Monitoring target identification system, monitoring target identification method, and program

Abstract

In order to enable monitoring of a still structure, this identification system comprises: an acquisition means that, on the basis of a laser beam emitted to a plurality of positions within a target space including the still structure and reflected beams from the laser beams, acquires position information based on the positions and wavelength information based on the wavelength of the reflected beams that were reflected off of the positions; an identification means that identifies, on the basis of the wavelength information and from among the plurality of positions, a moving body position where a moving body is present; and a monitoring setting means that sets, from among the plurality of positions, the positions other than the moving body position to be monitored.

Description

[Technical Field]

[0001] The invention relates to a particular system that allows for example the monitoring of stationary structures. [Background technology]

[0002] A technology for monitoring structures using LiDAR (Light Detection and Ranging) is known. Details relating to this technology are disclosed in Patent Document 1 and Patent Document 2. Patent Document 1 discloses a technology for detecting the presence or absence of an abnormality in a structure by detecting the vibration velocity of the structure using a laser velocimeter. The technology described in Patent Document 2 is also known as a related technology. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-215148 [Patent Document 2] Special Publication No. 2020-507749 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, there are cases where a moving object (hereinafter referred to as a "moving object") exists inside or around a structure that should be stationary (hereinafter referred to as a "stationary structure"). In such cases, the moving object becomes noise in monitoring the stationary structure. For this reason, when monitoring a stationary structure, it is preferable to exclude these moving objects from the monitoring target.

[0005] However, the technology described in Patent Document 1 does not have a means for excluding moving objects from the monitoring target. Therefore, it is difficult to exclude moving objects from the monitoring target with the technology described in Patent Document 1. As a result, there is a problem in that it is difficult to prevent noise corresponding to moving objects from being mixed into the monitoring results.

[0006] In view of the above-mentioned problems, an object of the present invention is to prevent noise corresponding to a moving object from being mixed into the monitoring results when monitoring a stationary structure. [Means for solving the problem]

[0007] The present invention provides a specific system, comprising: an acquisition means for acquiring position information corresponding to a plurality of positions in a target space including a stationary structure based on laser light irradiated at the positions and reflected light of the laser light, and wavelength information based on the wavelength of the reflected light reflected at the positions; a moving object position identifying means for identifying a moving object position among the plurality of positions based on the wavelength information; a monitoring setting means for setting the positions other than the moving object position among the plurality of positions as monitoring targets; Equipped with.

[0008] The present invention provides an identification method, comprising: acquiring position information corresponding to the positions and wavelength information based on the wavelengths of the reflected light reflected at the positions based on laser light irradiated at a plurality of positions in a target space including a stationary structure and reflected light of the laser light; identifying a moving object position where a moving object is present among the plurality of positions based on the wavelength information; Of the plurality of positions, the positions other than the moving object position are set as targets for monitoring.

[0009] The present invention also provides a storage medium, a process of acquiring position information corresponding to a plurality of positions in a target space including a stationary structure based on laser light irradiated at the positions and reflected light of the laser light, and wavelength information based on the wavelength of the reflected light reflected at the positions; a process of identifying a moving object position where a moving object exists among the plurality of positions based on the wavelength information; A process of setting the positions other than the moving object position as targets of monitoring among the plurality of positions; The information processing device stores a program for causing the information processing device to execute the above. [Effects of the Invention]

[0010] According to the present invention, when monitoring a stationary structure, it is possible to prevent noise corresponding to a moving object from being mixed into the monitoring results. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of a specific system according to a first exemplary embodiment of the present invention. [Figure 2] FIG. 2 is a diagram for explaining details of a specific system according to the first embodiment of the present invention. [Figure 3] FIG. 2 is a diagram for explaining details of a specific system according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a diagram for explaining details of a specific system according to the first embodiment of the present invention. [Figure 5] 4 is a flowchart showing an example of the operation of the identification system in the first exemplary embodiment of the present invention. [Figure 6] FIG. 10 is a block diagram showing an example of the configuration of a specific system according to a second exemplary embodiment of the present invention. [Figure 7] 10 is a flowchart showing an example of the operation of the identification system according to the second exemplary embodiment of the present invention. [Figure 8] FIG. 10 is a block diagram showing an example of the configuration of a specifying system according to a third exemplary embodiment of the present invention. [Figure 9]10 is a flowchart showing an example of the operation of the identification system according to the third exemplary embodiment of the present invention. [Figure 10] FIG. 1 is a diagram illustrating an example of an information processing device that realizes a specific system or the like according to the first, second, and third embodiments of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] First Embodiment The identification system 1 in the first embodiment will be described with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, and Fig. 5. Fig. 1 is a block diagram showing an example of the configuration of the identification system 1. Figs. 2, 3, and 4 are diagrams for explaining the details of the identification system 1. Fig. 5 is a flowchart for explaining an example of the operation of the identification system 1.

[0013] The configuration of the identification system 1 will be described. The identification system 1 includes a light source unit 10 and an identification device 20. Although the light source unit 10 and the identification device 20 are shown as separate units in FIG. 1, they may be integrated. The light source unit 10 and the identification device 20 are capable of communicating with each other.

[0014] The light source unit 10 includes a light irradiating means 11 and a light receiving means 13 .

[0015] The light irradiation means 11 irradiates a light irradiation region 300 including a target space 200 in which a stationary structure 400 is disposed with laser light. Specifically, the laser light is pulsed laser light. For example, as shown in FIGS. 2, 3, and 4, the light irradiation means 11 irradiates laser light from an optical input / output terminal OI provided in the light source unit 10. As a result, the irradiated laser light propagates along an optical path OP and is incident on a reflection point RP of an object present in the target space 200. The optical path OP is a line segment connecting the optical input / output terminal OI and the reflection point RP. Here, the target space is a space including a stationary structure 400 such as a building. The stationary structure 400 is a structure such as a building, a steel tower, a bridge, or a utility pole that is fixed to the ground.

[0016] Furthermore, the light receiving means 13 receives the laser light reflected by the stationary structure 400 in the target space 200. Hereinafter, "laser light reflected by the stationary structure 400 in the target space 200" will be referred to as "reflected laser light." For example, in the examples of FIGS. 2, 3, and 4, the light receiving means 13 receives the laser light reflected from the reflection point RP of the stationary structure 400 via the optical path OP and the optical input / output terminal OI. Furthermore, by changing the direction in which the light source unit 10 irradiates the laser light as described below, the light receiving means 13 can receive reflected laser light from different reflection points RP.

[0017] Next, we will explain the identifying device 20. The identifying device 20 includes an acquisition means 21, an identification means 22, a monitoring setting means 23, a point cloud data generation means 24, and a monitoring means 25. Note that the acquisition means 21, the identification means 22, the monitoring setting means 23, the point cloud data generation means 24, and the monitoring means 25 may be provided in one device or in different devices.

[0018] The acquisition means 21 will be described. The acquisition means 21 acquires position information corresponding to each position where the laser light is irradiated, based on the laser light and the reflected laser light. Furthermore, the acquisition means 21 acquires wavelength information corresponding to the wavelength of the reflected laser light reflected at each position where the laser light is irradiated, based on the laser light and the reflected laser light. The reflected laser light here refers to the reflected light of the laser light irradiated at each position in the target space 200 including the stationary structure 400.

[0019] Here, the positional information will be explained using Figures 2, 3, and 4. Figure 2 shows the positional relationship between the light source unit 10 and the target space 200 using the x-axis, y-axis, and z-axis. Figure 3 shows the positional relationship between the light source unit 10 and the target space 200 using the z-axis and a-axis. The a-axis is obtained by orthogonally projecting the optical path OP onto the xy plane.

[0020] By tilting the light source unit 10 along the α direction (the vertical direction relative to the xy plane) shown in Fig. 2, the light irradiation means 11 can irradiate the laser light at an arbitrary angle θ1, as shown in Fig. 3. For example, the angle θ1 is the angle formed by a line extending vertically downward from the optical input / output terminal OI of the laser light and the optical path OP, as shown in Fig. 3. The acquisition means 21 can detect the angle θ1 using a gyro sensor (not shown) or the like.

[0021] The acquisition means 21 obtains the length of the optical path OP from the time from when the laser light is emitted by the light irradiation means 11 to when the reflected laser light is received by the light receiving means 13. Hereinafter, the "time until the reflected laser light is received by the light receiving means 13" will be referred to as "time t." Specifically, the length of the optical path OP is obtained by multiplying time t by the speed of light and dividing the result by 2. The acquisition means 21 can calculate the difference (H1 in FIG. 3) between the z coordinate of the optical input / output terminal OI of the laser light and the z coordinate of the reflection point RP of the laser light by multiplying the length of the optical path OP by cos θ1. In this way, the acquisition means 21 obtains the relative position of the reflection point RP on the z axis with respect to the optical input / output terminal OI.

[0022] Furthermore, the obtaining means 21 calculates the length of a line segment D1 of the optical path OP projected onto the xy plane by multiplying the length of the optical path OP by sin θ1. As shown in Fig. 4, the line segment D1 is a line segment that connects the optical input / output terminal OI of the laser beam to the reflection point RP on the xy plane.

[0023] By tilting the light source unit 10 along the β direction (a direction parallel to the xy plane) shown in FIG. 2, the light irradiation means 11 can irradiate laser light at an arbitrary angle θ2. For example, as shown in FIG. 4, the angle θ2 is the angle formed by a reference line L set on the xy plane and an optical path OP. In the example shown in FIG. 4, the reference line L is one of the sides that form the periphery of the target space 200. The acquisition means 21 can detect the angle θ2 using a gyro sensor (not shown) or the like.

[0024] The acquisition means 21 obtains the difference (D2 in FIG. 4) between the x coordinate of the optical input / output terminal OI and the x coordinate of the reflection point RP by multiplying the length of the line segment D1 by sin θ2. The acquisition means 21 also obtains the difference (D3 in FIG. 4) between the y coordinate of the optical input / output terminal OI and the y coordinate of the reflection point RP by multiplying the length of the line segment D1 by cos θ2. In this way, the acquisition means 21 obtains the relative position on the x axis and the relative position on the y axis of the reflection point RP with respect to the optical input / output terminal OI. The acquisition means 21 stores the obtained relative positions on each axis in association with the angle θ1 and the angle θ2.

[0025] By changing at least one of the angles θ1 and θ2, the light source unit 10 causes the laser light to be incident on reflection points RP at different positions. The light source unit 10 irradiates laser light according to a plurality of predetermined angles θ1 and a plurality of predetermined angles θ2, and receives reflected laser light from a plurality of reflection points RP in the light irradiation area 300. This allows the acquisition unit 21 to acquire the relative position on each axis for each of the plurality of reflection points RP in the target space 200. The acquisition unit 21 acquires the relative position on each axis for each of the reflection points RP acquired as described above as position information. Note that the acquisition unit 21 may convert the relative position into an absolute position using a predetermined reference point and acquire the absolute position as position information.

[0026] Next, wavelength information will be described. Wavelength information is information indicating the difference between the wavelength of the laser light and the wavelength of the reflected laser light. When the laser light is incident on a moving reflection point RP, the wavelength of the reflected laser light changes due to the Doppler effect. In other words, wavelength information is information indicating the amount of wavelength shift due to the Doppler effect.

[0027] The light receiving means 13 detects the wavelength of the reflected laser light by coherently detecting the reflected laser light using a local light having the same wavelength as the laser light. When the light receiving means 13 receives the reflected light from the reflection point RP, it notifies the acquisition means 21 of the wavelength of the reflected light. The acquisition means 21 also stores in advance the wavelength of the laser light irradiated by the light irradiating means 11. This allows the acquisition means 21 to acquire wavelength information corresponding to the wavelength of the reflected light. The acquisition means 21 outputs the acquired position information and wavelength information to the identification means 22.

[0028] The identifying means 22 identifies the moving object position where the moving object exists from among the plurality of positions based on the wavelength information.

[0029] Specifically, the identification means 22 identifies, among the positions according to the position information, a position at which reflected light with a wavelength that is more than a threshold away from the wavelength of the laser light is reflected as a moving object position where a moving object exists. Generally, when a moving object moves between a stationary structure 400 such as a steel tower and the light irradiation means 11, the wavelength of the light reflected at the position where the moving object exists changes due to the Doppler effect. Therefore, the identification means 22 can identify, as a moving object position where a moving object exists, a position at which reflected light with a wavelength that is more than a threshold away from the wavelength of the laser light is reflected. The identification means 22 outputs information indicating the moving object position to the monitoring setting means 23.

[0030] The monitoring setting means 23 sets, as monitoring targets, positions other than the moving object positions among the multiple positions at which the laser light is reflected. Specifically, the monitoring setting means 23 determines that a moving object is located at the moving object position identified by the identification means 22. Then, the monitoring setting means 23 determines that a stationary structure 400 exists at a position other than the moving object positions among the multiple positions at which the laser light is reflected. Furthermore, the monitoring setting means 23 sets, as monitoring targets, the positions at which the stationary structure 400 exists. In other words, the monitoring setting means 23 excludes the positions at which the moving object exists from monitoring targets, and sets the positions at which the stationary structure 400 exists as monitoring targets.

[0031] The point cloud data generating means 24 generates point cloud data, which is a collection of points corresponding to positions other than the moving object positions among the multiple positions where the laser light is reflected. For example, the point cloud data is a three-dimensional model. Specifically, the point cloud data generating means 24 may generate a three-dimensional model of the target space 200 using position information corresponding to the positions other than the moving object positions among the multiple positions where the laser light is reflected. A three-dimensional model is a collection of points whose positions are uniquely determined by x-axis coordinates, y-axis coordinates, and z-axis coordinates. The point cloud data generating means 24 generates a model representing the shape of a stationary structure 400 in the target space 200 by plotting multiple reflection points RP on the three-dimensional model based on the relative positions of the reflection points RP with respect to the optical input / output terminal O1. The relative positions of the reflection points RP with respect to the optical input / output terminal O1 are acquired by the acquiring means 21. As a result, the model generated by the point cloud data generating means 24 is a collection of points corresponding to positions other than the moving object positions, and therefore represents only stationary objects and not moving objects.

[0032] The monitoring means 25 monitors the positions set as monitoring targets by the monitoring setting means 23. Specifically, for example, the point cloud data generation means 24 continuously executes a process of generating point cloud data. The monitoring means 25 generates a three-dimensional model of the stationary structure 400 using the generated point cloud data. That is, the three-dimensional model is generated in so-called "real time." The monitoring means 25 displays an image including the generated three-dimensional model on a display (not shown). This allows monitoring of the stationary structure 400 to be realized.

[0033] At this time, the monitoring means 25 displays a point cloud model that shows only the stationary structure 400, without showing any moving objects. This makes it possible to exclude moving objects from the monitoring target. As a result, in monitoring the stationary structure 400, it is possible to prevent noise corresponding to moving objects from being mixed into the monitoring results. Furthermore, by including stationary objects as the monitoring target, it is possible to realize monitoring of the stationary structure 400.

[0034] By using the sensing laser light and the corresponding reflected light (i.e., by using a LiDAR device), it is possible to detect not only the location of an object included in the target space 200, but also whether the object is stationary or moving. That is, the detection of the position of each object and the detection of the movement of each object can be realized using the same device (i.e., a LiDAR device). This makes it possible to reduce the number of detection devices included in the system compared to when the detection of the position of each object and the detection of the movement of each object are realized using different devices. As a result, the identification system 1 can simplify the system configuration.

[0035] If a camera is used instead of a LiDAR device and image recognition is used to detect individual objects and their movements, prior machine learning is required to achieve such image recognition. By contrast, using a LiDAR device can eliminate the need for such machine learning. Furthermore, the time required for image recognition processing is typically longer than the time required for generating point cloud data. Therefore, using a LiDAR device can shorten processing time compared to using image recognition.

[0036] Next, an example of the operation of the identification system 1 will be described with reference to FIG.

[0037] The light source unit 10 adjusts the irradiation angle of the laser light (S101). For example, the light source unit 10 adjusts the angle θ1 shown in Fig. 3 and the angle θ2 shown in Fig. 4 to predetermined angles.

[0038] The light irradiation means 11 of the light source unit 10 irradiates a laser beam (S102). As a result, the laser beam is reflected at a reflection point RP of the stationary structure 400.

[0039] The light receiving means 13 of the light source unit 10 receives the reflected laser light (S103). At this time, the time t from when the laser light is emitted until the reflected laser light is received is stored in association with the irradiation angle of the laser light in a memory (not shown) provided in the identification device 20. At this time, the light source unit 10 stores the intensity of the reflected laser light in addition to the time t.

[0040] The light source unit 10 determines whether or not the laser light is irradiated within a predetermined angle range (S104).

[0041] If the laser beam is not irradiated within the predetermined angle range (No in S104), the light source unit 10 adjusts the irradiation angle of the laser beam (S101). For example, the light source unit 10 changes at least one of the angle θ1 shown in FIG. 3 and the angle θ2 shown in FIG. 4.

[0042] If the laser light is irradiated within a predetermined angle range (Yes in S104), the acquisition means 21 acquires, based on the reflected laser light, position information corresponding to each position where the laser light is irradiated and wavelength information based on the wavelength of the reflected light reflected at each position (S105).

[0043] The identification means 22 identifies a moving object position where a moving object exists among the plurality of positions based on the wavelength information (S106). The monitoring setting means 23 sets the positions other than the positions identified as the moving object positions as monitoring targets among the plurality of positions (S107). The monitoring means 25 monitors the positions set as the monitoring targets (S108).

[0044] Specifically, the monitoring means 25 displays the point cloud data generated by the point cloud data generating means 24 between S107 and S108 on a display (not shown). Note that in the above example, the monitoring means 25 monitors the stationary structure 400 using point cloud data, but the monitoring means 25 may also perform monitoring using a method that does not use point cloud data. Specifically, the monitoring means 25 may perform monitoring by continuously extracting, from the position information corresponding to each point in the target space 200, only the position information of positions identified as targets for monitoring, and transmitting it to the outside.

[0045] The above describes the identification system 1. In the identification system 1, the acquisition means 21 acquires position information corresponding to each position and wavelength information based on the wavelength of the reflected light from the laser light irradiated at each position within the target space 200, including the stationary structure 400. Furthermore, the identification means 22 identifies a moving object position where a moving object exists among the multiple positions from which the laser light is reflected, based on the wavelength information. Furthermore, the monitoring setting means 23 sets positions other than the moving object position among the multiple positions from which the laser light is reflected as targets for monitoring.

[0046] As described above, the identification system 1 can exclude moving objects from the monitoring target. As a result, it is possible to prevent noise corresponding to moving objects from being mixed into the monitoring results when monitoring the stationary structure 400. Furthermore, by including stationary objects as the monitoring target, it is possible to realize monitoring of the stationary structure 400.

[0047] <Second embodiment> The identification system 2 in the second embodiment will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a block diagram showing an example of the configuration of the identification system 2. Fig. 7 is a flowchart for explaining an example of the operation of the identification system 2.

[0048] 6, the identifying system 2 includes a light source unit 10 and an identifying device 20. Each element in the identifying system 2 may have the same configuration, connection relationship, and function as each element with the same number in the identifying system 1. For example, the light source unit 10 and the identifying device 20 in the identifying system 2 may have the same configuration, connection relationship, and function as the light source unit 10 and the identifying device 20 in the identifying system 1.

[0049] The identifying device 20 also includes an acquisition means 21, an identifying means 22, a monitoring setting means 23, a point cloud data generation means 24, a monitoring means 25, and a detection means 26. The identifying device 20 in the identifying system 2 differs from the identifying device 20 in the identifying system 1 in that it further includes the detection means 26.

[0050] The detection means 26 detects matching portions that satisfy conditions according to a predetermined shape from among positions other than the moving object position among the positions where the reflected laser light is reflected. The detection means 26 detects point clouds for individual objects from the point clouds included in the point cloud data generated by the point cloud data generation means 24. Specifically, for example, the detection means 26 uses the generated point cloud data to perform a process of calculating distances between points and a process of detecting individual surfaces (including flat and curved surfaces). Based on the results of these processes, the detection means 26 groups the points included in the point cloud data by object. This detects point clouds corresponding to individual objects. In other words, point cloud data corresponding to each object is generated. The generated point cloud data indicates the position and shape of each object.

[0051] In this way, the detection means 26 detects a matching portion that satisfies a condition according to a predetermined shape among positions other than the moving object position among the positions where the reflected laser light is reflected. Note that the condition according to the predetermined shape refers to the above-mentioned calculated point-to-point distance and information indicating each detected surface. Also, the matching portion refers to a point group corresponding to each object and detected by the detection means 26. In the identification system 2, the monitoring setting means 23 sets the above-mentioned matching portion as a monitoring target.

[0052] Next, an example of the operation of the identification system 2 will be described with reference to Fig. 7. As shown in Fig. 7, the identification system 2 performs the processes of S101 to S108. Of these processes, the identification system 2 performs the processes of S101 to S106 in the same manner as the identification system 1. The identification system 2 differs from the identification system 1 in that it further performs the processes of S201 and S202.

[0053] The detection means 26 detects a matching portion that satisfies a condition according to a predetermined shape from among positions other than the moving object position among positions where the reflected laser light is reflected (S201). The monitoring setting means 23 sets the matching portion as a monitoring target (S202). The monitoring means 25 monitors the position set as the monitoring target (S108). In the process of S108, the matching portion is monitored.

[0054] The above describes the identification system 2. Since the identification system 2 has the same configuration as the identification system 1, it is possible to exclude moving objects from the monitoring target. As a result, when monitoring the stationary structure 400, it is possible to prevent noise corresponding to moving objects from being mixed into the monitoring results. Furthermore, by including stationary objects as the monitoring target, it is possible to realize monitoring of the stationary structure 400.

[0055] The identification system 2 further includes a detection means 26 that detects matching portions that satisfy conditions according to a predetermined shape among positions other than the moving object position. Therefore, the monitoring setting means 23 can set monitoring targets individually for each shape corresponding to the matching portion (for example, each individual shape of an object). <Third embodiment> The identification system 3 according to the third embodiment will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a block diagram showing an example of the configuration of the identification system 3. Fig. 9 is a flowchart showing an example of the operation of the identification system 3. Note that the above-mentioned identification system 1 and identification system 2 are specific examples of the identification system 3.

[0056] 8, the identifying system 3 includes an acquisition unit 21, an identification unit 22, and a monitoring setting unit 23. The aforementioned light source unit 10 (not shown) is provided outside the identifying system 3 and is capable of communicating with the identifying system 3. The acquisition unit 21, the identification unit 22, and the monitoring setting unit 23 of the identifying system 3 may have the same functions and connection relationships as the acquisition unit 21, the identification unit 22, and the monitoring setting unit 23 of the identifying systems 1 and 2.

[0057] The acquisition means 21 acquires position information according to the position and wavelength information based on the wavelength of the reflected light reflected at the position based on laser light irradiated at multiple positions within a target space including stationary structures and reflected light of the laser light.

[0058] The identifying means 22 identifies the moving object position where the moving object exists from among the plurality of positions where the laser light is reflected, based on the wavelength information.

[0059] The monitoring setting means 23 sets, among the plurality of positions, positions other than the moving object positions as monitoring targets.

[0060] Next, an operation example of the identification system 3 will be described with reference to Fig. 9. The operation example below corresponds to an identification method. A storage medium may store a program for causing an information processing device to execute each process of the operation example below.

[0061] The acquisition means 21 acquires position information according to the position and wavelength information based on the wavelength of the reflected light reflected at the position based on laser light irradiated at multiple positions within a target space including a stationary structure and reflected light of the laser light (S301).

[0062] The identifying means 22 identifies the moving object position where the moving object exists from among the multiple positions where the laser light is reflected, based on the wavelength information (S302).

[0063] The monitoring setting means 23 sets the positions other than the moving object positions as the monitoring targets among the plurality of positions (S303).

[0064] The above describes the identification system 3. In the identification system 3, the acquisition means 21 acquires position information corresponding to each position and wavelength information based on the wavelength of the reflected light from the laser light irradiated at each position within a target space including stationary structures, based on the reflected light from the laser light. Furthermore, the identification means 22 identifies a moving object position where a moving object exists among the multiple positions from which the laser light is reflected, based on the wavelength information. Furthermore, the monitoring setting means 23 sets positions other than the moving object position among the multiple positions from which the laser light is reflected as monitoring targets.

[0065] As described above, the identification system 3 can exclude moving objects from the monitoring target. As a result, when monitoring a stationary structure, it is possible to prevent noise corresponding to moving objects from being mixed into the monitoring results. Furthermore, by including stationary objects as the monitoring target, it is possible to monitor the stationary structure.

[0066] Furthermore, some or all of the components of each device or system are realized by any combination of an information processing device 2000 and a program as shown in Fig. 10. Fig. 10 is a diagram showing an example of an information processing device that realizes specific systems 1, 2, 3, etc. The information processing device 2000 includes, as an example, the following configuration.

[0067] ·CPU(Central Processing Unit)2001 ROM (Read Only Memory) 2002 ·RAM(Random Access Memory)2003 Program 2004 loaded into RAM 2003 A storage device 2005 for storing a program 2004 A drive device 2007 that reads and writes the recording medium 2006 ·Communication interface 2008 connecting to communication network 2009 Input / output interface for data input / output 2010 Bus 2011 connecting each component Each component of each device in each embodiment is realized by the CPU 2001 acquiring and executing a program 2004 that realizes the function of that component. The program 2004 that realizes the function of each component of each device is stored in advance in, for example, the storage device 2005 or the RAM 2003, and is read out by the CPU 2001 as needed. The program 2004 may be supplied to the CPU 2001 via the communication network 2009, or may be stored in advance in the recording medium 2006, and the drive device 2007 may read out the program and supply it to the CPU 2001.

[0068] There are various variations in the method of realizing each device. For example, each device may be realized by any combination of a separate information processing device 2000 and a program for each component. Furthermore, multiple components included in each device may be realized by any combination of a single information processing device 2000 and a program.

[0069] In addition, some or all of the components of each device may be realized by general-purpose or dedicated circuits including a processor, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and a program.

[0070] When some or all of the components of each device are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each device is connected via a communication network.

[0071] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0072] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Explanation of symbols]

[0073] 1, 2 Specific system 10 Light source section 11 Light irradiation means 13 Light receiving means 20 Specific equipment 21 Acquisition method 22 Specific means 23 Monitoring Configuration Method 24 Point cloud data generation method 25 Monitoring methods 26 Detection Methods 2001 CPU 2002 ROM 2003 RAM 2004 Program 2005 storage device 2007 Drive Unit 2008 Communication Interface 2009 Communication Network 2010 Input / Output Interface 2011 Bus connecting each component

Claims

1. A point cloud data generating means for generating three-dimensional point cloud data of a space based on reflected light of a laser beam irradiated onto the space; an acquisition means for acquiring wavelength information based on the wavelength of the reflected light; a moving object position determining unit that determines a moving object position in the space based on the wavelength information; a monitoring target setting means for setting the space excluding the moving object position as a monitoring target; a monitoring means for monitoring the target of monitoring, the point cloud data generating means generates three-dimensional point cloud data corresponding to the monitoring target; the monitoring means monitors the monitoring target based on the three-dimensional point cloud data. Monitoring target specific system.

2. The monitoring target identification system according to claim 1 , wherein the acquisition means acquires the wavelength information according to a difference between the wavelength of the reflected light and the wavelength of the laser light.

3. Further, a detection means is provided for detecting a matching portion that satisfies a condition according to a predetermined shape in the space excluding the moving object position, the monitoring target setting means sets the matching portion as a monitoring target. The monitoring target identification system according to claim 1 .

4. Obtaining wavelength information based on the wavelength of reflected light from the laser light irradiated into the space; Identifying a moving object position in the space based on the wavelength information; Among the space, a space excluding the moving object position is set as a monitoring target; generating three-dimensional point cloud data corresponding to the monitoring target based on the reflected light of the laser light; monitoring the monitoring target based on the three-dimensional point cloud data; How to identify monitoring targets.

5. A process of acquiring wavelength information based on the wavelength of reflected light of laser light irradiated into a space; a process of identifying a moving object position in the space based on the wavelength information; A process of setting the space excluding the moving object position as a monitoring target in the space; generating three-dimensional point cloud data corresponding to the monitoring target based on the reflected light of the laser light; a process of monitoring the target based on the three-dimensional point cloud data; A program that causes an information processing device to execute the above.

Images