Detection area setting device and detection area setting method

Abstract

A detection area setting device and a detection area setting method are provided that reduce costs by setting in advance a detection area that suppresses the occurrence of ghosts. [Solution] The detection area setting device 1 is roughly configured to include an acquisition unit 10 that acquires point cloud information S1 of a moving object 9 that moves throughout the detection area 42 of a 3D sensor 4, an analysis unit 13 that analyzes the point cloud information S1 and generates a set detection area 130 that excludes non-measurement objects 7 that exist in the detection area 42 from the detection area 42, and a setting unit 14 that sets the detection area 42 of the 3D sensor 4 to the set detection area 130.

Description

[Technical Field]

[0001] The present invention relates to a detection area setting device and a detection area setting method. [Background technology]

[0002] As a conventional technique, a radar device is known that includes a transmitter that transmits a radar signal, a main reflector detection unit that uses the reflected wave of the radar signal to detect a main reflector within a detection area, an area determination unit that determines a main area within the detection area in which a ghost formed by the main reflector and a reflector outside the detection area is located, and an auxiliary reflector detection unit that uses a received signal of the reflected wave of the radar signal to detect the position of an auxiliary reflector that is located within the main area on an extension of a straight line connecting the radar device and the main reflector and is farther away than the main reflector (see, for example, Patent Document 1).

[0003] This radar device can prevent false detection of ghosts. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-189030 Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional radar devices require high computing power for signal processing and analysis to detect ghosts, which increases costs.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a detection area setting device and a detection area setting method that reduce costs by setting in advance a detection area that suppresses the occurrence of ghosts. [Means for solving the problem]

[0007] One aspect of the present invention provides a detection area setting device that includes an acquisition unit that acquires point cloud information of a moving body that moves throughout the detection area of ​​the detection device, an analysis unit that analyzes the point cloud information and generates a set detection area that excludes non-measurement objects that exist in the detection area from the detection area, and a setting unit that sets the detection area of ​​the detection device to the set detection area.

[0008] Another aspect of the present invention provides a detection area setting method that acquires point cloud information of a moving body moving throughout the detection area of ​​a detection device, analyzes the point cloud information to generate a set detection area in which non-measurement objects present in the detection area are excluded from the detection area, and sets the detection area of ​​the detection device to the set detection area. [Effects of the Invention]

[0009] According to the present invention, it is possible to reduce costs by setting in advance a detection area that suppresses the occurrence of ghosts. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an example of a block diagram of a system including a detection area setting device according to an embodiment. [Figure 2] FIG. 2(a) is a top view showing an example of installation of a 3D sensor according to an embodiment, and FIG. 2(b) is a side view showing an example of installation of a 3D sensor. [Figure 3] FIG. 3(a) is a diagram showing an example of a first route for generating a set detection area in accordance with an embodiment, and FIG. 3(b) is a diagram showing an example of a second route for generating a set detection area. [Figure 4] FIG. 4 is a diagram showing an example of plotting position information calculated from point cloud information according to the embodiment. [Figure 5] FIG. 5 is a diagram illustrating an example of a first array according to the embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a second arrangement according to the embodiment. [Figure 7]FIG. 7 is a diagram illustrating an example of a process of expanding a large element into a small element by the analysis unit according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of processing for extracting only the outer periphery of the third array in FIG. 7 performed by the analysis unit according to the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a result of the analysis unit according to the embodiment calculating a logical sum of the first array in FIG. 5 and the fourth array in FIG. [Figure 10] 10 is a diagram showing an example in which the analysis unit according to the embodiment divides the fifth array in FIG. 9 into first groups. [Figure 11] FIG. 11 is a diagram showing an example in which the analysis unit according to the embodiment divides the third array of FIG. 7 into second groups. [Figure 12] FIG. 12 is a diagram showing an example in which the analysis unit according to the embodiment removes noise from the fifth array in FIG. [Figure 13] FIG. 13 is a diagram showing an example obtained by the analysis unit according to the embodiment performing the second filtering process on the sixth array in FIG. [Figure 14] FIG. 14 is a diagram illustrating an example of the second filtering process according to the embodiment. [Figure 15] FIG. 15 shows an example of the eighth arrangement obtained when the installation height of the 3D sensor according to the embodiment is 1.5 m. [Figure 16] FIG. 16 shows an example of the ninth arrangement obtained when the installation height of the 3D sensor according to the embodiment is 2.1 m. [Figure 17] FIG. 17(a) is a diagram showing an example of a first route for generating a set detection area according to an embodiment, and FIG. 17(b) is a diagram showing an example of a second route for generating a set detection area. [Figure 18] FIG. 18 is a diagram showing an example of plotting position information calculated from point cloud information obtained when a 3D sensor is placed in front of a non-measurement object according to an embodiment. [Figure 19] FIG. 19 is a diagram showing an example of a seventh sequence obtained after processing by the analysis unit according to the embodiment. [Figure 20] Figure 20(a) is a diagram showing an example of a seventh array for setting a set detection area in an embodiment, and Figure 20(b) is a diagram showing an example of a third route for moving in front of a non-measurement object. [Figure 21] FIG. 21 is a flowchart showing an example of the operation of the detection area setting device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Summary of the embodiment) The detection area setting device according to the embodiment is generally configured to include an acquisition unit that acquires point cloud information of a moving body that moves throughout the detection area of ​​the detection device, an analysis unit that analyzes the point cloud information and generates a set detection area that excludes non-measurement objects that exist in the detection area from the detection area, and a setting unit that sets the detection area of ​​the detection device to a set detection area.

[0012] Another embodiment of a detection area setting method includes acquiring point cloud information of a moving body moving throughout the detection area of ​​a detection device, analyzing the point cloud information to generate a set detection area in which non-measurement objects present in the detection area are excluded from the detection area, and setting the detection area of ​​the detection device as the set detection area.

[0013] This detection area setting device and detection area setting method sets a set detection area from which non-measurement objects have been removed in advance as the detection area of ​​the detection device, and therefore, compared to not adopting this configuration, costs can be reduced by setting a detection area in advance that suppresses the occurrence of ghosts.

[0014] [Embodiment Mode] (Outline of detection area setting device 1) FIG. 1 is an example of a block diagram of a system including a detection area setting device according to an embodiment. FIG. 2(a) is a top view showing an example of installation of a 3D sensor according to an embodiment, and FIG. 2(b) is a side view showing an example of installation of the 3D sensor. FIG. 3(a) is a diagram showing an example of a first route for generating a set detection area according to an embodiment, and FIG. 3(b) is a diagram showing an example of a second route for generating a set detection area. FIG. 4 is a diagram showing an example of plotting position information calculated from point cloud information according to an embodiment. FIG. 5 is a diagram showing an example of a first array according to an embodiment. FIG. 6 is a diagram showing an example of a second array according to an embodiment.

[0015] In the drawings relating to the embodiments described below, the ratios and shapes between figures may differ from the actual ratios and shapes. Also, in Fig. 1, arrows indicate the flow of main signals and information. Below, we will first provide an overview of the detection area setting device 1.

[0016] 1, the detection area setting device 1 constitutes a system 6. The system 6 is generally configured to include the detection area setting device 1, a 3D sensor 4 as a detection device, and an electronic device 5.

[0017] As shown in Figures 1 to 3(b) and Figure 13 described below, the detection area setting device 1 is generally configured to include an acquisition unit 10 that acquires point cloud information S1 of a moving object 9 that moves throughout the detection area 42 of the 3D sensor 4, an analysis unit 13 that analyzes the point cloud information S1 and generates a set detection area 130 that excludes non-measurement objects 7 present in the detection area 42 from the detection area 42, and a setting unit 14 that sets the detection area 42 of the 3D sensor 4 to the set detection area 130.

[0018] The set detection area 130 corresponds to the area shown by diagonal lines in Figures 13, 15, 16, 19, and 20(a), which will be described later. The setting unit 14 sets the set detection area 130 based on this diagonal line area in the 3D sensor 4.

[0019] The moving object 9 is, for example, a person, but is not limited to this and may be an object that has a shape similar to a human and moves. The moving object 9 is a person who is 166 cm tall and weighs 52 kg, and moves at a speed of about 2 km / h. The moving object 9 moves back and forth at intervals of about 30 cm. The non-measurement object 7 is, but is not limited to, a desk as shown in Figures 2(a) to 3(b).

[0020] The 3D sensor 4 is, for example, a millimeter wave radar or a LiDAR (Light Detection and Ranging). The 3D sensor 4 of this embodiment is, for example, a millimeter wave radar that uses millimeter waves as the electromagnetic waves 40, but is not limited to this. The millimeter waves are, for example, electromagnetic waves with a wavelength of 1 to 10 mm. The 3D sensor 4 is, for example, installed at a height H of 1.8 m from the floor, but is not limited to this.

[0021] 1, the 3D sensor 4 generates and outputs point cloud information S1 for one cycle in the detection area 42. This point cloud information S1 is information in which coordinate values ​​indicating position information in an XYZ coordinate system are associated with the intensity p of the reflected wave 41 at those coordinate values. Note that the 3D sensor 4 outputs the point cloud information S1 at a cycle of 0.1 seconds, for example, but is not limited to this.

[0022] The detection area setting device 1 is equipped with a generation unit 11 that analyzes whether the acquired point cloud information S1 is valid or invalid, and if it is valid, generates a first array 111 in which points 44 whose position information is obtained in the point cloud information S1 are fitted to a plurality of small elements 110a arranged vertically and horizontally that are set corresponding to the detection area 42, and a second array 112 in which points 44 whose position information is obtained in the point cloud information S1 are fitted to a plurality of large elements 110b that are larger than the first array 111 and that correspond to the detection area 42, as shown in Figures 5 and 6, for example.

[0023] The analysis unit 13 analyzes the first array 111 and the second array 112 acquired from the generation unit 11 to generate a set detection area 130.

[0024] As shown in Figures 3(a) and 3(b), the generation unit 11 generates a first array 111 and a second array 112 based on point cloud information S1 obtained by a moving body 9 moving back and forth in a first direction and a second direction intersecting the first direction to move thoroughly throughout the detection area 42.

[0025] The first direction is the direction of arrow A, which runs from left to right on the paper in Figures 3(a) and 3(b). The second direction is the direction of arrow B, which runs from bottom to top on the paper in Figures 3(a) and 3(b). The 3D sensor 4 shown in Figures 3(a) and 3(b) is installed at a corner of the detection area 42 at an angle θ of 45°. The 3D sensor 4 is installed at a height of 1.8 m. The detection area setting device 1 can also set the set detection area 130 at an angle θ other than 45°, for example, 30°.

[0026] The detection area setting device 1 includes a timer 12 as a measurement unit that measures time from the start of acquisition of the point cloud information S1.

[0027] The generation unit 11 updates and generates the first array 111 and the second array 112 based on the point cloud information S1 repeatedly acquired until the time measured by the timer 12 reaches a predetermined period.

[0028] The 3D sensor 4 can output highly accurate point cloud information S1 to the electronic device 5 using a set detection area 130 that is an updated version of the initial setting detection area 42. For example, the electronic device 5 determines a person's posture, detects the amount of activity of the person, and detects breathing according to a point cloud 43 based on the point cloud information S1.

[0029] The set detection area 130 is generated by walking around the detection area 42, validating the positions of elements that contain the detected XY coordinates. If a ghost occurs during setting, the set detection area 130 will be determined to be an incorrect area. Therefore, the point 44 of the point cloud 43 to be processed is the point to which the point cloud 43 reacts the most. Furthermore, since the detection area setting device 1 will create an area that cannot be detected if there is an omission in the setting, it performs interpolation processing when all surrounding elements are "1". The detection area setting device 1 improves the accuracy of the set detection area 130 by processing a combination of small elements 110a and large elements 110b, which are squares of different sizes when gridded.

[0030] When setting the set detection area 130, the detection area setting device 1 uses the point 44 whose Z coordinate position is 500 mm or more and to which the point cloud 43 reacts most, in order to prevent detection of the outside of the room due to ghosts, so that it is possible to track only the moving object 9.

[0031] In order to suppress gaps and fluttering in the set detection area 130, the detection area setting device 1 limits the acquisition of point cloud information S1 only, sets the acquisition interval for point cloud information S1 to 100 ms, and adds a process of taking the median of five pieces of data.

[0032] To prevent missed detections, the detection area setting device 1 prepares large elements 110b of 0.3 x 0.3 m and small elements 110a of 0.1 x 0.1 m, and uses the 0.3 x 0.3 m large elements 110b to detect the perimeter of the detection area 42 and the general position of the non-measured object 7. If detection is possible above, below, left, and right even when a missed detection occurs, the detection area setting device 1 adds an interpolation process. The 0.1 x 0.1 m small elements 110a are used to determine the size of the non-measured object 7 within the detection area 42.

[0033] (Configuration of Acquisition Unit 10) The acquisition unit 10 outputs point cloud information S1 acquired from the 3D sensor 4 to the generation unit 11. The acquisition unit 10 is also connected to a timer 12. For example, when the acquisition unit 10 acquires the first point cloud information S1 for generating the set detection area 130, the acquisition unit 10 outputs a start signal S2 to the timer 12.

[0034] (Configuration of generation unit 11) When multiple targets, i.e., multiple moving bodies 9, are detected due to the occurrence of ghosts, the generation unit 11 acquires only the information of the moving body 9 to which the point cloud 43 is most responsive among the information of the multiple moving bodies 9.

[0035] When the generation unit 11 acquires point cloud information S1 of multiple periods, it acquires the median value of the acquired information. At this time, if the point cloud information S1 includes a point 44 near the boundary of the detection area 42, the generation unit 11 determines that this point 44 is invalid and discards it.

[0036] That is, as an example, the generation unit 11 discards points 44 that are near the boundary of the detection area 42 and are located within 0.5 m inside from the outer periphery of the detection area 42 on both the X and Y axes.

[0037] The generation unit 11 determines that the point cloud information S1 is valid when the point cloud information S1 does not include points 44 outside the detection area 42. In this case, the generation unit 11 stores the points 44 of the point cloud 43 shown in FIG. 4 in the corresponding small elements 110a of the first array 111 and large elements 110b of the second array 112. In FIGS. 5 and 6, the small elements 110a and large elements 110b in which the points 44 of the point cloud 43 are stored are shaded.

[0038] The shaded small elements 110a and large elements 110b are "1 (True)", and the unshaded small elements 110a and large elements 110b are "0 (False)".

[0039] The small elements 110a and the large elements 110b are square. The length of one side of the large elements 110b is an integer multiple of the length of one side of the small elements 110a. In this embodiment, the length of one side of the large elements 110b is, for example, three times the length of one side of the small elements 110a.

[0040] 5, the first array 111 has 30 small elements 110a arranged horizontally from 0 to 29 and 42 small elements 110a arranged vertically from 0 to 41. In other words, the first array 111 is made up of 30 x 42 small elements 110a.

[0041] 6, the second array 112 has 10 large elements 110b arranged horizontally from 0 to 9 and 14 large elements 110b arranged vertically from 0 to 13. In other words, the second array 112 is made up of 10 x 14 large elements 110b.

[0042] The generation unit 11 generates the first array 111 and the second array 112 not from one cycle of point cloud information S1 but from a plurality of pieces of point cloud information S1 acquired during a predetermined period. Therefore, the generation unit 11 generates the first array 111 and the second array 112 while updating them from the time the acquisition unit 10 acquires the point cloud information S1 until the end signal S3 is input.

[0043] When an end signal S3 is input from the timer 12, the generation unit 11 stops generating the first array 111 and the second array 112, generates array information S4 which is information on the first array 111 and the second array 112, and outputs it to the analysis unit 13.

[0044] (Timer 12 configuration) The timer 12 has time information 120, which is information about a predetermined period. The timer 12 starts measuring time when it acquires a start signal S2 from the acquisition unit 10. The timer 12 outputs an end signal S3 to the generation unit 11 when the time measured based on the time information 120 exceeds a predetermined time.

[0045] (Configuration of analysis unit 13) FIG. 7 is a diagram illustrating an example of a process performed by an analysis unit according to an embodiment to expand large elements into small elements. FIG. 8 is a diagram illustrating an example of a process performed by an analysis unit according to an embodiment to extract only the outer periphery of the third array of FIG. 7. FIG. 9 is a diagram illustrating an example of a result of an analysis unit according to an embodiment performing a logical OR on the first array of FIG. 5 and the fourth array of FIG. 8. FIG. 10 is a diagram illustrating an example of a first grouping of the fifth array of FIG. 9 performed by an analysis unit according to an embodiment. FIG. 11 is a diagram illustrating an example of a second grouping of the third array of FIG. 7 performed by an analysis unit according to an embodiment. FIG. 12 is a diagram illustrating an example of a second filtering process performed by an analysis unit according to an embodiment on the sixth array of FIG. 12.

[0046] The analysis unit 13 acquires the sequence information S4 from the generation unit 11 to obtain the first sequence 111 and the second sequence 112. An example of the processing performed by the analysis unit 13 will be described below.

[0047] First filtering If the large elements 110b above, below, left and right of a large element 110b of "0" in the second array 112 are all "1", the analysis unit 13 sets the large element 110b of "0" to "1". The analysis unit 13 performs this process on all large elements 110b. The second array 112 shown in FIG. 6 is the second array 112 after this process has been performed.

[0048] Extended Processing The analysis unit 13 performs processing to divide one large element 110b of the processed second array 112 into nine small elements 110a. Fig. 7 shows a third array 113 obtained by processing the second array 112 of Fig. 6.

[0049] Extraction process The analysis unit 13 performs a process of extracting only the outer periphery of the third array 113 shown in Fig. 7. Through this process, the analysis unit 13 obtains the fourth array 114 shown in Fig. 8.

[0050] Logical OR The analysis unit 13 performs a logical sum (OR) of the first array 111 in Fig. 5 and the fourth array 114 shown in Fig. 8, which includes only the outer periphery. Fig. 9 shows an example of the fifth array 115 obtained by performing the logical sum.

[0051] First grouping 10, the analysis unit 13 divides the "0" subelements 110a into groups. As a result of this grouping, the fifth array 115 is divided into a first group 115a, which is a group of "0"s at the bottom, a second group 115b, which is a group of "0"s at the center, and a third group 115c, which is a group of "0"s at the top. As an example, this grouping is performed based on the central subelement 110a and the four neighboring subelements 110a above, below, left, and right of this subelement 110a, but is not limited to this.

[0052] Second grouping 11, the analysis unit 13 groups the small elements 110a of "0" in the third array 113 of FIG. 7. By this grouping, the third array 113 is divided into a first group 113a on the lower side, a second group 113b in the middle, and a third group 113c on the upper side. As an example, this grouping is performed based on the small element 110a in the center and the small elements 110a on the upper, lower, left, and right sides that are the four neighbors of the small element 110a, but is not limited to this.

[0053] Noise removal (interpolation processing) As shown in Fig. 12, the analysis unit 13 sets "0" to the small elements 110a that overlap with the first group 115a to the third group 115c in Fig. 10 in the third array 113 in Fig. 11, thereby obtaining the sixth array 116 in Fig. 12. As a result, it is possible to remove the small elements 110a of "0" that are noise scattered among the group of small elements 110a of "1" in the third array 113 in Fig. 11. The setting unit 14 may also set the shaded area in Fig. 12 as the set detection area 130.

[0054] Second filtering 13, the analysis unit 13 may further perform a second filter process on the sixth array 116 in FIG. 12 to generate a seventh array 117. In this case, the setting unit 14 sets the hatched area in FIG. 13 as the set detection area 130.

[0055] 14 is a diagram illustrating an example of the second filtering process according to the embodiment. The array 110c shown in FIG. 14 is, for example, an array of the sixth array 116. a+1 , Y b+1 This array 110c is centered on the small element 110a of the X-axis. In the upper left of the page in FIG. 14, the array 110c is "0", "0", "1", from the left in the middle row, and "0", "1", "1" from the left in the lower row. The array 110c is arranged in a horizontal direction, a , X a+1 , X a+2 th, vertically Y b , Y b+1 , Y b+2 The first and second small elements 110a are arranged in a row, where a and b are positive integers.

[0056] The second filtering process, for example, takes the product of filter array 110d and array 110c, and if it is 4 or more, the central X a+1 , Y b+1 The filter processing is as follows: from the top left, "0" x "1", "0" x "1", "1" x "1", from the middle left, "0" x "1", "0" x "4", "1" x "1", from the bottom left, "0" x "1", "1" x "1", "1" x "1", the sum of the products is 4, and X a+1 , Y b+1 The subelements 110a change from "0" to "1." The second filtering process is performed on all the subelements 110a.

[0057] The analysis unit 13 obtains the seventh array 117 shown in FIG. 13 through this second filtering process.

[0058] The analysis unit 13 performs the above-mentioned processing, generates analysis information S5, which is information on the set detection area 130, based on the seventh array 117, and outputs the analysis information S5 to the setting unit 14. The setting unit 14 sets the hatched area in Fig. 13 as the set detection area 130 based on the acquired analysis information S5.

[0059] In the above, the non-measurement objects 7 are removed from the detection area 42, but if the non-measurement objects 7 are not placed in the detection area 42, the set detection area 130 can be set without omission.

[0060] (Configuration of setting unit 14) When the setting unit 14 acquires the set detection area 130 based on the analysis information S5, it generates activation information S6 for activating the set detection area 130 as the detection area 42 and outputs it to the 3D sensor 4. Note that if the set detection area 130 has not been generated, the setting unit 14 outputs activation information S6 for activating the 3D sensor 4 with the detection area 42, which is the initial setting, to the 3D sensor 4.

[0061] (Configuration of function setting unit 15) The function setting unit 15 selects whether to activate using the detection area 42, which is the initial setting, or to activate by generating a set detection area 130. The function setting unit 15 may have, for example, an operation unit that allows selection operation. The function setting unit 15 generates selection information S7 based on the selection result and outputs it to the setting unit 14.

[0062] (Installation height of 3D sensor 4) Fig. 15 shows an example of an eighth arrangement obtained when the installation height of the 3D sensor according to the embodiment is 1.5 m. Fig. 16 shows an example of a ninth arrangement obtained when the installation height of the 3D sensor according to the embodiment is 2.1 m.

[0063] In the above-described embodiment, the 3D sensor 4 was installed at a height of 1.8 m. However, similar results were obtained when the sensor was installed at a height above or below this height. FIG. 15 shows the case where the 3D sensor 4 was installed at a height of 1.5 m. Similar to the seventh array 117, the non-measurement objects 7 were also excluded as "0" in the eighth array 118. FIG. 16 shows the case where the 3D sensor 4 was installed at a height of 2.1 m. Similar to the seventh array 117, the non-measurement objects 7 were also excluded as "0" in the ninth array 119. When the installation height of the 3D sensor 4 was changed in 10 cm increments from 1.5 m to 2.1 m and the same processing was performed, the non-measurement objects 7 were also excluded as "0." The setting unit 14 designates the shaded area in FIGS. 15 and 16 as the set detection area 130.

[0064] (Other installations of 3D sensor 4) Fig. 17(a) is a diagram showing an example of a first route for generating a set detection area according to an embodiment, and Fig. 17(b) is a diagram showing an example of a second route for generating a set detection area. Fig. 18 is a diagram showing an example of plotting position information calculated from point cloud information obtained when a 3D sensor is installed in front of a non-measurement object according to an embodiment. Fig. 19 is a diagram showing an example of a seventh array obtained after processing by an analysis unit according to an embodiment.

[0065] As shown in Figures 17(a) and 17(b), the 3D sensor 4 is installed in front of a desk, which is the non-measurement object 7. The first route 91 starts from the lower left to the right of the page in Figure 17(a) and travels back and forth to reach the upper left. The first route 91 travels back and forth to the right of the non-measurement object 7, and then moves back and forth to the left of the non-measurement object 7.

[0066] 17(b) in a downward direction and travels back and forth to reach the upper right. The second route 92 travels back and forth above the non-measurement object 7, and then travels back and forth below the non-measurement object 7. The first route 91 intersects with the second route 92.

[0067] Moving object 9 is a person with a height of 166 cm and a weight of 52 kg, and moves at a speed of about 2 km / h. Moving object 9 moves back and forth at intervals of about 30 cm.

[0068] Fig. 18 shows a point cloud 43 detected by the movement of a moving object 9 along a first route 91 and a second route 92. Fig. 19 shows a seventh array 117 obtained as a result of processing based on the point cloud 43 of Fig. 18. In this seventh array 117, the non-measurement target object 7 has been removed. The setting unit 14 sets the hatched area in Fig. 19 as a set detection area 130.

[0069] (Ghost suppression) FIG. 20(a) is a diagram showing an example of a seventh array for setting a set detection area according to an embodiment, and FIG. 20(b) is a diagram showing an example of a third route for moving in front of a non-measurement object. The seventh array 117 shown in FIG. 20(a) is obtained by setting the 3D sensor 4 at a height of 1.8 m in front of the non-measurement object 7. The third route 93 is a route for traveling back and forth between the 3D sensor 4 and the non-measurement object 7. The non-measurement object 7 is a metal desk that facilitates ghosting. The setting unit 14 sets the shaded area in FIG. 20(a) as the set detection area 130.

[0070] In this case, the moving object 9 is located between the 3D sensor 4 and the non-measurement object 7, which is a situation where ghosts would normally be likely to occur. Below are shown the measurement results for the non-measurement object 7 (desk) with dimensions of 140 cm width x 70 cm depth x 78 cm height, the 3D sensor 4 installation height of 1.8 m, and the moving object 9 being a person with a height of 166 cm and a weight of 52 kg. ·Set detection area 130 is not set When the number of occurrences / crossings was 10 / 20, the ghost occurrence rate was 50%. Set detection area 130 When the number of occurrences / crossings was 3 / 20, the ghost occurrence rate was 15%.

[0071] In this way, ghosts are more effectively suppressed when the set detection area 130 is set based on the hatched area in FIG. 20(a).

[0072] An example of the operation of the detection area setting device 1 of this embodiment will be described below with reference to the flowchart of FIG.

[0073] (operation) The acquisition unit 10 of the detection area setting device 1 acquires point cloud information S1 of the moving object 9 moving throughout the detection area 42 of the 3D sensor 4 (Step 1).

[0074] The analysis unit 13 of the detection area setting device 1 analyzes the point cloud information S1 and generates a set detection area 130 by excluding the non-measurement target objects 7 present in the detection area 42 from the detection area 42 (Step 2).

[0075] The setting unit 14 of the detection area setting device 1 sets the detection area 42 of the 3D sensor 4 in the set detection area 130 (Step 3), and the setting operation of the set detection area 130 is completed.

[0076] (Effects of the embodiment) The detection area setting device 1 of this embodiment generates a set detection area 130 by removing non-measurement objects 7 that may generate ghosts from the detection area 42 of the 3D sensor 4, and sets the detection area 42 of the 3D sensor 4 in advance to the set detection area 130, thereby reducing processing load and costs compared to removing generated ghosts.

[0077] The detection area setting device 1 can set a set detection area 130 from which non-measurement objects 7 have been removed by walking around the detection area 42, so that, compared to not adopting this configuration, no advanced processing or programming is required, and costs are reduced.

[0078] The detection area setting device 1 can eliminate the influence outside the detection area 42 of the 3D sensor 4 by setting the set detection area 130 .

[0079] In the past, in order to remove non-measurement objects 7, after measurement, a non-detection range was set using a program or the like. On the other hand, the detection area setting device 1 sets in advance a set detection area 130 from which non-measurement objects 7 have been removed and then performs measurement, so compared to the past, the installation time for the 3D sensor 4 can be shortened and there is no need to remove the non-measurement objects 7 after measurement, thereby reducing costs. Furthermore, because the detection area setting device 1 sets the set detection area 130, there is a greater degree of freedom in the installation location compared to when a default detection area is used.

[0080] The generation unit 11, analysis unit 13, and setting unit 14 may be realized as a program executed by a computer, or may be realized by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), or may be realized by a combination of both.

[0081] In another embodiment, the method may be provided as a program for executing a detection area setting method, which includes acquiring point cloud information S1 of a moving object 9 moving throughout the detection area 42 of the detection device, analyzing the point cloud information S1 to generate a set detection area 130 by excluding non-measurement objects 7 present in the detection area 42 from the detection area 42, and setting the detection area 42 of the detection device to the set detection area 130, or as a computer-readable recording medium having this program recorded thereon.

[0082] Although the embodiment of the present invention has been described above, this embodiment is merely an example and does not limit the scope of the invention as claimed. This novel embodiment can be embodied in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the spirit of the present invention. Furthermore, not all combinations of features described in this embodiment are necessarily essential to the means for solving the problems of the invention. Furthermore, this embodiment is included within the scope and spirit of the invention, and is included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0083] 1...detection area setting device, 4...3D sensor, 5...electronic device, 6...system, 7...non-measurement object, 9...moving object, 10...acquisition unit, 11...generation unit, 12...timer, 13...analysis unit, 14...setting unit, 15...function setting unit, 40...electromagnetic wave, 41...reflected wave, 42...detection area, 43...point cloud, 44...point, 91-93...first route to third route, 110a...small element, 110b...large element, 110c...array, 110d...filter array, 111-119...first array to ninth array, 113a-113c...first group to third group, 115a-115c...first group to third group, 120...time information, 130...set detection area

Claims

1. an acquisition unit that acquires point cloud information of a moving object that moves throughout a detection area of ​​the detection device; an analysis unit that analyzes the point cloud information and generates a set detection area by excluding non-measurement targets present in the detection area from the detection area; a setting unit that sets the detection area of ​​the detection device to the set detection area; A detection area setting device comprising:

2. a generation unit that analyzes whether the acquired point cloud information is valid or invalid, and if the point cloud information is valid, generates a first array in which points whose position information is obtained in the point cloud information are fitted to a plurality of small elements arranged vertically and horizontally that are set corresponding to the detection area, and a second array in which points whose position information is obtained are fitted to a plurality of large elements that are larger than the first array and that correspond to the detection area; the analysis unit analyzes the first sequence and the second sequence acquired from the generation unit to generate the set detection area. The detection area setting device according to claim 1 .

3. the generation unit generates the first array and the second array based on the point cloud information obtained by the moving object moving back and forth in a first direction and a second direction intersecting the first direction to move thoroughly throughout the detection area; The detection area setting device according to claim 2 .

4. a measurement unit that measures time from a start of acquisition of the point cloud information; the generation unit updates and generates the first array and the second array based on the point cloud information repeatedly acquired until the time measured by the measurement unit reaches a predetermined period. The detection area setting device according to claim 3 .

5. Acquire point cloud information of moving objects moving throughout the detection area of ​​the detection device, Analyzing the point cloud information to generate a set detection area by excluding non-measurement targets present in the detection area from the detection area; A detection area setting method for setting the detection area of ​​the detection device to the set detection area.

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