JP7216469B2 - Perimeter monitoring device - Google Patents

Perimeter monitoring device Download PDF

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JP7216469B2
JP7216469B2 JP2021528054A JP2021528054A JP7216469B2 JP 7216469 B2 JP7216469 B2 JP 7216469B2 JP 2021528054 A JP2021528054 A JP 2021528054A JP 2021528054 A JP2021528054 A JP 2021528054A JP 7216469 B2 JP7216469 B2 JP 7216469B2
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篤規 平野
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Description

本明細書は、監視エリア内に入った人と物体とを区別して検出する周辺監視装置に関する技術を開示したものである。 This specification discloses a technique related to a perimeter monitoring device that distinguishes and detects a person and an object that have entered a monitoring area.

例えば、特許文献１（特開２００６－３３７２１６号公報）には、無人搬送車の移動方向に人がいるか否かを検出する人検知器において、赤外線センサを無人搬送車の前面に取り付けると共に、この赤外線センサの検出エリア内における人や物体までの距離を検出する距離センサを無人搬送車の後部上面に取り付け、赤外線センサの検出信号レベルが所定値以上で、且つ、距離センサが検出した距離の変化が無人搬送車の移動による距離の変化と異なる場合に人を検出したと判断することが記載されている。 For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2006-337216), in a human detector that detects whether or not there is a person in the moving direction of the automatic guided vehicle, an infrared sensor is attached to the front surface of the automatic guided vehicle, and this A distance sensor that detects the distance to a person or object within the detection area of the infrared sensor is attached to the rear upper surface of the automatic guided vehicle, and the detection signal level of the infrared sensor is a predetermined value or more, and the change in the distance detected by the distance sensor. is different from the change in distance due to movement of the automatic guided vehicle, it is determined that a person has been detected.

特開２００６－３３７２１６号公報Japanese Patent Application Laid-Open No. 2006-337216

しかし、上記特許文献１の構成では、無人搬送車の移動方向に人がいるか否かを検出できるだけであり、人の位置（例えば無人搬送車の移動方向の右寄りの位置か左寄りの位置か等）は検出できない。しかも、無人搬送車の移動方向にいる人が静止していて全く動かない場合には、距離センサが検出した距離の変化が無人搬送車の移動による距離の変化と一致するため、人として検出されないという欠点もある。また、赤外線センサと距離センサとを無人搬送車の前面と後部上面に離して取り付ける構成であるため、赤外線センサと距離センサの取付誤差によって両センサの相対的な位置関係の精度が低下しやすく、その影響で人の検出精度が低下するおそれがあると共に、無人搬送車への人検知器の取付作業に手間がかかるという欠点もある。 However, in the configuration of Patent Document 1, it is only possible to detect whether or not there is a person in the movement direction of the automatic guided vehicle, and the position of the person (for example, whether the position is rightward or leftward in the movement direction of the automatic guided vehicle). cannot be detected. Moreover, when a person in the direction of movement of the automatic guided vehicle is stationary and does not move at all, the change in distance detected by the distance sensor matches the change in distance due to the movement of the automatic guided vehicle, so the person is not detected as a person. There is also a drawback. In addition, since the infrared sensor and the distance sensor are installed separately on the front and rear upper surfaces of the automatic guided vehicle, the accuracy of the relative positional relationship between the infrared sensor and the distance sensor tends to decrease due to mounting errors between the two sensors. As a result, there is a possibility that the human detection accuracy may be lowered, and there is also the drawback that it takes time and effort to attach the human detector to the automatic guided vehicle.

上記課題を解決するために、人及び物体を検出対象とする複数の電波センサと、人を検出する少なくとも１つの人感センサとを１枚の回路基板に搭載した周辺監視装置であって、前記複数の電波センサは、各々の検出エリアが所定の監視エリアをカバーするように所定の位置関係で配置され、各電波センサは、前記監視エリア内に入った検出対象を検出したときに前記検出対象までの距離を測定し、前記複数の電波センサの位置関係と各電波センサで測定した前記検出対象までの距離との関係に基づいて前記検出対象の位置を検出するように構成され、前記人感センサは、検出エリアが前記監視エリアをカバーするように構成され、前記複数の電波センサの検出結果と前記人感センサの検出結果とに基づいて前記監視エリア内に入った人と物体とを区別して検出し、且つ、検出した人と物体の位置を検出するように構成され、前記複数の電波センサが検出対象を検出したときに前記人感センサが人を検出したか否かの判定処理を実行してその判定結果に基づいて前記検出対象が人か物体かを区別するように構成されている。 In order to solve the above problems, there is provided a surroundings monitoring device in which a plurality of radio wave sensors for detecting people and objects and at least one human sensor for detecting people are mounted on a single circuit board, The plurality of radio wave sensors are arranged in a predetermined positional relationship so that each detection area covers a predetermined monitoring area, and each radio wave sensor detects a detection target that has entered the monitoring area. and detecting the position of the detection target based on the relationship between the positional relationship of the plurality of radio wave sensors and the distance to the detection target measured by each radio wave sensor, The sensor is configured such that a detection area covers the monitoring area, and distinguishes between a person and an object entering the monitoring area based on detection results of the plurality of radio wave sensors and detection results of the human sensor. It is configured to separately detect and detect the positions of the detected people and objects, and determine whether or not the human sensor has detected a person when the plurality of radio wave sensors have detected a detection target. It is configured to distinguish whether the object to be detected is a person or an object based on the result of execution.

この構成では、複数の電波センサと少なくとも１つの人感センサとを１枚の回路基板に搭載して周辺監視装置を構成しているため、この周辺監視装置を移動体等に取り付けた場合でも各センサの相対的な位置関係がずれることがなく、各センサの相対的な位置関係のずれによる検出対象の検出精度の低下を防止できると共に、移動体等への周辺監視装置の取付作業も簡単である。しかも、複数の電波センサの検出結果と人感センサの検出結果とに基づいて監視エリア内に入った人と物体とを区別して検出できると共に、検出した人と物体の位置も検出することができる。
In this configuration, a plurality of radio wave sensors and at least one human sensor are mounted on a single circuit board to form a perimeter monitoring device. Since the relative positional relationship of the sensors does not shift, it is possible to prevent the deterioration of the detection accuracy of the detection target due to the relative positional deviation of each sensor. be. Moreover, based on the detection results of the plurality of radio wave sensors and the detection results of the human sensor, it is possible to distinguish and detect a person and an object entering the monitoring area, and to detect the position of the detected person and the object. .

図１は一実施例における周辺監視装置の各センサの位置関係と各センサの検出エリアと監視エリアとの関係を説明する平面図である。FIG. 1 is a plan view for explaining the positional relationship of each sensor and the relationship between the detection area of each sensor and the monitoring area of the perimeter monitoring device in one embodiment. 図２は周辺監視装置の斜視図である。FIG. 2 is a perspective view of the perimeter monitoring device. 図３は周辺監視装置の電気的構成を示すブロック図である。FIG. 3 is a block diagram showing the electrical configuration of the perimeter monitoring device. 図４は赤外線アレイセンサの赤外線受光素子の配列パターンの一例を示す図である。FIG. 4 is a diagram showing an example of an arrangement pattern of infrared light receiving elements of an infrared array sensor. 図５は周辺監視プログラムの前半部の処理の流れを示すフローチャートである。FIG. 5 is a flow chart showing the flow of processing in the first half of the surroundings monitoring program. 図６は周辺監視プログラムの後半部の処理の流れを示すフローチャートである。FIG. 6 is a flow chart showing the flow of processing in the second half of the surroundings monitoring program.

以下、本明細書に開示した一実施例を説明する。
まず、図１乃至図４に基づいて周辺監視装置１１の構成を説明する。An embodiment disclosed in this specification is described below.
First, the configuration of the perimeter monitoring device 11 will be described with reference to FIGS. 1 to 4. FIG.

本実施例の周辺監視装置１１は、例えば、ロボット、搬送装置、車両等の各種移動体、建設機械等、動く物体に取り付けても良いし、建物、部屋、製造ライン等、動かない物体に取り付けても良く、要は、周辺の監視が必要な物体に取り付けて使用すれば良い。 The surroundings monitoring device 11 of this embodiment may be attached to moving objects such as robots, conveying devices, vehicles and other moving objects, construction machinery and the like, or may be attached to non-moving objects such as buildings, rooms and production lines. The point is that it can be used by attaching it to an object whose surroundings need to be monitored.

本実施例の周辺監視装置１１は、人及び物体を検出対象とする２つの電波センサ１２，１３と、人を検出する人感センサである赤外線アレイセンサ１４と、各センサ１２～１４の信号を処理して検出対象である人と物体とを区別して検出する検出回路部１５とを１枚の回路基板１６に搭載して１つのパッケージ１７内に収容して構成されている。この場合、各センサ１２～１４は、相対的な位置関係のずれを防止するために１枚の回路基板１５に搭載することが好ましいが、検出回路部１５は、位置精度を確保する必要がないため、各センサ１２～１４を搭載した回路基板１５とは別の回路基板に搭載するようにしても良い。
The perimeter monitoring device 11 of this embodiment includes two radio wave sensors 12 and 13 that detect people and objects, an infrared array sensor 14 that is a human sensor that detects people, and signals from the sensors 12 to 14. A detection circuit unit 15 for processing to distinguish between a person and an object to be detected is mounted on one circuit board 16 and accommodated in one package 17 . In this case, the sensors 12 to 14 are preferably mounted on a single circuit board 15 in order to prevent relative positional deviation, but the detection circuit section 15 needs to ensure positional accuracy. Therefore, the sensors 12 to 14 may be mounted on a circuit board different from the circuit board 15 on which the sensors 12 to 14 are mounted.

２つの電波センサ１２，１３は、各々の検出エリア１２ａ，１３ａが所定の監視エリア１８をカバーするように所定の位置関係（例えば水平方向に所定距離だけ離れた位置関係）で配置されている。各電波センサ１２，１３は、電波を各検出エリア１２ａ，１３ａに放射し、各検出エリア１２ａ，１３ａ内の検出対象で反射された電波を受信することで当該検出対象を検出すると共に、電波を放射して受信するまでの時間を測定することで各電波センサ１２，１３から当該検出対象までの距離を測定し、その測定情報を検出回路部１５に出力する。検出回路部１５は、２つの電波センサ１２，１３の位置関係と各電波センサ１２，１３で測定した当該検出対象までの距離との関係に基づいて当該検出対象の位置を検出するように構成されている。 The two radio wave sensors 12 and 13 are arranged in a predetermined positional relationship (for example, a positional relationship separated by a predetermined distance in the horizontal direction) so that the respective detection areas 12a and 13a cover a predetermined monitoring area 18 . Each of the radio wave sensors 12 and 13 emits radio waves to the detection areas 12a and 13a, receives radio waves reflected by the detection targets in the detection areas 12a and 13a, detects the detection targets, and emits radio waves. By measuring the time from radiation to reception, the distance from each of the radio wave sensors 12 and 13 to the detection target is measured, and the measurement information is output to the detection circuit section 15 . The detection circuit unit 15 is configured to detect the position of the detection target based on the relationship between the positional relationship between the two radio wave sensors 12 and 13 and the distance to the detection target measured by each of the radio wave sensors 12 and 13. ing.

図４に示すように、赤外線アレイセンサ１４は、人から放射される赤外線を受光する多数の赤外線受光素子１４ａ（画素）をマトリックス状に配列したセンサであり、その検出エリア１４ｂ（図１参照）が監視エリア１８をカバーするように構成されている。この赤外線アレイセンサ１４は、２つの電波センサ１２，１３の中間位置に配置され、監視エリア１８を視野に収めて赤外線画像（熱画像）を撮像し、その赤外線画像を検出回路部１５に出力する。検出回路部１５は、赤外線アレイセンサ１４から受信した赤外線画像を処理することで、検出エリア１４ｂ（監視エリア１８）内にいる人の有無を判定すると共に、人を検出した赤外線受光素子１４ａの位置に基づいて人がいる方角（赤外線画像内の位置）も検出するように構成されている。 As shown in FIG. 4, the infrared array sensor 14 is a sensor in which a large number of infrared light receiving elements 14a (pixels) for receiving infrared rays emitted from a person are arranged in a matrix. is configured to cover the monitored area 18 . The infrared array sensor 14 is arranged at an intermediate position between the two radio wave sensors 12 and 13, captures an infrared image (thermal image) with the monitoring area 18 in its field of view, and outputs the infrared image to the detection circuit unit 15. . The detection circuit unit 15 processes the infrared image received from the infrared array sensor 14 to determine the presence or absence of a person in the detection area 14b (monitoring area 18), and also to detect the position of the infrared light receiving element 14a that detected the person. It is also configured to detect the direction (position in the infrared image) where the person is based on.

検出回路部１５は、詳細には図示しないが、各センサ１２～１４の信号を処理する回路とＣＰＵとＲＡＭ、ＲＯＭ等の周辺回路から構成され、後述する図５及び図６の周辺監視プログラムを実行することで、２つの電波センサ１２，１３が検出対象を検出したときに赤外線アレイセンサ１４が人を検出したか否かで前記検出対象が人か物体かを区別する。この場合、２つの電波センサ１２，１３が検出した検出対象の位置も検出されるため、検出回路部１５は、２つの電波センサ１２，１３が検出対象を検出したときに、赤外線アレイセンサ１４の赤外線画像の処理範囲（処理する赤外線受光素子１４ａの範囲）を検出対象の位置付近の範囲に絞って画像処理することで、検出した検出対象が人か物体かを区別するようにしても良い。このようにすれば、赤外線アレイセンサ１４の画像処理に要する時間を短縮することができ、検出応答性を速めることができる。 Although not shown in detail, the detection circuit unit 15 is composed of a circuit for processing signals from the sensors 12 to 14, a CPU, and peripheral circuits such as RAM and ROM. By executing this, it is determined whether the detection target is a person or an object depending on whether or not the infrared array sensor 14 detects a person when the two radio wave sensors 12 and 13 detect the detection target. In this case, the position of the detection target detected by the two radio wave sensors 12 and 13 is also detected. By narrowing the processing range of the infrared image (the range of the infrared light receiving element 14a to be processed) to a range near the position of the detection target, image processing may be performed to distinguish whether the detected detection target is a person or an object. In this way, the time required for image processing of the infrared array sensor 14 can be shortened, and detection responsiveness can be speeded up.

更に、検出回路部１５は、２つの電波センサ１２，１３が複数の検出対象を同時に検出したときに赤外線アレイセンサ１４の赤外線画像を処理することで、検出した各検出対象が人か物体かを区別する。この場合も、２つの電波センサ１２，１３が同時に検出した複数の検出対象の位置も検出されるため、検出回路部１５は、２つの電波センサ１２，１３が同時に複数の検出対象を検出したときに、赤外線アレイセンサ１４の赤外線画像の処理範囲を各検出対象の位置付近の範囲に絞って画像処理することで、検出した各検出対象が人か物体かを区別するようにしても良い。 Further, the detection circuit unit 15 processes the infrared image of the infrared array sensor 14 when the two radio wave sensors 12 and 13 simultaneously detect a plurality of detection targets, thereby determining whether each detected detection target is a person or an object. distinguish. In this case as well, the positions of a plurality of detection targets simultaneously detected by the two radio wave sensors 12 and 13 are also detected. Furthermore, the processing range of the infrared image of the infrared array sensor 14 may be narrowed down to the range near the position of each detection target to perform image processing, thereby distinguishing whether each detected detection target is a person or an object.

以上説明した本実施例の周辺監視動作は、検出回路部１５によって図５及び図６の周辺監視プログラムに従って次のように実行される。図５及び図６の周辺監視プログラムは、所定の周期で繰り返し実行される。本プログラムが起動されると、まずステップ１０１で、２つの電波センサ１２，１３の信号を取り込んで、監視エリア１８内に入った検出対象を検出する処理を実行すると共に、その検出対象の位置を検出する処理を実行する。 The peripheral monitoring operation of this embodiment described above is executed by the detection circuit section 15 according to the peripheral monitoring program shown in FIGS. 5 and 6 as follows. The surroundings monitoring program of FIGS. 5 and 6 is repeatedly executed at a predetermined cycle. When this program is started, first in step 101, signals from the two radio wave sensors 12 and 13 are taken in, processing is executed to detect a detection target that has entered the monitoring area 18, and the position of the detection target is detected. Execute the process to detect.

この後、ステップ１０２に進み、２つの電波センサ１２，１３が検出対象を検出したか否かを判定し、検出対象を検出していなければ、そのまま本プログラムを終了する。 After that, the program proceeds to step 102 to determine whether or not the two radio wave sensors 12 and 13 have detected the detection target.

一方、上記ステップ１０２で、２つの電波センサ１２，１３が検出対象を検出したと判定されれば、ステップ１０３に進み、赤外線アレイセンサ１４の赤外線画像を処理することで、検出エリア１４ｂ内にいる人の有無を判定する処理を実行すると共に、人を検出した赤外線受光素子１４ａの位置に基づいて人がいる方角も検出する処理を実行する。 On the other hand, if it is determined in step 102 that the two radio wave sensors 12 and 13 have detected the detection target, the process proceeds to step 103, and the infrared image of the infrared array sensor 14 is processed to determine whether the object is within the detection area 14b. Along with executing a process of determining the presence or absence of a person, a process of detecting the direction in which the person is located is also executed based on the position of the infrared light receiving element 14a that detected the person.

この後、ステップ１０４に進み、赤外線アレイセンサ１４が人を検出したか否かを判定し、赤外線アレイセンサ１４が人を検出していなければ、ステップ１０５に進み、２つの電波センサ１２，１３が検出した検出対象は全て物体であると判定し、次のステップ１０６で、２つの電波センサ１２，１３が検出した物体の位置の情報を含む物体検出情報を出力して、本プログラムを終了する。 Thereafter, the process proceeds to step 104 to determine whether or not the infrared array sensor 14 has detected a person.If the infrared array sensor 14 has not detected a person, the process proceeds to step 105 to It is determined that all the detected detection targets are objects, and in the next step 106, object detection information including information on the positions of the objects detected by the two radio wave sensors 12 and 13 is output, and the program ends.

これに対し、上記ステップ１０４で、赤外線アレイセンサ１４が人を検出したと判定されれば、図６のステップ１０７に進み、赤外線アレイセンサ１４が検出した人の数が２つの電波センサ１２，１３が検出した検出対象の数と一致するか否かを判定し、両者が一致すれば、ステップ１０８に進み、２つの電波センサ１２，１３が検出した検出対象は全て人であると判定し、次のステップ１０９で、２つの電波センサ１２，１３が検出した人の位置の情報を含む人検出情報を出力して、本プログラムを終了する。 On the other hand, if it is determined in step 104 that the infrared array sensor 14 has detected a person, the process proceeds to step 107 in FIG. matches the number of detection targets detected. In step 109, the human detection information including information on the positions of the people detected by the two radio wave sensors 12 and 13 is output, and the program is terminated.

一方、上記ステップ１０７で、赤外線アレイセンサ１４が検出した人の数が２つの電波センサ１２，１３が検出した検出対象の数と一致しないと判定されれば、ステップ１１０に進み、２つの電波センサ１２，１３が検出した複数の検出対象は人と物体の両方であると判定し、次のステップ１１１で、検出した人の位置の情報を含む人検出情報と物体の位置の情報を含む物体検出情報の両方を出力して、本プログラムを終了する。 On the other hand, if it is determined in step 107 that the number of people detected by the infrared array sensor 14 does not match the number of detection targets detected by the two radio wave sensors 12 and 13, the process proceeds to step 110, where the two radio wave sensors 12 and 13 determine that the plurality of detection targets are both people and objects. Output both information and exit the program.

尚、周辺監視装置１１には、人検出情報や物体検出情報を表示する表示装置を設けるようにしても良い。 The perimeter monitoring device 11 may be provided with a display device for displaying human detection information and object detection information.

以上説明した本実施例では、２つの電波センサ１２，１３と赤外線アレイセンサ１４とを１つのパッケージ１７に搭載して周辺監視装置１１を構成しているため、この周辺監視装置１１を移動体等に取り付けた場合でも各センサ１２～１４の相対的な位置関係がずれることがなく、各センサ１２～１４の相対的な位置関係のずれによる検出対象の検出精度の低下を防止できると共に、移動体等への周辺監視装置１１の取付作業も簡単である。しかも、２つの電波センサ１２，１３の検出結果と赤外線アレイセンサ１４の検出結果とに基づいて監視エリア１８内に入った人と物体とを区別して検出できると共に、検出した人と物体の位置も検出することができる。 In the embodiment described above, since the two radio wave sensors 12 and 13 and the infrared array sensor 14 are mounted in one package 17 to configure the perimeter monitoring device 11, the perimeter monitoring device 11 can be used for mobile objects and the like. Even when attached to a moving object, the relative positional relationship of the sensors 12 to 14 does not deviate, and it is possible to prevent the detection accuracy of the detection target from deteriorating due to the relative positional deviation of the sensors 12 to 14. It is also easy to attach the perimeter monitoring device 11 to, for example. Moreover, based on the detection results of the two radio wave sensors 12 and 13 and the detection result of the infrared array sensor 14, a person and an object entering the monitoring area 18 can be distinguished and detected, and the positions of the detected person and object can also be detected. can be detected.

尚、上記実施例では、２つの電波センサ１２，１３を所定の位置関係で配置したが、３つ以上の電波センサを所定の位置関係で配置して、３つ以上の電波センサの位置関係と各電波センサで測定した検出対象までの距離との関係に基づいて当該検出対象の位置を３次元空間の位置として検出するようにしても良い。 In the above embodiment, the two radio wave sensors 12 and 13 are arranged in a predetermined positional relationship. The position of the detection target may be detected as the position in the three-dimensional space based on the relationship with the distance to the detection target measured by each radio wave sensor.

また、上記実施例では、人感センサとして赤外線アレイセンサ１４を用いたが、これ以外の人感センサ（例えば焦電型赤外線センサ等）を用いても良く、また、使用する人感センサの個数も１個に限定されず、２個以上の人感センサを用いても良い。例えば、１つの人感センサの検出エリアが監視エリアより狭い場合には、２個以上の人感センサを用いて、２個以上の人感センサの検出エリアで監視エリアをカバーするようにすれば良い。 Also, in the above embodiment, the infrared array sensor 14 is used as the human sensor, but other human sensors (for example, a pyroelectric infrared sensor, etc.) may be used. is not limited to one, and two or more motion sensors may be used. For example, if the detection area of one human sensor is narrower than the monitoring area, two or more human sensors are used so that the detection area of the two or more human sensors covers the monitoring area. good.

その他、本発明は、上記実施例に限定されず、例えば、各センサ１２～１４の配置を変更したり、複数の電波センサ１２，１３と人感センサ（赤外線アレイセンサ１４）とを別々の回路基板に搭載したり、図５及び図６の周辺監視プログラムの処理を変更しても良い等、要旨を逸脱しない範囲内で種々変更して実施しても良いことは勿論である。 In addition, the present invention is not limited to the above embodiments. It goes without saying that various changes may be made within the scope of the gist of the invention, such as mounting on a board or changing the processing of the peripheral monitoring program shown in FIGS.

１１…周辺監視装置、１２，１３…電波センサ、１２ａ，１３ａ…検出エリア、１４…赤外線アレイセンサ（人感センサ）、１４ａ…赤外線受光素子、１４ｂ…検出エリア、１５…検出回路部、１６…回路基板、１７…パッケージ、１８…監視エリア 11 Perimeter monitoring device 12, 13 Radio wave sensor 12a, 13a Detection area 14 Infrared array sensor (human sensor) 14a Infrared light receiving element 14b Detection area 15 Detection circuit unit 16 Circuit board 17 Package 18 Monitoring area

Claims (4)

人及び物体を検出対象とする複数の電波センサと、人を検出する少なくとも１つの人感センサとを１枚の回路基板に搭載した周辺監視装置であって、
前記複数の電波センサは、各々の検出エリアが所定の監視エリアをカバーするように所定の位置関係で配置され、各電波センサは、前記監視エリア内に入った検出対象を検出したときに前記検出対象までの距離を測定し、前記複数の電波センサの位置関係と各電波センサで測定した前記検出対象までの距離との関係に基づいて前記検出対象の位置を検出するように構成され、
前記人感センサは、検出エリアが前記監視エリアをカバーするように構成され、
前記複数の電波センサの検出結果と前記人感センサの検出結果とに基づいて前記監視エリア内に入った人と物体とを区別して検出し、且つ、検出した人と物体の位置を検出するように構成され、
前記複数の電波センサが検出対象を検出したときに前記人感センサが人を検出したか否かの判定処理を実行してその判定結果に基づいて前記検出対象が人か物体かを区別するように構成されている、周辺監視装置。 A perimeter monitoring device in which a plurality of radio wave sensors for detecting people and objects and at least one human sensor for detecting people are mounted on a single circuit board,
The plurality of radio wave sensors are arranged in a predetermined positional relationship so that each detection area covers a predetermined monitoring area, and each radio wave sensor detects the detection target when it detects a detection target entering the monitoring area. configured to measure the distance to a target and detect the position of the detection target based on the relationship between the positional relationship of the plurality of radio wave sensors and the distance to the detection target measured by each radio wave sensor,
The human sensor is configured such that a detection area covers the monitoring area,
Based on the detection result of the plurality of radio wave sensors and the detection result of the human sensor, a person and an object entering the monitoring area are distinguished and detected, and the positions of the detected person and the object are detected. configured to
When the plurality of radio wave sensors detect a detection target, a determination process is performed to determine whether the human sensor has detected a person, and based on the determination result, whether the detection target is a person or an object is discriminated. A perimeter monitoring device configured to: 前記人感センサは、前記監視エリアを視野に収めて赤外線画像を撮像する赤外線アレイセンサで構成されている、請求項１に記載の周辺監視装置。 2. The perimeter monitoring device according to claim 1 , wherein said motion sensor comprises an infrared array sensor that captures an infrared image of said monitoring area within its field of view. 前記複数の電波センサが複数の検出対象を同時に検出したときに前記赤外線アレイセンサの赤外線画像を処理することで、検出した各検出対象が人か物体かを区別するように構成されている、請求項２に記載の周辺監視装置。 The infrared image of the infrared array sensor is processed when the plurality of radio wave sensors detect a plurality of detection targets at the same time, thereby distinguishing whether each detected detection target is a person or an object. Item 3. The surroundings monitoring device according to item 2. 前記複数の電波センサが検出対象を検出したときに前記赤外線アレイセンサの赤外線画像の処理範囲を前記検出対象の位置付近の範囲に絞って画像処理することで、検出した検出対象が人か物体かを区別するように構成されている、請求項２又は３に記載の周辺監視装置。 When the plurality of radio wave sensors detect a detection target, the processing range of the infrared image of the infrared array sensor is narrowed down to a range near the position of the detection target, and image processing is performed to determine whether the detected detection target is a person or an object. 4. A perimeter monitor according to claim 2 or 3 , adapted to distinguish between .
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