinates of each vertex of the monitoring area set as shown in FIG. 4, and FIG. 8B is set after being updated as shown in FIG. It is explanatory drawing which illustrates notionally the coordinate of each vertex of the monitoring area to be performed. FIG. 9A is an explanatory diagram illustrating an example in which an object image is incorporated and displayed in the captured image when the inside of the monitoring area set as illustrated in FIG. 4 is captured. FIG. 9B is an explanatory diagram illustrating a display example when updating is performed as illustrated in FIG. 5 while an object image is incorporated and displayed in a captured image. FIG. 10A is an explanatory diagram illustrating an example in which an object image is incorporated and displayed in a captured image when the inside of the monitoring area set as illustrated in FIG. 4 is captured. FIG. 10B is an explanatory diagram showing a case where a new monitoring area is further added from FIG.

[First embodiment]
Hereinafter, a first embodiment embodying the present invention will be described with reference to the drawings.
(Overview of monitoring system)
First, the monitoring system according to the first embodiment will be outlined with reference to FIG. FIG. 1 is a block diagram illustrating the electrical configuration of the monitoring system according to the first embodiment.
The monitoring system 1 is configured as a system that monitors the monitoring area set in the real space with the laser radar device 2, and mainly includes the laser radar device 2 and the portable setting terminal 100. The laser radar device 2 can scan the laser beam in the horizontal direction by a scanning unit described later, and is set based on data stored in the storage unit 72 (storage unit) (data for determining the boundary position of the monitoring area). The object is detected in the monitored area. The portable setting terminal 100 includes a communication unit 102 (communication means) that communicates with the laser radar device 2 and updates data stored in the laser radar device 2 (data that determines the boundary position of the monitoring area). The update data can be generated.

(Laser radar device)
FIG. 2 is a cross-sectional view schematically illustrating a laser radar device used in the monitoring system of FIG. As shown in FIG. 2, the laser radar device 2 includes a laser diode 10 and a photodiode 20 that receives the reflected light L2 from the detection object, and is configured as a device that detects the distance and direction to the detection object. Yes.

  The laser diode 10 is constituted by, for example, a known laser diode. The laser diode 10 is supplied with a pulse current from a drive circuit (not shown) and intermittently projects a pulse laser beam (laser beam L1) at predetermined intervals according to the pulse current.

The photodiode 20 is formed of a known photodiode such as an avalanche photodiode, for example. When the laser light L1 is generated from the laser diode 10, the reflection of the laser light L1 reflected by an object existing in the external space. The light L2 is received and converted into an electrical signal. The reflected light L2 from the detection object is configured to be captured in the visual field range set by the optical system. In the example of FIG. 2, the laser light L1 passes through the path indicated by the solid line. For example, reflected light passing through a region between two lines indicated by reference numeral L2 is captured.
The photodiode 20 corresponds to an example of a “light receiving unit” and functions to receive reflected light when laser light is irradiated onto an object existing in real space.

  A lens 60 is provided on the optical axis of the laser light L1 emitted from the laser diode 10. The lens 60 is configured as a collimating lens and has a function of converting the laser light L1 from the laser diode 10 into substantially parallel light.

  On the optical path of the laser beam L1 that has passed through the lens 60, the oscillating mirror 31 is disposed. The oscillating mirror 31 is configured to reflect the laser beam L1 from the laser diode 10 toward the rotary deflecting device 40, and is configured to be oscillated. The oscillating mirror 31 changes the direction of reflection from the deflecting unit 41 by relatively changing the incident direction of the laser beam with respect to the deflecting unit 41, and the laser beam L <b> 1 irradiated to the space and the horizontal plane (vertical direction) It functions so as to change the angle formed by a virtual plane orthogonal to the horizontal plane.

  In addition, a mirror driving unit that drives the oscillating mirror 31 with multiple degrees of freedom is provided. Since the technique for driving the mirror with multiple degrees of freedom is well known in the field of galvano mirrors and the like, details thereof will be omitted, but for the mirror driving unit, for example, the oscillating mirror 31 is supported by a gimbal, a pivot bearing or the like. Thereby, it can be set as the structure made to rotationally move to two directions.

  In the present specification, the direction of the central axis 42a of the rotary deflection device 40 is the Y-axis direction, the predetermined direction orthogonal to the Y-axis direction is the X-axis direction, and the directions orthogonal to the X-axis direction and the Y-axis direction are the directions. The description will be made on the Z-axis direction. In such a definition, when the angle between the reflecting surface 31a and the XY plane is α, the angle between the reflecting surface 31a and the YZ plane is β, and the angle between the reflecting surface 31a and the XZ plane is γ, the actuator 36 Are configured to be able to change these α, β, and γ, and the control circuit 70 to be described later controls the actuator 36 to adjust the values of α, β, and γ, so The direction of the laser beam L1 and the incident direction when the laser beam L1 is incident on the deflecting unit 41 are determined, whereby the angle formed between the laser beam L1 irradiated into the space and the horizontal plane (virtual plane orthogonal to the vertical direction) Is to be decided.

  On the optical axis of the laser beam L1 reflected by the oscillating mirror 31, a rotary deflection device 40 is provided. The rotary deflection device 40 includes a deflection unit 41 configured to be rotatable about a central axis 42 a and a motor 50 that rotationally drives the deflection unit 41, and is generated by the laser diode 10 while rotating the deflection unit 41. The laser beam L1 thus functioned is deflected by the deflecting unit 41 toward the external space.

  The rotation deflection device 40 is mainly configured by a deflection unit 41, a support base 43, a shaft unit 42, a motor 50, and a rotation angle sensor 52. The deflecting unit 41 is configured as a mirror having a flat reflecting surface 41a, and is arranged so that the reflecting surface 41a faces obliquely upward and the reflecting surface 41a is inclined with respect to the incident laser beam L1. . The support base 43 is configured as a pedestal that supports the deflection unit 41, and is integrally attached to the shaft part 42 rotated by the motor 50. The shaft portion 42 is configured to rotate by receiving the driving force of the motor 50 while being rotatably supported by a bearing (not shown).

  The motor 50 is configured by, for example, a known DC motor or a known AC motor. When a drive instruction is issued from the control circuit 70, a drive state (for example, rotation timing and rotation speed) is controlled by a motor driver (not shown), and at this time, a predetermined constant is set. It is designed to rotate at a constant rotation speed.

  In this motor, the rotation drive shaft is configured integrally with the shaft portion 42, and the shaft portion 42 and the deflecting portion 41 are configured to normally rotate about the center shaft 42a. The deflection unit 41 is arranged such that an angle θ formed by the deflection surface (reflection surface 41a) and the central axis 42a is a constant angle (for example, 45 °), and this angle when receiving the driving force of the motor 50. It rotates while maintaining θ at a constant angle.

  In the present embodiment, as shown in FIG. 2, a rotation angle sensor 52 that detects the rotation angle position of the shaft portion 42 of the motor 50 (that is, the rotation angle position of the deflection unit 41) is provided. Various types of rotation angle sensors 52 can be used as long as they can detect the rotation angle position of the shaft portion 42, such as a rotary encoder.

  A condensing lens 62 that condenses the reflected light toward the photodiode 20 is provided on the optical path of the reflected light from the rotary deflecting device 40 to the photodiode 20, and the condensing lens 62 and the photodiode are provided. 20 is provided with a filter 64. The condensing lens 62 functions to collect the reflected light from the deflecting unit 41 and guide it to the photodiode 20. The filter 64 functions to transmit the reflected light and remove light other than the reflected light on the optical path of the reflected light from the rotary deflecting device 40 to the photodiode 20. For example, it can be configured by a wavelength selection filter that transmits only light having a specific wavelength corresponding to the reflected light L2 (for example, light having a wavelength in a certain region) and blocks other light.

  The control circuit 70 includes one or a plurality of control circuits such as a microcomputer provided with a CPU, and is configured to control the light projecting operation of the laser diode 10 and the rotation operation of the motor 50 described above. . Moreover, it is connected to the photodiode 20 and the rotation angle sensor 52, and is configured to be able to acquire signals from these. The control circuit 70 has portions that function as a “monitoring area creation unit” and a “distance creation unit”, which will be described later.

  The control circuit 70 is connected to a storage unit 72 composed of ROM, RAM, nonvolatile memory, etc. The control circuit 70 reads information stored in the storage unit 72 and It is possible to write. The storage unit 72 corresponds to an example of a “storage unit” and includes a database that stores monitoring area data (data that determines the boundary position of the monitoring area), which will be described later.

  In the present embodiment, the laser diode 10, the photodiode 20, the laser beam deflecting unit 30, the lens 60, the rotation deflecting device 40, the motor 50, and the like are housed in the case 3, and dust and shock protection are achieved. Around the deflection unit 41 in the case 3, a light guide unit 4 that allows the laser light L <b> 1 and the reflected light L <b> 2 to pass is formed so as to surround the deflection unit 41. The light guide 4 is formed in an annular shape centering on the optical axis of the laser beam L1 incident on the deflecting unit 41 and is substantially 360 °, and the glass plate is closed in the form of closing the light guide 4. A laser light transmission plate 5 made of a material such as the like is arranged to prevent dust.

  The laser radar device 2 is provided with a communication unit 74. The communication unit 74 is configured as an interface for performing wireless communication or wired communication with an external device. For example, the communication unit 74 is configured as a known wireless communication interface such as a wireless LAN interface, and wirelessly communicates with a portable setting terminal 100 described later. Communication is now possible.

(Object detection operation)
Next, a basic operation of the object detection process (monitoring process) performed by the laser radar device 2 will be described.
In the laser radar device 2 shown in FIG. 2, the deflection unit 41 is rotated at a constant speed by the driving force from the motor 50, and a pulse current is supplied to the laser diode 10 during such rotation. Then, a pulse laser beam (laser beam L1) at a time interval corresponding to the timing and pulse width of the pulse current is output from the laser diode 10. The laser light L1 is projected as diffused light having a certain spread angle, and is converted into parallel light by passing through the lens 60. The laser beam L1 that has passed through the lens 60 is reflected by the oscillating mirror 31, and then is further reflected by the deflecting unit 41 and irradiated toward the space. In the present embodiment, the laser diode 10 and the rotary deflection device 40 correspond to an example of “scanning means” and function to scan laser light in real space.

  When the laser light L1 emitted from the deflecting unit 41 hits an object (detected object) existing in the external space, a part of the reflected light (reflected) reflected by the detected object and returned to the apparatus side. The light L2) enters the case through the laser light transmission plate 5 and enters the deflecting unit 41. The deflecting unit 41 guides (reflects) the reflected light L2 toward the photodiode 20, and the guided reflected light L2 is collected by the condenser lens 62, passes through the filter 64, and enters the photodiode 20. To do. When the photodiode 20 receives such reflected light L2, the photodiode 20 outputs an electrical signal corresponding to the intensity of the received reflected light L2 (for example, a voltage value corresponding to the received reflected light L2).

  Based on the transmission timing of the pulse signal to the laser diode 10 and the timing at which the light reception signal from the photodiode 20 is output, the control circuit 70 sets the time T from the projection of the laser light L1 to the reception thereof (that is, the laser diode 10 The time from when the pulse laser beam L1 is output until the photodiode 20 receives the reflected light L2 corresponding to the pulse laser beam), and the control circuit 70 further knows the time T The distance L from the reference position (for example, position P1) in the apparatus to the detected object is calculated based on the light speed C.

  Further, since the control circuit 70 controls the amount of displacement of the actuator 36, the displacement of the oscillating mirror 31 when the pulse laser beam L1 is irradiated (the reflection surface 31a of the oscillating mirror 31 and the XY plane The angle α formed, the angle β formed between the reflecting surface 31a and the YZ plane, and the angle γ formed between the reflecting surface 31a and the XZ plane, and from the rotation angle sensor 52 when the pulse laser beam L1 is irradiated. The output value (that is, the rotational displacement θ from the reference angle of the deflection unit 41 at the timing of irradiation with the pulsed laser light L1) can also be grasped. Thus, the angle α formed between the reflecting surface 31a of the oscillating mirror 31 and the XY plane, the angle β formed between the reflecting surface 31a and the YZ plane, and the angle γ formed between the reflecting surface 31a and the XZ plane are determined, and the deflecting unit 41 When the rotational displacement θ is determined, the direction in which the laser beam L1 travels from the deflecting unit 41 is determined as one direction, and the control circuit 70 determines these values (α, β, γ, θ) when the pulse laser beam L1 is output. And the calculated distance L, the orientation of the detected object can be accurately detected.

  A monitoring area is set around the laser radar device as shown in FIG. In the example of FIG. 4, a triangular boundary surface having apexes at positions P1, P2, and P7, a triangular boundary surface having apexes at positions P1, P2, and P3, and a triangular shape having apexes at positions P1, P3, and P4 Boundary surface, triangular boundary surface having apexes at positions P1, P4, P5, triangular boundary surface having apexes at positions P1, P5, P6, and triangular boundary having apexes at positions P1, P6, P7 The area surrounded by the surface is the monitoring area. The coordinates of the positions P1 to P7 are registered as setting data as shown in FIG. 4A, for example. The control circuit 70 determines whether or not the position of the object detected by the laser scanning as described above exists within the monitoring area configured based on such setting data, and is within the monitoring area. In this case, it is determined that the object is detected and a predetermined output is performed. On the other hand, when the position of the detected object is outside the monitoring area, it is ignored without determining that the object is detected.

(Portable setting terminal)
Next, the portable setting terminal 100 will be described.
A portable setting terminal 100 shown in FIG. 1 is configured as an information processing terminal having a camera function, and mainly includes a control unit 106, a communication unit 102, a memory 104, a touch panel 110, a camera 130, a sensor (gyro sensor 121, GPS). It is constituted by a sensor 122 and a distance measuring device 123).

  The control unit 106 is configured by a microcomputer or the like equipped with a CPU, has an information processing function, and is configured to perform various controls in the portable setting terminal 100.

  The communication unit 102 is configured as an interface for performing wireless communication or wired communication with an external device. For example, the communication unit 102 functions as a known wireless communication interface such as a wireless LAN interface, and performs wireless communication with the laser radar device 2 described above. Can be done. The communication unit 102 corresponds to an example of “output unit” and “communication unit”.

  The touch panel 110 corresponds to an example of “display means” and is configured as a known touch panel type display device in terms of hardware. The touch panel 110 includes a display unit 114 configured as a known display device such as a liquid crystal display, and a transparent operation panel 112 that covers a display screen of the display unit 114. The operation panel 112 corresponds to an example of “input means”, and is configured to be able to detect which position on the display unit 114 has been pressed.

  The memory 104 is configured by a storage medium such as a ROM, a RAM, a nonvolatile memory, and an HDD, and can store various data handled by the portable setting terminal 100.

The camera 130 is configured as a known CMOS camera, CCD camera, or the like, and is configured to capture an image in a direction (imaging direction) set in real space. The camera 130 may have a zoom function.
The camera 130 corresponds to an example of “imaging means” and functions to capture an image of real space so that a predetermined direction in the portable setting terminal 100 is an imaging direction.

  The gyro sensor 121 is configured by a known gyro sensor and configured to detect the attitude of the portable setting terminal 100. Specifically, it is configured to be able to specify the imaging direction of the camera 130 (for example, the direction in which the optical axis of the lens of the camera 130 faces). The GPS sensor 122 is configured as a known GPS sensor, and is configured to detect horizontal coordinates (X coordinate and Y coordinate) of the portable setting terminal 100. The distance measuring device 123 is configured to detect the height (Z coordinate) of the portable setting terminal 100.

  In the present embodiment, the gyro sensor 121 corresponds to an example of a “direction detection unit”, and the direction in the real space of the imaging direction by the camera 130 (imaging unit) can be detected. The GPS sensor 122 and the distance measuring device 123 correspond to an example of “coordinate detection means”, and are configured to detect coordinates in the real space of the portable setting terminal 100.

Next, the boundary position data update process performed by the portable setting terminal 100 will be described.
FIG. 3 is a flowchart illustrating the flow of boundary position data update processing performed in the portable setting terminal. The processing in FIG. 3 is executed, for example, when the power is turned on or a predetermined operation is performed on the portable setting terminal 100. In this process, first, boundary position data is taken from the laser radar device 2 (S1). Specifically, the boundary position data (data as shown in FIG. 8A) stored in the storage unit 72 of the laser radar device 2 is downloaded and stored in the memory 104.
In the present embodiment, the control unit 106 and the memory 104 correspond to an example of “registration means” and function to register boundary position data of the monitoring area set in the real space.

  After S <b> 1, processing for displaying an image of the real space (actual space) captured by the camera 130 on the display unit 114 is performed. In this processing, in the captured real space image, the boundary image is incorporated at the boundary position specified by the boundary position data registered in the memory 104, and both images are displayed together. For example, when the boundary of the monitoring area as shown in FIG. 4 is set in the real space by the boundary position data, as shown in FIG. 6A when a predetermined position (direction of positions P3 and P6) of the monitoring area is imaged. Display is made.

  In the present embodiment, the control unit 106 corresponds to an example of “composite image generation unit”, and the boundary position data registered in the memory 104 (registration unit) and the real space of the imaging direction detected by the direction detection unit. Boundary position in the image with respect to the real space image captured by the camera 130 (imaging means) based on the orientation of the mobile device and the coordinates in the real space of the portable setting terminal detected by the coordinate detection means It functions to generate a composite image by incorporating a boundary image at a position specified by data.

  After S2, it is determined whether or not a position has been designated in the boundary image displayed in S2. In the present embodiment, for example, when the vertex positions P1 to P7 of the monitoring area configured as shown in FIG. 4 enter the imaging range of the camera 130, marks corresponding to the vertex positions as shown in FIG. (In FIG. 6A, marks P3 ′ and P6 ′ corresponding to the vertex positions P3 and P6) are displayed. When the mark corresponding to the vertex position is displayed on the display unit 114 in this way, the vertex position can be designated using the operation panel 112, and such a designation is made in S3. It is determined whether or not. If the position is not designated, the process proceeds to No in S3, and the image in the imaging range of the camera 130 is continuously displayed together with the boundary position data. Note that the process of S3 is performed, for example, every predetermined short time, and in S2, an image corresponding to the orientation (an image in the real space of the imaging range and the corresponding response each time the orientation of the camera 130 is changed). Border image) to be displayed in real time.

  If it is determined in S3 that the position has been designated, the process proceeds to Yes in S3. When a mark is displayed on the display image as shown in FIG. 6A, the mark at the designated vertex position is displayed in a state distinguishable from other marks (for example, different from other marks). Display in color or blink). Thereafter, until a predetermined release operation is performed, a captured image that changes according to the movement of the camera 130 is displayed in real time (S4). In the display of S4, for example, the mark at the vertex position designated as described above is continuously displayed in real time at the coordinate position of the portable setting terminal 100. 6B shows an example in which the mark P6 'whose position is specified in FIG. 6A is replaced with the mark P8' at the coordinate position of the portable setting terminal 100. FIG.

  Then, after S4, it is determined whether or not a predetermined release operation has been performed (S5). In the present embodiment, for example, when the operation panel 112 is operated so as to press the mark portion at the vertex position in the boundary image displayed on the touch panel 110, the mark at the pressed position is designated. At S3, the process proceeds to Yes. This designation continues until, for example, the pressing is released from the mark portion. Accordingly, when the user presses the mark portion corresponding to any one of the vertex positions P1 to P7 on the touch panel 110 with the finger, the display process of S4 is repeated while moving while keeping pressing. In the display process of S4, the captured image is displayed in real time so that the mark at the pressed position is the coordinate position of the portable setting terminal 100 in the captured image of the real space. Then, when the user finishes the mark pressing operation and performs a releasing operation to release the finger from the touch panel 110, the process proceeds to Yes in S5.

  In the present embodiment, the control unit 106 corresponds to an example of a “designated position detection unit”, and the display unit 114 is displayed when a predetermined designation operation for designating a part of the boundary image is performed on the operation panel 112 (input unit). It functions to detect the designated position in the boundary image displayed on the (display means). The control unit 106 corresponds to an example of “instruction operation detection unit”, and functions to detect that a predetermined instruction operation for instructing a change position of the boundary image is performed on the operation panel 112 (input unit). .

  If it is determined in S5 that the release operation has been performed, the position of the portable setting terminal 100 when the release operation is performed is set as a new vertex position. For example, in the display image as shown in FIG. 6A, a mark P6 ′ at the apex position (a mark corresponding to the position P6) is designated, and then a release operation (release of pressing of the mark) is performed at the position as shown in FIG. When done, the coordinates of the portable setting terminal 100 at the time of the release operation become a new vertex position (new vertex position changed from the position P6). For example, when a release operation (release of mark pressing) is performed at a position as shown in FIG. 5, the vertex position P6 in FIG. 5 is changed to the position P8 in FIG. Is changed. In the boundary position data, as shown in FIG. 8B, the coordinates of the position P6 to be changed are replaced with the coordinates of the position P8.

After the update process is performed in S6, it is determined whether or not a predetermined end operation (for example, pressing an end button or the like) has been performed. If the end operation has been performed, the process of FIG. 3 ends. On the other hand, if the end operation has not been performed, the process proceeds to No in S7, and the processes after S2 are performed. In the update process of S6, the updated data may be transmitted to the laser radar device 2 every time the data is updated. Alternatively, when the process proceeds to Yes in S7, the updated data may be transmitted to the laser radar device 2 and then terminated.
In this case, the communication unit 102 and the control unit 106 that controls the communication unit 102 correspond to “output unit”, and function to output boundary position data regenerated by the regenerating unit. Note that the output of the regenerated boundary position data does not only indicate the data transmission by the communication unit 102, but displays a boundary image based on the updated boundary position data as shown in FIG. 6B. Displaying on the unit 114 is also included. In this case, the display unit 114 and the control unit 106 that controls the display unit 114 correspond to an “output unit”.

  In the present embodiment, the control unit 106 corresponds to an example of a “regeneration unit”. When the instruction operation is detected by the instruction operation detection unit, the designated position detected by the designated position detection unit is changed to the instruction operation. It functions to regenerate the boundary position data so as to change to the designated position in the designated operation detected by the detecting means. Specifically, based on the detection result by the coordinate detection means when the instruction operation is detected by the instruction operation detection means (when it is determined Yes in S5 in FIG. 3), the portable setting terminal 100 at the time of the instruction operation The boundary position is specified so that the coordinate in the real space is specified and the specified position of the boundary image detected by the specified position detecting means (the specified position determined in S3 in FIG. 3) is changed to the specified coordinate position. Regenerating data.

(Main effects of the first embodiment)
The portable setting terminal 1 according to the first aspect of the present invention is provided with a composite image generating means, and the composite image generating means includes the boundary position data registered in the memory 104 (registration means) and the gyro sensor 121. The orientation in the real space of the imaging direction detected by the (direction detection means) and the coordinates in the real space of the portable setting terminal 1 detected by the GPS sensor 122 and the distance measuring device 123 (coordinate detection means). Based on the above, a boundary image is incorporated into a position specified by boundary position data in the real space image captured by the camera 130 (imaging means) to generate a composite image. The generated composite image is displayed on the touch panel 110 (display means).

  In this configuration, since the coordinates of the terminal and the imaging direction of the imaging means can be specified in the terminal, the coordinates of each position (the coordinates in the real space) in the obtained captured image (the real space image) ) Can be specified. Therefore, it is possible to generate a composite image by more accurately incorporating the boundary image at the position specified by the boundary position data and display it. As a result, it is possible to visually grasp where the boundary is set in the real space together with the objects existing in the real space, and in the real space without performing special data analysis etc. It becomes possible to determine whether or not the boundary is set to an appropriate position.

  Further, when a predetermined designation operation for designating a part of the boundary image is performed on the operation panel 112 (input means), a designated position detection for detecting the designated position in the boundary image displayed on the touch panel 110 (display means). And an instruction operation detecting means for detecting that a predetermined instruction operation for instructing a change position of the boundary image is performed on the operation panel 112 (input means). Then, the regenerating means detects the designated position detected by the designated position detecting means when the designated operation is detected by the designated operation detecting means in this way. The boundary position data is regenerated to change to The regenerated boundary position data is output to the laser radar device 2 by the communication unit 102 (output means).

  In this configuration, when it is desired to partially change the boundary position while specifically grasping the boundary position together with the image in the real space, the position is specified in the boundary image and the change position is indicated, thereby specifying a desired position. The setting can be easily changed to the position. Therefore, the monitoring area can be accurately set according to a desired position without depending on the skill level so much and without complicated data input work.

  In particular, in the configuration of the present embodiment, the boundary image can be changed so as to be interlocked with the movement of the camera (imaging means), so that the analog sense (for example, the direction and position of the camera) by the user is continuously reduced. The sense of adjustment, etc.) can be directly reflected by setting and correcting the boundary position. For example, in the conventional boundary position setting / correction method (for example, a method of inputting and setting a numerical value), it is necessary to correct the user's (operator) sense by replacing it with a numerical value each time. However, there is a problem that it is difficult to make fine adjustments, and it is difficult to obtain a numerical value that is a guideline for correction in the real space. However, according to the method of this embodiment, all of these problems can be solved. Can do. In particular, this technique is extremely useful in fields that require advanced fine tuning in real space, such as security systems.

Further, in this embodiment, the regeneration unit calculates the coordinates in the real space of the portable setting terminal at the time of the instruction operation based on the detection result by the coordinate detection unit when the instruction operation is detected by the instruction operation detection unit. I have identified. Then, the boundary position data is regenerated so as to change the designated position of the boundary image detected by the designated position detecting means to the specified coordinate position.
In this configuration, when the position to be changed in the boundary image is designated and then the terminal is moved to a desired position and an instruction operation is performed, the indicated position can be reset as a new boundary. Therefore, even a person who is not accustomed to setting work can accurately and easily set a boundary at a desired position in the real space while grasping the actual position in the real space.

In the present embodiment, the display means includes a touch panel 110 including a display unit 114 capable of displaying a composite image and an operation panel 112 covering the display unit 114, and the operation panel 112 is configured as an input unit. .
The designated position detecting means detects the pressed position in the boundary image as the designated position when the position of the boundary image is pressed on the operation panel 112 in a state where the composite image is displayed on the display unit 114. Further, the regenerating unit is configured to perform the operation at the time of the release operation based on the detection result by the coordinate detection unit when a predetermined release operation is performed on the operation panel 112 after the specified position is detected by the specified position detection unit. The coordinates in the real space of the portable setting terminal are specified, and the boundary position data is regenerated so as to change the specified position detected by the specified position detecting means to the specified coordinate position.
In this configuration, in the boundary image displayed together with the image in the real space, the portion to be changed can be easily specified by a pressing operation on the touch panel 110 while visually recognizing the portion to be changed. Further, after such designation, the terminal may be moved to a desired position and a release operation may be performed on the touch panel 110, whereby the position (coordinates) at the time of the release operation can be easily set as a new boundary position. Can be reset.

In the present embodiment, a communication unit 102 (communication means) that performs communication with the laser radar device 2 as a communication target is provided, and the communication means is configured as an output means. When the communication unit receives data from the laser radar device 2, the memory 104 (registration unit) registers boundary position data based on the received data. Further, the communication unit 102 (communication means) is configured to output the regenerated boundary position data to the laser radar device 2 when the boundary position data is regenerated by the regenerating means.
According to this configuration, the monitoring area data set in the laser radar device 2 can be developed on the portable setting terminal 100 and displayed together with the actual image, and further, the monitoring area data can be displayed using the above-described method. Can be regenerated to the desired content. In addition, after the monitoring area is regenerated at the terminal, the reproduced data can be developed in the laser radar device 2, so that the monitoring area can be saved without performing complicated setting work in the laser radar device 2. It can be easily adjusted to obtain a desired area configuration.

[Modification of the first embodiment]
In the first embodiment, the real space image captured by the camera 130 and the boundary image of the monitoring area are displayed together, but another image (a virtual candidate image prepared in advance) is further incorporated. You may do it. For example, data for displaying the object image Rb as shown in FIG. 9A is stored in advance so that the user can select the display of the object image Rb. When the display of the object image Rb is selected by the user, the object image Rb may be displayed so as to be incorporated into the real space image captured by the camera 130.

  Such a candidate image may be configured in such a way that it can be specified at which position in the real space it should be placed. For example, in the case of the object image Rb as shown in FIG. 9A, not only the image shape data but also the position of the object image Rb in the real space (for example, in the real space of each vertex constituting the object image Rb) If coordinates such as the position of each line segment in the real space) are stored as the designated data, the object image Rb (at the position corresponding to the designated data in the captured image of the real space captured by the camera 130 is stored. Candidate images) can be incorporated. In this case, when the processing as shown in FIG. 3 is performed, display is performed by incorporating such an object image Rb into a specified position (a position in the real space specified by the specified data) in the display processing of S2 and S4. By doing so, it is possible to adjust the monitoring area while assuming an object that does not actually exist (see FIG. 9B).

  In this case, the memory 104 corresponds to an example of “candidate image storage unit”, and functions to store candidate images (for example, object image Rb) to be combined with the composite image. The operation panel 112 and the control unit 106 correspond to an example of a “selecting unit”, and function to select a candidate image from the candidate image storage unit. Further, in this case, the control unit 106 corresponding to the “composite image generation unit” has a boundary at a position specified by the boundary position data in the image with respect to the real space image captured by the camera 130 (imaging unit). An image is incorporated, and a candidate image (for example, an object image Rb as shown in FIG. 9) selected by the selection unit is incorporated to generate a composite image.

  In this configuration, when the object exists in real space, it is difficult to set the terminal (moving to the vicinity of the object, etc.) (for example, when setting the monitoring area near the robot operating in the factory) ) Is particularly advantageous when performing boundary setting assuming the object.

  Further, when a virtual candidate image (object image Rb) is displayed as shown in FIG. 10A, such an image is continuously displayed, instead of the monitoring area as shown in FIG. A new monitoring area may be set separately from the monitoring area as shown in FIG. In the example of FIG. 10B, such a new monitoring area setting method is shown. For example, the user displays an image like FIG. 10A (an image similar to FIG. 9A). While viewing the real space image captured by the camera 130, an image in which the boundary image and the object image Rb are incorporated), a plurality of positions in the display image as shown in FIG. 10B (position P21 in FIG. 10B). -P26) may be set so that the area surrounded by these positions is set as a new monitoring area when it is designated by a pressing operation with a finger F or the like. The new monitoring area designated in this way may be used so as to be transmitted to the laser radar device 2 as updated boundary position data when used in place of the already set monitoring area. When a new monitoring area is used as another monitoring area, it may be transmitted to the laser radar device 2 as the second boundary position data separately from the already set boundary position data. In this case, in the laser radar device 2, the new monitoring area can be used for a different application from the already set monitoring area (for example, if an object is detected in the new monitoring area, an alarm is issued. Etc.).

[Other Embodiments]
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.

  In the above embodiment, a laser radar apparatus that performs scanning three-dimensionally is taken as an example, but a monitoring area is set by a similar method using a laser radar apparatus that performs two-dimensional scanning (horizontal scanning). May be.

  In the above-described embodiment, the update data (boundary position data) generated by the portable setting terminal 100 is transmitted to the laser radar device 2 by wireless communication. It may be passed by the user's hand as a medium.

3 may be modified as follows using the same configuration (FIG. 1, FIG. 2, etc.) as in the above embodiment.
For example, control and processing may be performed in the same manner as S1 to S4 in FIG. 3, and only the determination of the release operation in S5 may be made different. Even in this configuration, after the designated position is detected by the designated position detecting means (that is, after “Yes” in S3) and until “Yes” in S5, the position or orientation of the portable setting terminal 1 changes. In addition, the imaging of the real space in the imaging direction (predetermined direction) of the camera 130 after the change is repeated, and the display unit 114 sequentially updates and displays the captured images repeatedly acquired by the camera 130.
While such an update display is being performed, a release operation (for example, pressing a predetermined position in the captured image) is performed by the operation panel 112 so as to indicate a position in the captured image of the real space to be updated and displayed. When a pressing operation is performed, the process proceeds to Yes in S5, the coordinates of the designated position in the real space are specified, and the designated position detected by the designated position detecting means (determined in S3) The boundary position data is regenerated so as to change the designated position) to the specified coordinate position. In the present embodiment, the coordinates of the indicated position (pressed position at the time of the release operation) in the displayed captured image (real space image) are detected values by the gyro sensor 121, the GPS sensor 122, and the distance measuring device 123. Can be identified.
Even in this configuration, the operation panel 112 functions as an “input unit”. Also in this case, the control unit 106 corresponds to an example of a “designated position detection unit”, and the display unit is displayed when a predetermined designation operation for designating a part of the boundary image is performed on the operation panel 112 (input unit). It functions to detect the designated position in the boundary image displayed on 114 (display means). The control unit 106 corresponds to an example of “instruction operation detection unit”, and functions to detect that a predetermined instruction operation for instructing a change position of the boundary image is performed on the operation panel 112 (input unit). .
The control unit 106 corresponds to an example of a “regeneration unit”. When the instruction operation is detected by the instruction operation detection unit, the designated position detected by the designated position detection unit is detected by the instruction operation detection unit. The boundary position data is regenerated so as to change to the designated position in the designated operation. Specifically, after the designated position is detected by the designated position detecting means, the release operation is performed by the operation panel 112 so as to designate the position in the captured image of the real space that is updated and displayed on the display unit 114. Sometimes, the coordinates of the designated position in the real space are specified, and the boundary position data is regenerated so as to change the designated position detected by the designated position detection means to the specified coordinate position. Function.
In this configuration, in the boundary image displayed together with the image in the real space, the portion to be changed can be easily designated by a pressing operation on the touch panel while visually recognizing the portion to be changed. After such designation, if the terminal is changed to a desired position or orientation and a release operation is performed so as to indicate the desired position on the screen to be updated and displayed, the position on the indicated screen Can be easily reset as a new boundary position.

DESCRIPTION OF SYMBOLS 1 ... Monitoring system 10 ... Laser diode (scanning means)
20 ... Photodiode (light receiving means)
40: Rotating deflection device (scanning means)
72. Storage section (storage means)
DESCRIPTION OF SYMBOLS 100 ... Portable type setting terminal 106 ... Control part (Direction detection means, synthetic | combination image generation means, designated position detection means, instruction | indication operation detection means, regeneration means, output means, selection means, registration means)
102: Communication unit (output means, communication means)
104: Memory (registration means, candidate image storage means)
110 ... Touch panel (display means)
112 ... Operation panel (input means)
114 ... Display unit 122 ... GPS sensor (coordinate detection means)
123 ... Distance measuring device (coordinate detection means)
130 ... Camera (imaging means)

Claims (7)

A portable setting terminal used in a monitoring system for monitoring a monitoring area set in a real space and configured to change the setting of the monitoring area,
Registration means for registering boundary position data of the monitoring area set in the real space;
Imaging means for imaging an image of the real space so that a predetermined direction in the portable setting terminal is an imaging direction;
Direction detecting means capable of detecting a direction in the real space of the imaging direction by the imaging means or a predetermined direction defined in a fixed relationship with the imaging direction;
Coordinate detection means for detecting coordinates in real space of the portable setting terminal;
The boundary position data registered in the registration unit, the imaging direction detected by the direction detection unit or the orientation of the predetermined direction in the real space, and the portable setting detected by the coordinate detection unit Based on the coordinates in the real space of the terminal, a composite image obtained by incorporating a boundary image at a position specified by the boundary position data in the image with respect to the image in the real space captured by the imaging unit Synthetic image generation means for generating
Display means for displaying the composite image generated by the composite image generation means;
An input means for accepting external input operations;
Designated position detecting means for detecting the designated position in the boundary image displayed on the display means when a predetermined designation operation for designating a part of the boundary image is performed in the input means;
Instruction operation detecting means for detecting that a predetermined instruction operation for instructing a change position of the boundary image is performed in the input means;
When the instruction operation is detected by the instruction operation detection means, the designated position detected by the designated position detection means is changed to an instruction position in the instruction operation detected by the instruction operation detection means. Regenerating means for regenerating the boundary position data;
Output means for outputting the boundary position data regenerated by the regenerating means;
A portable setting terminal comprising:   The regeneration means specifies the coordinates in the real space of the portable setting terminal at the time of the instruction operation based on the detection result by the coordinate detection means when the instruction operation is detected by the instruction operation detection means. 2. The mobile phone according to claim 1, wherein the boundary position data is regenerated so as to change the specified position of the boundary image detected by the specified position detection unit to the specified coordinate position. Type setting terminal. The display means includes a touch panel including a display unit capable of displaying the composite image and an operation panel covering the display unit,
The operation panel is configured as the input means;
The designated position detecting means detects the pressed position in the boundary image as the designated position when the position of the boundary image is pressed on the operation panel in a state where the composite image is displayed on the display unit. ,
The regeneration unit is configured to perform the release operation based on a detection result of the coordinate detection unit when a predetermined release operation is performed on the operation panel after the designated position is detected by the designated position detection unit. The coordinates in the real space of the portable setting terminal at the time are specified, and the boundary position data is regenerated so as to change the specified position detected by the specified position detection means to the specified coordinate position The portable setting terminal according to claim 2. The display means includes a touch panel including a display unit capable of displaying the composite image and an operation panel covering the display unit,
The operation panel is configured as the input means;
The designated position detecting means detects the pressed position in the boundary image as the designated position when the position of the boundary image is pressed on the operation panel in a state where the composite image is displayed on the display unit. Made up of
When the position or orientation of the portable setting terminal is changed after the designated position is detected by the designated position detecting means, the imaging means is configured to set the predetermined direction after the change as the imaging direction. Repeated imaging of real space images,
The display unit is configured to sequentially update and display captured images repeatedly acquired by the imaging unit,
The regeneration unit performs a release operation by the operation panel so as to designate a position in the captured image of the real space that is updated and displayed on the display unit after the designated position is detected by the designated position detection unit. Is performed, the coordinates of the designated position in the real space are specified, and the boundary is so changed that the designated position detected by the designated position detecting means is changed to the designated coordinate position. The portable setting terminal according to claim 1, wherein the position data is regenerated. Scanning means for scanning laser light in the real space; light receiving means for receiving reflected light when the laser light scanned by the scanning means is irradiated on an object existing in the real space; and Storage means for storing data for determining the boundary position, and a laser radar device configured to detect an object within the monitoring area set based on the data stored in the storage means Having communication means for performing communication;
The communication means is configured as the output means;
The registration unit registers the boundary position data based on the received data when the communication unit receives data from the laser radar device.
The said communication means outputs the said regenerated boundary position data to the said laser radar apparatus, when the said boundary position data are regenerated by the said regeneration means. 5. The portable setting terminal according to any one of 4. Candidate image storage means for storing candidate images to be combined with the composite image;
Selecting means for selecting candidate images from the candidate image storage means;
With
The composite image generation unit incorporates the boundary image at a position specified by the boundary position data in the image with respect to the real space image captured by the imaging unit, and is selected by the selection unit. The candidate image is incorporated to generate a composite image,
The specification operation and the instruction operation in the input unit are enabled in a state where the composite image including the candidate image is displayed by the display unit. The portable setting terminal according to claim 5. Scanning means for scanning laser light in real space, light receiving means for receiving reflected light when the laser light scanned by the scanning means is irradiated on an object existing in the real space, and a boundary position of the monitoring area A laser radar device for detecting an object in the monitoring area set based on the data stored in the storage means,
A portable setting terminal having communication means for communicating with the laser radar device, and configured to generate update data of data defining the boundary position;
A monitoring system comprising:
The portable setting terminal is
Registration means for registering boundary position data of the monitoring area based on data reception from the laser radar device or external input from other than the radar radar device;
An imaging means for imaging an image of the real space so that a predetermined direction in the portable setting terminal is an imaging direction;
Direction detecting means capable of detecting a direction in the real space of the imaging direction by the imaging means or a predetermined direction defined in a fixed relationship with the imaging direction;
Coordinate detection means for detecting coordinates in real space of the portable setting terminal;
The boundary position data registered in the registration unit, the imaging direction detected by the direction detection unit or the orientation of the predetermined direction in the real space, and the portable setting detected by the coordinate detection unit Based on the coordinates in the real space of the terminal, a composite image obtained by incorporating a boundary image at a position specified by the boundary position data in the image with respect to the image in the real space captured by the imaging unit Synthetic image generation means for generating
Display means for displaying the composite image generated by the composite image generation means;
An input means for accepting external input operations;
Designated position detecting means for detecting the designated position in the boundary image displayed on the display means when a predetermined designation operation for designating a part of the boundary image is performed in the input means;
Instruction operation detecting means for detecting that a predetermined instruction operation for instructing a change position of the boundary image is performed in the input means;
When the instruction operation is detected by the instruction operation detection means, the designated position detected by the designated position detection means is changed to an instruction position in the instruction operation detected by the instruction operation detection means. Regenerating means for regenerating the boundary position data;
With
The communication means is configured to output the boundary position data regenerated by the regeneration means to the laser radar device,
The laser radar device updates data defining the boundary position stored in the storage unit based on the regenerated boundary position data output from the communication unit of the portable setting terminal. Monitoring system.

Images