Object recognition device

Abstract

An object recognition device (10) comprises a retention body (100), a light source (200), and an optical sensor (300). The retention body (100) is elongated in one direction. The light source (200) is attached to the retention body (100) along the one direction. The light source (200) emits light toward at least a portion of: a space (S) located on a side of the retention body (100) with respect to the one direction of the retention body (100); the front of the space (S); and the rear of the space (S). The optical sensor (300) is attached to the retention body (100). At least a portion of the field of view of the optical sensor (300) is pointed into at least a portion of: the space (S); the front of the space (S); and the rear of the space (S).

Description

[Technical field]

[0001] The present invention relates to an object recognition device. [Background technology]

[0002] In recent years, object recognition devices using various optical sensors such as imaging units such as cameras have been developed. For example, Patent Document 1 describes an object recognition device mounted on an automobile. This object recognition device includes a light projecting unit and a light receiving unit. Infrared light irradiated from the light projecting unit is reflected by an object present outside the object recognition device and received by the light receiving unit. Patent Document 2 describes a photoacoustic imaging device. This photoacoustic imaging device includes multiple light source bodies each having an elongated shape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-77130 A [Patent Document 2] JP 2016-47210 A Summary of the Invention [Problem to be solved by the invention]

[0004] Object recognition devices are used in various cases. In recent years, object recognition devices are sometimes used to recognize various objects, such as a person near a storage unit such as a shelf in which articles such as merchandise are stored in a store such as a retail store, and articles such as merchandise stored in such a storage unit. When an object recognition device is used, including such cases, it is required that the object recognition device recognizes with high sensitivity an object (e.g., an article such as merchandise or a person) that exists within or passes through a specific area.

[0005] One example of the object of the present invention is to recognize an object that exists within a specific area or passes through a specific area with high sensitivity. Other objects of the present invention will become apparent from the description of this specification. [Means for solving the problem]

[0006] One aspect of the present invention is A pair of holders extending in one direction are arranged facing each other with a space between them, and are attached to the extending portion of the storage section in which the articles are stored. A holder; Along the one direction A pair holding body At least one of Attached to the front Record a light source that irradiates light toward at least a portion of the space, the front of the space, and the rear of the space; The above A pair holding body Each of and having at least a portion of its field of view directed within at least a portion of the space, the front of the space, and the rear of the space. Light An optical sensor, A pair of extendable guide members for aligning the positions of the pair of holders. 、 one end and the other end of one of the pair of guide members are fixed to an upper end of one of the pair of holding bodies and a lower end of the other of the pair of holding bodies, respectively; The other end of the pair of guide members is connected to one of the pair of holders. Under and fixed to the upper end of the other of the pair of holders, the optical sensors attached to the pair of holders are provided such that a straight line connecting the optical sensors passes through a center of the space when viewed from the front of the space, The pair of guide members In the notes The object recognition devices are arranged so that they intersect at the center. Effect of the Invention

[0007] According to the above aspects of the present invention, an object that exists within a specific area or that passes through a specific area can be recognized with high sensitivity. [Brief description of the drawings]

[0008] The above objects, as well as other objects, features and advantages, will become more apparent from the following preferred embodiments and the accompanying drawings.

[0009] [Figure 1] 1 is a perspective view of an object recognition device according to a first embodiment. [Diagram 2] FIG. 11 is a perspective view of an object recognition device according to a second embodiment. [Diagram 3] 3 is a diagram for explaining a first example of an optical sensor in which the field of view is directed vertically from below to above in FIG. 2. FIG. [Figure 4] 3 is a diagram for explaining a second example of the optical sensor in FIG. 2, the field of view of which is directed vertically from below to above. [Diagram 5] FIG. 3 is a diagram showing a first modified example of FIG. 2. [Figure 6] FIG. 3 is a diagram showing a second modified example of FIG. 2. [Figure 7] FIG. 3 is a diagram showing a third modified example of FIG. 2. [Figure 8] FIG. 4 is a diagram showing a fourth modified example of FIG. 2. [Figure 9] FIG. 13 is a diagram showing a fifth modified example of FIG. 2. [Figure 10] FIG. 11 is a diagram showing a sixth modified example of FIG. 2. [Figure 11] FIG. 13 is a diagram showing a seventh modified example of FIG. 2. [Figure 12] FIG. 13 is a diagram showing an eighth modified example of FIG. 2. [Figure 13] FIG. 13 is a diagram showing a ninth modified example of FIG. 2. [Figure 14] FIG. 17 is a diagram showing a tenth modified example of FIG. 2. [Figure 15] FIG. 11 is a diagram showing an eleventh modified example of FIG. 2. [Figure 16] FIG. 12 is a diagram showing a twelfth modified example of FIG. 2. [Figure 17] FIG. 11 is a perspective view of a storage device according to a third embodiment. [Figure 18] 18 is a diagram for explaining a first example of the relationship between the light source and the optical sensor shown in FIG. 17. FIG. [Figure 19]18 is a diagram for explaining a second example of the relationship between the light source and the optical sensor shown in FIG. 17. FIG. [Figure 20] 18 is a diagram for explaining a third example of the relationship between the light source and the optical sensor shown in FIG. 17. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0011] (Embodiment 1) FIG. 1 is a perspective view of an object recognition device 10 according to the first embodiment.

[0012] In FIG. 1, the first direction X, the second direction Y, and the third direction Z are as follows. The same applies to the figures described later. The first direction X is the width direction (horizontal direction) of the space S located to the side of the holder 100 described later. The positive direction of the first direction X (the direction indicated by the arrow indicating the first direction X) is the direction from the space S toward the holder 100. The negative direction of the first direction X (the direction opposite to the direction indicated by the arrow indicating the first direction X) is the direction from the holder 100 toward the space S. The second direction Y intersects with the first direction X, specifically, is perpendicular to it. The second direction Y is the height direction (vertical direction) of the space S located to the side of the holder 100. The positive direction of the second direction Y (the direction indicated by the arrow indicating the second direction Y) is the upward direction of the space S. The negative direction of the second direction Y (the direction opposite to the direction indicated by the arrow indicating the second direction Y) is the downward direction of the space S. The third direction Z intersects both the first direction X and the second direction Y, specifically, is perpendicular to the first direction X and the second direction Y. The third direction Z is in front of the space S located to the side of the holder 100. backward The positive direction of the third direction Z (the direction indicated by the arrow indicating the third direction Z) is the direction from the front to the rear of the space S. The negative direction of the third direction Z (the opposite direction to the direction indicated by the arrow indicating the third direction Z) is the direction from the rear to the front of the space S.

[0013] The first direction X, the second direction Y, and the third direction Z are not limited to the above-mentioned directions. The above-mentioned first direction X, the second direction Y, and the third direction Z are directions in an example of the use of the object recognition device 10 in this embodiment. For example, the object recognition device 10 may be used so that the second direction Y is inclined obliquely from the vertical direction toward the horizontal direction. The object recognition device 10 may also be used so that the front-rear direction (third direction Z) of the space S is parallel to the vertical direction (both the first direction X and the second direction Y are parallel to the horizontal direction). Furthermore, the object recognition device 10 may also be used so that the first direction X is parallel to the vertical direction and the second direction Y is parallel to the horizontal direction.

[0014] An overview of the object recognition device 10 will be described with reference to FIG. 1. The object recognition device 10 includes a holder 100, a light source 200, and an optical sensor 300. The holder 100 extends in one direction (extension direction of the holder 100: second direction Y). The light source 200 is attached to the holder 100 along the one direction (second direction Y) of the holder 100. The light source 200 also irradiates light toward at least a portion of a space S located to the side (negative direction of the first direction X) of the holder 100 with respect to the one direction (second direction Y) of the holder 100, a front of the space S (negative direction of the third direction Z), and a rear of the space S (positive direction of the third direction Z). The optical sensor 300 is attached to the holder 100. Furthermore, at least a portion of the field of view of the optical sensor 300 is directed toward at least a portion of the space S, the front of the space S (the negative direction of the third direction Z), and the rear of the space S (the positive direction of the third direction Z).

[0015] According to this embodiment, the space S located to the side of the holder 100 (negative direction in the first direction X), the front of the space S (negative direction in the third direction Z), or the rear of the space S (positive direction in the third direction Z) can be illuminated with light from the light source 200. In addition, the object illuminated by the light from the light source 200 can be detected by the optical sensor 300. Therefore, a specific region (space S, before (negative direction of the third direction Z) or behind the space S (positive direction of the third direction Z)) or in a specific area (space S, beforeIt is possible to recognize objects passing toward the front (negative direction in the third direction Z) or toward the rear (positive direction in the third direction Z) of the space S with high sensitivity.

[0016] The object recognition device 10 will be described in detail with reference to FIG.

[0017] The holder 100 holds the light source 200 and the optical sensor 300. The holder 100 is an extension body that extends in one direction (second direction Y). The holder 100 may be expandable in the one direction (second direction Y). In this case, the length of the holder 100 can be adjusted to a length appropriate for the member to which the holder 100 is attached. For example, the holder 100 may have a tubular member and an extension member inserted movably relative to the tubular member. In this example, the length of the holder 100 in the one direction (second direction Y) can be adjusted by moving the extension member relative to the tubular member. However, the structure for adjusting the length of the holder 100 in the one direction (second direction Y) is not limited to this example. In addition, the holder 100 does not have to be expandable in the one direction (second direction Y).

[0018] The light source 200 is located on the surface of the holder 100 facing the space S (the surface on the negative side of the first direction X). The light emitted by the light source 200 is, for example, visible light, infrared light, or ultraviolet light. "The light source 200 is attached to the holder 100 along one direction (the second direction Y)" means, for example, that the light source 200 is a linear light source (for example, a rod-shaped fluorescent lamp) that extends continuously along the one direction (the second direction Y) of the holder 100. Alternatively, "The light source 200 is attached to the holder 100 along one direction (the second direction Y)" means, for example, that a plurality of light sources 200 (for example, a plurality of point-shaped light sources 200 or a plurality of line-shaped light sources 200) are arranged at a distance from each other along the one direction (the second direction Y) of the holder 100. The light source 200 may be provided on the holder 100 over substantially the entirety of the holder 100 in the one direction (second direction Y) excluding the region where the optical sensor 300 is attached (e.g., 90% to 100% of the total length of the holder 100 in the one direction (second direction Y) excluding the region where the optical sensor 300 is attached). Alternatively, the light source 200 may be provided only in a portion of the holder 100 in the one direction (second direction Y) (e.g., ⅓ or more of the total length of the holder 100 in the one direction (second direction Y)).

[0019] The optical sensor 300 is, for example, an imaging unit such as a camera. The object recognition device 10 has a cover 302 that covers a sensor body (for example, a camera lens). If the cover 302 is not provided, the sensor body is exposed. In this case, a person approaching the object recognition device 10 may feel uneasy about being monitored by the optical sensor 300 (sensor body). In contrast, if the cover 302 is provided, it is possible to prevent a person approaching the object recognition device 10 from feeling uneasy. However, the object recognition device 10 does not need to have the cover 302.

[0020] The optical sensor 300 is located on a surface of the holder 100 facing the space S (a surface on the negative side in the first direction X). The optical sensor 300 is positioned offset from the light source 200 along the one direction (second direction Y) of the holder 100. Specifically, the optical sensor 300 is attached to one end (upper end: end on the positive side in the second direction Y) of the holder 100. However, the optical sensor 300 may be attached to a position offset from one end (upper end: end on the positive side in the second direction Y) of the holder 100 in the one direction (second direction Y) of the holder 100 (for example, the center of the holder 100 in the one direction (second direction Y) of the holder 100).

[0021] The field of view of the optical sensor 300 (e.g., the center line of the field of view of the optical sensor 300) is directed from the position where the optical sensor 300 is located toward the space S, the front of the space S (negative direction of the third direction Z) or the rear of the space S (positive direction of the third direction Z), in a direction oblique to the one direction (second direction Y) of the holder 100 (e.g., a direction from the position where the optical sensor 300 is located between the negative direction of the first direction X and the negative direction of the second direction Y). When viewed from the front (negative direction of the third direction Z) or rear (positive direction of the third direction Z) of the space S, the field of view of the optical sensor 300 becomes wider the further away from the position where the optical sensor 300 is located. Therefore, if the visual field of the optical sensor 300 (for example, the center line of the visual field of the optical sensor 300) is directed from the position where the optical sensor 300 is located toward the space S, the front of the space S (negative direction of the third direction Z), or the rear of the space S (positive direction of the third direction Z) in a direction perpendicular to the one direction (second direction Y) of the holder 100 (for example, a direction toward the negative direction of the first direction X from the position where the optical sensor 300 is located), the area of ​​the space S adjacent to the optical sensor 300 in the one direction (second direction Y) of the holder 100 may be a blind spot of the visual field of the optical sensor 300. In contrast, in this embodiment, the area of ​​the space S adjacent to the optical sensor 300 in the one direction (second direction Y) of the holder 100 (for example, an area of ​​the space S located below the optical sensor 300 (negative direction of the second direction Y)) can be included in the visual field of the optical sensor 300. However, the field of view of the optical sensor 300 (e.g., the center line of the field of view of the optical sensor 300) may be directed from the position where the optical sensor 300 is located toward the space S, toward the front of the space S (the negative direction of the third direction Z), or toward the rear of the space S (the positive direction of the third direction Z), in a direction perpendicular to the above-mentioned one direction (the second direction Y) of the holder 100 (e.g., the negative direction of the first direction X).

[0022] As described above, in this embodiment, the optical sensor 300 is attached to one end (upper end: end on the positive side of the second direction Y) of the holder 100. Therefore, when viewed from the front (negative direction of the third direction Z) or rear (positive direction of the third direction Z) of the space S, if the center line of the field of view of the optical sensor 300 extends obliquely downward (direction toward between the negative direction of the first direction X and the negative direction of the second direction Y) from the position where the optical sensor 300 is located, the entire field of view of the optical sensor 300 can be made to include almost the entire area of ​​the space S when viewed from the front (negative direction of the third direction Z) or rear (positive direction of the third direction Z) of the space S.

[0023] The field of view of the optical sensor 300 may expand in the front-rear direction (third direction Z) of the space S as it moves from the optical sensor 300 toward the space S (from the positive direction of the first direction X toward the negative direction of the first direction X). In this case, when the center line of the field of view of the optical sensor 300 extends toward the space S, the end of the front side (negative direction side of the third direction Z) of the field of view of the optical sensor 300 of the space S may reach the front side (negative direction of the third direction Z) of the space S, and the end of the rear side (positive direction side of the third direction Z) of the field of view of the optical sensor 300 of the space S may reach the rear side (positive direction of the third direction Z) of the space S. Also, when the center line of the field of view of the optical sensor 300 extends toward the front side (negative direction of the third direction Z) of the space S, the end of the rear side (positive direction side of the third direction Z) of the field of view of the optical sensor 300 of the space S may reach the space S or may reach the rear side (positive direction of the third direction Z) of the space S. Furthermore, when the center line of the field of view of the optical sensor 300 extends toward the rear of the space S (the positive direction of the third direction Z), the front end of the field of view of the optical sensor 300 on the front side of the space S (the negative side of the third direction Z) may reach the space S or may reach the front of the space S (the negative direction of the third direction Z).

[0024] The optical sensor 300 may be attached to the holder 100 so as to be movable in the one direction (second direction Y) of the holder 100. In this case, the position of the optical sensor 300 can be appropriately adjusted depending on the usage situation of the object recognition device 10. For example, the optical sensor 300 may be slidable along a rail provided on a predetermined surface of the holder 100 (for example, a surface on which the light source 200 is provided or a surface different from the surface on which the light source 200 is provided). Note that the optical sensor 300 may be fixed to the holder 100 so as not to be movable.

[0025] In this embodiment, the optical sensor 300 is attached only to one end (upper end: end on the positive side of the second direction Y) of the holder 100 among one end (upper end: end on the positive side of the second direction Y) and the other end (lower end: end on the negative side of the second direction Y) of the holder 100. However, the optical sensor 300 may be attached to both one end (upper end: end on the positive side of the second direction Y) and the other end (lower end: end on the negative side of the second direction Y) of the holder 100. In this case, the area in which an object can be recognized by the object recognition device 10 can be mutually complemented by the field of view of the optical sensor 300 attached to one end (upper end: end on the positive side of the second direction Y) of the holder 100 and the field of view of the optical sensor 300 attached to the other end (lower end: end on the negative side of the second direction Y) of the holder 100. Note that the optical sensor 300 attached in addition to the optical sensor 300 attached to one end (upper end: end on the positive side in the second direction Y) of the holder 100 may be attached at a position shifted from the other end (lower end: end on the negative side in the second direction Y) of the holder 100 in the one direction (second direction Y) of the holder 100. Furthermore, the number of optical sensors 300 attached to the holder 100 does not have to be one or two, and may be three or more. That is, at least one optical sensor 300 can be attached to the holder 100.

[0026] (Embodiment 2) 2 is a perspective view of the object recognition device 10 according to the embodiment 2. The object recognition device 10 according to the embodiment 2 is similar to the object recognition device 10 according to the embodiment 1 except for the following points.

[0027] The object recognition device 10 will be outlined with reference to FIG.

[0028] The object recognition device 10 includes a pair of holders 100. The pair of holders 100 face each other substantially parallel to each other with a space S therebetween. "Substantially parallel" means not only that the pair of holders 100 are arranged strictly parallel to each other, but also that one of the pair of holders 100 is inclined at a slight angle (for example, 2.5 degrees or less) to the other of the pair of holders 100 (for example, in FIG. 2, one of the pair of holders 100 is parallel to the second direction Y, and the other of the pair of holders 100 is inclined at a slight angle from the second direction Y toward a direction perpendicular to the second direction Y (for example, the first direction X or the third direction Z)). However, the pair of holders 100 do not have to face each other substantially parallel to each other, and may face each other at an angle to each other. Furthermore, the pair of holders 100 may be inclined, for example, from the vertical direction (second direction Y) toward the horizontal direction (for example, the first direction X or the third direction Z), or may be substantially parallel to the horizontal direction (for example, the first direction X or the third direction Z).

[0029] In this embodiment, the lower ends (ends on the negative side in the second direction Y) of the pair of holders 100 are aligned in the up-down direction (second direction Y) of the space S, and the upper ends ( Positive The lower ends (ends on the negative side in the second direction Y) of the pair of holders 100 are aligned in the vertical direction of the space S (second direction Y). However, the lower ends (ends on the negative side in the second direction Y) of the pair of holders 100 may be misaligned in the vertical direction of the space S (second direction Y), and the upper ends (ends on the negative side in the second direction Y) of the pair of holders 100 may be aligned in the vertical direction of the space S (second direction Y). Positive The ends of the first and second electrodes (the ends on the first and second directions) may be misaligned in the up-down direction of the space S (the second direction Y).

[0030] In this embodiment, the light source 200 and the optical sensor 300 are attached to each of the pair of holders 100. However, the light source 200 may be attached to only one of the pair of holders 100 (e.g., the holder 100 on the positive side of the first direction X), and the optical sensor 300 may be attached to only the other of the pair of holders 100 (e.g., the holder 100 on the negative side of the first direction X). That is, the light source 200 can be attached to at least one of the pair of holders 100, and the optical sensor 300 can be attached to at least the other of the pair of holders 100.

[0031] In this embodiment, an element including one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the light source 200 and the optical sensor 300 attached to the one holder 100, and an element including the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) and the light source 200 and the optical sensor 300 attached to the other holder 100 have the same configuration (for example, the shape of the holder 100, the wavelength of the light of the light source 200, and the wavelength detected by the optical sensor 300), and are arranged rotationally symmetrically with respect to the center of the space S when viewed from the front (negative direction of the third direction Z) or rear (positive direction of the third direction Z) of the space S. In this case, it is not necessary to change the configuration between one of these two elements and the other, and the object recognition device 10 can be formed by appropriately arranging these two elements. Therefore, it is possible to simplify the formation of the object recognition device 10 compared to the case where these two elements have different configurations. However, these two elements may have different configurations.

[0032] The number of holders 100 of the object recognition device 10 is not limited to the number (two) according to this embodiment. The object recognition device 10 may include three or more holders 100. That is, the object recognition device 10 can include a plurality of holders 100.

[0033] The object recognition device 10 will be described in detail with reference to FIG.

[0034] The light source 200 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the light source 200 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) face each other with a space S between them.

[0035] The optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) is attached to the upper end (the end on the positive side in the second direction Y) of the one holder 100. In contrast, the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X) is attached to the lower end (the end on the negative side in the second direction Y) of the other holder 100. Note that the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) may be attached at a position shifted from the upper end (the end on the positive side in the second direction Y) of the one holder 100 in the above-mentioned one direction (the second direction Y) of the one holder 100. In addition, the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) may be attached at a position offset from the lower end (the end on the negative side of the second direction Y) of the other holder 100 in the above-mentioned one direction (the second direction Y) of the other holder 100.

[0036] The optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) face each other in a direction oblique to the one direction (the second direction Y) of the one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) or the other (the holder 100 on the negative side of the first direction X). In this case, the area in which an object can be recognized by the object recognition device 10 can be mutually complemented by the field of view of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the field of view of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X).

[0037] The visual field of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the visual field of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) may be directed to the same region among the space S, the front of the space S (the negative direction of the third direction Z), and the rear of the space S (the positive direction of the third direction Z). For example, when the visual field of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) is directed to the space S, the visual field of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) is also directed to the space S. In this case, in the region to which the visual fields of these two optical sensors 300 are directed, the blind spots of the visual fields of these two optical sensors 300 can be more reliably reduced compared to the case in which the visual field of only one optical sensor 300 is directed to this region.

[0038] The field of view of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the field of view of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) may be directed to different regions among the space S, the front of the space S (the negative direction of the third direction Z), and the rear of the space S (the positive direction of the third direction Z). For example, when the field of view of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) is directed to the front of the space S (the negative direction of the third direction Z), the field of view of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) is directed to the rear of the space S (the positive direction of the third direction Z). In this case, the area in which the object recognition device 10 can recognize an object can be expanded from the front (negative direction in the third direction Z) to the rear (positive direction in the third direction Z) of the space S. In this case, a part of the field of view of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and a part of the field of view of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) may or may not intersect.

[0039] The arrangement of the optical sensors 300 attached to each of the pair of holders 100 is not limited to the arrangement according to this embodiment. For example, the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) may face each other in a direction (for example, the first direction X) perpendicular to the one direction (the second direction Y) of the one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) or the other (the holder 100 on the negative side of the first direction X).

[0040] Next, a description will be given of the relationship between the wavelength of the light irradiated by the light source 200 and the wavelength of the light detected by the optical sensor 300. The wavelength of the light irradiated by the light source 200 and the wavelength of the light detected by the optical sensor 300 are appropriately selected according to the application of the object recognition device 10. For example, these wavelengths are as follows:

[0041] In one example, the light emitted by the light source 200 is white light, and the light detected by the optical sensor 300 is RGB (Red, Green, and Blue). Green Blu e) For example, the light source 200 has a white light source, and the optical sensor 300 has an RGB camera. In this example, the color image obtained by the optical sensor 300 enables the object recognition device 10 to recognize objects such as people and objects.

[0042] In another example, the light emitted by the light source 200 is infrared light, and the light detected by the optical sensor 300 is infrared light. For example, the light source 200 has an infrared illuminator, and the optical sensor 300 has an infrared camera. In this example, the intensity of the light (infrared light) emitted from the light source 200 can be increased without causing glare to people near the object recognition device 10.

[0043] In yet another example, the light emitted by the light source 200 is both white light and infrared light, and the light detected by the optical sensor 300 is both RGB light and infrared light. For example, the light source 200 has both white lighting and infrared lighting, and the optical sensor 300 has both an RGB camera and an infrared camera. In this example, the infrared camera detects people, objects, and Product It can recognize the movements of people and other objects using an RGB camera. Product It is possible to recognize types of objects such as:

[0044] The light source 200 continuously emits light (e.g., at least one of white light and infrared light). Alternatively, the light source 200 may emit light (e.g., at least one of white light and infrared light) intermittently. When the light source 200 emits light intermittently, the light source 200 may have, for example, strobe lighting. In this case, motion blur of objects such as people and objects can be suppressed compared to when light is continuously emitted.

[0045] FIG. 3 is a diagram for explaining a first example of an optical sensor 300 (the optical sensor 300 on the negative side of the first direction X in FIG. 2) whose field of view is directed from below (the negative direction of the second direction Y) to above (the positive direction of the second direction Y) in the vertical direction (second direction Y) in FIG. 2.

[0046] The optical sensor 300 (the optical sensor 300 on the negative side of the first direction X in FIG. 2 ) whose field of view is directed from below (the negative direction of the second direction Y) to above (the positive direction of the second direction Y) in the vertical direction (the second direction Y) may be covered by the half mirror 312. In this case, the person approaching the object recognition device 10 (the bright side relative to the side where the optical sensor 300 is located) can be clearly seen through the half mirror 312 from the optical sensor 300 side (the dark side relative to the side where the person approaching the object recognition device 10 is located), while the optical sensor 300 (the dark side relative to the side where the person approaching the object recognition device 10 is located) is almost invisible due to the half mirror 312 from the person approaching the object recognition device 10 side (the bright side relative to the side where the optical sensor 300 is located). Therefore, it is possible to prevent the person approaching the object recognition device 10 from feeling uneasy that the optical sensor 300 is monitoring them from below (the negative direction of the second direction Y).

[0047] In Fig. 2, the optical sensor 300 (the optical sensor 300 on the positive side of the first direction X in Fig. 2) whose field of view is directed from the upper side (positive direction of the second direction Y) to the lower side (negative direction of the second direction Y) of the vertical direction (second direction Y) may not be covered by a half mirror, or may be covered by the half mirror. For example, the optical sensor 300 (the optical sensor 300 on the negative side of the first direction X in Fig. 2) whose field of view is directed from the lower side (negative direction of the second direction Y) to the upper side (positive direction of the second direction Y) of the vertical direction (second direction Y) may be covered by the half mirror 312, while the optical sensor 300 (the optical sensor 300 on the positive side of the first direction X in Fig. 2) whose field of view is directed from the upper side (positive direction of the second direction Y) to the lower side (negative direction of the second direction Y) of the vertical direction (second direction Y) may not be covered by the half mirror. In this case, the amount of light detected by the optical sensor 300 (the optical sensor 300 on the positive side of the first direction X in FIG. 2) whose field of view is directed from above (the positive direction of the second direction Y) to below (the negative direction of the second direction Y) in the vertical direction (the second direction Y) can be made greater than when a half mirror is provided.

[0048] 4 is a diagram for explaining a second example of an optical sensor 300 (the optical sensor 300 on the negative side of the first direction X in FIG. 2) whose field of view is directed from below (the negative direction of the second direction Y) to above (the positive direction of the second direction Y) in the vertical direction (second direction Y) in FIG.

[0049] The front part (part on the negative side of the third direction Z) of the optical sensor 300 (cover 302) (optical sensor 300 (cover 302) on the negative side of the first direction X in FIG. 2) whose field of view is directed from below (negative direction of the second direction Y) to above (positive direction of the second direction Y) in the vertical direction (second direction Y) may be covered by a shield 314. When the shield 314 is provided, the optical sensor 300 (cover 302) is hidden by the shield 314 from a person positioned in the front of the space S (negative direction of the third direction Z). This makes it possible to prevent a person positioned in the front of the space S (negative direction of the third direction Z) from feeling uneasy that he or she is being monitored from below (negative direction of the second direction Y) by the optical sensor 300. In addition, when the shield 314 is provided, it is possible to prevent an object such as a person positioned in the front of the space S (negative direction of the third direction Z) from being detected by the optical sensor 300. For this reason, the privacy of a person positioned in front of the space S (in the negative direction of the third direction Z) can be protected.

[0050] The field of view is from above (positive direction of second direction Y) in the vertical direction (second direction Y). under The front portion (the portion on the negative side of the third direction Z) of the optical sensor 300 (cover 302) (the optical sensor 300 (cover 302) on the positive side of the first direction X in FIG. 2) facing in the negative direction of the second direction Y may or may not be covered by a shield.

[0051] FIG. 5 is a diagram showing a first modified example of FIG.

[0052] The object recognition device 10 further includes two spacers 110. Each spacer 110 is connected to each of the pair of holders 100. One of the two spacers 110 (the spacer 110 on the positive side in the second direction Y) is connected to the upper end side (the positive side in the second direction Y) of each of the pair of holders 100. On the other hand, the other of the two spacers 110 (the spacer 110 on the negative side in the second direction Y) is connected to the lower end side (the negative side in the second direction Y) of each of the pair of holders 100. The object recognition device 10 may include only one spacer 110, or may include three or more spacers 110. That is, the object recognition device 10 can be configured to include at least one or a plurality of spacers 110.

[0053] In this modified example, the interval between the pair of holding bodies 100 can be adjusted to an appropriate length by the length of each spacer 110. For example, each spacer 110 is expandable and contractable along the left-right direction (first direction X) of the space S between the pair of holding bodies 100. In this case, each spacer 110 may have a tubular member and an extension member inserted movably relative to the tubular member. In this example, the length of each spacer 110 in the extension direction (first direction X) can be adjusted by moving the extension member relative to the tubular member. However, the structure for adjusting the length of each spacer 110 in the extension direction (first direction X) is not limited to this example. In addition, each spacer 110 does not have to be expandable and contractible between the pair of holding bodies 100. Even in this case, the interval between the pair of holding bodies 100 can be adjusted to an appropriate length by preparing a plurality of spacers 110 with different lengths in advance and selecting a spacer 110 having an appropriate length from the plurality of spacers 110.

[0054] Each spacer 110 may be transparent. In this case, an object present behind each spacer 110 (positive direction of the third direction Z) can be seen through each spacer 110 when viewed from the front of the space S (negative direction of the third direction Z). However, each spacer 110 does not have to be transparent.

[0055] FIG. 6 is a diagram showing a second modified example of FIG.

[0056] The object recognition device 10 includes a pair of extendable guide members 120. Each guide member 120 is, for example, a string-type measuring tape or a folding measuring tape. FIG. 6 illustrates each extended guide member 120. Each shortened guide member 120 (for example, a wound string-type measuring tape or a folded folding measuring tape) is provided in advance at a predetermined position of each holder 100 (for example, near the optical sensor 300). Each shortened guide member 120 is extended, and each extended guide member 120 is attached to the other holder 100 (for example, an engagement member such as a hook provided in advance at an end of the holder 100 located opposite to the end where the optical sensor 300 is provided). As a result, as shown in FIG. 6, the pair of guide members 120 cross between the pair of holders 100. Specifically, one end and the other end of one of the pair of guide members 120 (the guide member 120 extending in a direction between the positive direction of the first direction X and the positive direction of the second direction Y) are fixed to an upper end (the end on the positive side in the second direction Y) of one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) and a lower end (the end on the negative side in the second direction Y) of the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X), respectively. Furthermore, one end and the other end of the other of the pair of guide members 120 (the guide member 120 extending in a direction between the negative direction of the first direction X and the positive direction of the second direction Y) are fixed to a lower end (end on the negative side in the second direction Y) of one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) and an upper end (end on the positive side in the second direction Y) of the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X).

[0057] As shown in FIG. 6, when the pair of guide members 120 cross between the pair of holders 100 and the optical sensors 300 attached to each of the pair of holders 100 are disposed at appropriate positions (for example, when viewed from the front (negative direction of the third direction Z) or rear (positive direction of the third direction Z) of the space S, a straight line connecting the optical sensors 300 passes through the center of the space S), the pair of guide members 120 are provided so as to cross at a predetermined portion (for example, the center) of one and the other of the pair of guide members 120. A mark may be provided in advance at the predetermined portion (for example, the center) of each guide member 120. In this case, the pair of guide members 120 can be used to appropriately align the pair of holders 100 (the optical sensors 300 attached to each of the pair of holders 100).

[0058] FIG. 7 is a diagram showing a third modified example of FIG.

[0059] The object recognition device 10 further includes a human sensor 402. The human sensor 402 detects a person located in front of the object recognition device 10 (negative direction of the third direction Z). The human sensor 402 is a variety of sensors capable of detecting a person, for example, an optical sensor such as an infrared sensor or a visible light sensor, or a sound sensor such as an ultrasonic sensor or an audible sound wave sensor (for example, a microphone). The human sensor 402 is provided on the front side (surface on the negative side of the third direction Z) of each holder 100. In this case, the human sensor 402 is more likely to detect a person located in front of the object recognition device 10 (negative direction of the third direction Z) than when the human sensor 402 is provided at a position different from the front of each holder 100. However, as long as the human sensor 402 can detect a person located in front of the object recognition device 10 (negative direction of the third direction Z), the human sensor 402 may be provided at a position different from the front side (surface on the negative side of the third direction Z) of each holder 100.

[0060] At least one of the operating states of the light source 200 and the optical sensor 300 attached to each holder 100 can be switched depending on the detection result of the human sensor 402. For example, the amount of light irradiated from the light source 200 may be higher when the human sensor 402 detects a person located in front of the object recognition device 10 (negative direction of the third direction Z) than when the human sensor 402 does not detect a person located in front of the object recognition device 10 (negative direction of the third direction Z). For example, when the human sensor 402 detects a person located in front of the object recognition device 10 (negative direction of the third direction Z), the light source 200 may irradiate light, whereas when the human sensor 402 does not detect a person located in front of the object recognition device 10 (negative direction of the third direction Z), the light source 200 may not irradiate light. Furthermore, the optical sensor 300 may be stopped when the human presence sensor 402 does not detect a person positioned in front of the object recognition device 10 (negative direction of the third direction Z), and may be started when the human presence sensor 402 detects a person positioned in front of the object recognition device 10 (negative direction of the third direction Z). In this case, it is not necessary to operate the light source 200 and the optical sensor 300 all the time. Therefore, the power consumption of the object recognition device 10 can be reduced compared to the case where the light source 200 and the optical sensor 300 are always operated.

[0061] In this modification, the human presence sensor 402 is attached to each of the pair of holders 100. However, the human presence sensor 402 may be attached to only one of the pair of holders 100. That is, the human presence sensor 402 can be attached to at least one of the pair of holders 100. In addition, the position at which the human presence sensor 402 is attached is not limited to the position shown in FIG. 7.

[0062] FIG. 8 is a diagram showing a fourth modified example of FIG.

[0063] The object recognition device 10 further includes a display unit 404. The display unit 404 faces forward of the object recognition device 10 (the negative direction of the third direction Z). The display unit 404 is a variety of displays, for example, a liquid crystal display or an organic electroluminescence (EL) display. The display unit 404 may also be a touch screen. When the display unit 404 is a touch screen, a user of the object recognition device 10 can use the display unit 404 to give instructions to the object recognition device 10 for operating the object recognition device 10.

[0064] The orientation of the image displayed by the display unit 404 can be switched depending on the attitude of the holder 100 to which the display unit 404 is attached. The orientation of the image displayed by the display unit 404 means, for example, in which direction a predetermined reference direction of the image displayed by the display unit 404 (for example, the upward or downward direction of the image displayed by the display unit 404) is oriented with respect to a predetermined position of the holder 100 (for example, one end of the holder 100 where the optical sensor 300 is provided). The attitude of the holder 100 means, for example, whether the predetermined position of the holder 100 (for example, one end of the holder 100 where the optical sensor 300 is provided) is oriented upward (positive direction of the second direction Y) or downward (negative direction of the second direction Y) in the vertical direction (second direction Y), oriented in the horizontal direction (first direction X), or oriented in an oblique direction from the vertical direction (second direction Y) or the horizontal direction (first direction X). The attitude of the holding body 100 is detected, for example, by a sensor that detects the attitude of the holding body 100 (for example, a gyro sensor attached to the holding body 100).

[0065] For example, if the orientation of the image displayed by the display unit 404 does not change according to the attitude of the holder 100, and the upward direction of the image displayed by the display unit 404 is directed toward one end of the holder 100 where the optical sensor 300 is provided, the image displayed by the display unit 404 attached to the holder 100 on the left side (positive side of the first direction X) as viewed from the front of the space S (negative direction of the third direction Z) is displayed in an appropriate orientation, but the image displayed by the display unit 404 attached to the holder 100 on the right side (negative side of the first direction X) as viewed from the front of the space S (negative direction of the third direction Z) is displayed upside down. In contrast, in this embodiment, the orientation of the image displayed by the display unit 404 attached to the holder 100 on the right side (negative side of the first direction X) as viewed from the front of the space S (negative direction of the third direction Z) changes according to the attitude of this holder 100, and the image is not displayed upside down.

[0066] In this modification, the display unit 404 is attached to each of the pair of holders 100. However, the display unit 404 may be attached to only one of the pair of holders 100. That is, the display unit 404 can be attached to at least one of the pair of holders 100. In addition, the position at which the display unit 404 is attached is not limited to the position shown in FIG. 8.

[0067] FIG. 9 is a diagram showing a fifth modified example of FIG.

[0068] The object recognition device 10 further includes a sound sensor 406. The sound sensor 406 is, for example, a microphone. The object recognition device 10 can perform, for example, the following processes using the detection result of the sound sensor 406.

[0069] For example, in an unmanned store, the sound sensor 406 may detect a sound generated during payment for an item such as a product. That is, when the sound sensor 406 detects a sound generated during payment for an item such as a product, the object recognition device 10 can determine that the payment for the item such as a product has been completed, and when the sound sensor 406 does not detect a sound generated during payment for the item such as a product, the object recognition device 10 can determine that the payment for the item such as a product has not been completed.

[0070] Furthermore, the sound sensor 406 may detect various abnormal sounds, such as abnormal sounds related to goods or articles, abnormal sounds in the store, etc. Abnormal sounds related to goods or articles include, for example, sounds generated when goods or articles are broken. These abnormal sounds can be stored in advance in the object recognition device 10 or an external device (for example, a server) that can communicate with or connect to the object recognition device 10. The object recognition device 10 can determine abnormal sounds related to goods or articles by referring to the stored sounds. Abnormal sounds related to goods or articles may further include sounds generated when fixtures used together with goods or articles are broken. Abnormal sounds in the store include, for example, screams, sounds of fighting, angry voices, security alarms, etc., near the object recognition device 10.

[0071] Additionally, the sound sensor 406 may detect the sound of a customer entering the store.

[0072] Furthermore, the sound sensor 406 may detect the sound of instructions (e.g., voice) for operating the object recognition device 10. In this case, for example, various processes of the object recognition device 10 (e.g., payment for goods such as merchandise) can be performed by sounds such as voice without using the display unit 404 (touch screen).

[0073] In this modification, the sound sensor 406 is attached to each of the pair of holders 100. However, the sound sensor 406 may be attached to only one of the pair of holders 100. That is, the sound sensor 406 can be attached to at least one of the pair of holders 100. Furthermore, the position at which the sound sensor 406 is attached is not limited to the position shown in FIG. 9. Furthermore, when the sound sensor 406 is attached to both of the pair of holders 100, the two sound sensors 406 may be arranged to detect stereo sound.

[0074] FIG. 10 is a diagram showing a sixth modified example of FIG.

[0075] The object recognition device 10 further includes a sound source 408. The sound source 408 is, for example, a speaker. Using the sound source 408, the object recognition device 10 can perform, for example, the following processes.

[0076] For example, the sound source 408 outputs a sound (e.g., a voice) to assist a user (e.g., a customer in a store) in using the object recognition device 10. For example, in an unmanned store, when the above-mentioned sound sensor 406 does not detect a sound generated when an item such as a commodity is paid for, the sound source 408 outputs a sound (e.g., a voice) to prompt the user to pay.

[0077] In addition, when the sound sensor 406 described above detects various abnormal sounds, such as abnormal sounds related to goods or other items, or abnormal sounds inside the store, the sound source 408 may output various sounds (e.g., a security buzzer sound) in response to the abnormal sound.

[0078] In addition, the sound source 408 may output a sound (e.g., a voice) indicating attribute information of an item such as a product (e.g., the expiration date of the product) according to various detection results of the object recognition device 10 (e.g., the detection results of the optical sensor 300 or the detection results of the depth sensor 410 described later).

[0079] In this modification, the sound source 408 is attached to each of the pair of holders 100. However, the sound source 408 may be attached to only one of the pair of holders 100. That is, the sound source 408 can be attached to at least one of the pair of holders 100. Furthermore, the position at which the sound source 408 is attached is not limited to the position shown in Fig. 10. Furthermore, when the sound source 408 is attached to both of the pair of holders 100, the two sound sources 408 may be arranged to form stereo sound.

[0080] FIG. 11 is a diagram showing a seventh modified example of FIG.

[0081] The object recognition device 10 includes a depth sensor 410. The depth sensor 410 is, for example, a depth camera. In this embodiment, a plurality of depth sensors 410 are attached to each holder 100, and the plurality of depth sensors 410 attached to each holder 100 are arranged in the above-mentioned one direction (second direction Y) of each holder 100. The detection range of each depth sensor 410 is directed toward the rear of the space S (positive direction of the third direction Z). In this case, it becomes possible to more accurately identify the position of an object located in the rear of the space S (positive direction of the third direction Z) in the left-right direction of the space S (first direction X) compared to a case where the depth sensor 410 is not used.

[0082] When the storage section 22 is disposed at the rear of the space S (the positive direction of the third direction Z) as in the later-described third embodiment (FIG. 17), each depth sensor 410 attached to each holder 100 can be provided for each tier in which goods or other articles are stored in the storage section 22. In this case, it becomes possible to identify the position of the goods or other articles in each tier of the storage section 22 in the left-right direction (first direction X) more accurately than when the depth sensor 410 is not used.

[0083] The depth sensor 410 may be attached to only one of the pair of holding bodies 100. That is, the depth sensor 410 can be attached to at least one of the pair of holding bodies 100. The position at which the depth sensor 410 is attached is not limited to the position shown in FIG. 11. The number of depth sensors 410 attached to each holding body 100 may be only one. That is, at least one depth sensor 410 can be attached to at least one of the pair of holding bodies 100.

[0084] FIG. 12 is a diagram showing an eighth modified example of FIG.

[0085] Holes 102 are formed in the upper portion (portion on the positive side in the second direction Y) and the lower portion (portion on the negative side in the second direction Y) of each holder 100 to exhaust heat generated from an element (e.g., the light source 200 or the optical sensor 300) attached to each holder 100. The holes 102 formed in the upper portion (portion on the positive side in the second direction Y) and the lower portion (portion on the negative side in the second direction Y) of each holder 100 allow heat to be exhausted by utilizing convection. In addition, the area of ​​the holes 102 formed in the upper portion (portion on the positive side in the second direction Y) of each holder 100 is larger than the area of ​​the holes 102 formed in the lower portion (portion on the negative side in the second direction Y) of each holder 100. In this case, the amount of heat exhausted from the holes 102 formed in the upper part (the part on the positive side of the second direction Y) of each holder 100 can be made greater than when the area of ​​the holes 102 formed in the upper part (the part on the positive side of the second direction Y) of each holder 100 is equal to or smaller than the area of ​​the holes 102 formed in the lower part (the part on the negative side of the second direction Y) of each holder 100.

[0086] FIG. 13 is a diagram showing a ninth modification of FIG.

[0087] A heat dissipation member 104 is provided on the upper part (part on the positive side of the second direction Y) of each holder 100 (the upper part of the inside of each holder 100). The heat dissipation member 104 is, for example, a metal plate or a heat dissipation sheet. The heat generated from an element (for example, the light source 200 or the optical sensor 300) attached to each holder 100 can be dissipated to the outside of each holder 100 by the heat dissipation member 104. Considering that the heat generated from the element (for example, the light source 200 or the optical sensor 300) attached to each holder 100 tends to flow upward in the vertical direction (the positive direction of the second direction Y), it is preferable that the heat dissipation member 104 is provided on the upper part (part on the positive side of the second direction Y) of each holder 100 rather than on the lower part (part on the negative side of the second direction Y) of each holder 100. However, the position at which the heat dissipation member 104 is attached is not limited to the position according to this modified example.

[0088] FIG. 14 is a diagram showing a tenth modified example of FIG.

[0089] The object recognition device 10 further includes a communication unit 502. The communication unit 502 is, for example, an antenna. The object recognition device 10 can communicate with an external device (for example, a server) of the object recognition device 10 via the communication unit 502. The communication unit 502 is attached to each of the pair of holders 100. The communication unit 502 attached to each holder 100 is located above (positive direction of the second direction Y) the center of each holder 100 in the one direction (second direction Y). In this case, the position of the communication unit 502 in the vertical direction (second direction Y) can be made higher than when the communication unit 502 attached to each holder 100 is located below (negative direction of the second direction Y) the center of each holder 100 in the one direction (second direction Y), and the communication unit 502 can easily communicate with an external device (for example, a server) of the object recognition device 10. However, the communication unit 502 attached to each holder 100 may be located at the center of each holder 100 in the above-mentioned one direction (second direction Y), or may be located below the center of each holder 100 in the above-mentioned one direction (second direction Y) (in the negative direction of the second direction Y).

[0090] FIG. 15 is a diagram showing an eleventh modified example of FIG.

[0091] The object recognition device 10 further includes a power source 504. The power source 504 supplies power to elements (e.g., the light source 200 or the optical sensor 300) attached to each holder 100. The power source 504 is attached to each of the pair of holders 100. The power source 504 attached to each holder 100 is located below (in the negative direction of the second direction Y) the center of each holder 100 in the one direction (second direction Y). In this case, when the wiring connected to the power source 504 is provided near the installation surface of the object recognition device 10, the power source 504 attached to each holder 100 is located above (in the negative direction of the second direction Y) the center of each holder 100 in the one direction (second direction Y). Positive In comparison with the case where the power source 504 is located at the center of each holder 100 in the one direction (second direction Y), the distance between the power source 504 and the wiring connected to the power source 504 can be made shorter. However, the power source 504 attached to each holder 100 may be located at the center of each holder 100 in the one direction (second direction Y), or may be located above the center of each holder 100 in the one direction (second direction Y) (positive direction of the second direction Y).

[0092] Although the power supply 504 has been described with reference to FIG. 15, the same points as those described for the power supply 504 can also be said for the communication cable connected to the external connector of the object recognition device 10.

[0093] FIG. 16 is a diagram showing a twelfth modification of FIG.

[0094] The object recognition device 10 includes a communication device 506a and a communication wiring 506b. The communication device 506a is attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X). The communication device 506a is electrically connected to the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X). The communication wiring 506b is connected to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) and the communication device 506a attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X). The communication wiring 506b is electrically connected to the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X). The communication device 506a communicates with an external device (e.g., a computer) of the object recognition device 10. In this example, the detection result of the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the negative side of the first direction X) can be transmitted to an external device (e.g., a computer) of the object recognition device 10 via the communication device 506a, and the detection result of the optical sensor 300 attached to one of the pair of holders 100 (the holder 100 on the positive side of the first direction X) can be transmitted to an external device (e.g., a computer) of the object recognition device 10 via the communication wiring 506b and the communication device 506a.

[0095] (Embodiment 3) FIG. 17 is a perspective view of a storage device 20 according to the third embodiment.

[0096] The storage device 20 includes a storage section 22 and an object recognition device 10. The storage section 22 stores items. Specifically, the storage section 22 is, for example, a shelf in a store such as a retail store on which items such as merchandise are stored. The object recognition device 10 according to this embodiment is similar to the object recognition device 10 according to the second embodiment. That is, the object recognition device 10 has a pair of holders 100. However, the object recognition device 10 may have only a single holder 100, similar to the object recognition device 10 according to the first embodiment. The storage section 22 is located behind the space S between the pair of holders 100 (positive direction of the third direction Z). The storage section 22 has the holder 100. In this embodiment, the holder 100 is attached to a portion of the frame of the storage section 22 that extends in the up-down direction (second direction Y) of the storage device 20. That is, the object recognition device 10 (holder 100) is attached to the storage section 22 that is prepared in advance. However, the holder 100 may be a part of the storage section 22 itself (for example, a part of the frame of the storage section 22 that extends in the up-down direction (second direction Y) of the storage device 20). In other words, "the storage section 22 has the holder 100" may mean that the holder 100 is attached to the storage section 22, or may mean that the holder 100 is a part of the storage section 22 itself.

[0097] For example, when the storage device 20 is used inside a store such as a retail store, the object recognition device 10 recognizes various objects, such as a hand extended through the space S by a person near the object recognition device 10 or in front of the object recognition device 10 (negative direction of the third direction Z) toward an item such as a commodity stored in the storage section 22, an item such as a commodity being stored in the storage section 22 through the space S, an item such as a commodity being removed from the storage section 22 through the space S, etc. In this way, the storage device 20 (object recognition device 10) recognizes a specific area (for example, the space S, the front of the space S (positive direction of the third direction Z) or the rear of the space S (negative direction of the third direction Z) relative to the storage section 22. Positive or in a specific area (for example, space S, the front of space S (positive direction in third direction Z) or the rear of space S (negative direction in third direction Z)) with respect to storage section 22. PositiveIt is possible to recognize objects (e.g., goods such as merchandise or people) passing through the 。

[0098] FIG. 18 is a diagram for explaining a first example of the relationship between the light source 200 and the optical sensor 300 shown in FIG.

[0099] The light source 200 attached to one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) includes a visible light source 200a and an infrared light source 200b. The light source 200 attached to the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X) also includes a visible light source 200a and an infrared light source 200b. The optical sensor 300 attached to each of the pair of holders 100 is capable of detecting both RGB light and infrared light.

[0100] In FIG. 18, a white triangle having a point indicating the position of the visible light source 200a as one vertex indicates the irradiation range of the visible light by the visible light source 200a. However, in an actual object recognition device 10, the irradiation range of the visible light by the visible light source 200a may reach a region farther away from the holder 100 than the range illustrated in FIG. 18. In FIG. 18, a line-hatched triangle having a point indicating the position of the infrared light source 200b as one vertex indicates the irradiation range of the infrared light by the infrared light source 200b. However, in an actual object recognition device 10, the irradiation range of the infrared light by the infrared light source 200b may reach a region farther away from the holder 100 than the range illustrated in FIG. 18. In FIG. 18, a dot-hatched triangle having a point indicating the position of the optical sensor 300 as one vertex indicates the field of view of the optical sensor 300. However, in an actual object recognition device 10, the field of view of the optical sensor 300 may reach an area farther away from the holder 100 than the range illustrated in Fig. 18. Except for matters specifically described below, the same applies to Figs. 19 and 20 described below.

[0101] The irradiation range of the infrared light by the infrared light source 200b attached to each of the pair of holders 100 is directed toward the front of the space S (negative direction of the third direction Z) (the side where the person U is located), whereas the irradiation range of the visible light by the visible light source 200a attached to each of the pair of holders 100 is directed toward the rear of the space S (positive direction of the third direction Z) (the side where the storage unit 22 is located). Therefore, by preventing too much visible light from being irradiated onto the person U located in the front of the space S (negative direction of the third direction Z), it is possible to prevent the person U located in the front of the space S (negative direction of the third direction Z) from feeling the glare of the visible light. The person U located in the front of the space S (negative direction of the third direction Z) can be detected mainly by infrared light rather than by visible light.

[0102] 19 is a diagram for explaining a second example of the relationship between the light source 200 and the optical sensor 300 shown in FIG. 17. In FIG. 19, a triangle with dot hatching having a point indicating the position of the optical sensor 300 on the positive side of the first direction X as one vertex of the two optical sensors 300 indicates the field of view for RGB light of the optical sensor 300 on the positive side of the first direction X of the two optical sensors 300. In FIG. 19, a triangle with line hatching having a point indicating the position of the optical sensor 300 on the negative side of the first direction X as one vertex of the two optical sensors 300 indicates the field of view for infrared light of the optical sensor 300 on the negative side of the first direction X of the two optical sensors 300. These fields of view may reach an area farther away from the holder 100 than the range illustrated in FIG. 19.

[0103] A light source 200 (infrared light source 200b) that emits infrared light is attached to one of the pair of holders 100 (the holder 100 on the positive side in the first direction X), whereas the light source 200 that emits infrared light is not attached to the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X). On the other hand, an optical sensor 300 that detects infrared light is attached to the other of the pair of holders 100 (the holder 100 on the negative side in the first direction X). In this case, the optical sensor 300 attached to the other of the pair of holders 100 (the holder 100 on the positive side in the first direction X) can detect that the infrared light emitted from the infrared light source 200b attached to one of the pair of holders 100 (the holder 100 on the positive side in the first direction X) is blocked by an object such as a person U or an article.

[0104] Fig. 20 is a diagram for explaining a third example of the relationship between the light source 200 and the optical sensor 300 shown in Fig. 17. Note that the length of each of the pair of holders 100 in the vertical direction (second direction Y) of the space S in Fig. 20 is longer than the length of each of the pair of holders 100 in the vertical direction (second direction Y) of the space S in Fig. 17. In Fig. 20, the lower end (the end on the negative side in the second direction Y) of each of the pair of holders 100 reaches a height approximately below the knees of a person U positioned in the front of the space S (the negative direction in the third direction Z) (for example, a height of 50 cm or less upward (positive direction in the second direction Y) from the surface on which the accommodation device 20 is installed).

[0105] In each of the pair of holders 100, the visible light source 200a is located above (in the positive direction of the second direction Y) the infrared light source 200b. More specifically, in each of the pair of holders 100, the visible light source 200a is located above (in the positive direction of the second direction Y) the center in the extension direction (second direction Y) of each holder 100, while the infrared light source 200b is located below (in the negative direction of the second direction Y) the center in the extension direction (second direction Y) of each holder 100. In addition, the optical sensor 300 attached to each of the pair of holders 100 is capable of detecting both RGB light and infrared light.

[0106] Visible light is irradiated from above (positive direction in the second direction Y) of a person U positioned in the front of the space S (negative direction in the third direction Z), and infrared light is irradiated from below (negative direction in the second direction Y) of the person U positioned in the front of the space S (negative direction in the third direction Z). In this case, for example, compared to the case where visible light is irradiated from below (negative direction in the second direction Y) of the person U positioned in the front of the space S (negative direction in the third direction Z), it is possible to prevent the person U positioned in the front of the space S (negative direction in the third direction Z) from feeling dazzled by the visible light.

[0107] Although the embodiment and modified examples of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted.

[0108] A part or all of the above-described embodiments can be described as follows, but is not limited to the following. 1. A holder extending in one direction; a light source that is attached to the holder along the one direction and that irradiates light toward at least a portion of a space located to the side of the holder with respect to the one direction of the holder, a front portion of the space, and a rear portion of the space; an optical sensor attached to the support and having at least a portion of its field of view directed within at least a portion of the space, the front of the space, and the rear of the space; An object recognition device comprising: 2. In the object recognition device according to 1., An object recognition device, wherein the field of view of the optical sensor is directed from a position where the optical sensor is located toward the space, the front of the space, or the rear of the space, in a direction oblique to the one direction of the holder. 3. In the object recognition device according to 1. or 2., A pair of the holders facing each other across the space are provided, The light source is attached to at least one of the pair of holders, An object recognition device, wherein the optical sensor is attached to at least the other of the pair of holders. 4. In the object recognition device according to 3., An object recognition device, wherein the optical sensor attached to one of the pair of holders and the optical sensor attached to the other of the pair of holders face each other in a direction obliquely intersecting the one direction of the one or the other of the pair of holders. 5. In the object recognition device according to any one of 1 to 4, The holder is attached to a storage section in which an object is stored.

Claims

1. A pair of holders extending in one direction are arranged opposite each other with a space therebetween, the pair of holders being attached to an extending portion of a storage section in which an article is stored; a light source attached to at least one of the pair of holders along the one direction and configured to irradiate light toward at least a portion of the space, a front portion of the space, and a rear portion of the space; an optical sensor attached to each of the pair of holders and having at least a portion of a field of view directed within at least a portion of the space, the front of the space, and the rear of the space; a pair of extendable guide members for aligning the positions of the pair of holders; one end and the other end of one of the pair of guide members are fixed to an upper end of one of the pair of holding bodies and a lower end of the other of the pair of holding bodies, respectively; one end and the other end of the other of the pair of guide members are fixed to a lower end of one of the pair of holding bodies and an upper end of the other of the pair of holding bodies, respectively; the optical sensors attached to the pair of holders are provided such that a straight line connecting the optical sensors passes through a center of the space when viewed from the front of the space, An object recognition device, wherein the pair of guide members are arranged so as to intersect with each other at the center.

2. The object recognition device according to claim 1 , An object recognition device, wherein the field of view of the optical sensor is directed from a position where the optical sensor is located toward the space, the front of the space, or the rear of the space, in a direction oblique to the one direction of the holder.

3. 3. The object recognition device according to claim 1, An object recognition device, wherein the optical sensor attached to one of the pair of holders and the optical sensor attached to the other of the pair of holders face each other in a direction obliquely intersecting the one direction of the one or the other of the pair of holders.

4. The object recognition device according to claim 3, The optical sensor includes a camera for recognizing an object. The object recognition device, wherein the object includes the item passing through the space or a hand passing through the space.

5. The object recognition device according to any one of claims 1 to 4, the light source includes a visible light source; The irradiation range of the visible light source is directed toward the side where the storage unit is located. Object recognition device.

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