WO2019093372A1

WO2019093372A1 - Object detecting system and object detecting program

Info

Publication number: WO2019093372A1
Application number: PCT/JP2018/041335
Authority: WO
Inventors: 生田目晃志
Original assignee: コニカミノルタ株式会社
Priority date: 2017-11-09
Filing date: 2018-11-07
Publication date: 2019-05-16
Also published as: JPWO2019093372A1; JP7244802B2

Abstract

Provided is an object detecting system, which facilitates setting and recognition of a monitoring area even in three-dimensional distance detection. An object detecting system 100 comprises: a laser radar unit 21 as a distance measuring unit for detecting reflected light while scanning a light beam and measuring a distance on the basis of propagation time of the light beam; an arithmetic processing unit (object detecting unit) 82 for detecting an object on the basis of distance information obtained by the distance measuring unit; an input/output unit 81 including a display 81b; an arithmetic processing unit (display processing unit) 82 for controlling the display 81b to display a three-dimensional image and a two-dimensional image of the object detected by the arithmetic processing unit (object detecting unit) 82; and an arithmetic processing unit (area setting unit) 82 for setting, in response to operation on the input/output unit 81 using the display 81b in a state in which the display 81b is controlled to display a two-dimensional image corresponding to a predetermined sight-line direction, monitoring areas SA1, SA2, which are to be monitored by the arithmetic processing unit (object detecting unit) 82, out of areas, the distances to which are measured by the distance measuring unit.

Description

Object detection system and object detection program

The present invention relates to an object detection system and an object detection program for detecting return light from an object while scanning a light beam.

In the object detection system, a so-called three-dimensional lidar (3D-LiDAR) that detects distance and direction with high accuracy is used. When using a three-dimensional lidar, three-dimensional information can be obtained, so it is desirable that the detection results and the monitoring results be displayed three-dimensionally. In addition, it is also performed to display the detection result only in a necessary monitoring area, and in that case, it is desirable that the monitoring area can be easily confirmed, set, corrected, and the like.

Although a two-dimensional rider is used as an object detection system, what sets a detection area or a monitoring area within the maximum detection distance is known (patent document 1). In this object detection system, since the scan plane is a plane as a result of using the two-dimensional lidar, when setting the detection area or the monitoring area, the area setting is performed on the scan plane, which is sufficient.

However, in the case of using a three-dimensional lidar, since it has a plurality of scan planes, setting a monitoring area for each scan plane as in the above-mentioned patent document 1 not only takes time for setting, but also monitoring It becomes difficult to grasp the space in space. In addition, it is inappropriate to consider the monitoring area in a multi-layered plane because the distance information obtained by the three-dimensional lidar is not planar.

JP, 2009-93428, A

The present invention has been made in view of the above-mentioned problems of the background art, and is applicable to an object detection system that facilitates setting and grasping of a monitoring area even when distance detection is performed in three dimensions. Object of the invention is to provide an object detection program.

In order to realize at least one of the above-described objects, an object detection system reflecting one aspect of the present invention includes a distance measurement unit that detects a reflected light while scanning a light beam and measures a distance from a propagation time An object detection unit for detecting an object from distance information obtained by the distance measurement unit, an input / output unit including a display, and three-dimensional display and two-dimensional display of the object detected by the object detection unit on the display Accepting an operation of an input / output unit using a display in a state in which the display processing unit to be performed and either the two-dimensional display or the three-dimensional display corresponding to a predetermined gaze direction are performed on the display And an area setting unit configured to set a monitoring area to be monitored by the object detection unit among the areas measured by the distance measurement unit.

In order to realize at least one of the above-described objects, an object detection program reflecting one aspect of the present invention includes a distance measurement unit that detects a reflected light while scanning a light beam and measures a distance from a propagation time An object detection unit for detecting an object from distance information obtained by the distance measurement unit, an input / output unit including a display, and three-dimensional display and two-dimensional display of the object detected by the object detection unit on the display Accepting an operation of an input / output unit using a display in a state in which the display processing unit to be performed and either the two-dimensional display or the three-dimensional display corresponding to a predetermined gaze direction are performed on the display And an area setting unit for setting a monitoring area to be monitored by the object detection unit among areas measured by the distance measurement unit. Operating in Gosuru controller.

It is a figure explaining the object detection system concerning one embodiment of the present invention. It is the schematic explaining the structure of the laser radar unit which comprises the object detection system of FIG. FIG. 3A is a perspective view for explaining the monitoring area set in the area to be measured, and FIG. 3B is a view showing an example of a three-dimensional display of the monitoring area. It is a figure explaining operation | movement of the object detection system of FIG. It is a figure explaining operation | movement of the object detection system of FIG. It is a figure explaining the setting method of the monitoring area | region. 7A to 7D are diagrams for explaining display examples by the display.

Hereinafter, an object detection system according to an embodiment of the present invention will be described with reference to FIG. 1 and the like.

An object detection system 100 shown in FIG. 1 includes a laser radar unit 21, a support unit 23, and a control device 80.

An example of the structure of the laser radar unit 21 will be described with reference to FIG. The laser radar unit 21 is a distance measurement unit that detects the presence of a detection target and the distance to the detection target, and measures the distance from the propagation time while scanning the light beam with the rotating scanning mirror 53a. The laser radar unit (distance measurement unit) 21 includes a light projection system 51, a light reception system 52, a rotation reflection unit 53, a drive circuit 55, and an exterior component 56. Among these, the light projecting system 51, the light receiving system 52, and the rotary reflecting portion 53 constitute a scanning optical system 59.

The light projection system 51 emits a laser beam L1 that is the source of the light beam or the light projection beam to a scanning mirror 53a of the rotation reflection unit 53 described later. The light projection system 51 has a light source 51a that generates a laser beam L1 set in the infrared or other wavelength range.

The light receiving system 52 receives the return light L 2 reflected by the scanning mirror 53 a of the rotary reflection unit 53, which is the reflected light or light beam from the detection object OB incident through the optical window 56 a of the exterior component 56. . The light receiving system 52 has a light receiving element 52a having, for example, six pixels in the vertical sub-scanning direction in order to detect the return light L2. When there is a detection target OB such as an object in the detection area, the laser beam (projected beam) L1 emitted from the laser radar unit 21 is reflected by the detection target OB, and one of the light reflected by the detection target OB. The light beam enters the light receiving system 52 via the scanning mirror 53a in the laser radar unit 21 as return light (reflected light) L2.

The rotation reflection unit 53 includes a scanning mirror 53a and a rotation drive unit 53b. The scanning mirror 53a is a double reflection type polygon mirror, and has a first reflecting portion 53i and a second reflecting portion 53j for bending an optical path. The first and second reflecting

portions

53i and 53j are respectively disposed above and below along the rotation axis RX extending in parallel to the z direction. The first and second reflecting

portions

53i and 53j have a pyramidal shape. The inclination angles of the reflecting surfaces of the first and second reflecting

portions

53i and 53j gradually change with the rotational position of the scanning mirror 53a (in the example shown, the position facing the four azimuths in units of 90 °). (For the specific shape of the first and second reflecting

portions

53i, 53j, see WO 2014/168137).

The reflecting surface of the first reflecting portion 53i reflects the laser beam (projected beam) L1 incident from the + y direction, which is the right direction on the paper surface, in a direction substantially orthogonal to the first direction. 2 Lead to the mirror surface of the reflection part 53j. The mirror surface of the second reflecting portion 53j reflects the laser light L1 incident from the lower side on the paper surface in a direction substantially orthogonal to the laser light L1 and guides the laser light L1 to the right of the detection target OB side on the paper surface. A part of return light (reflected light) L2 reflected by the detection target OB follows a path reverse to the path of the laser light L1, and is detected by the light receiving system 52. That is, the scanning mirror 53a reflects again the return light L2 reflected by the detection target OB by the mirror surface of the second reflecting portion 53j, and guides the return light L2 to the mirror surface of the first reflecting portion 53i. Subsequently, the return light L2 is reflected again by the mirror surface of the first reflecting portion 53i and is guided to the light receiving system 52 side.

When the scanning mirror 53a rotates, the traveling direction of the laser beam L1 changes in a plane (that is, the xy plane) orthogonal to the vertical z-axis direction. That is, the laser beam L1 is scanned around the z axis as the scanning mirror 53a rotates. The angular area scanned by the laser beam L1 is a detection area. In the traveling direction of the laser light L1 for light projection, the opening angle with respect to the + z-axis direction is the light projection angle, and xy between the traveling direction of the laser light L1 at the scanning start point and the traveling direction of the laser light L1 at the scanning end point The angle formed in the plane is the irradiation angle. A projection field corresponding to the detection area is formed by the projection angle and the irradiation angle. Since the light projection field changes in four steps in the vertical direction according to the rotational position of the scanning mirror 53a by 90 °, the light projection field as a whole is a light projection field achieved by a single scan. In the vertical direction, it has a fourfold spread.

The drive circuit 55 controls the operation of the light source 51a of the light projection system 51, the light receiving element 52a of the light reception system 52, the rotation drive unit 53b of the rotation reflection unit 53, and the like. Further, the drive circuit 55 obtains object information of the detection object OB from the electric signal obtained by converting the return light L2 incident on the light receiving element 52a of the light receiving system 52. Specifically, when the output signal from the light receiving element 52a is equal to or higher than a predetermined threshold value, the drive circuit 55 determines that the light receiving element 52a receives the return light L2 from the detection target OB. In this case, the distance to the detection object OB is obtained from the difference between the light emission timing of the light source 51a and the light reception timing of the light receiving element 52a. Further, based on the light receiving position of the return light L2 to the light receiving element 52a in the sub scanning direction and the rotation angle corresponding to the main scanning direction of the scanning mirror 53a, the azimuth information on the main scanning direction and sub scanning direction of the detection object OB It can be asked.

The exterior component 56 is for covering and protecting the internal components of the laser radar unit 21.

Returning to FIG. 1, the support unit 23 not only supports the laser radar unit 21 but also has a function of adjusting the orientation or attitude of the laser radar unit 21 under the control of the control device 80. The supporting unit 23 adjusts the posture of the laser radar unit 21 under the control of the control device 80 when the whole including the supporting unit 23 is inclined, and maintains the laser radar unit 21 in the state before the inclination. It may be

The control device 80 has an input / output unit 81 which is an interface with an operator, an arithmetic processing unit 82 which performs arithmetic processing on data etc. based on a program, controls an external device, etc., external data, arithmetic processing results etc. A storage unit 83 for storing data and a communication unit 84 for communicating with an external device are provided.

The input / output unit 81 includes an operation unit 81a that receives an instruction from the operator, and a display 81b that presents the processing result of the arithmetic processing unit 82 to the operator. The operation unit 81a has a keyboard, a mouse and the like, and can make the progress state of the program executed by the control device 80 reflect the intention of the operator. The operation unit 81a receives, for example, an operation of designating a monitoring area from an area or area being measured by the operator. The operation unit 81a may be like a touch panel attached to the display 81b. The display 81 b is a display device such as an LCD that enables two-dimensional display or three-dimensional display, but may be a head mounted display that enables three-dimensional viewing or stereoscopic viewing.

The arithmetic processing unit 82 has an arithmetic unit such as a central processing unit (CPU) and an attached circuit such as an interface circuit, and performs distance measurement, display of detection points, setting / display of a monitoring area, clustering, object extraction, noise An object detection program including various processes such as removal processing and alarm processing is executed.

Specifically, the arithmetic processing unit 82 detects an object from the distance information obtained by the laser radar unit 21 which is a distance measurement unit as an object detection unit. Further, the arithmetic processing unit 82 causes the display 81 b to perform three-dimensional display or two-dimensional display of the detected object or the detection target OB as a display processing unit. That is, the processing unit 82 can display the detection points obtained by the distance measurement three-dimensionally or two-dimensionally on the display 81 b. The arithmetic processing unit 82 serves as an area setting unit, and by receiving an instruction from the operator via the operation unit 81a and the display 81b, a monitoring area to be monitored by the laser radar unit 21 in the measurement area or the measurement area. Set Further, the arithmetic processing unit 82, as an area setting unit, receives an instruction from the operator via the operation unit 81a and the display 81b, thereby changing the outline of the monitoring area by expansion, reduction, or the like. The arithmetic processing unit 82 can receive the contour shape of the monitoring area as an arbitrary shape. Thus, the user can freely set a three-dimensional monitoring area via the arithmetic processing unit 82 according to the purpose or the environment. In addition, the arithmetic processing unit 82 can adjust the arrangement and the number of monitoring areas. In addition, when a plurality of monitoring areas are set, the arithmetic processing unit 82 can combine the plurality of monitoring areas into one monitoring area. In addition, the arithmetic processing unit 82, as a monitoring unit, records or issues the presence of a moving body when the arithmetic processing unit (object detecting unit) 82 detects a moving body in the monitoring area. Thereby, it is possible to record or report the moving body which has entered the monitoring area. When the arithmetic processing unit 82 detects a moving body, the three-dimensional behavior of the moving body can be grasped in the monitoring area.

FIG. 3A is a diagram for explaining setting and display of a monitoring area. The measurement area includes a detection point (not shown) obtained by one measurement operation (operation of the entire area) of the laser radar unit 21. Measurement data giving detection points are measurement data of polar coordinates originally, but they are converted into a rectangular coordinate system of XYZ. In the illustrated example, two monitoring areas SA1 and SA2 are set in the measurement area represented by the orthogonal coordinate system. Setting the monitoring areas SA1 and SA2 enables efficient monitoring focusing on the required area. A frame-like projected image PI1 obtained by projecting the monitoring area SA1 onto the XY plane, which is a predetermined reference plane, corresponds to the outline of the monitoring area SA1 in plan view, and displays the first pattern displayed two-dimensionally on the display 81b. It corresponds to an image. In addition, a frame-like projected image PI2 obtained by projecting the monitoring area SA1 onto the XZ plane, which is a predetermined reference plane, corresponds to the outline of the monitoring area SA1 viewed from the front, and is a second pattern displayed two-dimensionally on the display 81b. Corresponds to the displayed image of These projection images PI1 and PI2 are parallel projection images when the monitoring area SA1 is viewed from a direction parallel to the Y axis and the Z axis.

FIG. 3B shows a perspective projection image of the monitoring area SA1 viewed from the viewpoint EO of FIG. 3A, which corresponds to a three-dimensional display displayed on the display 81b. In this case, even if the display performs flat display, it becomes easy to grasp the shape and arrangement of the detected object and the monitoring area as a three-dimensional one. As apparent from the figure, the monitoring area SA1 is displayed as a projected image PI3 which is reduced toward the distance.

Returning to FIG. 1, the storage unit 83 stores an object detection program and various data necessary for its execution. Further, when the arithmetic processing unit 82 determines that the alarm target is present in the monitoring area, the storage unit 83 records various information such as the state of the alarm target and the time. Furthermore, the storage unit 83 sequentially records data on the object extracted by the object detection program, and enables the arithmetic processing unit 82 to monitor the movement state of the object.

The communication unit 84 enables communication between the arithmetic processing unit 82 and the laser radar unit 21 or the support unit 23, and enables the arithmetic processing unit 82 to take in data from the laser radar unit 21 etc., and the arithmetic processing unit The command from 82 can be transmitted to the laser radar unit 21.

Hereinafter, with reference to FIG. 4 and FIG. 5, execution of the object detection method or object detection program using the object detection system 100 shown in FIG. 1 will be described.

First, the arithmetic processing unit 82 of the control device 80 operates the laser radar unit 21 to start capturing measurement data including distance information and the like (step S11). The laser radar unit 21 outputs measurement data (r, θ, φ) of polar coordinates or data as a source of measurement data (r, θ, φ), and the arithmetic processing unit 82 outputs measurement data (r, r of polar coordinates). is converted into measurement data (X, Y, Z) of the orthogonal coordinate system, and the result is stored in the storage unit 83. Specifically, the conversion from polar coordinates to an orthogonal coordinate system is based on a known relationship X = r · sin θ × cos φ
Y = r · sin θ × sin φ
Z = r · cos θ
Is performed using Here, the distance to the detected object is r, the polar angle is θ, and the azimuth angle is φ. At this time, coordinate conversion that compensates for the inclination of the attitude of the laser radar unit 21 is also possible.

Next, the arithmetic processing unit 82 causes the display 81b to display a detection point at which an object is detected based on measurement data including distance information and the like received from the laser radar unit 21 (step S12). At this time, the arithmetic processing unit 82 can three-dimensionally display a group of detection points obtained by the distance measurement on the display 81 b. At this time, the detection point can be displayed in color according to the distance from the viewpoint or the like. The detection points displayed three-dimensionally may be subjected to processing such as clustering and noise removal as described later. The detection points displayed on the display 81 b are not limited to three-dimensional display, and may be two-dimensional display.

Here, the three-dimensional display will be described. In this embodiment, a central projection method is used for three-dimensional display, and arithmetic processing is performed to project a large number of three-dimensionally arranged detection points on a two-dimensional plane. In the orthogonal coordinate system, assuming that the vector of the viewpoint is V _E , the vector of the visual center is V _O, and the arrangement of the viewpoint based on the visual center is considered, the azimuth angle is α and the elevation angle is β. The coordinates PP (a, b, c) can be regarded as the translation of the origin and the rotation of the coordinate axes around the Z and Y coordinate axes, and the following relational expressions

Given by Coordinates DP1 (b / (-a), c / (-) calculated by reduction with distance from coordinate values b and c parallel-projected to a plane orthogonal to the line of sight PP (a, b, c) based on viewpoint a)) is the coordinates of the central projection. By performing image processing such as reduction, enlargement, or quantization to fit the central projection coordinates DP1 (b / (-a), c / (-a)) to the screen of the display 81b, central projection display of detection points, ie, Three-dimensional display becomes possible. Note that coordinates DP2 (b, c) for which reduction due to distance is not calculated are coordinates of parallel projection, and two-dimensional display corresponding to an arbitrary viewpoint can be performed using this.

Next, the arithmetic processing unit 82 checks whether or not the monitoring area is set with reference to the storage unit 83 (step S13), and when the monitoring area is set (Y in step S13) If there is a processing request to change the monitoring area (Y in step S14), setting processing of the monitoring area is performed (step S15).

The setting process of the monitoring area will be described with reference to FIG. First, the arithmetic processing unit 82 requests the operator to use the input / output unit 81 whether or not to set the monitoring area and to select the setting method, and receives the operator's selection (step S51). At this time, the arithmetic processing unit 82 uses the operation unit 81 a and the display 81 b of the input / output unit 81 to perform input acceptance by GUI (Graphical User Interface). As a method of setting the monitoring area, for example, (1) a method of applying a previously prepared basic shape, and (2) a method of obtaining an interface from the surface of an obstacle such as a building using actual measurement results. (3) It is conceivable that the operator directly inputs the boundary surface by inputting the reference point or the reference surface. The basic shape prepared in advance includes, for example, a rectangular parallelepiped, a cylinder, a sphere, etc., and the posture and size of the basic figure can be changed, and it is also possible to combine a plurality of figures. When actual measurement results are used, the outer edge of the monitoring area is defined by assuming the surface of the obstacle from a static detection point and calculating an approximate surface extending to a predetermined distance from the surface of the obstacle. can do. When the operator inputs a reference point or a reference surface, although it is possible to directly input a coordinate point, it is possible to support the input by displaying a static detection point or a reference point prepared in advance on the display 81 b. The above methods (1) to (3) can not be used alone but can be used in combination.

Next, the arithmetic processing unit 82 requests the operator to select the display method of the monitoring area using the input / output unit 81, and receives the operator's selection (step S52). As a display method of the monitoring area, as described above, three-dimensional display or two-dimensional display can be performed, and in the case of three-dimensional display, camera images corresponding to viewpoints can be superimposed or displayed in parallel. Furthermore, the operator can shift or switch the viewpoint of the three-dimensional display or the two-dimensional display using the input / output unit 81. When setting the monitoring area in a state in which the display 81b is three-dimensionally displayed, the monitoring area is observed three-dimensionally, and it is easy to grasp the spatial arrangement of the monitoring area. Operation is facilitated, and the intended monitoring area can be set quickly. When the monitoring area is set in a state in which the display 81 b is displayed in a two-dimensional manner, the monitoring area is projected onto each reference plane with little distortion, and the arrangement of the monitoring area becomes relatively accurate.

Next, the arithmetic processing unit 82 receives the setting of the monitoring area intended by the operator using the input / output unit 81 (step S53), and stores the set monitoring area in the storage unit 83. The operator selects, for example, (1) one or more basic shapes from a tool area provided outside the measurement area for displaying the detection points of the display 81 b, and (2) additionally displayed in the measurement area of the display 81 b. The monitoring area can be set in the measurement area by selecting the outer edge candidate of the monitoring area or (3) selecting a tool for drawing a point or plane. The monitoring area set by various methods as described above is displayed together with the detection point in the measurement area. At this time, the arithmetic processing unit 82 allows the operator to move the position of the monitoring area or increase or decrease the size.

FIGS. 7A and 7B show a specific example in which a three-dimensional display is made on the display 81b, and it can be seen that a horizontally long rectangular frame-like monitoring area is displayed together with detection points in the measurement area. FIG. 7A is a viewpoint for observing the monitoring area from the front, and FIG. 7B is a viewpoint for observing the monitoring area from the top. The displays in FIGS. 7A and 7B are not only performed alone on the display 81 b but also include parallel display on the display 81 b.

7C and 7D show a specific example in which a two-dimensional display is made on the display 81b, and it can be seen that a horizontally long rectangular monitoring area is displayed together with the detection point in the measurement area. FIG. 7C is a viewpoint for observing the monitoring area from the front, and FIG. 7D is a viewpoint for observing the monitoring area from the top. The displays in FIGS. 7C and 7D are not only performed alone on the display 81b, but also include parallel display on the display 81b.

In the above, when the monitoring area is once set in the three-dimensional display, the predetermined monitoring area is inherited even if the display on the display 81b is switched from the three-dimensional display to the two-dimensional display at the request of the operator. That is, the arithmetic processing unit 82 maintains the setting of the monitoring area before and after the display switching, and performs processing of switching the three-dimensional display of the predetermined monitoring area to the corresponding two-dimensional display. Contrary to the above, when the monitoring area is once set in the two-dimensional display, the predetermined monitoring area is inherited even if the two-dimensional display is switched to the three-dimensional display at the request of the operator.

In the above description, three-dimensional display and two-dimensional display are switched to be performed, but three-dimensional display and two-dimensional display can also be displayed side by side on the display 81 b.

Next, the arithmetic processing unit 82 confirms whether the operator desires correction of the monitoring area using the input / output unit 81 (step S54).

When the operator desires to correct the monitoring area, the arithmetic processing unit 82 requests the operator to select the display method of the monitoring area using the input / output unit 81, and receives the selection of the operator (step S55).

Next, the arithmetic processing unit 82 receives correction of the monitoring area desired by the operator using the input / output unit 81 (step S56), and stores the corrected monitoring area in the storage unit 83. The correction of the monitoring area includes partially deleting the monitoring area set in step S53, extending the addition of an additional area to the monitoring area set in step S53, and the like, and deleting the entire monitoring area And adding new monitoring areas to different places.

Thereafter, the arithmetic processing unit 82 sets the display method of the set or corrected monitoring area (step S57). That is, the arithmetic processing unit 82 displays the monitoring area set in step S53 or the monitoring area corrected in step S56 on the display 81b, line types such as line thickness, line color, broken line and solid line The operator can input / set information on the other information using the input / output unit 81, and the result is stored in the storage unit 83.

Returning to FIG. 4, after setting the monitoring area, the arithmetic processing unit 82 operates the display 81 b in a display mode according to the setting (step S16). That is, when the group of detection points is three-dimensionally displayed on the display 81b at, for example, a predetermined viewpoint in step S12, the group of detection points is similarly three-dimensionally displayed on the display 81b at the predetermined viewpoint The frame of the monitoring area set in step S15 is superimposed and displayed.

Next, the arithmetic processing unit 82 performs clustering from the latest measurement data (step S17), and stores the result in the storage unit 83. Clustering is processing to subset detection points by connecting adjacent measurement points and the like to obtain target size and outline information. Clustering can be performed on measurement data (r, θ, φ) in polar coordinates or measurement data (X, Y, Z) in an orthogonal coordinate system. In the above clustering, processing such as connection of a plurality of obtained clusters can be added. For example, adjacent clusters can be connected by expanding a region of one to several pixels or a distance corresponding thereto around the cluster and narrowing the periphery of the obtained cluster by the corresponding number of pixels or distance.

Next, the arithmetic processing unit 82 performs various arithmetic processing on each cluster obtained by the clustering in step S17 to determine the position and size of each cluster (step S18). For the determination of the position of a cluster, for example, the average position or the center of gravity of detection points or pixel points constituting the cluster can be used. Further, for determination of the size of a cluster, for example, a volume in a region connecting the outer edges of detection points or pixel points constituting the cluster, an area projected on an XY plane, an area projected on an XZ plane, or the like can be used.

Thereafter, the arithmetic processing unit 82 performs noise determination to remove small-sized ones from the clusters having the additional information obtained in step S18 in consideration of the size, and selects an object worthy of attention (step S19). . That is, the arithmetic processing unit 82 determines a cluster larger than the noise level as a front object, labels the object extracted in this manner, and stores the object in the storage unit 83.

Next, the arithmetic processing unit 82 extracts the clusters existing in the monitoring area set in step S15 from the clusters obtained in step S18 (step S21), and stores the result in the storage unit 83.

Next, the arithmetic processing unit 82 performs tracking on the clusters extracted as within the monitoring area (step S22). Specifically, the arithmetic processing unit 82 causes the display 81 b to display the extracted cluster with a mark around it or a frame of a quadrangular prism. At this time, it is also possible to capture the movement of the extracted cluster as a trajectory. In this case, the identity of the extracted cluster is determined from the shape and size. In the above tracking, not only detection points constituting clusters extracted as in the monitoring area but also detection points constituting clusters larger than the noise level obtained outside the monitoring area can be displayed on the display 81b. Vehicles, buildings, etc. are displayed as clusters outside the monitoring area, but if detection points making up these clusters are three-dimensionally displayed on the display 81b, identification of clusters or objects inside or outside the monitoring area It will be easier.

Next, the arithmetic processing unit 82 determines whether the focused target tracked in step S22 is a warning target (step S23). For example, in the case of monitoring a person or a car, if the size of the cluster is different from these targets, it is determined that the target of interest is not a warning target. In addition, the trajectory of the cluster and the moving speed can also be used to determine whether or not an alarm is to be made.

When it is determined that the alarm target is present (Y in step S23), the arithmetic processing unit 82 performs alarm processing and recording processing (step S24). As the alarm processing, the arithmetic processing unit 82 notifies the operator that the alarm target has appeared in the monitoring area, using the display 81 b and a speaker (not shown). Further, the arithmetic processing unit 82 notifies the external system via the communication unit 84 that the alarm target has appeared in the monitoring area. As recording processing, the arithmetic processing unit 82 stores, in the storage unit 83, features such as the time and the size and shape of the cluster when the cluster corresponding to the alarm target appears in the monitoring area.

If there is no instruction to end the process (N in step S25), the arithmetic processing unit 82 returns to step S13 and repeats the process regardless of the presence of the alarm target.

If the monitoring area is not set (N in step S13), operation processing unit 82 receives a processing request for setting start from the operator (step S34), and if there is no processing request for setting the monitoring area (N in step S34). The arithmetic processing unit 82 operates the display 81b in the display mode according to the setting, as in the process at step S16 (step S36).

Thereafter, in the same manner as the processing in steps S17 to S19, the arithmetic processing unit 82 performs clustering from the latest measurement data (step S37) without determining the monitored area (step S37), and determines the position and size of each obtained cluster (Step S38), noise determination is performed to remove small clusters (step S39). In this case, even if a cluster is detected, it is not set as an alarm target, but the detection result is displayed two-dimensionally or three-dimensionally.

According to the object detection system 100 of the embodiment described above, the arithmetic processing unit 82 as the area setting unit performs either of two-dimensional display or three-dimensional display corresponding to a predetermined gaze direction on the display 81 b. Since the monitoring area to be monitored by the arithmetic processing unit (object detection unit) 82 is set by receiving the operation of the input / output unit 81 using the display 81 b in a state in which one is performed, the user can Since the operation of setting the monitoring area is performed based on the two-dimensional display or the three-dimensional display from the predetermined direction, the arrangement of the monitoring area becomes relatively accurate. In particular, the operation of setting the monitoring area based on the two-dimensional display can be simplified even for the user who is not used to the operation. Moreover, when setting a monitoring area | region based on a three-dimensional display, height, width, and depth can be intuitively grasped by 1 screen.

As mentioned above, although the present invention was described according to an embodiment, the present invention is not limited to the above-mentioned embodiment etc. For example, the structure and the number of the laser radar units 21 are merely examples, and distance measurement units of various structures can be used.

The method of clustering is not limited to the above, and various methods can be adopted with regard to setting of the near range and the close range, the connection method of the pixel points, and the like.

In the example described above, the detection point within the measurement area is displayed on the display 81b when setting the monitoring area, but instead of the detection point in real time, detection points measured in the past, in the local space It is also possible to display one based on CAD data or the like.

Claims

A distance measuring unit which detects reflected light while scanning a light beam and measures the distance from the propagation time;
An object detection unit that detects an object from the distance information obtained by the distance measurement unit;
An input / output unit including a display,
A display processing unit that causes the display to perform three-dimensional display and two-dimensional display of an object detected by the object detection unit;
The distance is received by receiving an operation of the input / output unit using the display in a state in which the display performs one of two-dimensional display and three-dimensional display corresponding to a predetermined gaze direction. An object detection system comprising: an area setting unit configured to set a monitoring area to be monitored by the object detection unit among areas measured by a measurement unit.
The object detection system according to claim 1, wherein the area setting unit receives an outline shape of the monitoring area as an arbitrary shape.
The object detection system according to any one of claims 1 and 2, wherein the area setting unit can adjust the arrangement and the number of the monitoring areas.
The three-dimensional display displayed on the display is a perspective projection image, and the two-dimensional display displayed on the display is a parallel projection image projected on a predetermined reference plane. The object detection system according to any one of 3.
The object detection system according to any one of claims 1 to 4, wherein the object detection unit detects a moving body.
The object detection system according to claim 5, further comprising: a monitoring unit that records or issues the presence of a moving object when the object detection unit detects a moving object in the monitoring area.
7. The display processing unit according to any one of claims 1 to 6, wherein, when switching between three-dimensional display and two-dimensional display, the display processing unit performs display for inheriting the monitoring area set by the area setting unit. The object detection system as described in a term.
A distance measuring unit that detects reflected light while scanning a light beam and measures a distance from a propagation time; an object detecting unit that detects an object from distance information obtained by the distance measuring unit; an input / output unit including a display A display processing unit for causing the display to perform three-dimensional display and two-dimensional display of an object detected by the object detection unit; and two-dimensional display and three corresponding to a predetermined gaze direction on the display The monitoring process by the object detection unit in the area measured by the distance measurement unit by accepting the operation of the input / output unit using the display in a state in which any one of the two-dimensional display is performed An object detection program operated by a control device for controlling an object detection system comprising: a region setting unit configured to set a monitoring region to be a target of