OBJECT DETECTION DEVICE

Abstract

An object detection device is capable of accurately detecting a position of an object that is a detection target within a vehicle cabin using a single image sensor. The object detection device also includes: a sensor part configured to photograph the object present in the vehicle cabin; a sensor moving device configured to move a position of the sensor part; and a controller configured to detect the position of the object by combining data about the object photographed before the movement of the sensor part and data about the object photographed after the movement of the sensor part.

Description

REGIONThe present disclosure relates to an object detection device capable of accurately detecting (detecting) an object inside a vehicle cabin.DESCRIPTION OF THE PRIOR ARTIn a case where three-dimensional (3D) coordinates are required for recognizing targets (i.e., passengers, seatbelts, seats, child restraint systems (CRS), domestic animals, other objects, and the like) inside a vehicle, the 3D coordinates can be easily obtained by using a 3D camera. However, there is a problem that the cost of a device increases by using the camera.Accordingly, 3D coordinates may be estimated using a distance estimation algorithm along with an image captured using a two-dimensional (2D) camera, or 3D coordinates may be determined using a 3D scanning method.However, using the 2D camera and the distance estimation algorithm presents the challenge of accurately determining the size of a detected target (or object) based on the distance between a sensor and the detected target.Moreover, when using the 3D sensor system, there is a problem that the cost of the apparatus increases due to the specifications of the camera and the processor required for image processing.Thus, although a structured light camera may have good accuracy, the camera itself is expensive and an expensive AP (i.e., a processor) is needed.In addition, when a TOF camera having a relatively high performance AP is required, high material cost is required.While the material costs for stereo vision are relatively low, the simultaneous processing of two images requires an expensive high performance processor (AP).The above is intended merely to aid in understanding the background of the present disclosure and does not mean that the present disclosure falls within the related art field already known to those skilled in the art.OVERVIEWThe object of the present disclosure is to provide an object detection device capable of accurately detecting a position of an object that is a detection target within a vehicle cabin using a single image sensor.According to a configuration of the present disclosure for achieving the above object, an object recognition device is provided. The object recognition device includes a sensor part configured to generate image data of an object present inside a vehicle cabin. The sensor part may photograph objects present in the vehicle, for example. The object is referred to as a recognition target. The object recognition device further includes a sensor moving device configured to move a position of the sensor part. In addition, the object recognition device includes a controller configured to acquire a position of the object by combining data on the object photographed before the movement of the sensor part and data on the object photographed after the movement of the sensor part.In an embodiment, the sensor moving device is configured to linearly move the sensor part in a direction perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part photographs the object.In another embodiment, the sensor moving device may linearly move the sensor part in an axial direction corresponding to the center line of a viewing angle at which the sensor part photographs the object.The sensor moving device may include: a driving part configured to provide a driving force; a fixed gear that is attached to an inner surface of the vehicle cabin and through which the driving force of the driving part is transmitted; and a movable gear to which the sensor part is attached. The movable gear can be engaged with the fixed gear and linearly moved together with the sensor part by the driving force transmitted to the fixed gear.The fixed gear and the movable gear may be a rack gear and a pinion gear.The sensor moving device may include: a driving part configured to provide a driving force; a guide part that is fixed to an inner surface of the vehicle cabin and has a rod shape (beam shape); and a runner to which the sensor part is attached. The mover may be inserted into the guide part and linearly moved together with the sensor part along a longitudinal direction of the guide part by the driving force transmitted from the driving part.In the sensor moving device, the sensor part may be configured to rotate along a predetermined radius on a plane perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part photographs the object.The sensor moving device may include: a driving part configured to provide a driving force; a rotating shaft attached to an inner surface of the vehicle cabin; and a rotating part to one end of which the sensor part is attached. The rotating part may be coupled to the rotating shaft and rotated around the rotating shaft together with the sensor part by the driving force transmitted to the rotating shaft.The object recognition device may further include: a reflection part configured to reflect a shape of the object and allow the reflected shape of the object to be positioned within a range of a viewing angle at which the sensor part photographs the object. The controller may be configured to recognize the position of the object by combining the data of the object photographed by the sensor part and the data of the object reflected by the reflection part and photographed by the sensor part.The object recognition device may further include: a reflection part moving device configured to move a position of the reflection part. The controller may recognize the position of the object by combining data of the object photographed before the movement of the reflection part and data of the object photographed after the movement of the reflection part.In an embodiment, the apparatus for moving the reflection part is configured to move the reflection part linearly in a direction parallel to a reflective surface of the reflection part.In another embodiment, the apparatus for moving the reflection part is configured to move the reflection part linearly in a direction in which the reflective surface of the reflection part moves away from or towards the sensor part.The apparatus for moving the reflecting part may include: a driving part configured to provide a driving force; a fixed gear that is attached to an inner surface of the vehicle cabin and through which the driving force of the driving part is transmitted; and a movable gear to which the reflecting part is attached. The movable gear can be engaged with the fixed gear and linearly moved together with the reflecting member by the driving force transmitted to the fixed gear.The fixed and movable gears may be a rack gear and a pinion gear.The apparatus for moving the reflecting part may include: a driving part configured to provide a driving force; a guide part fixed to an inner surface of the vehicle cabin and having the shape of a rod; and a runner to which the reflecting part is attached. The mover may be inserted into the guide part and linearly moved together with the reflecting part along a longitudinal direction of the guide part by the driving force transmitted from the driving part.In an embodiment, the apparatus for moving the reflective member may rotate a second end of the reflective member about a first end of the reflective member.The apparatus for moving the reflection part may include: a driving part configured to provide a driving force; a rotating shaft that is attached to an inner surface of the vehicle cabin and through which the driving force of the driving part is transmitted; and the reflection part whose first end is coupled to the rotating shaft and whose second end is rotationally moved about the rotating shaft by the driving force transmitted to the rotating shaft.The controller may be configured to recognize the position of the object by saving 3D coordinates of the object from the object data saved by the sensor part.By the above-described technical solution, the present disclosure has an effect of detecting the position of an object by using a single image sensor. As a result, a reduction in the number of sensor parts is achieved and the cost of the apparatus is reduced. In addition, a configuration is achieved with an algorithm that does not require the simultaneous processing of two or more images such that high performance hardware need not be built. As a result, the cost of constructing the apparatus is greatly reduced.Moreover, the present disclosure has the effect that the functions of driver monitoring and occupant detection system (ODS) (with respect to detecting passengers, CRS, and airbags) may be replaced and the body centroids of the passengers may be measured more accurately to detect wrong belt application.BRIEF DESCRIPTION OF THE DRAWING FIGURESThese drawing figures are only for reference to describe embodiments of the present disclosure. Therefore, the technical idea of the present disclosure should not be limited to the attached drawing figures. FIG. 1 is a view showing a configuration of a first embodiment in which a sensor part according to the present disclosure moves linearly. FIG. 2 is a view showing a configuration of a second embodiment in which a sensor part according to the present disclosure moves linearly. FIG. 3 is a view showing a configuration of a third embodiment in which a sensor part according to the present disclosure moves linearly. FIG. 4 is a view showing a configuration of a fourth embodiment in which a sensor part according to the present disclosure moves linearly. FIG. 5 is a view showing a configuration of a first embodiment in which a sensor part according to the present disclosure rotatably moves. FIG. 6 is a view showing a configuration of a second embodiment in which a sensor part according to the present disclosure rotatably moves. FIG. 7 is a view showing a configuration of a third embodiment in which a sensor part according to the present disclosure rotatably moves. FIGS. 8 and 9 are views showing a configuration of an embodiment in which a reflection member according to the present disclosure moves linearly. FIGS. 10 and 11 are views showing a configuration in which the number of the reflection parts illustrated in FIG. 8 is increased. FIGS. 12 and 13 are views illustrating a configuration of an embodiment in which a reflection member according to the present disclosure rotatably moves. FIG. 14 is a view illustrating a structure in which a sensor part is installed to be linearly and rotatably movable according to the present disclosure. FIG. 15 is a view illustrating a structure in which a reflection part is installed in a mold surrounding a sensor part according to the present disclosure. FIG. 16 is a view showing a structure in which a sensor part according to the present disclosure rotates. FIGS. 17 and 18 are views showing images of an object before and after movement of a sensor part according to the present disclosure. FIG. 19 is a view showing an image of an object photographed by a sensor part and an image of the object reflected by a reflection part according to the present disclosure. FIG. 20 is a view showing an image of an object photographed by a sensor part and an image of the object reflected by two reflection parts according to the present disclosure. FIG. 21 is a view showing an image of an object reflected in a state where the reflection part of FIG. 19 is removed from the sensor part.DETAILED DESCRIPTIONHereinafter, the embodiments disclosed in the present disclosure will be described in detail with reference to the accompanying drawing figures, but the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and overlapping description thereof has been omitted.The suffixes such as "module" and "unit / part" used in the following descriptions are given or mixed to facilitate understanding of the description, and the suffixes do not have any particular meanings or roles alone.In describing the embodiments disclosed in the present disclosure, as long as it is determined that a detailed description of a related known technology may obscure the subject matter of the embodiments disclosed in the present disclosure, the detailed description thereof will be omitted. Moreover, the accompanying drawing figures are only for easy understanding of the embodiments disclosed in the present disclosure. Moreover, the technical idea disclosed in the present disclosure is not limited by the accompanying drawing figures, and it is understood that the accompanying drawing figures include all modifications, equivalents, or substitutes included in the idea and the technical scope of the present disclosure.It should be understood that although the terms including ordinal numbers such as first, second, and the like may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one component from another component.Where a component is referred to as being "coupled" or "connected" to another component, it may be directly coupled or connected to the other component, or intervening components may be present. If, on the other hand, a component is referred to as being "directly connected", "directly coupled" or "directly linked" to another component, it is to be assumed that there are no components located therebetween.The singular forms used herein also include the plural forms unless the context clearly indicates otherwise.It will be further understood that the terms "comprise," "include," "have," and the like, when used in the present specification, specify the presence of particular features, integers, steps, operations, elements, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.Moreover, a controller may include: a communication device for communicating with other controllers or sensors to control the responsible functions; a memory for storing an operating system, logic instructions, and input / output information; and one or more processors for making determinations, calculations, and decisions required to control the responsible functions.As long as a component, a device, an element, or the like is described as a component, a device, or an element that performs a purpose or performs an operation, a function, or the like within the scope of the present disclosure, the component, the device, or the element should be considered herein as being "configured" ("configured"), to perform the purpose, or to perform the operation or function.The embodiments of the present disclosure will be described in detail as follows with reference to the accompanying drawing figures.An object recognition device according to the present disclosure is configured to include: a sensor part 100 for photographing an object that is a recognition target located inside a vehicle cabin; a sensor moving device 40 for moving a position of the sensor part 100; and a controller 300 for detecting a position of the object by combining data of the object photographed before the movement of the sensor part 100 and data of the object photographed after the movement of the sensor part 100.As illustrated in FIG. 1, the sensor part 100 is an image sensor for photographing an object. The sensor part 100 can be a 2D camera for detecting infrared rays (IR) and RGB (colors) or else a 2D camera which only records infrared rays (IR).The sensor part 100 is installed in a vehicle cabin and detects objects (e.g., passengers, seatbelts, seats, child restraint systems (CRS), domestic animals, other objects, etc.) located in the vehicle cabin.The sensor part 100 may be installed as a single part, but two or more sensor parts may be installed at positions available for accommodating an object.The sensor part 100 may be attached to a rearview mirror 400, a roof console, a rear seat lamp, a rear seat headliner, or the like.The sensor moving device serves to change a position of the sensor part 100 by moving the sensor part 100 in a straight direction or in a rotational direction. At this time, the sensor part 100 may be moved within a range available for photographing a corresponding object within a view angle at which (under) the photographing is performed by the sensor part 100.The controller 300 is for processing image data captured by the sensor part 100, and stores and processes the image data of an object photographed before the movement of the sensor part 100 and the image data of the object photographed after the movement of the sensor part 100.Specifically, the controller 300 may recognize a position of an object by securing 3D coordinates of the object based on the object data secured by the sensor part 100.In other words, as shown in FIGS. 17 and 18, the sensor part 100 calculates an angle and a distance between the sensor part 100 (i.e., a reference point) and the object using two or more image data including an image OB of the object photographed before the movement and an image OB 1 of the object photographed after the movement. Moreover, the sensor part 100 recognizes an accurate 3D coordinate position of the object from a calculated result.Accordingly, when recognizing a passenger as an object, a body keypoint algorithm capable of recognizing the passenger's body and tracking a keypoint for each passenger's body part may be implemented. Additionally, physical features (e.g., size, age, etc.) of the passenger may be detected from the saved 3D coordinates.Moreover, by securing the 3D coordinates of objects such as seats / CRS / objects, not only can their positions be detected exactly, but also the corresponding objects can be distinguished from one another and recognized.Accordingly, a single image processing sensor is used to detect the position of an object so as to reduce the number of sensor parts 100, thereby reducing the cost of the apparatus. Moreover, configuration is realized with an algorithm that does not require simultaneous processing of two or more images, so that high-performance hardware is not required. The configuration reduces the cost of constructing the apparatus.In addition, the functions of the driver monitoring and occupant detection system (in the context of passenger detection, CRS, and airbags) may be substituted and the key points of the passenger body for detecting the wrong seatbelt donning may be more accurately measured.Moreover, the sensor moving device can linearly move the sensor part 100 in a direction perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part 100 photographs the object.For example, when the angle of view of the sensor part 100 is 120°, a virtual center line at the center of 120° becomes the center line of the angle of view.Accordingly, as shown in FIGS. 1-3, in a case where the sensor part 100 is installed in the rearview mirror 400, the center line of the angle of view of the sensor part 100 is directed in an inner direction perpendicular to a plane of the rearview mirror 400.When the sensor part 100 moves to the left and right or forward and backward on a plane of the rearview mirror 400, the position of the sensor part 100 is shifted accordingly. As a result, images that would have been captured by two or more sensor parts 100 may be secured by one sensor part 100.Moreover, the sensor moving device can linearly move the sensor part 100 in an axial direction corresponding to the center line of the angle of view at which the sensor part 100 photographs the objects.In other words, in the case where the sensor part 100 is installed in the rearview mirror 400, as shown in FIG. 4, the center line of the angle of view of the sensor part 100 is directed in the inner direction perpendicular to the plane of the rearview mirror 400.Accordingly, the position of the sensor part 100 is shifted as the sensor part 100 is pulled out or pushed in and moved on the plane of the rearview mirror 400 in the inner direction perpendicular to the plane of the rearview mirror 400. As a result, images that would have been captured by two or more sensor parts 100 may be secured by one sensor part 100.As shown in FIGS. 1 and 2, the sensor part 100 may be configured to move linearly by a sensor moving device having a tooth engaging method.Specifically, the sensor moving device includes: a driving part 110 for providing a driving force; a fixed gear that is attached to an inner surface of a vehicle cabin and through which the driving force of the driving part 110 is transmitted; and a movable gear to which the sensor part 100 is attached. The movable gear is engaged with the fixed gear and is linearly moved together with the sensor part 100 by the driving force transmitted to the fixed gear.The fixed gear and the movable gear may be a rack gear (or simply: a rack) 120 and a pinion gear (or simply: pinion) 130. The fixed gear may be the rack gear 120 or the pinion gear 130, and the movable gear may be the rack gear 120 or the pinion gear 130, so that the sensor part 100 may be mounted on the rack gear 120 or the pinion gear 130, depending on the embodiment.FIG. 1 shows a configuration in which a sensor part 100 is mounted on a rack 120. In the description with reference to the drawing, the rack 120 is installed on a rearview mirror 400 in left and right directions, a pinion 130 is engaged with the rack 120, and a driving part 110 is connected to the pinion 130.The driving part 110 may be a rotary motor that drives the pinion 130 to rotate, and the pinion 130 rotates about its axis by a rotational driving force provided from the driving part 110.When the rack gear 120 meshes with the pinion 130, the rack gear 120 moves linearly leftward and rightward by the rotation of the pinion 130.Specifically, when the sensor part 100 including a lens is coupled to the rack 120, the sensor part 100 moves linearly to the left and right together with the movement of the rack 120, thereby changing a position of the sensor part 100.FIG. 2 shows a configuration in which a sensor part 100 is mounted on a pinion 130. In the drawing figures, a rack 120 is mounted on a rearview mirror 400 in left and right directions, the pinion 130 is connected to the rack 120, and a driving part 110 is connected to the pinion 130.The driving part 110 may be a linear motor that drives the pinion 130 to move in a straight line leftward and rightward direction. In other words, the pinion 130 is linearly moved leftward and rightward by a driving force provided from the driving part 110.When the pinion 130 is engaged with the rack 120, the pinion 130 moves linearly leftward and rightward along the longitudinal direction of the rack 120.Specifically, when the sensor part 100 including a lens is coupled to the pinion 130, the sensor part 100 moves linearly to the left and right together with the linear movement of the pinion 130. As a result, a position of the sensor part 100 becomes changeable.In such a configuration, the sensor part 100 may be connected to the center of the pinion 130. DA sensor part 100 may be coupled to pinion gear 130 via a bearing or the like so as to prevent sensor part 100 from rotating together with pinion gear 130.As shown in FIG. 3, a sensor part 100 may be configured to be linearly movable by a sensor moving device having a sliding movement structure.Specifically, the sensor moving device includes: a driving part 110 for providing a driving force; a guide part 140 fixed to an inner surface of a vehicle cabin in the form of a rod; and a rotor 150 to which the sensor part 100 is attached. The mover 150 is inserted into the guide part 140 and is linearly moved along a longitudinal direction of the guide part 140 by the driving force transmitted from the driving part 110 together with the sensor part 100.Referring to FIG. 3, the guide member 140 having upper and lower portions on which a plurality of rods are installed so as to be spaced apart from each other is installed in left and right directions on the rear view mirror 400 of the vehicle cabin. In addition, in a state of being inserted into the guide part 140, the mover 150 may be moved leftward and rightward along the guide part 140.The driving part 110 may be a linear motor that can move the mover 150 linearly to the left or right. The mover 150 moves leftward and rightward along the guide part 140 by the driving force provided from the driving part 110.Specifically, when the sensor part 100 including a lens is connected to the mover 150, the sensor part 100 linearly moves to the left and right together with the movement of the mover 150. As a result, a position of the sensor part 100 becomes changeable.According to such a configuration, the coordinates of an object are calculated in a method in which images acquired before and after the movement of the sensor part 100 are compared with each other. As a result, this method may be useful in recognizing passengers when the speed of coordinate calculation does not need to be high, when 3D coordinate processing for recognizing the size of the passenger is desired, and the like.In addition, since only one sensor part 100 is arranged in a limited layout, the configuration provides an advantageous configuration compared to a structure in which a plurality of sensor parts 100 are arranged.In an embodiment, the sensor moving device may rotatably move the sensor part 100 along a predetermined radius on a plane perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part 100 photographs an object.In other words, as shown in FIGS. 5-7, in a case where a sensor part 100 is installed in a rearview mirror 400, a center line of a viewing angle of the sensor part 100 is directed in an inner direction perpendicular to a plane of the rearview mirror 400.When the sensor part 100 is moved along a predetermined rotation radius around the center line as an axis of the angle of view on the plane of the rearview mirror 400, a position of the sensor part 100 is shifted accordingly. As a result, images that would have been captured by two or more sensor parts 100 may be secured by one sensor part 100.Specifically, the sensor moving device includes: a driving part 110 for providing a driving force; a rotating shaft 161 attached to an inner surface of a vehicle cabin; and a rotating part 160 provided with a sensor part 100 attached to an end thereof. The rotating part 160 is coupled to the rotating shaft 161, and is configured to rotate about the rotating shaft 161 together with the sensor part 100 by the driving force transmitted to the rotating shaft 161.Referring to FIGS. 5-7, the rotating shaft 161 is attached to the rearview mirror 400, and the rod-shaped rotating part 160 is coupled to a front end of the rotating shaft 161 to be rotatable together with the rotating shaft 161.Moreover, the driving part 110 may be a rotary drive capable of rotating the rotating part 160. The rotating part 160 rotates about the rotating shaft 161 by a rotational driving force provided from the driving part 110. The driving part 110 can also rotate the rotating shaft 161 by using, in addition to the rotation driving type, a type having a structure such as a rack type and an impeller type.Specifically, the sensor part 100 including a lens is coupled to one end of the rotating part 160 such that the sensor part 100 rotates together with the rotation of the rotating part 160. As a result, a position of the sensor part 100 becomes changeable.Here, as illustrated in FIGS. 5 and 6, the rotating part 160 is configured to be rotatable 360° although rotating only by a small amount such that images of two or more points can be acquired, which increases the accuracy.In contrast to FIG. 5, in which the rotating part 160 rotates 360°, the rotating part 160 shown in FIG. 7 can also be rotated only in some angular sections.In such a structure, it may be provided that the rotating part 160 and the sensor part 100 are hidden behind the rearview mirror 400 and then moved out of the rearview mirror 400 for rotation, or it may also be provided that only the sensor part 100 is exposed and then rotated. In addition, the rotating shaft 161 may be mounted in both the center of the rearview mirror 400 and an area other than the center.According to such a configuration, the coordinates of an object are calculated in a method in which images acquired before and after the movement of the sensor part 100 are compared with each other. Therefore, the method can be used in recognizing passengers for which high processing speed is not required for the coordinate calculation, and tasks such as 3D coordinate processing for recognizing the size of passengers and the like.The present disclosure may provide that a reflection part (e.g., reflector) 200 is further included, which is provided to reflect a shape of an object and allow the reflected shape of the object to be positioned within a range of a viewing angle at which the sensor part 100 photographs the object. In addition, the controller 300 may be configured to recognize a position of the object by combining data of the object photographed by the sensor part 100 and data of the object reflected by the reflection part 200 and photographed by the sensor part 100.The reflection part 200 may be a mirror. The mirror is based on a flat mirror, but depending on the situation, a curved mirror may replace the above mirror or be added to the above mirror, so that an additional viewing angle can be secured.In other words, as shown in FIG. 20, using images OB of one or more objects photographed by the sensor part 100 and images OB 1 of one or more objects reflected by the reflection part 200, angles and distances between the sensor part 100 (i.e., a reference point) and the objects are calculated. Based on the calculated results, the 3D coordinate positions of the corresponding objects are accurately determined.In using the reflection part 200, since all the objects are included in one image, 3D coordinate processing is possible with only one image, whereby the hardware load can be reduced.In another embodiment, the object detection device further includes a device 60 for moving the reflection part to move a position of the reflection part 200. The controller 300 may recognize a position of an object by combining data of the object photographed before the movement of the reflection part 200 and data of the object photographed after the movement of the reflection part 200.In other words, image data of the object reflected by the reflection part 200 and photographed before the movement of the reflection part 200 and image data of the object reflected by the reflection part 200 and photographed after the movement of the reflection part 200 are stored and processed.Accordingly, a position of the object is calculated using image data of one or more objects photographed by the sensor part 100 and image data of two or more objects reflected by the reflection part 200. Thereby, the 3D coordinate positions of the respective objects are detected more accurately, and the recognition performance of the objects is improved significantly.Moreover, the reflection part moving device may linearly move the reflection part 200 in a direction parallel to a reflecting surface of the reflection part 200.For example, when a reflecting part 200 is installed in a rearview mirror 400 and a reflecting surface of the reflecting part 200 is a flat plane, as shown in FIGS. 8 and 9, the reflecting surface of the reflecting part 200 is directed in an inner direction perpendicular to the plane of the rearview mirror 400.Accordingly, a position of the reflecting part 200 is shifted as the reflecting part 200 is pulled out or pushed in (pulled in) and moved on the plane of the rearview mirror 400 in the inner direction perpendicular to the plane of the rearview mirror 400. As a result, images that would have been acquired from two or more sensor parts 100 can be secured by a reflection part 200.Moreover, the reflection part moving device may linearly move the reflection part 200 in a direction in which the reflective surface of the reflection part 200 moves away from or toward (i.e., approaches) the sensor part 100.For example, when a reflecting part 200 is installed in a rearview mirror 400 as illustrated in FIG. 21, the reflecting part 200 may be linearly moved in a direction in which a reflecting surface of the reflecting part 200 moves away from the sensor part 100.Since the sensor part 100 can capture images of an object reflected on the reflection part 200 by moving a position of the reflection part 200, two or more images can be secured. These include an image of the object directly photographed by the sensor part 100 through a reflection part 200 and an image of the object reflected by the reflection part 200.As shown in FIGS. 8 and 9, the reflection member 200 may be configured to be linearly moved by a device for moving the reflection member using a tooth engaging method.Specifically, the apparatus for moving the reflection part includes: a driving part 210 for providing a driving force; a fixed gear that is attached to an inner surface of a vehicle cabin and through which the driving force of the driving part 210 is transmitted; and a movable gear provided with a reflection part 200 attached thereto. The movable gear is engaged with the fixed gear and is linearly moved together with the reflecting member 200 by the driving force transmitted to the fixed gear.The fixed gear and the movable gear may be a rack gear 220 (a rack) and a pinion gear 230 (a pinion). The fixed gear may be the rack 220 or the pinion gear 230, and the movable gear may be the rack 220 or the pinion gear 230, so that the reflection part 200 may be mounted on the rack 220 or the pinion gear 230 depending on the embodiment.The above-described rectilinear movement method of the reflecting part 200 is substantially the same as the rectilinear movement method of the sensor part 100 illustrated in FIGS. 1 and 2, except that the moving directions are different from each other. The rack and pinion engagement structure applied to the movement of the reflecting part 200 can be described with reference to the drawing figures shown in FIGS. 1 and 2.Accordingly, in FIGS. 1 and 2, only the reference numerals "100", "110", "120", and 130" are expressed with respect to the sensor part moving device, but these reference numerals are described by being respectively replaced with the reference numerals "200", "210", "220", and 230" that relate to the reflection part moving device.FIG. 8 is a schematic view of a configuration in which a reflection member 200 is mounted on a rack gear 220 or a pinion gear 230.Accordingly, in describing a configuration in which a reflection member 200 is mounted on a rack gear 220 with reference to FIG. 1 together with FIG. 8, the rack gear 220 is installed on a rearview mirror 400 in front and rear directions, a pinion gear 230 is engaged with the rack gear 220, and a drive member 210 is connected to the pinion gear 230.The driving part 210 may be a rotary motor that drives the pinion 230 to rotate, and the pinion 230 rotates about its axis by a rotational driving force provided from the driving part 210.Since the rack 220 is engaged with the pinion gear 230, the rack gear 220 moves linearly leftward and rightward by the rotation of the pinion gear 230.Specifically, the reflecting part 200 is coupled to the rack 220 in the front and rear direction of the rearview mirror 400 such that the reflecting part 200 moves linearly forward and backward together with the movement of the rack 220. As a result, a position of the reflecting part 200 becomes changeable.In describing a configuration in which the reflection part 200 is mounted on the pinion gear 230, the rack gear 220 is installed on the rearview mirror 400 in the front and rear directions, the pinion gear 230 is connected to the rack gear 220, and the drive part 210 is connected to the pinion gear 230.The driving part 210 may be a linear motor that can linearly move the pinion 230 forward and backward. The pinion 230 is linearly moved forward and backward by a driving force provided from the driving part 210.When the pinion 230 is engaged with the rack 220, the pinion 230 moves linearly back and forth in the longitudinal direction of the rack 220.Since the reflecting member 200 is coupled to the pinion gear 230, the reflecting member 200 linearly moves forward and backward together with the rectilinear movement of the pinion gear 230. As a result, a position of the sensor part 100 becomes changeable.In such a configuration, the reflection member 200 may be coupled to the center of the pinion gear 230, and the reflection member 200 may be coupled to the pinion gear 230 through a bearing or the like so as to prevent the reflection member 200 from rotating together with the pinion gear 230.As shown in FIGS. 10 and 11, a structure may be configured such that a plurality of overlapping reflection parts 200 are disposed on the left and right sides of the sensor part 100. Each reflector (e.g., reflection part) 200 can be pulled out and retracted, and can be moved linearly.Moreover, in the present disclosure, the reflection part 200 may be configured to be moved linearly by a device for moving the reflection part having a sliding movement structure.In one form, the apparatus for moving the reflecting part includes: a driving part 210 for providing a driving force; a guiding part 240 having a rod shape and fixed to an inner surface of a vehicle cabin; and a runner 250 provided with a reflecting part 200 mounted thereon. The mover 250 is inserted into the guide part 240 and is linearly moved along a longitudinal direction of the guide part 240 together with the reflection part 200 by the driving force transmitted from the driving part 210.The above-described rectilinear movement method of the reflecting part 200 is substantially the same as the rectilinear movement method of the sensor part 100 shown in FIG. 3 except that the movement directions are different from each other. The sliding structure (sliding structure) of the mover 250 used for the movement of the reflecting part 200 can be described with reference to the drawing shown in FIG. 3.Accordingly, in FIG. 3, only the reference numerals "100", "110", "140", and "150" are expressed with respect to the sensor moving device, but these reference numerals are described by being replaced with the reference numerals "200", "210", "240", and "250", respectively, which refer to the reflection part moving device.In other words, the guide member 240 having upper and lower portions on which a plurality of rods are installed so as to be spaced apart from each other is installed on a rearview mirror 400 in the forward or rearward direction. In addition, the mover 250 may be moved forward or backward along the guide part 240 in a state of being inserted into the guide part 240.The driving part 210 may be a linear motor that moves the mover 250 linearly forward or backward. In addition, the mover 250 moves forward or backward along the guide part 240 by a driving force provided by the driving part 210.Since the reflecting member 200 is coupled to the mover 250, the reflecting member 200 is moved linearly forward and backward together with the movement of the mover 250. As a result, a position of the reflecting part 200 becomes changeable.According to such a configuration, as shown in FIGS. 19 and 21, the coordinates of an object are calculated in a method of comparing an image OB of the object captured before the movement of the reflection part 200 and an image OB 1 of the object captured after the movement of the reflection part 200. Therefore, this method may be useful in recognizing passengers when the speed of coordinate calculation does not need to be high, 3D coordinate processing for recognizing the size of the passenger is desired, and the like.In an embodiment of the present disclosure, the moving device for the reflection member may rotate a second end of the reflection member 200 around a first end of the reflection member 200.In other words, as shown in FIGS. 12 and 13, in a case where a reflection member 200 is installed on a rearview mirror 400, the reflection member 200 is rotated along a predetermined rotation radius on the plane of the rearview mirror 400 such that a position of the reflection member 200 is changed. As a result, images that would have been acquired from two or more sensor parts 100 can be secured by a reflection part 200.In an embodiment, the apparatus for moving the reflection part includes: a driving part 210 for providing a driving force; and a rotating shaft 201 that is mounted on an inner surface of a vehicle cabin and through which the driving force of the driving part 210 is transmitted. The apparatus for moving the reflection part is also configured to include a reflection part 200 whose first end is coupled to the rotation shaft 201 and whose second end is rotationally moved about the rotation shaft 201 by the driving force transmitted to the rotation shaft 201.In FIGS. 12 and 13, a sensor part 100 is installed in the rearview mirror 400, and the rotating shaft 201 is mounted adjacent to the sensor part 100 in a vertical direction of the rearview mirror 400.The first end of the reflection part 200 is connected to the rotation shaft 201 such that the second end of the reflection part 200 is rotatable about the rotation shaft 201.Moreover, the driving part 210 may be a rotary drive capable of rotating the rotating shaft 201. Accordingly, the reflecting member 200 rotates about the rotating shaft 201 by a rotational driving force provided from the driving member 210. The driving part 210 can also rotate the rotating shaft 201 by using a kind of structure such as a rack and an impeller in addition to the type of rotational driving.Accordingly, the image of an object reflected by the reflection part 200 changes when the reflection part 200 rotates.Moreover, as shown in FIG. 14, the sensor part 100 may be configured to move in a straight direction. Moreover, the sensor part 100 and the reflection part 200 may be configured in a complex shape to rotate about the rotation shaft 161.Moreover, as shown in FIG. 15, a plurality of reflection parts 200 may be disposed in a shape surrounding the sensor part 100. The sensor part 100 and / or the reflection part 200 may also be configured to be movable in a straight direction.Moreover, as shown in FIG. 16, the sensor part 100 may be rotated such that a viewing angle of the sensor part 100 is directed in a certain direction. The sensor part 100 may also be configured to move linearly while being rotated.Although the present disclosure has been described in detail with reference to the specific embodiments described above, it should be apparent to those skilled in the art that various changes and modifications are possible within the technical idea of the present disclosure. Moreover, it is to be understood that such variations and modifications are intended to be included within the appended claims.

Claims

An object recognition device, comprising: a sensor part configured to generate image data of an object existing inside a vehicle cabin; a sensor moving device configured to move a position of the sensor part; and a controller configured to acquire a position of the object by combining data on the object photographed before the movement of the sensor part and data on the object photographed after the movement of the sensor part.The object recognition device according to claim 1, wherein the sensor moving device is configured to linearly move the sensor part in a direction perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part photographs the object.The object recognition device according to claim 1, wherein the sensor moving device is configured to linearly move the sensor part in an axial direction that is equal to the center line of a viewing angle at which the sensor part photographs the object.The object detection device according to claim 1, wherein the sensor moving device comprises: a driving part configured to generate a driving force; a fixed gear mounted on an inner surface of the vehicle cabin, the driving force of the driving part being transmitted via the fixed gear; and a movable gear on which the sensor part is mounted, the movable gear being engaged with the fixed gear and being linearly moved together with the sensor part by the driving force transmitted to the fixed gear.The object detection device according to claim 4, wherein the fixed gear and the movable gear are a rack gear and a pinion gear.The object detection device according to claim 1, wherein the sensor moving device comprises: a driving part configured to generate a driving force; a guide part fixed to an inner surface of the vehicle cabin, the guide part being formed in a rod shape; and a mover on which the sensor part is mounted, the mover being inserted into the guide part and linearly moved together with the sensor part along a longitudinal direction of the guide part by the driving force transmitted from the driving part.The object recognition device according to claim 1, wherein the sensor moving device is configured to rotate the sensor part along a predetermined radius on a plane perpendicular to a center line of a viewpoint relative to the center line of the viewpoint at which the sensor part photographs the object.The object detection device according to claim 1, wherein the sensor moving device comprises: a driving part configured to provide a driving force; a rotatable shaft attached to an inner surface of the vehicle cabin; and a rotating part having the sensor part attached to one end thereof, the rotating part being coupled to the rotating shaft and being rotated around the rotating shaft together with the sensor part by the driving force transmitted to the rotating shaft.The object recognition device according to claim 1, further comprising: a reflection part provided to reflect a shape of the object and allow the reflected shape of the object to be positioned within a range of a viewing angle at which the sensor part photographs the object, wherein the controller is configured to recognize the position of the object by combining the image data of the object captured by the sensor part and the data of the reflected object captured by the sensor part.The object recognition device according to claim 9, further comprising: a reflection part moving device configured to move a position of the reflection part, wherein the controller is configured to recognize the position of the object by combining data of the object photographed before the movement of the reflection part and data of the object photographed after the movement of the reflection part.The object recognition device according to claim 10, wherein the reflection part moving device is configured to move the reflection part rectilinearly in a direction parallel to a reflecting surface of the reflection part.The object detection device according to claim 10, wherein the reflection part moving device is configured to linearly move the reflection part in a direction in which a reflective surface of the reflection part moves away from or toward the sensor part.The object recognition device according to claim 10, wherein the reflection part moving device comprises: a driving part configured to provide a driving force; a fixed gear mounted on an inner surface of the vehicle cabin, the driving force of the driving part being transmitted via the fixed gear; and a movable gear having the reflection part mounted thereon, the movable gear being engaged with the fixed gear and being rectilinearly moved together with the reflection part by the driving force transmitted to the fixed gear.The object detection device according to claim 13, wherein the fixed gear and the movable gear are a rack gear and a pinion gear.The object recognition device according to claim 10, wherein the reflection member moving device comprises: a driving part configured to provide a driving force; a guide part fixed to an inner surface of the vehicle cabin, the guide part being formed in a rod shape; and a runner to which the reflection member is attached, the runner being inserted into the guide part and linearly moved together with the reflection part along a longitudinal direction of the guide part by the driving force transmitted from the driving part.The object detection device according to claim 10, wherein the device for moving the reflection part is configured to rotationally move a second end of the reflection part about a first end of the reflection part.The object recognition device according to claim 10, wherein the device for moving reflecting parts comprises: a driving part configured to provide a driving force; a rotating shaft attached to an inner surface of the vehicle cabin, the driving force of the driving part being transmitted via the rotating shaft; and the reflecting part comprises: a first end connected to the rotating shaft, and a second end configured to be rotated around the rotating shaft by the driving force transmitted to the rotating shaft.The object detection device according to claim 1, wherein the controller is configured to detect the position of the object by saving 3D coordinates of the object from object data saved by the sensor part.

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