JP6775980B2 - Surveillance system and object detection device - Google Patents

Description

The present invention relates to an object detection device that detects an object such as a vehicle existing in a predetermined monitoring area and a monitoring system that monitors the detected object.

Conventionally, for example, as disclosed in Patent Document 1 below, when an obstacle is detected in advance or during movement in automatic traveling of a moving object or automatic flight control of a moving vehicle, the position is registered and the detected obstacle is detected. It is known that when an object moves away from the position of, or when an object is detected at a position other than a pre-registered obstacle, it is determined to be abnormal.

JP-A-2007-206805

In the above-mentioned Patent Document 1, it is described that an intrusion monitoring map is created by recording the position of an object detected even once.

For example, when an optical radar such as a laser sensor is used as an object detection device, when a vehicle such as an automobile enters the monitoring area and the angle of the vehicle satisfies the condition that specular reflection is likely to occur, the reflected wave of the laser irradiated toward the vehicle. A part of the above does not come back due to specular reflection, and it is divided into multiple parts and detected. That is, when specular reflection occurs in a part of the vehicle in a direction in which the laser does not reflect on the sensor, the sensor recognizes the originally one vehicle as two divided segments.

Then, when the vehicle moves further and is synthesized again as one object, when the object position once detected is recorded as an obstacle as in Patent Document 1 described above, the object detected at the time of division is temporary. Even if it is detected in, it will be recorded as an obstacle.

Further, when the vehicle stops at an angle that easily reflects the mirror surface, if the above-mentioned division occurs and one vehicle is recognized as two divided segments, it is determined that an obstacle exists near the vehicle. , If you save the information of only one of these two segments and delete the other, there is a risk that the moving object or moving flying object will be controlled by judging that there is actually nothing at the position where the object is. ..

An object of the present invention is to solve the above problems, and an object of the present invention is to provide a monitoring system and an object detection device capable of accurately identifying whether or not a detected object is an obstacle.

In order to achieve the above object, the monitoring system according to the present invention is a monitoring system that monitors a specific object that has invaded the monitoring area.
A detection means that transmits and receives detection waves to detect an object,
A determination means for determining whether or not the object detected by the detection means is the specific object to be monitored , and
A transmission means for transmitting information on the specific object and a detected object other than the specific object, and
Object detection device including
A control device including a storage unit that receives information transmitted by the object detection device, tracks the specific object as the monitoring target, and stores the position of an object other than the specific object as an obstacle in the obstacle map. When,
Bei to give a,
The object detection device is
An object other than the specific object detected within a predetermined range near the detection position of the specific object is given an identifier as an uncertain obstacle and transmitted from the transmission means.
The control device is
When the object stored in the obstacle map is the uncertain obstacle, the information of the object is deleted from the obstacle map when the detected object information is no longer received from the object detection device. To do.

Further, in the monitoring system according to the present invention, the object detecting device, said out of the objects detected by the detection position predetermined range of the specific object, continuation detection time may be uncertain obstacle objects smaller than the predetermined ..

Further, in the monitoring system according to the present invention, when the specific object is a vehicle, the size of the object detected by the object detection device is equal to or larger than a predetermined value, and a part of the shape of the object is linear. It may be determined that the vehicle is a vehicle, and a vehicle other than the vehicle may be determined as an obstacle.

Further, the monitoring system according to the present invention further includes a flight robot including an altitude control means for controlling a flight function and an altitude.
The control device wirelessly communicates with the flight robot to acquire flight state information, and when the object detection device detects the specific object, the control device instructs the flight robot to fly to the position of the specific object. The information and the position information of the obstacle stored in the obstacle map are transmitted to the flying robot, and the information is transmitted to the flying robot.
When the flying robot arrives near the position of the object, the flying robot may refer to the position information of the obstacle transmitted from the control device and control the robot to descend to a position where there is no obstacle.
..

Further, the monitoring system according to the present invention is an object detection device in a monitoring system that monitors the intrusion of a specific object into the monitoring area.
The object detection device is
A detection means that transmits and receives detection waves to detect an object,
A determination means for determining whether or not the object detected by the detection means is the specific object to be monitored , and
With
An object determined to be other than the specific object by the determination means is used as an obstacle, and the information of the object is stored as obstacle information in the obstacle map of the storage unit .
The determination means deletes the obstacle information of the object from the obstacle map when the object other than the specific object detected within the predetermined range near the detection position of the specific object is no longer detected. It is characterized by.

According to the monitoring system of the present invention, the object detection device transmits and receives a detection wave by the detection means to detect the object, and whether or not the object detected by the detection means by the determination means is a specific object to be monitored . judge. In addition, the object detection device transmits information on the specific object and the detected object other than the specific object from the transmitting means. The control device receives the information transmitted by the object detection device, adds the position of an object other than the specific object to the obstacle map, and stores it in the storage unit. The object detection device assigns an identifier, which is an uncertain obstacle, to an object other than the specific object detected within a predetermined range near the detection position of the specific object, and transmits the object from the transmitting means. When the object stored in the obstacle map is an uncertain obstacle, the control device deletes the information of the object from the obstacle map when the detected object information is no longer received from the object detection device. With this configuration, if the object stored in the obstacle map is an uncertain obstacle, the information will be deleted when the detected object information is no longer received from the object detection device. Inappropriate obstacle information can be deleted without keeping it in vain.

Further, according to the monitoring system of the present invention, among the objects detected by the detection position置所constant range of the specific object, continuation detection time is indeterminate obstacle objects smaller than the predetermined. With such a configuration, with respect to the object detected by the detecting position置所constant range of the specific object, it is possible to determine whether the uncertainty obstacles on condition continuation detection time.

Further, according to the monitoring system of the present invention, a vehicle is a vehicle when a specific object is a vehicle, the size of the object detected by the object detection device is equal to or larger than a predetermined value, and the shape of the object within a predetermined period is linear. Is determined, and objects other than the vehicle are determined to be obstacles. With such a configuration, it is possible to classify an object detected by the object detection device into a vehicle and an obstacle by using features (size and shape) for identifying the vehicle as a specific object.

Further, according to the monitoring system of the present invention, the control device wirelessly communicates with a flight robot including an altitude control means for controlling a flight function and a flight altitude to acquire flight state information, and the object detection device is a specific object. When it detects, it sends instruction information and obstacle information to the flying robot to fly to the position of a specific object. When the flying robot arrives near the position of the object, it refers to the obstacle information transmitted from the control device and controls the robot to descend to a position where the obstacle is not stored. With this configuration, it is possible to prevent the control of the flying robot from being unnecessarily restricted based on inappropriate obstacle information when controlling the flying robot to be lowered to a place without obstacles based on the detection information of the object detection device. it can.

Further, according to the object detection device of the present invention, the detection means transmits and receives a detection wave to detect the object, and the determination means determines whether or not the object detected by the detection means is a specific object to be monitored. , An object determined to be other than a specific object by the determination means is set as an obstacle, and the information of the object is stored as obstacle information in the obstacle map of the storage unit. Then, when the determination means stops detecting an object other than the specified object detected within a predetermined range near the detection position of the specific object, the obstacle information of the object is deleted from the obstacle map . With this configuration, when the information of an object other than the specific object detected by the detection means is stored in the obstacle map of the storage unit as obstacle information, it is detected within a predetermined range near the detection position of the specific object. If an object other than the specific object is no longer detected, the obstacle information of that object is deleted from the obstacle map, so that the information of the object other than the specific object is not unnecessarily held as obstacle information and the object. Obstacle information inappropriate for detection can be deleted.

It is an image diagram which shows the outline of the monitoring system which concerns on this invention. It is a schematic diagram which shows the whole structure of the monitoring system which concerns on this invention. It is a block block diagram of the object detection device in the monitoring system which concerns on this invention. It is a block block diagram of the flying robot in the monitoring system which concerns on this invention. It is a block block diagram of the control device in the monitoring system which concerns on this invention. It is a flowchart explaining the processing procedure of the object detection on the object detection device side of the monitoring system which concerns on this invention. It is a flowchart explaining the processing procedure which updates the obstacle information on the control device side based on the detection information transmitted from the object detection device of the monitoring system which concerns on this invention. It is a flowchart explaining the processing procedure of the coping process executed by the control device of the monitoring system which concerns on this invention. (A)-(d) It is explanatory drawing which shows the operation example of the monitoring system which concerns on this invention. (A), (b) It is explanatory drawing which shows the other operation example of the monitoring system which concerns on this invention.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 10 of the attached drawings.

[Overview of the present invention]
The present invention relates to an object detection device that detects an object entering the monitoring space by scanning a laser as a detection wave toward the monitoring space, and a monitoring system that monitors the object detected by the object detection device. is there.

The object detection device holds object information other than the detection target (for example, a vehicle) once detected by the sensor as obstacle information. However, when the sensor detects an object such as a vehicle to be detected, it may be detected as a plurality of split objects due to specular reflection. In this case, one of the split objects is tracked as a vehicle, but the remaining split objects may be stored as obstacles.

Therefore, in the present invention, an object detected in the vicinity of an object recognized as a specific detection target (vehicle) is not stored as obstacle information.

Thereby, for example, when the flying robot is controlled to be lowered to a place without obstacles based on the detection information of the object detection device, the control of the flying robot can be restricted based on the inappropriate obstacle information.

[About the configuration of the monitoring system]
As shown in FIGS. 1 and 2, the monitoring system 1 of the present embodiment is constructed by an object detection device 2, a robot port 3, a flight robot 4, a control device 5, and a monitoring center 6. In the monitoring system 1, as shown in FIG. 1, when the object detection device 2 detects a detection target in the monitoring area E (for example, a suspicious vehicle M that has invaded the monitoring area E), the detection target is detected. The object detection device 2 notifies the control device 5. When the object detection device 2 notifies the flight robot 4 of the detection of the detection target, the control device 5 instructs the flight robot 4 to fly via the Roboport 3. The flight robot 4 flies toward the monitoring area E according to the flight instruction from the control device 5, and includes a target location (for example, a suspicious vehicle M which is a target object) set around the detection location of the detection target in the monitoring region E. Descend to the surrounding area) and shoot. The monitoring center 6 displays a captured image transmitted from the flight robot 4 via the control device 5 on the monitor, and monitors the monitoring area E. Hereinafter, the configuration of each part for constructing the monitoring system 1 will be described.

[About the configuration of the object detection device]
When the object detection device 2 detects a target object such as a suspicious vehicle or a suspicious person in the monitoring area E, the object detection device 2 notifies the control device 5 of the detection of the object in the monitoring area E by a detection signal.

When the object detection device 2 is configured to include, for example, a laser sensor, as shown in FIG. 1, the target of the detection target that has entered the scanning range S indicated by the diagonal line by scanning the laser beam as a detection wave at a predetermined cycle. When an object (for example, an intruding object such as a suspicious vehicle or a suspicious person) M is detected, an object detection signal is transmitted to the control device 5 via, for example, a LAN to detect the target object M in the monitoring area E. Notice.

In addition to the above-mentioned laser light, the object detection device 2 may use a transmission / reception type detection wave that transmits a transmission wave and receives a reflected wave from the object to detect the object. For example, visible light. , Infrared light, ultrasonic waves, or the like may be used as a detection wave to scan the scanning range S at a predetermined cycle.

Hereinafter, the configuration of the object detection device 2 will be described in more detail with reference to FIG.

The object detection device 2 is installed on the outdoor wall surface of the monitoring building at a horizontal or constant depression angle so that the detection target in the monitoring area E in FIG. 1 is irradiated with the laser beam. Since the object detection device 2 in the present embodiment targets a person and a vehicle, the installation height on the wall surface is set to the height at which the person and the vehicle invading the monitoring area E are irradiated with the laser beam as a detection wave. Will be installed.

As shown in FIG. 3, the object detection device 2 is composed of a communication unit 21 that connects to the control device 5 to communicate, a detection unit 22 that irradiates and receives laser light, an HDD, a memory, and the like, and various setting information. A storage unit 23 for storing a device, a program, or the like, and a control unit 24 composed of an MPU, a microcomputer, or the like and controlling each unit are generally configured.

The communication unit 21 is connected to the control device 5, and when the control unit 24 determines the existence of the detection target in the monitoring area E, the communication unit 21 transmits a detection signal including its own address information to the control device 5. In addition, obstacle information other than the detection target is transmitted to the control device 5 at the timing when the obstacle is detected or at predetermined intervals.

The detection unit 22 scans the monitoring area E with the laser beam to detect the position of the object as the detection target reflecting the laser beam. Although not particularly shown, the detection unit 22 includes a laser oscillation unit that emits near infrared rays, a scanning mirror that reflects laser light and irradiates it from the object detection device 2, and a scanning control unit that drives the scanning mirror to rotate at a constant speed. , A reflected light detection unit provided in the vicinity of the laser oscillation unit provided with a light receiving element, a distance measurement data generation unit that generates distance measurement data as a result of laser light irradiation, and the like.

The laser beam emitted from the detection unit 22 is controlled in the irradiation direction and scans at least the entire monitoring area E. This scanning is performed at a predetermined measurement cycle (for example, 30 msec), and the position of the detected object is calculated from the time required from the irradiation of the laser light to the detection of the reflected light and the scanning angle.

In the present embodiment, the measurement data obtained by the detection unit 22 is referred to as distance measurement data. Specifically, the distance measurement data is the result of measuring the monitoring area E at a predetermined angular interval (for example, 0.25 °) in one scan by the detection unit 22. For example, if distance measurement data is acquired at intervals of 0.25 ° in a range of 180 °, 721 distance values can be obtained. A set of these 721 distance values becomes one distance measurement data. The distance measurement data is stored in the storage unit 23 as information (table) of a collection of a plurality of measurement point data in which an angle (direction) and a distance are associated with each other.

The detection unit 22 generates distance measurement data and outputs it to the control unit 24 every time one scan is completed at a predetermined cycle interval (for example, 30 msec).

The storage unit 23 is composed of, for example, a ROM, a RAM, an HDD, or the like, and stores address information and various programs for identifying the object detection device 2 itself. In addition, the storage unit 23 further stores various information for operating the object detection device 2. Specifically, as shown in FIG. 3, the storage unit 23 is detected by the warning area information 23a indicating the set monitoring area E, the reference data 23b generated by the control unit 24, and the detection unit 22. The tracking information 23c of the object is stored.

The warning area information 23a is information indicating a monitoring area E that is set as a range to be monitored by the object detection device 2, for example, according to the security planning of the monitoring area by a security company or the like. The range of the monitoring area E is the angle (direction) in which the angle (direction) from the detection unit 22 and the distance value are associated with each predetermined angle interval (for example, 0.25 °) in which the detection unit 22 scans. It is stored in the storage unit 23 as a table of distances.

The reference data 23b is comparison reference information used for extracting an object newly appearing in the monitoring area E in comparison with the current ranging data. The reference data 23b is generated from distance measurement data acquired at any past time point from the start of scanning by the detection unit 22 to the present, and is stored in the storage unit 23 as a table of angles (directions) and distances.

The tracking information 23c is information used for tracking an object newly appearing in the monitoring area E over a plurality of cycles. In the tracking information 23c, the position and size of the object in the current cycle, whether or not the object is determined to be detected, and the position and size of the object first appearing in the monitoring area E are associated and stored in the storage unit 23. To. The tracking information 23c is deleted from the storage unit 23 when the tracking cannot be performed for a predetermined period or longer.

The tracking information 23c stored in the storage unit 23 includes not only specific target objects such as vehicles described later but also information such as obstacles.

The control unit 24 is composed of, for example, a microcomputer composed of a CPU, ROM, RAM, and the like and peripheral circuits thereof, and controls each unit. The control unit 24 includes a microcomputer and a detection target determination unit 24a for determining the presence or absence of a detection target as a functional module realized by a computer program executed on the microcomputer.

The detection target determination unit 24a compares the current ranging data with the reference data 23b, detects an object appearing in the monitoring area E as a change area, and calculates the feature amount and the movement amount of this object. Then, based on the feature amount and the movement amount, it is determined whether or not the object is the detection target.

When the detection target determination unit 24a detects an object that appears in the monitoring area E, it evaluates this object over a plurality of cycles to determine whether or not it is a detection target.

Specifically, the detection target determination unit 24a calculates the difference between the distance value for each scanning angle obtained from the distance measurement data and the distance value for each angle (reference data 23b) for each corresponding angle, and uses the reference. A measurement point that is closer than the data, that is, a measurement point whose distance value has changed is detected as a change point. Then, the detection target determination unit 24a groups the measurement points whose distance values have changed due to the same detection target as a change region.

Further, the detection target determination unit 24a determines whether or not the change region is a specific detection target object (for example, a vehicle, a person, etc.).

Further, the detection target determination unit 24a will be described in the case where, for example, the size of the change region is equal to or larger than a predetermined size and the shape of the change region is linear, or the change region includes a substantially right-angled portion. Is determined to be a vehicle. As a result, when the purpose is to photograph the vehicle in the control of the flight robot 4 described later, it is possible to treat a vehicle other than the vehicle as an obstacle. In addition to the above, an upper limit value may be set for the size of the change region, and when the size of the change region is less than a predetermined size, it may be determined as a vehicle. Further, in the above, the linear shape of the changing region may include a linear portion having a predetermined range length as a part of the changing region. Whether it is a straight line or not is determined by obtaining an approximate straight line at each point where the distance value approximates among the distance measurement points constituting the change region, and the total error between the distance measurement points and the approximate straight line is less than or equal to a predetermined value. Can be determined by.

Then, the object detection device 2 transmits the detection information obtained by adding the attribute information (vehicle) to the position information of the change region to the control device 5 via the communication unit 21.

On the other hand, when the object detection device 2 cannot determine that the change area is a specific detection target object, the object detection device 2 transmits obstacle information obtained by adding accuracy information to the position information of the change area to the control device 5 via the communication unit 21. .. In this case, the object detection device 2 transmits all the obstacle information detected by the object detection device 2 to the control device 5.

Here, when the accuracy information can be continuously tracked for a predetermined duration (for example, 1 s) or more, an identifier (flag) which is a definite obstacle is added and transmitted to the control device 5 together with the position information. On the contrary, when the duration is less than the predetermined number of times, an identifier (flag) indicating that the obstacle is uncertain is added and the signal is transmitted to the control device 5.

Here, although it is determined whether the obstacle is a definite obstacle or an uncertain obstacle based on the duration, the number of times detected in a predetermined number of scans is equal to or greater than the predetermined number (for example, 20 or more out of 30 scans). ), The information of a definite obstacle and the case of less than a predetermined value of an uncertain obstacle may be added and transmitted to the control device 5. For example, there is a case where a temporarily flying object or snowfall is accidentally detected, and if it is not detected again by making it an uncertain obstacle, it is not possible to delete it from the obstacle information. There is no need to memorize necessary information.

Further, here, the change region detected within a predetermined range (for example, 1 m) from the position of the change region determined to be a specific object (for example, the position of the center of gravity) is determined as an uncertain obstacle. For example, when a laser beam hits a vehicle or the like, specular reflection occurs, and if the signal does not partially return, it may be detected as a plurality of change regions, and one is determined to be a vehicle. This is because there is a problem that other change areas are determined to be obstacles that appear temporarily. Specific examples will be described later.

Further, the detection target determination unit 24a performs a tracking process for determining whether or not a change region caused by the same object to be measured exists in the detection result of the previous cycle with reference to the tracking information. The association with the detection result of the previous cycle is performed based on the distance and size between the objects detected in both cycles. That is, when the distance between the objects detected in both cycles is within the threshold value and the magnitude fluctuation is within the threshold value, the change region is associated.

However, when the change area is associated, the tracking information stores the position and size of the change area detected in the current cycle and whether or not it is determined to be the detection target.

The function of the control unit 24 described above may be provided in the control device 5 described later, and the information stored in the storage unit 23 may be stored in the control device 5 described later. Further, the obstacle map in the control device 5 described later may be stored in the storage unit 23 of the object detection device 2 to manage the obstacle information.

[About Roboport configuration]
The Roboport 3 is a standby place for the flight robot 4, and is provided with equipment for taking off and landing of the flight robot 4 in response to an instruction from the control device 5. Further, the Roboport 3 is provided with a mechanism for accommodating the flying robot 4 in the port when the flying robot 4 lands, and when the flying robot 4 is accommodated in the port, the robot port 3 is in contact with or not in contact with the flying robot 4. Has a function to supply power.

[About the configuration of the flying robot]
The flight robot 4 is on standby at the Roboport 3 in a normal state where no flight instruction is received from the control device 5, and when the object detection device 2 detects the detection target and the control device 5 is notified, the control device 5 According to the instruction from, the aircraft flies toward the target position (destination) P while avoiding obstacles at a speed according to the flight altitude.

As shown in FIG. 4, the flight robot 4 is roughly configured including a rotor 41, a rotor drive unit 42, an antenna 43, an altitude sensor 44, a photographing unit 45, a storage unit 46, a power supply 47, and a robot control unit 48.

The rotor 41 is composed of, for example, four rotating bodies, and is driven by the rotor drive unit 42 so as to fly the body of the flying robot 4 for ascending / descending / directing / advancing.

The rotor drive unit 42 drives each rotating body of the rotor 41 under the control of the robot control unit 48 in order to make the flight robot 4 fly ascending, descending, changing direction, moving forward, and the like.

The antenna 43 is provided in the robot main body, and wirelessly communicates with the control device 5 by low power wireless, Wi-Fi, or the like.

The altitude sensor 44 measures the current altitude of the flying robot 4 by the barometric pressure value of the barometric pressure sensor, a laser that is projected and received vertically downward from the body of the flying robot 4, and the like under the control of the robot control unit 48.

The photographing unit 45 is composed of, for example, a camera using an image sensor, and photographs the surroundings (for example, forward or downward) of the flying robot 4.

The storage unit 46 temporarily stores the detected object information and the obstacle information from the control device 5. Further, the storage unit 46 sequentially stores images taken by the photographing unit 45 while the flying robot 4 is in flight.

The power source 47 is composed of, for example, a rechargeable battery such as a lithium polymer battery, and supplies necessary electric power to each part of the flight robot 4.

The robot control unit 48 controls each unit of the flight robot 4 in an integrated manner, and includes a photographing control means 48a, a rotor control means 48b, and an attitude control means 48c.

The shooting control means 48a performs processing such as starting and ending shooting of the shooting unit 45, controlling the shooting angle of the shooting unit 45, acquiring an image shot by the shooting unit 45, and transmitting a live image to the control device 5.

The rotor control means 48b controls the rotor drive unit 42 to control the altitude and speed of the flight robot 4 while avoiding obstacles according to the obstacle information received from the control device 5 and temporarily stored in the storage unit 46. It is controlled so as to reach the target value instructed by the device 5.

The attitude control means 48c controls the attitude of the flight robot 4 in flight based on the flight state (direction, attitude, acceleration, etc.), the current position, and the current altitude of the flight robot 4.

Then, when the flying robot 4 configured as described above receives the detected object information and the obstacle information from the control device 5, temporarily stores them in the storage unit 46, and reaches the target position instructed by the control device 5. Based on the obstacle information received from the control device 5, when it is determined that there is no obstacle in the vicinity thereof, the photographing unit 45 performs downward control for taking a picture or the like.

[Control device configuration]
The control device 5 is installed, for example, at a predetermined location in the monitoring area E or in the vicinity of the monitoring area E. The control device 5 is connected to the object detection device 2 via, for example, a LAN, and receives a detection signal from the object detection device 2.

When the control device 5 receives the detection signal from the object detection device 2, the control device 5 wirelessly communicates with the flight robot 4 and gives various control instructions to the flight robot 4 based on various information transmitted from the flight robot 4. It has the function of a monitoring device. When the control device 5 receives various instructions such as a shooting instruction by the flight robot 4 and a flight instruction to a predetermined position from the monitoring table 6a of the monitoring center 6, various control instructions are given to the flight robot 4.

The control device 5 controls the flight of the flight robot 4, and includes a communication unit 51, a storage unit 52, and a control unit 53, as shown in FIG.

The communication unit 51 performs wireless communication such as low power radio and Wi-Fi communication with the flight robot 4, and information such as position (latitude, longitude, altitude), speed, etc. as flight state information from the flight robot 4. Is received, and various control signals corresponding to the received information are transmitted to the flight robot 4.

When the communication unit 51 receives the flight instruction of the flight robot 4 from the monitoring table 6a of the monitoring center 6, it transmits various control signals according to the flight instruction to the flight robot 4.

Further, the communication unit 51 transmits the image taken by the photographing unit 46 of the flight robot 4 to the monitoring center 6 via a virtual private network (VPN) constructed on a wide area network (WAN) such as the Internet. Further, the communication unit 51 receives the detected object information from the object detection device 2.

The storage unit 52 is composed of, for example, a ROM, a RAM, or the like, and represents a flight area map in which the area where the flight robot 4 flies is expressed in three dimensions of latitude, longitude, and altitude, and monitoring area information which is various information related to the monitoring area E. Data for communicating with the flying robot 4, various parameters for controlling the flight of the flying robot 4, position information (latitude, longitude information) of the roboport 3, the type of the object detection device 2 in the monitoring area E, and the object. The installation position information (latitude, longitude information) of the detection device 2 and various programs for realizing the functions of the control device 5 are stored in addition to these.

Further, the storage unit 52 stores the information of the detected object existing in the monitoring area E transmitted from the object detection device 2 in the obstacle map by adding its attributes and position information. Attributes include whether or not it is a specific object (vehicle, person), whether it is a definite obstacle (definite obstacle), or whether it is an uncertain obstacle (uncertain obstacle). An identifier (flag) is added to each obstacle and stored.

The control unit 53 reads a software module from the storage unit 52, performs each process by a CPU or the like, and controls each unit in an integrated manner, and includes flight control means 53a, imaging control means 53b, and state confirmation means 53c.

The flight control means 53a acquires flight state information, position information, and altitude information from the flight robot 4 via the communication unit 51, and outputs control signals related to the flight of the flight robot 4, such as the target position P and speed of the flight robot 4. It is transmitted to the flight robot 4 via the communication unit 51 to control the flight of the flight robot 4.

The shooting control means 53b controls shooting by the shooting unit 46 of the flying robot 4, and is a shooting permission signal (shooting prohibition release signal) or shooting prohibition based on the current position acquired from the flying robot 4 via the communication unit 51. The signal is transmitted to the flight robot 4 via the communication unit 51.

The state confirmation means 53c confirms the state of the flight robot 4, and periodically confirms whether or not the function of the flight robot 4 is normal when the flight robot 4 is waiting at the robot port 3.

[About the configuration of the monitoring center]
As shown in FIG. 2, the monitoring center 6 includes a monitoring table 6a such as a terminal device that receives an image captured by the flight robot 4 via the control device 5 and displays the received image. In addition, the monitoring center 6 operates a monitoring table 6a at the discretion of the observer to direct the flight robot 4 to an arbitrary location (flight route instruction, target position P and speed instruction, takeoff instruction, return instruction). , Ascending instructions, etc.) can also be given.

[About the obstacle map update process]
Next, the obstacle map update process stored in the control device 5 will be described with reference to FIGS. 6 and 7. FIG. 6 is a flowchart illustrating object detection on the object detection device 2 side. FIG. 7 is a flowchart for updating obstacle information on the control device 5 side based on the detection information transmitted from the object detection device 2.

(Processing of object detection device)
The control unit 24 of the object detection device 2 first compares the distance measurement data from the detection unit 22 with the reference data and determines whether or not there is a change (S101). When the control unit 24 of the object detection device 2 compares the distance measurement data with the reference data and determines that there is a change, the process proceeds to S102.

In S102, objects that can be regarded as the same object are grouped into a change area, a label is set if it is a new change area, and the position information is updated for an object that can be determined to be the same as the past data (tracking process). ).

Next, the control unit 24 of the object detection device 2 calculates the feature amount (size, linearity, etc.) of the grouped change regions (S103).

Then, the control unit 24 of the object detection device 2 determines whether or not the object is a specific detection target (for example, a vehicle, a person, etc.) (S104). This determination method is as described above, and when it is determined that it is a specific detection target (S104-Yes), the change area is determined to be a specific object and an identifier (flag) indicating that it is a detection target is given (S105). ), This detection information is transmitted to the control device 5 (S106).

When the control unit 24 of the object detection device 2 determines that it is not a specific detection target (S104-No), then whether or not the change region is within a predetermined range from the change region determined to be a specific detection target. That is, it is determined whether or not the object is in the vicinity of the specific object (S107).

Then, when the control unit 24 of the object detection device 2 determines that it is in the vicinity of the specific object (S107-Yes), it determines that the change region is an uncertain obstacle and an identifier (flag) indicating that it is an uncertain obstacle. ) Is added (S108), and this detection information is transmitted to the control device 5 (S106).

When the control unit 24 of the object detection device 2 determines that the object is not in the vicinity of the specific object (S107-No), then determines whether the detection frequency within the predetermined period is less than or equal to the predetermined value, that is, whether the detection degree is low or not. Judgment (S109).

When the control unit 24 of the object detection device 2 determines that the detection degree is low (S109-Yes), it determines that the change area is an uncertain obstacle and assigns an identifier (flag) indicating that it is an uncertain obstacle (flag). S108), this detection information is transmitted to the control device 5 (S106).

When the control unit 24 of the object detection device 2 determines that the detection degree is high (S109-No), it determines that the change region is a definite obstacle and assigns an identifier (flag) indicating that it is a definite obstacle (S110). , This detection information is transmitted to the control device 5 (S106).

Then, in S106, the control unit 24 of the object detection device 2 adds attribute information (specific object, definite obstacle, uncertain obstacle) to the position information of the detected change area and transmits it to the control device 5. Here, all the information of the change area currently detected is transmitted to the control device 5.

Then, when the control unit 24 of the object detection device 2 transmits the detection information to the control device 5, it determines whether or not the processing is completed, for example, when security is completed (S111). When the control unit 24 of the object detection device 2 determines that the processing is completed (S111-Yes), the processing is completed, and when it is determined that the processing is not completed and is not completed (S111-No), the process proceeds to S101. Return (A in the figure).

(Control device processing)
The control device 5 receives the detection information of the object (change area) detected by the object detection device 2 at a predetermined cycle, and updates the obstacle map stored in the storage unit 52 of the control device 5. Hereinafter, it will be described with reference to FIG.

The control unit 53 of the control device 5 first determines whether or not the detection information is received from the object detection device 2 (S201).

Next, when the control unit 53 of the control device 5 determines that the detection information has been received from the object detection device 2 (S201-Yes), it determines whether or not the object detection device 2 has detected a detection target to be dealt with. (S202). Then, when it is determined that the flight robot 4 needs to take measures as necessary measures, the process proceeds to S203.

In S203, when it is determined that the coping by the flying robot 4 is necessary (S202-Yes), the coping process is executed. This coping process will be described later with reference to FIG.

Next, the control unit 53 of the control device 5 determines whether the detection information received from the object detection device 2 is due to a new object (S204).

Then, when the control unit 53 of the control device 5 determines that the detection information received from the object detection device 2 is due to a new object (S204-Yes), the control unit 53 adds the detection information to the obstacle map (S205).

Subsequently, the control unit 53 of the control device 5 compares the detected object information transmitted from the object detection device 2 with the information stored in the obstacle map, and determines whether or not there is a lost object, that is, a lost obstacle. It is determined whether or not there is (S206).

When the control unit 53 of the control device 5 determines that there is a disappearing obstacle (S206-Yes), it determines whether or not the disappeared object is given an identifier (flag) of an uncertain obstacle (S207).

Then, when the control unit 53 of the control device 5 determines that the identifier (flag) of the uncertain obstacle is given (S207-Yes), it deletes it from the obstacle map (S208).

After that, the control unit 53 of the control device 5 determines whether or not to stop the process due to, for example, the end of security (S209). When the control unit 53 of the control device 5 determines that the processing is stopped (S209-Yes), the processing is stopped, and when it is determined that the processing is continued without stopping (S209-No), the process returns to S201 (B in the figure).

When the control unit 53 of the control device 5 determines in S204 that the detection information received from the object detection device 2 is not due to a new object (S204-No), the process proceeds to S206.

Further, when the control unit 53 of the control device 5 determines in S206 that there is no disappearing obstacle (S206-No), it determines that the object disappeared in S207 is not given an identifier (flag) of an uncertain obstacle. When (S207-No), the process proceeds to S209.

[Corrective action]
Next, the coping process executed by the control device 5 of the monitoring system 1 when the detection target is detected in the monitoring area E will be described with reference to FIG.

If there is, for example, a suspicious vehicle in the monitoring area E as a detection target in the monitoring area E, the object detection device 2 detects the suspicious vehicle as the target object M. Then, the object detection device 2 transmits the detection signal by the target object M to the control device 5, and notifies the control device 5 that the detection target is detected in the monitoring area E.

In the coping process of FIG. 8, first, it is determined whether or not the object detection device 2 has detected an object to be detected that needs to be dealt with by the flying robot 4 based on the detection signal from the object detection device 2 (S301).

When the control unit 53 of the control device 5 determines that the detection signal is input from the object detection device 2 and the object detection device 2 has detected the detection target, the control unit 53 calculates the target position P and the flight route to be directed to the flight robot 4. And set (S302).

Then, the control unit 53 of the control device 5 transmits the flight route instruction to the target position P and the obstacle information stored in the obstacle map to the flight robot 4 via the robot port 3. Update information is sent to this obstacle information until the handling is completed. (S303).

Subsequently, the control unit 53 of the control device 5 transmits a takeoff instruction to the flight robot 4 via the robot port 3 (S304). When the flight robot 4 receives a flight route instruction and a takeoff instruction from the control device 5 to the target position P via the robot port 3, the rotor control means 48b controls the rotor drive unit 42 to drive each rotor 41, and the flight robot 4 drives each rotor 41. Take off from 3, fly according to the flight route, and move toward the target position P.

Next, the control unit 53 of the control device 5 determines whether or not the flight robot 4 has flown and moved to the vicinity of the target position P (S305). When the control unit 53 of the control device 5 determines that the flight robot 4 has not moved to the vicinity of the target position P, the control unit 53 returns to the process of S305. When the control unit 53 of the control device 5 determines that the flight robot 4 has moved to the vicinity of the target position P, the control unit 53 transmits a descent instruction to the flight robot 4 (S306). When the flying robot 4 receives a descent instruction from the control device 5, it controls the rotor drive unit 42 to control each rotor when it determines that there is no obstacle directly under the obstacle information transmitted from the control device 5. Drive 41 and lower the aircraft.

When the flying robot 4 descends to a predetermined height, it starts photographing the surroundings including the target object M in the monitoring area E (S307).

Next, the control unit 53 of the control device 5 determines whether or not the imaging by the imaging unit 45 of the flight robot 4 has been completed (S308). When the control unit 53 of the control device 5 determines that the shooting by the shooting unit 45 of the flight robot 4 has been completed, the control unit 53 ends the coping process when the detection target is detected.

In the coping process described above, the control unit 53 of the control device 5 determines one of the two determination processes (S107 and S109 in FIG. 6) for determining whether or not the change region is an uncertain object. Only the processing may be executed.

Further, when the control unit 53 of the control device 5 determines in the above-described coping process that the shooting by the shooting unit 45 of the flight robot 4 has been completed, the control unit 53 transmits a return instruction to the flight robot 4 as necessary to fly. The robot 4 can be returned to the robot port 3.

[Specific examples]
Next, the specific operation of the monitoring system of the present embodiment will be described with reference to FIGS. 9 and 10.

(Specific example 1)
FIG. 9 shows an example in which the vehicle P enters the monitoring area by the route of P1 → P2 → P3 → P4. Now, when the object detection device 2 scans the detection wave in the scanning range S of FIG. 9A, as shown in FIG. 9B, the object detection device 2 sets the change region D1 of the position of P2 as a specific object to be detected. It shall be recognized as (vehicle). Further, as shown in FIG. 9C, the object detection device 2 recognizes the vehicle P as change regions D2 and D3 divided into two by specular reflection when the vehicle P moves from P2 and temporarily stops at the position of P3. It is assumed that

In this case, the object detection device 2 determines one of the changing regions (for example, D2) as a vehicle and the other changing region (for example, D3) as an obstacle, but the changing region determined as an obstacle is a vehicle. Since it is detected near the recognized object, the obstacle information to which the identifier (flag) of the uncertain obstacle is added is transmitted to the control device 5. The control device 5 adds obstacle information transmitted from the object detection device 2 and stores it in the obstacle map.

Then, when the vehicle P moves from P3 to P4, as shown in FIG. 9D, the obstacle (change area D2) determined to be an uncertain obstacle in P3 is actually moving, so that the detection point. Will not be detected. Therefore, the control device 5 deletes the obstacle information to which the uncertain obstacle identifier (flag) is attached from the obstacle map.

As a result, even if it is temporarily detected by specular reflection and stored as obstacle information, if it is not detected after that, it will be deleted from the obstacle information, so it will fly without maintaining inappropriate information. It is possible to safely control the robot.

(Specific example 2)
10 (a) and 10 (b) are examples of detection data at times t = t1 and t2 detected by the object detection device 2.

The object detection device 2 detects a plurality of objects at time t = t1 in FIG. 10A, and adds a flag to be an uncertain obstacle (white circle) based on the detection frequency, and a definite obstacle. Information with a flag set to (black circle) is transmitted to the control device 5.

Then, time has passed from the state of FIG. 10 (a), and at time t = t2 of FIG. 10 (b), s2 (uncertain obstacle) and s4 (determined obstacle) have not been detected by the object detection device 2. Suppose that In this case, the control device 5 deletes s2 from the obstacle map among the disappeared obstacles, and maintains the obstacle information assuming that s4 is temporarily invisible.

As a result, for objects that are temporarily detected in the monitoring area, such as snow and flying objects, if they are not detected after that, they are deleted from the obstacle map to prevent inappropriate information from being stored. It is possible to prevent restrictions on the control of moving objects (flying robots). On the other hand, for obstacles that are once determined to have high accuracy, even if they cannot be detected temporarily, the moving object can be safely controlled by not deleting them from the obstacle map.

In the above-described embodiment, the obstacle information detected by the object detection device 2 is transmitted to the control device 5, and the obstacle map is stored in the storage unit 52 of the control device 5. However, the obstacle map information May be stored in the storage unit 23 of the object detection device 2, the obstacle information may be managed by the object detection device 2, and the obstacle information may be transmitted to the control device 5.

In this case, the obstacle map classified into the above-mentioned definite obstacle and the uncertain obstacle in the object detection device 2 is updated at any time according to the detection result of the detection unit 22. That is, from the detection result of the detection unit 22, when the object classified as an uncertain obstacle is no longer detected, the object is deleted from the obstacle map, while even if the object classified as a definite obstacle is not detected, the obstacle map is deleted. Do not delete. The latest obstacle information is transmitted to the control device 5 without an identifier (flag). Then, the control device 5 transmits the latest obstacle information transmitted from the object detection device 2 to the flight robot.

Further, in the above-described embodiment, an example in which the descent control of the flying robot is performed based on the obstacle information detected by the object detection sensor 2 has been described. However, for example, an autonomous mobile robot that patrols and monitors a predetermined area of the present invention. It is also possible to mount an object detection device and control the movement while avoiding obstacles.

Although the best form of the object detection device and the monitoring system according to the present invention has been described above, the present invention is not limited by the description and drawings in this form. That is, it goes without saying that all other forms, examples, operational techniques, and the like made by those skilled in the art based on this form are included in the category of the present invention.

1 Monitoring system 2 Object detection device 3 Roboport 4 Flying robot 5 Control device 6 Monitoring center 21 Communication unit 22 Detection unit 23 Storage unit 23a Warning area information 23b Reference data 23c Tracking information 24 Control unit 24a Detection target judgment unit 41 Rotor 42 Rotor drive Unit 43 Antenna 44 Altitude sensor 45 Imaging unit 46 Storage unit 47 Power supply 48 Robo control unit 48a Imaging control unit 48b Rotor control means 48c Attitude control means 51 Communication unit 52 Storage unit 53 Control unit 53a Flight control means 53b Imaging control means 53c Status confirmation means

Claims (5)

A monitoring system that monitors a specific object that has entered the monitoring area.
A detection means that transmits and receives detection waves to detect an object,
A determination means for determining whether or not the object detected by the detection means is the specific object to be monitored , and
A transmission means for transmitting information on the specific object and a detected object other than the specific object, and
Object detection device including
A control device including a storage unit that receives information transmitted by the object detection device, tracks the specific object as the monitoring target, and stores the position of an object other than the specific object as an obstacle in the obstacle map. When,
Bei to give a,
The object detection device is
An object other than the specific object detected within a predetermined range near the detection position of the specific object is given an identifier as an uncertain obstacle and transmitted from the transmission means.
The control device is
When the object stored in the obstacle map is the uncertain obstacle, the information of the object is deleted from the obstacle map when the detected object information is no longer received from the object detection device. Monitoring system. Monitoring system according to claim 1 wherein the object detection device, of the object detected by the detection position predetermined range of the specific object, the continuation detection time is indeterminate obstacle objects smaller than the predetermined. The specific object is a vehicle, and when the size of the object detected by the object detection device is equal to or larger than a predetermined value and a part of the shape of the object is linear, it is determined to be a vehicle, and obstacles other than the vehicle are obstacles. The monitoring system according to claim 1 or 2, wherein the monitoring system is determined to be an object. Further equipped with a flying robot including altitude control means to control flight function and flight altitude,
The control device wirelessly communicates with the flight robot to acquire flight state information, and when the object detection device detects the specific object, the control device instructs the flight robot to fly to the position of the specific object. The information and the position information of the obstacle stored in the obstacle map are transmitted to the flying robot, and the information is transmitted to the flying robot.
The monitoring system according to claim 1 to 3, wherein when the flying robot arrives near the object position, it refers to the position information of the obstacle transmitted from the control device and controls the robot to descend to a position where there is no obstacle. .. An object detection device in a monitoring system that monitors the intrusion of a specific object into the monitoring area.
The object detection device is
A detection means that transmits and receives detection waves to detect an object,
A determination means for determining whether or not the object detected by the detection means is the specific object to be monitored , and
With
An object determined to be other than the specific object by the determination means is used as an obstacle, and the information of the object is stored as obstacle information in the obstacle map of the storage unit .
The determination means deletes the obstacle information of the object from the obstacle map when the object other than the specific object detected within the predetermined range near the detection position of the specific object is no longer detected. An object detection device characterized by.

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