JP7244801B2 - Object detection system and object detection program - Google Patents

Description

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.

An object detection system uses a so-called three-dimensional lidar (3D-LiDAR) that detects distance and direction with high accuracy. Since three-dimensional information can be obtained when using a three-dimensional lidar, it is desirable to display detection results and monitoring results three-dimensionally. In addition, it is also practiced to display the detection result only for the necessary monitoring area. In this case, it is desirable to be able to easily check, set, and modify the monitoring area.

A two-dimensional lidar is used as an object detection system, and it is known to set a detection area or a monitoring area within a maximum detection distance (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, it is sufficient to set the area on the scan plane.

However, when a three-dimensional lidar is used, a plurality of scanning planes are required. Therefore, if a monitoring area is set for each scanning plane as in Patent Document 1, not only is the setting troublesome, but also the monitoring Spatial grasp of the area becomes difficult. Moreover, since the distance information obtained by the three-dimensional lidar is not two-dimensional, it is inappropriate to consider the monitoring area as a multi-layered plane.

JP-A-2009-93428

The present invention has been made in view of the problems of the above-described background art, and provides an object detection system that facilitates setting and grasping of a monitoring area even when performing distance detection in three dimensions, and application thereto. It is an object of the present invention to provide an object detection program.

In order to achieve at least one of the above objects, an object detection system reflecting one aspect of the present invention includes a distance measurement unit that scans a light beam and detects reflected light to measure 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 that includes a display; a display processing unit that causes the display to display the object detected by the object detection unit in three dimensions; an area setting unit configured to set a monitoring area to be monitored by the object detection unit in the area measured by the distance measurement unit by accepting an operation of the input/output unit using the display.

In order to achieve at least one of the above objects, an object detection program reflecting one aspect of the present invention includes: a distance measurement unit that scans a light beam and detects reflected light to measure 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 that includes a display; a display processing unit that causes the display to display the object detected by the object detection unit in three dimensions; an object detection system comprising: an area setting unit that sets a monitoring area to be monitored by the object detection unit out of the area measured by the distance measurement unit by accepting an operation of the input/output unit using the display. It works with a control device that controls.

It is a figure explaining the object detection system concerning one embodiment of the present invention. 2 is a schematic diagram illustrating the structure of a laser radar unit that constitutes the object detection system of FIG. 1; FIG. FIG. 3A is a perspective view explaining a monitoring area set in an area to be measured, and FIG. 3B is a diagram showing an example of a three-dimensional display of the monitoring area. 2 is a diagram for explaining the operation of the object detection system of FIG. 1; FIG. 2 is a diagram for explaining the operation of the object detection system of FIG. 1; FIG. It is a figure explaining the setting method of a monitoring area|region. 7A to 7D are diagrams for explaining display examples on a display.

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

The object detection system 100 shown in FIG. 1 includes a laser radar unit 21, a support section 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 measuring unit that detects the existence 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 measuring section) 21 includes a light projecting system 51 , a light receiving system 52 , a rotary reflecting section 53 , a drive circuit 55 and exterior parts 56 . Among these, the light projecting system 51 , the light receiving system 52 , and the rotating reflector 53 constitute a scanning optical system 59 .

The light projecting system 51 emits a light beam or a laser beam L1, which is the source of the light beam, to a scanning mirror 53a of a rotary reflector 53, which will be described later. The light projecting system 51 has a light source 51a that generates laser light L1 set in the infrared and other wavelength ranges.

The light-receiving system 52 receives the return light L2, which is the reflected light or light beam from the detection target OB incident through the optical window 56a of the exterior component 56 and reflected by the scanning mirror 53a of the rotary reflector 53. . 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 returned light L2. When there is a detection target OB such as an object within the detection area, the laser light (projection beam) L1 emitted from the laser radar unit 21 is reflected by the detection target OB, and part of the light reflected by the detection target OB is reflected. A part is incident on the light receiving system 52 via the scanning mirror 53a in the laser radar unit 21 as a return light (reflected light) L2.

The rotary reflector 53 has a scanning mirror 53a and a rotary driver 53b. The scanning mirror 53a is a two-time reflecting polygon mirror, and has a first reflecting portion 53i and a second reflecting portion 53j for bending the optical path. The first and second reflecting portions 53i and 53j are arranged vertically along the rotation axis RX extending 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 according to the rotational position of the scanning mirror 53a (in the illustrated example, the positions facing four directions in units of 90°). (For specific shapes of the first and second reflecting portions 53i and 53j, see International Publication No. 2014/168137).

The reflecting surface of the first reflecting portion 53i reflects the laser beam (projection beam) L1 incident from the +y direction, which is the right direction on the paper surface, in a direction substantially orthogonal to the laser beam (projection beam) L1, and reflects the laser light (projection beam) L1 in a direction substantially orthogonal to the +z direction, which is the upper direction on the paper surface. 2 It is guided to the mirror surface of the reflecting portion 53j. The mirror surface of the second reflecting portion 53j reflects the laser beam L1 incident from below on the paper surface in a substantially orthogonal direction, and guides it to the detection target OB side in the right direction on the paper surface. A part of the return light (reflected light) L2 reflected by the detection target OB traces a path opposite to the path of the laser light L1 and is detected by the light receiving system 52 . In other words, the scanning mirror 53a causes the return light L2 reflected by the detection target OB to be reflected again by the mirror surface of the second reflecting portion 53j and guides it 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 guided to the light receiving system 52 side.

When the scanning mirror 53a rotates, the traveling direction of the laser light L1 changes within a plane perpendicular to the vertical z-axis direction (that is, the xy plane). 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 the detection area. The projecting angle is the opening angle with respect to the +z-axis direction in the traveling direction of the laser beam L1 for projection. The angle formed in the plane is the irradiation angle. A projected light field corresponding to the detection area is formed by such a projected light angle and an irradiation angle. Since the projected light field changes in four steps in the vertical direction according to the rotational position of the scanning mirror 53a in units of 90°, the projected light field as a whole is the projected light field achieved by a single scan. It has four times the spread in the vertical direction.

The driving circuit 55 controls the operations of the light source 51a of the light projecting system 51, the light receiving element 52a of the light receiving system 52, the rotation driving section 53b of the rotary reflecting section 53, and the like. Further, the driving circuit 55 obtains object information of the detection target OB from an electrical signal obtained by conversion of the return light L2 incident on the light receiving element 52a of the light receiving system 52. FIG. Specifically, when the output signal from the light receiving element 52a is equal to or greater than a predetermined threshold value, the driving circuit 55 determines that the light receiving element 52a has received the return light L2 from the detection target OB. In this case, the distance to the detection target 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. Also, based on the light-receiving position in the sub-scanning direction of the return light L2 to the light-receiving element 52a and the rotation angle corresponding to the main scanning direction of the scanning mirror 53a, the azimuth information in the main-scanning direction and the sub-scanning direction of the detection target OB is obtained. can ask.

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

Returning to FIG. 1, the support section 23 not only supports the laser radar unit 21, but also has the function of adjusting the direction or posture of the laser radar unit 21 under the control of the control device 80. FIG. It should be noted that the support portion 23 adjusts the posture of the laser radar unit 21 under the control of the control device 80 when the entirety including the support portion 23 and the like is tilted so as to maintain the laser radar unit 21 in the state before tilting. can be anything.

The control device 80 includes an input/output unit 81 that is an interface with an operator, an arithmetic processing unit 82 that performs arithmetic processing on data and the like based on a program, controls external devices, and the like, and receives external data, arithmetic processing results, and the like. 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 has an operation unit 81a that receives instructions from an operator, and a display 81b that presents the results of processing by the arithmetic processing unit 82 to the operator. The operation unit 81a has a keyboard, a mouse, etc., and can make the progress of the program executed by the control device 80 reflect the intention of the operator. The operation unit 81a receives, for example, an operator's operation of designating a monitoring region from the area or region being measured. The operation unit 81a may be something like a touch panel attached to the display 81b. The display 81b 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 CPU (Central Processing Unit) and attached circuits such as an interface circuit. An object detection program including various processes such as removal processing and alarm processing is executed.

Specifically, the arithmetic processing unit 82, as an object detection unit, detects an object from distance information obtained by the laser radar unit 21, which is a distance measurement unit. Further, the arithmetic processing unit 82, as a display processing unit, causes the display 81b to perform three-dimensional display or two-dimensional display of the detected object or detection target OB. That is, the arithmetic processing unit 82 can display the detection points obtained by the distance measurement three-dimensionally or two-dimensionally on the display 81b. The arithmetic processing unit 82, as a region setting unit, receives instructions from an operator via the operation unit 81a and the display 81b, and selects a monitoring region to be monitored by the laser radar unit 21, out of the measurement area or measurement region. set. Further, the arithmetic processing unit 82, as a region setting unit, receives instructions from the operator via the operation unit 81a and the display 81b, and thereby changes the outline of the monitoring region by expanding, contracting, or the like. The arithmetic processing unit 82 can accept the contour shape of the monitoring area as an arbitrary shape. Thereby, the user can freely set the three-dimensional monitoring area through the arithmetic processing unit 82 according to the purpose and environment. Also, the arithmetic processing unit 82 can adjust the arrangement and the number of monitoring areas. Further, when a plurality of monitoring areas are set, the arithmetic processing unit 82 can combine the plurality of monitoring areas into one monitoring area. Further, the arithmetic processing unit 82, as a monitoring unit, records or issues the existence of a moving object when the arithmetic processing unit (object detection unit) 82 detects a moving object within the monitoring area. As a result, it is possible to record or report a moving object that has entered the monitoring area. By detecting the moving object by the arithmetic processing unit 82, it is possible to grasp the three-dimensional behavior of the moving object in the monitoring area.

FIG. 3A is a diagram explaining setting and display of a monitoring area. The measurement area includes detection points (not shown) obtained by one measurement operation (manipulation of the entire area) of the laser radar unit 21 . The measurement data that gives the detection point is originally polar coordinate measurement data, but is converted into an XYZ orthogonal coordinate system. In the illustrated example, two monitoring areas SA1 and SA2 are set in a measurement area represented by an orthogonal coordinate system. By setting the monitoring areas SA1 and SA2, it becomes possible to perform efficient monitoring focusing on the necessary areas. A frame-shaped 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 a plan view, and is a display of a first pattern two-dimensionally displayed on the display 81b. corresponds to an image. A frame-shaped projection 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 display image of These projection images PI1 and PI2 are parallel projection images of the monitoring area SA1 viewed in a direction parallel to the Y-axis and Z-axis.

FIG. 3B shows a perspective projection image of the monitoring area SA1 viewed from the viewpoint EO in FIG. 3A, and corresponds to a three-dimensional display displayed on the display 81b. In this case, even if the display performs two-dimensional display, it becomes easy to grasp the shape and arrangement of the detected object and the monitored area as three-dimensional ones. As is clear from the figure, the monitoring area SA1 is displayed as a projection image PI3 that shrinks 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 an alarm target exists within 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 regarding 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, enables the arithmetic processing unit 82 to take in data from the laser radar unit 21 or the like, and enables the arithmetic processing unit It allows commands from 82 to be sent to the laser radar unit 21 .

Execution of an object detection method or an object detection program using the object detection system 100 shown in FIG. 1 will be described below with reference to FIGS.

First, the arithmetic processing section 82 of the control device 80 operates the laser radar unit 21 to start taking in measurement data including distance information and the like (step S11). The laser radar unit 21 outputs polar coordinate measurement data (r, θ, φ) or data that is the basis of the measurement data (r, θ, φ). .theta., .phi.) and the like are converted into measurement data (X, Y, Z) in the orthogonal coordinate system, and the results are stored in the storage unit 83. FIG. Specifically, the conversion from polar coordinates to a rectangular coordinate system is based on the well-known relationship X=r·sin θ×cos φ
Y=r·sin θ×sin φ
Z=r·cos θ
is executed using Here, r is the distance to the detected object, θ is the polar angle, and φ is the azimuth angle. At this time, it is also possible to perform coordinate conversion that compensates for the inclination of the attitude of the laser radar unit 21 .

Next, the arithmetic processing unit 82 causes the display 81b to display the detection point where the object is detected based on the measurement data including the distance information received from the laser radar unit 21 (step S12). At this time, the arithmetic processing unit 82 can three-dimensionally display the group of detection points obtained by the distance measurement on the display 81b. 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, which will be described later. The detection points displayed on the display 81b are not limited to three-dimensional display, and may be two-dimensional display.

で与えられる。視点基準の座標ＰＰ（ａ，ｂ，ｃ）のうち、視線に直交する面に平行投影した座標値ｂ，ｃから距離による縮小を計算した座標ＤＰ１（ｂ／（－ａ），ｃ／（－ａ））が中心投影の座標となる。この中心投影座標ＤＰ１（ｂ／（－ａ），ｃ／（－ａ））をディスプレイ８１ｂの画面に適合させる縮小又は拡大、量子化等の画像処理を行うことで、検出点の中心投影表示すなわち３次元的表示が可能になる。なお、距離による縮小を計算しない座標ＤＰ２（ｂ，ｃ）は、平行投影の座標であり、これを用いることで任意の視点に対応する２次元的表示が可能になる。Three-dimensional display will now 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 onto a two-dimensional plane. In an orthogonal coordinate system, let _VE be the vector of the viewpoint, and _VO be the vector of the center of sight. Coordinates PP(a, b, c) can be regarded as translation of the origin and rotation of the coordinate axes around the Z and Y coordinate axes, and the following relational expression

is given by Coordinates DP1(b/(-a), c/(- a)) are the coordinates of the central projection. By performing image processing such as reduction or enlargement, quantization, etc. to match the central projection coordinates DP1 (b/(-a), c/(-a)) to the screen of the display 81b, the central projection display of the detection point, that is, Three-dimensional display becomes possible. Note that the coordinates DP2(b, c) for which reduction due to distance is not calculated are the coordinates of parallel projection, and by using these, two-dimensional display corresponding to an arbitrary viewpoint is possible.

Next, the arithmetic processing unit 82 refers to the storage unit 83 to confirm whether or not the monitoring area is set (step S13), and if the monitoring area is set (Y in step S13). If there is a processing request to change the monitoring area (Y in step S14), the monitoring area is set (step S15).

The monitoring area setting process will be described with reference to FIG. First, the arithmetic processing unit 82 uses the input/output unit 81 to request the operator to select the necessity of setting the monitoring area and the setting method, and accepts the operator's selection (step S51). At this time, the arithmetic processing unit 82 uses the operation unit 81a and the display 81b that constitute the input/output unit 81 to accept input through a GUI (Graphical User Interface). Methods for setting the monitoring area include, for example, (1) a method of applying a basic shape prepared in advance, (2) a method of obtaining a boundary surface from the surface of an obstacle such as a building using actual measurement results, (3) A method of directly inputting a boundary surface by an operator inputting a reference point and a reference surface is conceivable. Basic shapes prepared in advance include, for example, rectangular parallelepipeds, cylinders, spheres, etc. It is possible to change the attitude and size of the basic figures, and to combine a plurality of figures. When using actual measurement results, the outer edge of the monitoring area is defined by assuming the surface of the obstacle from the static detection points and calculating an approximate plane extending from the surface of the obstacle at a predetermined distance. can do. When the operator inputs a reference point or a reference plane, the operator can directly input the coordinate points, but the input can be assisted by displaying static detection points or prepared reference points on the display 81b. The above methods (1) to (3) can be used in combination instead of being used alone.

Next, the arithmetic processing unit 82 uses the input/output unit 81 to request the operator to select the display method of the monitored area, and accepts the operator's selection (step S52). As described above, the monitoring area can be displayed in three-dimensional display or two-dimensional display. In the case of three-dimensional display, camera images corresponding to viewpoints can be superimposed or displayed in parallel. Furthermore, the operator can use the input/output unit 81 to shift or switch the viewpoint between three-dimensional display and two-dimensional display. When the monitor area is set while the display 81b is displaying a three-dimensional image, the monitor area is observed three-dimensionally, and the spatial arrangement of the monitor area can be easily grasped. It is easy to operate, and the intended monitoring area can be quickly set. When the monitor area is set while the display 81b is displaying a two-dimensional image, the monitor area is projected onto each reference plane with little distortion, and the layout of the monitor area can be comprehended relatively accurately.

Next, using the input/output unit 81, the arithmetic processing unit 82 accepts the setting of the monitoring area intended by the operator (step S53), and stores the set monitoring area in the storage unit 83. FIG. The operator selects, for example, (1) any one or more basic shapes from the tool area provided outside the measurement area displaying the detection points on the display 81b, and (2) additionally displayed within the measurement area on the display 81b. A monitoring area can be set within the measurement area by selecting a candidate for the outer edge of the monitoring area, or (3) selecting a tool for drawing a point or plane. The monitoring areas set by various methods in this way are displayed together with the detection points in the measurement area. At this time, the arithmetic processing unit 82 allows the operator to move the position of the monitoring area and increase/decrease the size. In the above, the arithmetic processing section 82 as the area setting section allows setting of a plurality of monitoring areas. When a plurality of monitoring areas are set in this manner, the arithmetic processing unit 82 can combine the plurality of monitoring areas into one monitoring area. Note that the partial areas forming the monitoring area may be adjacent or separated, and a plurality of partial areas can be collectively processed as one monitoring area.

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 parallelepiped frame-shaped monitoring area is displayed together with the detection points within the measurement area. Note that FIG. 7A is a perspective for observing the monitored area from the front, and FIG. 7B is a perspective for observing the monitored area from above. The display of FIGS. 7A and 7B includes not only display on the display 81b alone, but also display on the display 81b side by side.

7C and 7D show a specific example of two-dimensional display on the display 81b, and it can be seen that a horizontally long rectangular monitoring area is displayed together with the detection points within the measurement area. Note that FIG. 7C is a viewpoint for observing the monitored area from the front, and FIG. 7D is a viewpoint for observing the monitored area from above. Note that the displays in FIGS. 7C and 7D are not only displayed independently on the display 81b, but also include cases where they are displayed side by side on the display 81b.

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

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

Next, the arithmetic processing unit 82 uses the input/output unit 81 to confirm whether or not the operator wishes to correct the monitored area (step S54).

When the operator wishes to correct the monitored area, the arithmetic processing unit 82 uses the input/output unit 81 to request the operator to select a method of displaying the monitored area, and accepts the operator's selection (step S55).

Next, using the input/output unit 81, the arithmetic processing unit 82 accepts correction of the monitoring area desired by the operator (step S56), and stores the corrected monitoring area in the storage unit 83. FIG. Correction of the monitoring area includes partial deletion of the monitoring area set in step S53, expansion by adding an additional area to the monitoring area set in step S53, and deletion of the entire monitoring area. and adding new monitoring areas elsewhere.

After that, 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 determines the thickness of the line, the color of the line, and the type of line such as a broken line and a solid line when displaying the monitoring area set in step S53 or the monitoring area corrected in step S56 on the display 81b. The operator can use the input/output unit 81 to input and set information regarding the classification of the , etc., 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 81b in a display mode corresponding to the setting (step S16). That is, when the group of detection points is displayed three-dimensionally on the display 81b at a predetermined viewpoint in step S12, the group of detection points is similarly displayed three-dimensionally at a predetermined viewpoint on the display 81b, 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. FIG. Clustering is a process for subgrouping detection points by connecting adjacent measurement points, etc., and obtaining information on the size and outline of an object. Clustering can be performed on measured data in polar coordinates (r, θ, φ) or measured data in orthogonal coordinates (X, Y, Z). Processing such as concatenation of a plurality of obtained clusters can be added to the above clustering. For example, adjacent clusters can be connected by performing region expansion of one to several pixels or an equivalent distance around the cluster and narrowing the resulting cluster by the corresponding number of pixels or distance.

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

After that, the arithmetic processing unit 82 considers the size of each cluster having the additional information obtained in step S18, performs noise determination to remove small-sized clusters, and selects targets worthy of attention (step S19). . That is, the arithmetic processing unit 82 determines that a cluster having a higher noise level than the noise level is a forward object, labels the object thus extracted, and stores it in the storage unit 83 .

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

Next, the arithmetic processing unit 82 performs tracking on the cluster extracted as being within the monitoring area (step S22). Specifically, the arithmetic processing unit 82 displays the extracted cluster on the display 81b by attaching a mark or a quadrangular prism-shaped frame around the extracted cluster. At this time, it is also possible to grasp the movement of the extracted cluster as a trajectory. In this case, the identity of the extracted clusters is determined from their shapes and sizes. In the above tracking, it is possible to display on the display 81b not only the detection points forming a cluster extracted within the monitoring area, but also the detection points forming a cluster having a noise level higher than the noise level obtained outside the monitoring area. Vehicles, buildings, etc. are displayed as clusters outside the monitoring area. If the detection points constituting these clusters are displayed three-dimensionally on the display 81b, it is possible to identify the clusters or objects inside and outside the monitoring area. become easier.

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

If the arithmetic processing unit 82 determines that there is an object to be warned (Y in step S23), it performs warning processing and recording processing (step S24). As alarm processing, the arithmetic processing unit 82 uses the display 81b and a speaker (not shown) to inform the operator that an alarm target has appeared within the monitoring area. Further, the arithmetic processing unit 82 notifies the external system via the communication unit 84 that the alarm target has appeared within the monitoring area. As a recording process, the arithmetic processing unit 82 stores in the storage unit 83 characteristics such as the time when the cluster corresponding to the warning target appeared in the monitoring area, and the size and shape of the cluster.

If there is no instruction to end processing (N in step S25), the arithmetic processing unit 82 returns to step S13 and repeats the processing regardless of whether or not there is an object to be warned.

If the monitoring area has not been set (N in step S13), the arithmetic processing unit 82 accepts a processing request to start setting from the operator (step S34). ), the arithmetic processing unit 82 causes the display 81b to operate in the display mode corresponding to the setting (step S36), similarly to the processing in step S16.

After that, while there is no monitoring area, the arithmetic processing unit 82 performs clustering from the latest measurement data (step S37) in the same manner as the processing in steps S17 to S19, and determines the position and size of each obtained cluster. (step S38), and performs noise determination for removing small-sized clusters (step S39).

According to the object detection system 100 of the embodiment described above, the arithmetic processing unit (object detection unit) 82 receives an operation of the input/output unit 81 using the display 81b. Since the monitor area to be monitored by is set by the user, the user performs an operation to set the monitor area based on the three-dimensional display, which facilitates setting and grasping of the monitor area.

Although the present invention has been described with reference to the embodiments, the present invention is not limited to the above-described embodiments. For example, the structure and the number of laser radar units 21 are merely examples, and distance measurement units with various structures can be used.

The clustering method is not limited to the one described above, and various methods can be adopted for setting the neighborhood range and the proximity range, how to connect pixel points, and the like.

In the example described above, the detection points within the measurement area are displayed on the display 81b when setting the monitoring area. It is also possible to display what is based on CAD data or the like.

Claims (8)

a distance measuring unit that detects the reflected light while scanning the 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 display a group of detection points as a three-dimensional display of the object detected by the object detection unit;
A monitoring area to be monitored by the object detection unit out of the areas measured by the distance measurement unit by accepting an operation of the input/output unit while displaying a measurement area displaying a detection point on the display. and an area setting unit for setting
An object detection system that performs clustering from measurement data within the monitoring area and extracts objects existing within the monitoring area from the obtained clusters. 2. The object detection system according to claim 1, wherein said area setting unit accepts a contour shape of said monitoring area as an arbitrary shape. 3. The object detection system according to any one of claims 1 and 2, wherein said area setting unit enables adjustment of arrangement and number of said monitoring areas. 4. The object detection system according to any one of claims 1 to 3, wherein when a plurality of monitoring areas are set, the area setting unit can combine the plurality of monitoring areas into one monitoring area. 5. The object detection system according to claim 1, wherein the three-dimensional display displayed on said display is a perspective projection image. The object detection system according to any one of claims 1 to 5, wherein the object detection unit detects a moving object. 7. The object detection system according to claim 6, further comprising a monitoring unit that records or reports presence of a moving object when said object detecting unit detects a moving object within said monitoring area. a distance measurement unit that 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; and an input/output unit including a display. a display processing unit that causes the display to display a group of detection points as a three-dimensional display of the object detected by the object detection unit; an area setting unit configured to set a monitoring area to be monitored by the object detection unit, out of the area measured by the distance measurement unit, by receiving an operation of the unit, and measuring data within the monitoring area. an object detection program that operates on a control device that controls an object detection system that performs clustering from the obtained clusters and extracts objects existing within the monitoring area from the obtained clusters .

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