JP6544213B2 - Window dirt discrimination device, window dirt discrimination method, window dirt discrimination program - Google Patents

Description

  The present invention relates to a window stain discrimination device for detecting dirt on a window portion of a laser radar device, a window stain discrimination method, and a window stain discrimination program.

  The laser radar device performs the irradiation of the laser beam and the reception of the reflected light reflected by the object at every predetermined scanning angle, and detects and detects the object at each scanning angle based on the time until the reflected light is received. The distance is measured. Such a laser radar device is provided with a window for transmitting laser light. At this time, if snow adheres to the window, that is, if snow adheres to the window, the reflection at the window increases, while the intensity of the laser beam irradiated to the measurement area decreases, or the laser beam or reflected light Is blocked by the snow attached to the window, which reduces the accuracy of object detection and distance measurement. Therefore, for example, in Patent Document 1, dirt on the window portion is detected by providing a dedicated sensor or the like.

Japanese Patent Application Laid-Open No. 2002-6039

However, in the conventional laser radar apparatus including the above-mentioned Patent Document 1, although the fact that an object is attached to the position of the window can be detected, it is intentionally attached whether the object is naturally attached or not. It was not possible to determine if it was a
The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to determine whether dirt on a window portion of a laser radar device is naturally or intentionally attached. It is providing a dirt discrimination device, a window dirt discrimination method, and a window dirt discrimination program.

The dirt on the window portion of the laser radar device is considered to be due to some natural phenomenon if it is naturally attached. Therefore, it can be considered that if it is possible to identify the occurrence of a natural phenomenon that may be stained, it is possible to determine whether the dirt on the window is naturally attached or intentionally attached.
Therefore, in the invention according to claim 1, the window dirt discriminating apparatus comprises a wind information acquisition processing unit for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device, and a window portion of the laser radar device. A determination processing unit that performs processing to determine whether an object detected at the position of the window is naturally attached based on the wind direction specified by the wind information when an object is detected at the position; And.

  When dirt naturally adheres to the window of the laser radar device, the dirt is considered to be the result of the object flying toward the window or the result of the object hitting the window . And if it is a natural phenomenon, it is reasonable to think that it has been blown away by the wind. On the other hand, when an object is detected at the position of the window in a weather or wind direction that is not easily soiled naturally, it can be considered that the object is not naturally attached.

  Therefore, the window dirt discriminating apparatus determines whether the object detected at the position of the window naturally adheres by deciding whether or not the object may collide with the window based on the wind direction. Determine if it is a dirt attached. This makes it possible to determine whether the dirt on the window of the laser radar device is naturally attached or intentionally attached.

  Then, if it is possible to determine whether it is naturally attached or intentionally attached, for example, when the laser radar device is used as intrusion detection of a security zone to be monitored, it is intentionally attached. Optical window contamination is highly likely to have been done by an intruder, and a highly urgent intrusion detection notification can be performed. On the other hand, if the optical window dirt attached naturally, there is a possibility that the intrusion detection performance may be degraded, but it does not mean that the intrusion to the security zone has occurred and that cleaning needs to be performed separately from the intrusion detection notification. You can stay informed. As described above, it is possible to obtain an effect that the manager can flexibly select the subsequent correspondence by determining the type of the dirt on the window.

  In the invention according to claim 2, the window dirt discriminating apparatus comprises a weather information acquisition processing unit for acquiring weather information capable of specifying the occurrence of rainfall, snowfall and fog of the installation place of the laser radar apparatus. And when the wind direction is the direction to the window, the window dirt discrimination device determines that the dirt is naturally attached, while when the wind direction is not the direction to the window and the wind is not blowing. The evaluation of the possibility of contamination naturally occurs based on the weather specified by the weather information, and it is determined whether or not the contamination adheres naturally based on the evaluation result.

If the wind direction is not the direction to the window, the possibility of the object hitting the window is considered to be relatively low. However, for example, if there is a wall or fence around the laser radar, the periphery of the laser radar It is assumed that it is difficult to accurately capture the pinpoint wind direction. That is, there is a possibility that the wind direction specified by the wind information does not necessarily match the wind direction around the laser radar device.
Therefore, if the wind direction is not the direction to the window including the windless state, the possibility of dirt adhering naturally is evaluated based on the weather information, and whether it is natural dirt or not based on the judgment result The accuracy of the determination can be increased by determining

  In the invention according to claim 3, the window dirt discriminating apparatus designates a period A in which the occurrence of rainfall, snowfall or fog is not specified for a predetermined judgment time or more as period A, and the occurrence of rainfall, snowfall or fog is specified. Assuming that the period until the judgment time elapses after it is no longer performed is period B, and the period during which occurrence of rainfall, snowfall or fog is specified is period C, contamination adheres more naturally than period A in period B. It is evaluated that the possibility is high, and the period C is evaluated to be more likely to adhere naturally than the period B.

  In period A, there is a possibility that dust, fallen leaves, and the like attached to the wind may be attached. In addition, in the period B, since it is assumed that the window is wet immediately after rain and snow have settled, dust, fallen leaves, water droplets, sand dust, mud and the like may be attached to the wind. Also, there is a possibility that the snow which has fallen on the window may not melt, or the mud dirt may be splashed from a puddle. In addition, in the period C, since rain, snow and fog are generated, there is a possibility that fallen leaves, water droplets, snow, dust, mud and the like may be attached.

In addition, considering the above-mentioned pinpoint wind direction around the laser radar device, the possibility that an object relatively blown by the wind adheres more when the wind is blowing than when the wind is not blowing Is assumed to be high.
Therefore, by adding weather information, it is possible to judge whether the weather is naturally hard to get soiled, and the object detected in such a situation is not a naturally attached soil, that is, it is intentionally It is possible to increase the certainty of being attached. That is, it is possible to increase the accuracy in determining whether the dirt on the window is naturally attached or intentionally attached.

In the invention which concerns on Claim 4, a window dirt discrimination | determination apparatus acquires weather information based on the data which the laser radar apparatus measured. As a result, it is not necessary to provide a sensor or the like, and the cost can be reduced. Moreover, it can apply also to the existing laser radar apparatus.
In the invention which concerns on Claim 5, a window dirt discrimination | determination apparatus acquires wind information based on the data which the laser radar apparatus measured. Thereby, wind information can be acquired without providing a sensor or the like. In addition, the present invention can be applied to an existing laser radar device.

In the invention which concerns on Claim 6, a window stain | pollution | contamination discrimination | determination apparatus is provided with the alerting | reporting process part which performs the process which alert | reports the determination result by determination process. As a result, it is possible to obtain the judgment result as to whether the dirt on the window is naturally attached or intentionally attached, for example, a relatively urgent situation as attached by an intruder. It is possible to grasp whether it is a relatively low-urgent situation where it is merely soiled naturally and only needs cleaning. Then, the manager can take flexible measures such as dispatching a security guard if the degree of urgency is relatively high and dispatching a cleaning staff if the degree of urgency is low.
In addition, for example, when there is a notification from a location at the same time, the treatment priority is determined at each notification level, or the laser radar device has sufficient detection performance until the dirt on the window of the laser radar device is cleaned. It is also possible to take measures such as setting the surveillance camera to the auto patrol state as there is a possibility that it can not be exhibited.

  In the invention according to claim 7, the method for determining window dirt comprises: wind information acquisition processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device; and an object at the position of the window portion of the laser radar device. And a determination process of determining whether or not the object detected at the position of the window is a naturally attached stain based on the wind direction specified by the wind information. Also by such a window dirt judging method, the same effect as the window dirt judging apparatus described above can be obtained.

  In the invention according to claim 8, the window dirt discrimination program comprises: wind information acquisition processing for performing, on the window dirt discrimination device, wind information capable of specifying the wind direction at the installation location of the laser radar device; When an object is detected at the position of the window, a determination is performed to determine whether the object detected at the position of the window is naturally attached dirt based on the wind direction specified by the wind information Execute the processing. Also by such a window dirt discrimination program, it is possible to obtain the same effect as the window dirt judgment device described above.

The figure which shows typically the structure of the monitoring apparatus to which the window dirt discrimination | determination apparatus in one Embodiment is applied. Diagram showing the flow of the window dirt discrimination process Diagram schematically showing in plan view the difference in how the reference object swings depending on the wind direction Diagram showing the difference in intensity of reflected light due to the weather Diagram showing an example of evaluation value of possibility of dirt adhering naturally

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 5.
As shown in FIG. 1, the monitoring device 1 which also functions as a window contamination determination device is configured of a laser radar device 2 and a control device 3 that controls the laser radar device 2. In the present embodiment, an example is shown in which the window dirt discrimination device is configured by the laser radar device 2 and the control device 3. However, by performing the window dirt determination processing described later on the laser radar device 2 side, the laser radar device The window dirt discriminating apparatus can also be configured of 2 single units.

  The laser radar device 2 includes a control unit 20, an irradiation unit 21, a rotating mirror 22, a light receiving unit 23, a storage unit 24, and the like. These units are accommodated in the housing 25. The control unit 20 of the laser radar device 2 is configured by a microcomputer having a CPU, a ROM, a RAM, and the like (not shown), and executes the computer program stored in the storage unit 24 or the like to execute the entire laser radar device 2. Control.

  The laser radar device 2 rotates the rotating mirror 22 to irradiate the laser light emitted from the irradiation unit 21 toward the target area at a predetermined scanning angle. Then, the laser radar device 2 determines the distance to the object for each scanning angle based on the elapsed time from when the laser light is irradiated to when the reflected light reflected by the object shown by the code 4 is received by the light receiving unit 23. taking measurement. For this reason, a window 26 is provided in the case 25 of the laser radar device 2. In the case of the present embodiment, the laser radar device 2 scans a range of approximately 180 ° on the front side where the window portion 26 is provided. Therefore, the window portion 26 covers the front side of the housing 25 in an arc shape of 180 degrees.

When an object is detected by the laser radar device 2, an intrusion detection process is performed based on the detected scanning angle and distance of the object as is well known. Note that, in the intrusion detection process, a notification that the intruder has been detected is notified, for example, by voice or a signal.
The control device 3 includes a control unit 30 and a notification unit 31 that notifies the user of an intrusion or the like. The control device 3 is constituted by a so-called personal computer, and although not shown, a display unit for displaying a monitoring condition by the laser radar device 2 or an image captured by the camera 5 and a user operation such as a mouse or a keyboard. It also has an input unit for inputting The camera 5 is assumed to be a so-called PTZ camera having a pan-tilt-zoom function.

In the case of the monitoring device 1 of the present embodiment, the laser radar device 2 basically performs a process of detecting an object, and the control device 3 determines the presence or absence of an intruding object, and the details will be described later. By executing the determination program, wind information acquisition processing, determination processing, weather information acquisition processing, notification processing, and the like are performed. That is, in the present embodiment, the control unit 30 configures a wind information acquisition processing unit, a determination processing unit, and a weather information acquisition processing unit.
In addition, the control device 3 is connected to a camera 5 that captures an image of a measurement area of the laser radar device 2. Further, the control device 3 is connected to an external network 6 and can also acquire wind information and weather information described later from the network 6.

Next, the operation of the above configuration will be described.
When dirt naturally adheres to the window portion 26 of the laser radar device 2, the dirt is a result of an object flying toward the window portion 26 or a result of an object hitting the window portion 26. It is believed that there is. And if it is a natural phenomenon, it is reasonable to think that it has been blown away by the wind.

  Therefore, when an object is detected at the position of the window portion 26, the monitoring device 1 executes the window dirt discrimination process shown in FIG. The window contamination determination process is realized by causing the control unit 30 of the control device 3 to execute the window contamination determination program. In addition, as a premise, the monitoring device 1 performs processing for detecting an intruder into the measurement area based on the detection result of the object by the laser radar device 2 as in the conventional case. It is also determined whether an object is detected at the position. Moreover, the detection result in which the object is detected is stored as a detection history, and the monitoring device 1 may obtain from the detection history what detection result was obtained in a period before a certain time. it can.

  The monitoring device 1 acquires wind information that can specify the wind direction in the window contamination determination process (S1). At this time, the monitoring device 1 acquires the wind direction by the following method based on data that can be acquired by the laser radar device 2 alone. In addition, the monitoring device 1 also acquires the wind intensity. For this reason, in the present embodiment, the wind direction and the strength of the wind, that is, a measure of the wind speed are acquired as wind information. The process of step S1 corresponds to the wind information acquisition process.

  As shown to Fig.3 (a), the reference | standard thing 7 used as the reference | standard at the time of acquiring wind information is previously installed in the position where the distance from the laser radar apparatus 2 becomes L10. This reference object 7 may be, for example, a natural object such as a tree, or an artificial object such as a windsock or a weathercock, as long as the position changes depending on the wind. In the present embodiment, a tree is assumed. A straight line passing the laser radar device 2 and the reference object 7 at the shortest distance is an imaginary line S1, and a straight line orthogonal to the imaginary line S1 on the surface of the reference object 7 on the laser radar device 2 side is an imaginary line S2. Hereinafter, the side on which the window portion 26 of the laser radar device 2 is provided, that is, the side on which the reference object 7 is installed when viewed from the laser radar device 2, is referred to as the front of the laser radar device 2, and the opposite side is the laser The rear side of the radar device 2 will be described.

  First, it is assumed that a relatively weak wind is blowing from the left front as seen from the laser radar device 2 side as indicated by the arrow H1. Note that "relatively weak" means relatively weaker than the state of FIG. 3 (b) described later. At this time, it is assumed that the reference object 7 swayed by the wind swings with a swing width of D1 to a position deviated in a diagonal direction indicated by a solid line from a reference position in a windless state indicated by a broken line.

  When the distance to the reference object 7 is measured by the laser radar device 2 in such a situation, the wind direction can be easily obtained. That is, for example, when the distance to the reference object 7 is measured as L11, it indicates that the reference object 7 is swept toward the laser radar device 2 by the wind if L11 <L10. In this case, the wind direction can be identified as the direction toward the window portion 26 of the laser radar device 2, that is, the direction in which the possibility of an object riding on the wind colliding with the window portion 26 and adhering thereto is relatively high.

  On the other hand, as shown in FIG. 2 (b), it is assumed that a relatively strong wind is blowing from the left rear obliquely as viewed from the laser radar device 2 as indicated by the arrow H2. At this time, when the distance to the reference object 7 is measured as L12, it is indicated that the reference object 7 is twisted in the opposite direction to the laser radar device 2 by the wind if L12> L10. . In this case, the wind direction is opposite to the direction toward the window portion 26 of the laser radar device 2, that is, the direction in which the possibility of an object riding on the wind colliding with the window portion 26 is relatively low. It can be identified.

  However, as described above, the window 26 of the laser radar device 2 is formed in an arc of about 180 °. Therefore, for example, even when the wind is blowing in the direction along the virtual line S2, that is, the wind directly from the side of the laser radar device 2, there is a possibility that an object caught in the wind collides with the window 26 and adheres. Further, in this case, it is considered that the distance to the reference object 7 becomes slightly longer than L10 by the reference object 7 swinging along the imaginary line S2. Furthermore, there is a possibility that the reference object 7 can not always be installed directly in front of the laser radar device 2 at the actual installation location.

  Therefore, in the present embodiment, in order to more accurately measure, by measuring the distance to the reference object 7 in time series, the swing direction in which the swing width of the reference object 7 is maximized is specified, and the specified shake direction is determined. It is specified as the wind direction. In this case, if the reference object 7 does not move from the reference position in time series, it can be specified that there is no wind, that is, no wind.

That is, in the present embodiment, the monitoring device 1 is a reference that is generated by the wind from the distance to the reference object 7 whose position changes according to the wind direction and wind speed such as trees and the position of the reference object 7 in a no wind condition. The wind direction is identified, that is, wind information is acquired, based on the detection mode and distance measurement mode of the reference object 7 such as the direction in which the object 7 shakes and the amount of movement thereof.
The swinging width of the reference object 7 shown as D1 and D2 from the deviation angle of the reference object 7 from the imaginary line S1 shown as α1 and α2 in FIG. 2 and the deviation from L10 of the measured distance of the reference object 7 Can also be estimated. Then, if the swing width of the reference object 7 is large, it can be identified that the wind is relatively strong, and if the swing width of the reference object 7 is small, it can be identified that the wind is relatively weak.

Thus, the monitoring device 1 specifies the wind direction based on the data measured by the laser radar device 2. That is, in the present embodiment, the data measured by the laser radar device 2 corresponds to wind information that can specify the wind direction.
Now, if wind information is acquired, monitoring device 1 will acquire weather information (S2). At this time, the monitoring device 1 acquires weather information by the following method based on data that can be acquired by the laser radar device 2 alone, similarly to the wind information. The process of step S2 corresponds to the weather information acquisition process.

  As shown in FIGS. 4 (a) to 4 (d), it is assumed that there is a fixed object, such as a wall surface 8 or the like, whose position does not change due to wind, in the measurement area of the laser radar device 2. In addition, you may install the fixed thing used as a reference | standard newly instead of utilizing wall surface 8 grade | etc.,. These Fig. 4 (a)-(d) show the difference in the weather, and Fig. 4 (a) shows the sunny or cloudy condition, Fig. 4 (b) shows the rainy condition, Fig. 4 (c) ) Shows the state of fog when the weather is fog, and FIG. 4 (d) shows the state of snow when the weather is respectively.

  By the way, when the weather is fine or cloudy, basically there is considered to be nothing to interfere with the laser light, so as shown in FIG. 4A, the intensity of the wall reflection showing the reflection of the laser light on the wall surface 8 is Suppose that it is X. The intensity of the wall surface reflection is a standard for determining the weather. That is, in the present embodiment, the monitoring device 1 receives the intensity of the reflected light reflected by the reference object whose position does not change depending on the wind direction such as the wall surface 8 or the weather, and the reflected light is received. The weather is determined, that is, the weather information is acquired based on the light reception mode such as the distance and the range.

  When the weather is rainy, it is considered that the gap between the grains is larger than that of the mist having the same water content. Therefore, it is considered that the possibility that the laser beam directly hits the raindrops is relatively low. Moreover, since the particle size of rain is relatively large, about 0.5 to 3 mm, as compared to fog, the particle size parameter determined from the particle size and the wavelength of the laser beam (for example, about 905 nm) is large. When the particle size parameter is large, the scattering intensity is reduced, so that the laser beam is substantially forward scattered, and the laser beam is scattered substantially forward, as if it were transmitted through raindrops. Therefore, as shown in FIG. 4 (b), although the intensity of the wall surface reflection is lower than that of the clear or cloudy state, it is considered that the possibility of detecting raindrops with the wall surface 8 is small.

  When the weather is fog, fog is considered to have a smaller gap between particles compared to rain of the same moisture content, and the possibility of the laser light hitting the fog is considered to be relatively high when it is rained. In addition, since the mist has a relatively small particle size of, for example, about 10 μm as compared with that of raindrops, the particle size parameter is small. And, if the particle size parameter is small, the scattering intensity is considered to be high and the forward scattering and the back scattering become comparable. That is, in the case of fog, it is considered that when the laser light strikes, the laser light scatters to the same extent forward and backward. Therefore, as shown in FIG. 4C, reflection due to fog is widely confirmed between the wall reflection and it is considered that the intensity of the wall reflection is greatly reduced compared to the clear or cloudy state. Further, when the weather is fog, although it depends on the distance to the wall surface 8, if the fog is considered to have a substantially uniform density, it is considered to be widely detected across the wall surface 8 in general.

  When the weather is snow, the snow is considered to be reflected when laser light is applied because the transparency is low. However, it is considered that the possibility that the laser beam directly hits the snow is lower than that of the fog because the gap between the grains is considerably larger than that of the fog of the same moisture content. Therefore, it is considered that snow is detected in a flickering state like noise in the measurement area. In addition, it is considered that the snow, as it is separated from the laser radar device 2, becomes smaller in occupied area with respect to the irradiation range of the laser light, and does not reflect to a detectable extent. Therefore, although snow depends on the distance to the wall surface 8, it is considered that the snow will not be detected in a region distant to some extent from the laser radar device 2.

In addition, it is considered that the wall reflection is almost the same intensity as that of the clear light in the case of laser light which has snowed, but the wall reflection is also great as the intensity is greatly reduced when it hits snow. It is considered that a phenomenon that becomes larger or smaller like noise is observed.
As described above, the data measured by the laser radar device 2 indicates the strength of the wall reflection, the presence or absence of an object detected between the wall reflections, and the condition when the object is detected, depending on the difference in weather. It is considered to be different. For this reason, it is considered that the weather can be identified based on the data measured by the laser radar device 2. That is, in the present embodiment, the data measured by the laser radar device 2 corresponds to weather information capable of specifying the weather.

  When the weather information is acquired, the monitoring device 1 determines whether the wind in the direction of the window 26 is blowing based on the wind information (S3). That is, the monitoring apparatus 1 determines whether or not an object may naturally collide with the window 26 and adhere thereto. At this time, the monitoring apparatus 1 determines whether there is a possibility that an object naturally collides with the window portion 26 and adheres thereto based on a preset determination condition.

Specifically, in the monitoring device 1, a total of nine evaluation values are set in which the wind information and the weather information as shown in FIG. 5 are each divided into three stages. In this evaluation value, when there is a wind, that is, when the wind is blowing, and the wind direction is the direction of the window 26, there is a possibility that an object naturally collides with the window 26 and adheres. It is rated the highest. In addition, that wind direction is the direction of the window part 26 means the state which the wind is blowing toward the window part 26 in the range of 180 degree strength as above mentioned.
Here, a period A in which the occurrence of rainfall, snowfall or fog is not specified is defined as period A or more for a predetermined judgment time or more, and the occurrence of rain, snowfall or fog is not specified until the judgment time elapses The period B is period B, and the period in which the occurrence of rainfall, snowfall or fog is specified is period C.

  In this period A, there is a possibility that dust, fallen leaves, and the like may be attached to the wind. In addition, in period B, since it is assumed that the window 26 is wet immediately after rain and snow have settled, there is a possibility that dust, fallen leaves, water droplets, sand dust, mud, etc. may be attached to the wind. There is also a possibility that the snow that has fallen on the window 26 may not melt, or that muddy dirt may splash from a puddle. In addition, in the period C, since rain, snow and fog are generated, there is a possibility that fallen leaves, water droplets, snow, dust, mud and the like may be attached.

That is, when the wind direction is the direction of the window portion 26, it is considered that an object blown by the wind may collide with the window portion 26 and dirt may adhere regardless of the weather. Therefore, when the wind direction is the direction of the window portion 26, it is evaluated that the possibility of the adhesion of dirt is the highest.
On the other hand, when the wind direction is not in the direction of the window portion 26 and when the wind is not blowing, in principle, it is evaluated that the possibility that the object blown by the wind is attached is low. However, for example, if there is a wall in the vicinity of the laser radar device 2, it is difficult to accurately pinpoint the wind direction around the laser radar device 2 or it is specified based on the data measured by the laser radar device 2 It is possible that the wind direction may differ at the installation position of the laser radar device 2.

  Therefore, in the present embodiment, even in the case where the wind direction is not the direction to the window 26 of the laser radar device 2, the possibility that natural dirt adheres is evaluated. Specifically, it is assumed that the possibility of relatively sticking an object blown by the wind is higher when the wind is blowing than when the wind is not blowing. Moreover, in the period B, it is assumed that the window portion 26 wet due to rain or the like is not dried, so that it is assumed that, relatively speaking, the object is more likely to adhere than the period A. Then, in period C, it is assumed that the window portion 26 is wet in a progressive manner at present, so relatively speaking, it is assumed that the possibility that an object adheres is higher than that in period B.

For this reason, the possibility that the object adheres is relatively highly evaluated when there is a wind, and is more highly evaluated in the period B than in the period A and in the period C than the period B. It is done.
Based on such determination conditions, the monitoring device 1 determines the possibility that an object naturally collides with the window 26 and adheres.
When the monitoring device 1 determines that there is a wind in the direction of the window 26 (S3: YES), it determines that the object detected at the position of the window 26 is a natural stain (S4) ).

On the other hand, when it is determined that there is no wind in the direction of the window 26 including the no wind condition (S3: NO), the monitoring device 1 determines whether there is no wind and period A (S6), If it is determined that there is no wind and period A (S6: YES), it is determined that the stain is not a natural stain but a stain intentionally applied (S7).
In addition, when the monitoring device 1 determines that there is no wind and the period A is not (S6: NO), dirt may naturally be attached depending on which of the above-described determination conditions the weather information is. The level of sex is evaluated (S8), and when the evaluation result that the possibility of being naturally stained is high is obtained (S8: YES), it is determined that the stain is natural (S9). On the other hand, when an evaluation result that the possibility of being naturally soiled is low is obtained (S8: NO), the monitoring device 1 determines that the soiling is intentional (S7). The process of these steps S3, S4, S6, S7, S8 and S9 corresponds to the determination process.

And the monitoring apparatus 1 will alert | report the determination result, if one of the determination results is obtained (S4, S7 or S9) (S5). As a result, the user is notified whether the object detected at the position of the window 26 is a dirt attached naturally or a dirt attached intentionally.
As described above, the monitoring device 1 is based on the wind direction specified by the wind information, and based on the weather specified by the weather information when the wind direction is not the direction of the window portion 26 including the no wind condition. It is judged whether it is dirt attached naturally or dirt attached intentionally.

According to the embodiment described above, the following effects can be obtained.
A monitoring device 1 as a window dirt discriminating device acquires a wind information acquisition processing unit (a control unit 30 in the embodiment) for acquiring wind information capable of specifying the wind direction at the installation place of the laser radar device 2; When an object is detected at the position of the window portion 26, it is determined based on the wind direction specified by the wind information whether the object detected at the position of the window portion 26 is a naturally attached dirt or not And a determination processing unit (a control unit 30 in the embodiment) that performs processing.

When dirt naturally adheres to the window portion 26 of the laser radar device 2, the dirt is a result of an object flying toward the window portion 26 or a result of an object hitting the window portion 26. It is believed that there is. And if it is a natural phenomenon, it is reasonable to think that it has been blown away by the wind.
Therefore, whether or not the object detected at the position of the window 26 is naturally attached is intentionally attached by determining whether or not the object may collide with the window 26 based on the wind direction. It can be judged whether it is dirt or not. That is, it can be determined whether the dirt on the window portion 26 of the laser radar device 2 is naturally attached or intentionally attached.

  Then, if it can be determined whether it is naturally attached or intentionally attached, the laser radar device 2 is intentionally attached when used as an intrusion detection of a security zone to be monitored. Optical window contamination is highly likely to have been done by an intruder, and a highly urgent intrusion detection notification can be performed. On the other hand, if the optical window dirt attached naturally, there is a possibility that the intrusion detection performance may be degraded, but it does not mean that the intrusion to the security zone has occurred and that cleaning needs to be performed separately from the intrusion detection notification. You can stay informed. That is, by determining the type of dirt on the window 26, the administrator can flexibly select the subsequent response depending on the notification level.

The monitoring device 1 acquires weather information and determines that the dirt is naturally attached when the wind direction is the direction of the window 26, while the case where the wind is not the direction of the window 26 and the wind When not blowing, the possibility of dirt adhering naturally is evaluated based on the weather specified by the weather information, and it is judged whether it is dirt adhering naturally based on the evaluation result.
If the wind direction is not the direction to the window 26, the possibility of an object hitting the window 26 is considered to be relatively low, but it is difficult to accurately pinpoint the wind around the laser radar device 2. It is also conceivable that the wind direction specified based on the data measured by the laser radar device 2 may be different at the installation position of the laser radar device 2.

Therefore, if the wind direction is not the direction to the window portion 26 including the windless state, the possibility of the natural adhesion of dirt is evaluated based on the weather information, and whether it is natural dirt or not based on the determination result It is possible to increase the accuracy of the determination by determining
More specifically, a period A in which the occurrence of rainfall, snowfall or fog is not specified is defined as period A or more for a predetermined judgment time or more, and the above determination time is after the occurrence of rainfall, snowfall or fog is not specified. Assuming that the period until the passage is period B, and the period during which rainfall, snowfall or fog generation is specified is period C, period B is evaluated to have a higher possibility of dirt adhering naturally than period A, The accuracy of the determination can be enhanced by evaluating that the period C has a higher possibility of dirt adhering naturally than the period B.

The monitoring device 1 acquires wind information based on data measured by the laser radar device 2. As a result, it is not necessary to provide a sensor or the like, and the cost can be reduced. The present invention can also be applied to the existing laser radar device 2.
The monitoring device 1 acquires weather information based on the data measured by the laser radar device 2. As a result, it is not necessary to provide a sensor or the like, and the cost can be reduced. The present invention can also be applied to the existing laser radar device 2.

  The monitoring device 1 includes a notification processing unit that performs processing of notifying a determination result as to whether or not it is a natural stain. Thus, in addition to the flexible selection as described above, for example, when there are notifications from two places at the same time, the treatment priority is determined at each notification level, or the window part of the laser radar device 2 It is possible to set the camera 5 in the auto patrol state, as there is a possibility that the laser radar device 2 can not exhibit sufficient detection performance until the dirt 26 is cleaned.

  In addition, wind information acquisition processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device 2 and when an object is detected at the position of the window portion 26 of the laser radar device 2, wind information The above-described window contamination determination method includes a determination process of determining whether an object detected at the position of the window 26 is naturally attached or not based on the specified wind direction. The same effect as that of the monitoring device 1 as a window dirt determining device can be obtained.

  In addition, wind information acquisition processing for performing processing for acquiring wind information that can specify the wind direction at the installation location of the laser radar device 2 in, for example, the monitoring device 1 as a window dirt discrimination device; When an object is detected at a position, a determination process is performed to determine whether the object detected at the position of the window 26 is a naturally attached stain based on the wind direction specified by the wind information Also by the window stain determination program that executes the above, the same effect as the monitoring device 1 as the window stain determination device described above can be obtained.

The present invention is not limited to the embodiments described above and described in the drawings, and various modifications and expansions can be made without departing from the scope of the invention.
The numerical values and the like shown in each embodiment are merely examples, and the present invention is not limited thereto.
Although the wind information acquisition processing unit, the determination processing unit, and the weather information acquisition processing unit are configured by the control unit 30 of the control device 3 in the embodiment, the window contamination determination program is executed by the control unit 20 of the laser radar device 2 By doing this, the wind information acquisition processing unit, the determination processing unit, the weather information acquisition processing unit, the notification unit, and the like may be configured.

In the embodiment, the wind information and the weather information are acquired based on the data measured by the laser radar device 2. However, a sensor capable of measuring the wind direction or the weather may be provided. Further, the wind direction and the weather may be acquired via the network 6.
Although the embodiment illustrates the laser radar device 2 which scans the measurement area in a plane, the present invention can be applied to a laser radar device capable of scanning in the height direction by making the rotating mirror 22 tiltable. It can apply.

  In the drawings, 1 is a monitoring device (window contamination determination device), 2 is a laser radar device (window contamination determination device), 3 is a control device (window contamination determination device), 5 is a camera (wind information acquisition processing unit, weather information acquisition Processing unit), 7 is a reference object (object), 8 is a wall surface (object), 20 is a control unit (wind information acquisition processing unit, determination processing unit, weather information acquisition processing unit), 26 is a window unit, 30 is a control unit (Wind information acquisition processing unit, determination processing unit, weather information acquisition processing unit) is shown.

Claims (8)

A window dirt discriminating apparatus for discriminating dirt on a window portion of a laser radar device which measures a distance to an object at predetermined scanning angles, which is provided by:
A wind information acquisition processing unit configured to acquire wind information capable of specifying a wind direction at the installation location of the laser radar device;
When an object is detected at the position of the window portion of the laser radar device, whether or not the object detected at the position of the window portion is naturally attached based on the wind direction specified by the wind information A determination processing unit that performs processing for determining
A window dirt discriminating apparatus comprising: The weather information acquisition processing unit performs processing for acquiring weather information that can specify rainfall, snowfall, and fog generation at the installation location of the laser radar device.
When the specified wind direction is the direction toward the window, the determination processing unit determines that the object detected at the position of the window is a dirt naturally attached, while the wind direction is the window If there is no direction and if the wind is not blowing, the possibility of the natural adhesion of dirt is evaluated based on the weather specified by the weather information, and the naturally attached dirt based on the evaluation result The window dirt determining apparatus according to claim 1, wherein it is determined whether or not A period in which the occurrence of rainfall, snowfall or fog is not specified is defined as period A for a predetermined judgment time or more, and the period from when the occurrence of rain, snowfall or fog is not specified until the judgment time elapses Assuming that period B is a period in which the occurrence of rainfall, snowfall or fog is specified, period B:
The determination processing unit is characterized in that period B is evaluated as having a high possibility of contamination adhering more naturally than period A, and period C is evaluated as having a possibility of contamination adhering naturally than period B. The window dirt discriminating apparatus according to claim 2, wherein   4. The window stain discrimination apparatus according to claim 2, wherein the weather information acquisition processing unit performs weather information based on data measured by the laser radar device.   The window dirt discrimination device according to any one of claims 1 to 4, wherein the wind information acquisition processing unit acquires wind information indicating a wind direction based on data measured by the laser radar device.   The window contamination judging device according to any one of claims 1 to 5, further comprising: a notification processing unit which performs processing of notifying a judgment result by the judgment processing. A window contamination discrimination method for discriminating contamination on a window portion of a laser radar device, which measures a distance to an object at a predetermined scanning angle, comprising:
Wind information acquisition processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device;
When an object is detected at the position of the window portion of the laser radar device, whether or not the object detected at the position of the window portion is naturally attached based on the wind direction specified by the wind information A determination process that performs a process of determining
The window dirt discrimination method characterized by including. According to a window dirt discriminating apparatus for discriminating dirt on a window portion of a laser radar device for measuring a distance to an object at predetermined scanning angles,
Wind information acquisition processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device;
When an object is detected at the position of the window portion of the laser radar device, whether or not the object detected at the position of the window portion is naturally attached based on the wind direction specified by the wind information A determination process that performs a process of determining
A program for determining a window stain characterized in that the program is executed.

Images