Object detection device

Abstract

This object detection device (1) comprises a sensor unit (2), which is for detecting an object, and is capable of acquiring position information in a three-dimensional coordinate system of the detected object, the object detection device (1) comprising: a height acquisition unit (9) that acquires the installation height of the object detection device (1); an orientation acquisition unit (10) that acquires the installation orientation of the object detection device (1); and a determination unit (7) that determines whether the installation orientation is appropriate on the basis of the installation height acquired by the height acquisition unit (9) and the installation orientation acquired by the orientation acquisition unit (10).

Description

Object detection device

[0001] The present invention relates to an object detection device including a sensor unit for detecting an object and capable of acquiring position information of a detected object in a three-dimensional coordinate system.

[0002] As an object detection device, for example, the one described in Patent Document 1 is already known. This object detection device (referred to as an "object recognition device" in Patent Document 1) includes a sensor unit for detecting an object (referred to as a "three-dimensional sensor" in Patent Document 1) and is configured to be able to acquire position information of a detected object in a three-dimensional coordinate system.

[0003] Japanese Patent Application Laid-Open No. 2022-42103

[0004] When installing the object detection device described in Patent Document 1, depending on the installation height and installation posture, a situation where the object cannot be appropriately detected is assumed. For example, when installing the object detection device to detect an intruder, if the object detection device is installed at a relatively high position and the center of the detection range of the sensor unit is directed horizontally, it is conceivable that an intruder moving in a low posture (e.g., crawling forward) directly below the object detection device will not be detected.

[0005] An object of the present invention is to provide an object detection device that is easy to install in an appropriate installation posture according to the installation height.

[0006] The features of the present invention are an object detection device including a sensor unit for detecting an object and capable of acquiring position information of a detected object in a three-dimensional coordinate system, comprising a height acquisition unit for acquiring the installation height of the object detection device, a posture acquisition unit for acquiring the installation posture of the object detection device, and a determination unit for determining whether the installation posture is appropriate based on the installation height acquired by the height acquisition unit and the installation posture acquired by the posture acquisition unit.

[0007] In this configuration, the determination unit determines whether the installation posture of the object detection device is appropriate based on its installation height and orientation. Therefore, if the system is configured to notify the user (the worker installing the object detection device or the entity operating the object detection device) if it is determined that the orientation is inappropriate, the user can understand that the object detection device is not installed in an appropriate orientation for its installation height. As a result, the user can realize that the installation posture needs to be improved.

[0008] Furthermore, if the determination results from the determination unit are recorded as a log, the user can check the log to determine whether the object detection device is installed in an appropriate orientation according to its installation height.

[0009] Therefore, this configuration makes it possible to realize an object detection device that can be easily installed in an appropriate mounting position according to the installation height.

[0010] Furthermore, in the present invention, it is preferable to include a posture notification unit that notifies the user that the installation posture is inappropriate when the determination unit determines that the installation posture is inappropriate.

[0011] With this configuration, if the object detection device is not installed in an appropriate orientation, the user will be notified accordingly. This allows the user to easily understand that the object detection device is not installed in an appropriate orientation for its installation height.

[0012] Furthermore, in the present invention, it is preferable that the attitude notification unit changes the mode of notification based on the degree of deviation of the installation attitude from an appropriate installation attitude.

[0013] With this configuration, users can easily understand the degree of deviation from the appropriate installation position from the notification method. This makes it easier for users to understand how much the installation position of the object detection device needs to be changed (improved).

[0014] Furthermore, in the present invention, it is preferable that the height acquisition unit acquires the installation height based on the detection result of the sensor unit.

[0015] With this configuration, users do not need to manually input the installation height. Therefore, the workload on users can be reduced.

[0016] Furthermore, in the present invention, it is preferable that the system includes an installation height setting unit for setting the installation height, and that the height acquisition unit acquires the installation height set by the installation height setting unit.

[0017] With this configuration, even if the sensor unit cannot detect the installation height of the object detection device, the height acquisition unit can still acquire the installation height. This ensures that the height acquisition unit can reliably acquire the installation height.

[0018] Furthermore, in the present invention, it is preferable to include a transmitting unit that transmits a signal to the outside indicating that the installation posture is inappropriate when the determination unit determines that the installation posture is inappropriate.

[0019] This configuration allows the transmitting unit to send a signal indicating that the installation orientation is inappropriate to an external device (e.g., an information terminal), thereby enabling the device to notify users of the inappropriate installation orientation. This makes it possible to tailor the destination of the signal to the user's needs (e.g., the need to receive the signal on their own information terminal).

[0020] Furthermore, it is preferable that the present invention includes an alarm unit that outputs an alarm based on the detection result of the sensor unit, and an alarm range setting unit that sets an alarm range which is the range over which the alarm is output.

[0021] This configuration makes it possible to realize an object detection device that is easily installed in an appropriate orientation according to the installation height, in which the alarm unit outputs an alarm when an object to be monitored (e.g., an intruder) is present within the monitoring range. This makes it easier to avoid false alarms caused by an improper installation orientation of the object detection device.

[0022] Furthermore, in the present invention, the warning range setting unit is configured to perform a learning process to set the warning range based on the detection result of the sensor unit, and in the learning process, it includes a distance determination unit that determines the warning distance, which is the distance from the object detection device to the tip of the warning range, and the distance determination unit is configured to determine the detected object distance as the warning distance when the detected object distance, which is the distance from the object detection device to the object detected by the sensor unit, is within a predetermined distance, and in the learning process, it is preferable that it includes a distance notification unit that notifies that the detected object distance exceeds the predetermined distance when the detected object distance exceeds the predetermined distance.

[0023] With this configuration, if the alarm distance that the user is trying to set through the learning process exceeds a predetermined distance (for example, the rated distance, which is the maximum distance at which a certain level of detection accuracy by the sensor unit is ensured), the user can become aware of this. This allows the user to understand that they need to set the alarm distance to a shorter distance.

[0024] Furthermore, the present invention includes an alarm unit that outputs an alarm based on the detection result of the sensor unit, and an alarm control unit that can switch the alarm unit between an alert state in which the alarm can be output and an unalert state in which the alarm is not output regardless of the detection result of the sensor unit, wherein the alarm control unit does not switch from the unalert state to the alert state if the determination unit determines that the installation posture is not appropriate.

[0025] With this configuration, if the object detection device is not installed in an appropriate position, it cannot switch from the un-alert state to the alert state. This prevents false alarms from occurring in the alert state due to an improper installation position.

[0026] This is a block diagram showing the configuration of an object detection device, etc. This is a side view showing the configuration of an object detection device, etc. This is another side view showing the configuration of an object detection device, etc. This is a plan view showing the detection range, etc. This is a side view showing the detection range, etc. This is a flowchart of the learning flow.

[0027] Embodiments for carrying out the present invention will be described with reference to the drawings.

[0028] [Object Detection Device] As shown in Figure 1, the object detection device 1 is equipped with a sensor unit 2 that detects objects within the detectable range 6 (see Figure 2). The sensor unit 2 is capable of acquiring the positional information of the detected object in a three-dimensional coordinate system. That is, the object detection device 1 is configured to acquire the positional information of the detected object in a three-dimensional coordinate system. Note that the warning range 61 and rated range 62, which will be described later, are not shown in Figures 2 and 3.

[0029] The sensor unit 2 is not particularly limited, but may be, for example, a millimeter-wave radar, a LiDAR (Light Detection and Ranging) device, or a 4D radar. The detectable range 6 is the range in which the sensor unit 2 can detect objects. The detected object may be a person, a car, an animal, etc.

[0030] As shown in Figure 1, the object detection device 1 includes an alarm unit 3. The alarm unit 3 acquires detection results from the sensor unit 2 (data indicating the position and vector of an object within the detectable range 6). Based on these detection results, the alarm unit 3 outputs an alarm to the alarm device 4. In other words, the object detection device 1 includes an alarm unit 3 that outputs an alarm based on the detection results from the sensor unit 2.

[0031] As shown in Figure 2, in this embodiment, the object detection device 1 is positioned near the predetermined area 5 to detect intruders approaching the area 5 and output an alarm to the alarm device 4. However, the present invention is not limited to this. The object detection device 1 may detect any object. Also, the object detection device 1 may be positioned anywhere.

[0032] The alarm device 4 may be included in the object detection device 1, or it may be provided outside the object detection device 1. The alarm device 4 may be, for example, a buzzer or a lamp, or it may be a portable terminal (such as a smartphone) held by the user (the worker who installs the object detection device 1, or the entity that operates the object detection device 1).

[0033] The designated area 5 is not particularly limited, but may be, for example, a building, a restricted access area, a protected area, etc.

[0034] [Determination Unit] As shown in Figures 2 and 3, the object detection device 1 is supported by a support member 20. The object detection device 1 is rotatable with respect to the support member 20 around a horizontally extending axis P. This allows the object detection device 1 to change its installation orientation (especially in the tilt direction).

[0035] As shown in Figure 1, the object detection device 1 includes a determination unit 7. The determination unit 7 is configured to determine whether the installation orientation (tilt in the installed state) of the object detection device 1 is appropriate. The configuration of the determination unit 7 will be described in detail below.

[0036] As shown in Figure 1, the object detection device 1 includes a tilt sensor 8 and a height acquisition unit 9. The tilt sensor 8 detects the tilt of the object detection device 1 in the tilt direction. For example, a known tilt sensor can be used as the tilt sensor 8.

[0037] Furthermore, although not particularly limited, the "installation posture" and "tilt direction" of the object detection device 1 may be the angle of the central axis 6a (central axis of the element of the sensor unit 2) (see Figures 2 and 3) of the detectable range 6 with respect to the horizontal direction.

[0038] The height acquisition unit 9 acquires the detection results from the sensor unit 2 and the detection results from the tilt sensor 8. Based on these detection results, the height acquisition unit 9 calculates the installation height of the object detection device 1. In this way, the height acquisition unit 9 acquires the installation height of the object detection device 1.

[0039] Thus, the object detection device 1 is equipped with a height acquisition unit 9 that acquires the installation height of the object detection device 1. The height acquisition unit 9 acquires the installation height based on the detection results of the sensor unit 2. The installation height is the height of the object detection device 1 from a reference surface (e.g., the ground) in the installed state.

[0040] For example, when the object detection device 1 is installed as shown in FIG. 3, the height acquisition unit 9 calculates the point distance L1 based on the detection result by the sensor unit 2. The point distance L1 is the distance between the object detection device 1 and the front point Q. The front point Q is the intersection of the central axis 6a and the reference plane.

[0041] Further, the height acquisition unit 9 acquires the central angle G1 based on the detection result by the inclination sensor 8. The central angle G1 is the angle (inclination) of the central axis 6a with respect to the horizontal plane HL.

[0042] Then, the height acquisition unit 9 calculates the length obtained by multiplying the point distance L1 by the sine of the central angle G1 as the installation height of the object detection device 1.

[0043] Also, as shown in FIG. 1, the object detection device 1 includes an attitude acquisition unit 10. The attitude acquisition unit 10 acquires the detection result by the inclination sensor 8. The attitude acquisition unit 10 calculates the installation attitude of the object detection device 1 based on the detection result. Thereby, the attitude acquisition unit 10 acquires the installation attitude of the object detection device 1. That is, the object detection device 1 includes an attitude acquisition unit 10 that acquires the installation attitude of the object detection device 1.

[0044] Note that the detection result by the inclination sensor 8 may be the same as the installation attitude of the object detection device 1. That is, the attitude acquisition unit 10 may acquire the detection result by the inclination sensor 8 as the installation attitude of the object detection device 1.

[0045] The determination unit 7 acquires the installation height acquired by the height acquisition unit 9 and the installation attitude acquired by the attitude acquisition unit 10. Then, the determination unit 7 determines whether the installation attitude of the object detection device 1 is appropriate based on the installation height and the installation attitude. That is, the object detection device 1 includes a determination unit 7 that determines whether the installation attitude is appropriate based on the installation height acquired by the height acquisition unit 9 and the installation attitude acquired by the attitude acquisition unit 10.

[0046] Although not particularly limited, the determination unit 7 may determine whether the installation attitude of the object detection device 1 is appropriate by the method described below.

[0047] That is, first, the determination unit 7 calculates the position coordinates of the directly below point T1 (see FIGS. 2 and 3) based on the installation height acquired by the height acquisition unit 9 and the installation posture acquired by the posture acquisition unit 10. The directly below point T1 is the point directly below the object detection device 1 among the above-described reference planes.

[0048] In the present embodiment, the position of the axis P in the side view is regarded as the position of the object detection device 1. Therefore, as shown in FIGS. 2 and 3, the directly below point T1 is the point directly below the axis P in the side view. However, the present invention is not limited to this. For example, among the object detection device 1, the front end (the left side in FIGS. 2 and 3) or the rear end (the right side in FIGS. 2 and 3) may be regarded as the position of the object detection device 1.

[0049] Next, the determination unit 7 calculates the position coordinates of a determination point T2 (see FIGS. 2 and 3), which is a point separated from the directly below point T1 by a determination distance L2 in the forward direction (the left side direction in FIGS. 2 and 3), based on the position coordinates of the directly below point T1. The determination distance L2 is stored in the determination unit 7 and can be arbitrarily set by the user. Also, the determination point T2 is located on the above-described reference plane.

[0050] Then, when the determination point T2 is located within the detectable range 6, the determination unit 7 determines that the installation posture is appropriate. Also, when the determination point T2 is not located within the detectable range 6, the determination unit 7 determines that the installation posture is inappropriate.

[0051] For example, FIG. 2 shows an object detection device 1 with an installation height of the first height H1. The central axis 6a of the object detection device 1 is oriented in the horizontal direction. The determination point T2 is located within the detectable range 6 of the object detection device 1. Therefore, the determination unit 7 determines that the installation posture of the object detection device 1 is appropriate. Also, a person 31 is located within the detectable range 6 of the object detection device 1. The person 31 is an intruder and is crawling forward.

[0052] Furthermore, Figure 2 shows an object detection device 1 with an installation height of a second height H2 which is higher than the first height H1. The central axis 6a of the object detection device 1 is oriented horizontally. The determination point T2 is not located within the detectable range 6 of the object detection device 1. Therefore, the determination unit 7 determines that the installation orientation of the object detection device 1 is inappropriate. Note that the person 31 mentioned above is located outside the detectable range 6 of the object detection device 1.

[0053] Furthermore, Figure 3 shows an object detection device 1 with an installation height of the second height H2. The central axis 6a of the object detection device 1 is oriented diagonally downward. The determination point T2 is located within the detectable range 6 of the object detection device 1. Therefore, the determination unit 7 determines that the installation orientation of the object detection device 1 is appropriate. The aforementioned person 31 is located within the detectable range 6 of the object detection device 1. In addition, in the example shown in Figure 3, the point directly below T1 is located on the boundary line of the detectable range 6, but as shown in Figure 2, the point directly below T1 does not have to be located on the boundary line of the detectable range 6.

[0054] Furthermore, the determination unit 7 may determine whether the installation posture of the object detection device 1 is appropriate by methods other than those described above. For example, the determination unit 7 may store a relational expression or table that shows the relationship between the installation height and the range of appropriate installation postures, and determine whether the installation posture of the object detection device 1 is appropriate based on the relational expression or table.

[0055] Furthermore, the determination unit 7 may determine whether the installation posture of the object detection device 1 is appropriate, based on the installation height acquired by the height acquisition unit 9, the installation posture acquired by the posture acquisition unit 10, and the rated distance 42 of the sensor unit 2 (corresponding to the "predetermined distance" according to the present invention) (see Figures 4 and 5). The rated distance 42 is the maximum distance at which a certain level of detection accuracy by the sensor unit 2 is ensured.

[0056] Furthermore, although not particularly limited, the determination by the determination unit 7 may be performed automatically when the object detection device 1 is installed by the user and the object detection device 1 is activated (powered on).

[0057] [Attitude Notification Unit] As shown in Figure 1, the object detection device 1 is equipped with an attitude notification unit 11. If the determination unit 7 determines that the installation orientation of the object detection device 1 is not appropriate, it calculates how much the installation orientation of the object detection device 1 deviates from the appropriate installation orientation (degree of deviation) based on the installation height acquired by the height acquisition unit 9 and the installation orientation acquired by the attitude acquisition unit 10. The determination unit 7 then sends a predetermined signal to the attitude notification unit 11. This signal indicates that the installation orientation of the object detection device 1 is not appropriate and also indicates the calculated degree of deviation.

[0058] When the posture notification unit 11 receives the signal, it notifies the user that the installation posture of the object detection device 1 is not appropriate. At this time, the posture notification unit 11 changes the notification method based on the degree of deviation of the installation posture of the object detection device 1 from the appropriate installation posture.

[0059] Thus, the object detection device 1 is equipped with a posture notification unit 11 that notifies the user if the determination unit 7 determines that the installation posture is inappropriate. The posture notification unit 11 may be a device that provides notification by light (for example, a lamp or display) or a device that provides notification by sound (for example, a buzzer).

[0060] If the posture notification unit 11 is a device that provides notification by light, the posture notification unit 11 may be configured to change the color of the light according to the degree of deviation, for example. If the posture notification unit 11 is a device that provides notification by sound, the posture notification unit 11 may be configured to change the tone of the sound according to the degree of deviation, for example.

[0061] [Transmitting Unit] As shown in Figure 1, the object detection device 1 is equipped with a transmitting unit 12. If the determination unit 7 determines that the installation orientation of the object detection device 1 is not appropriate, it sends a predetermined signal to the transmitting unit 12. Upon receiving this signal, the transmitting unit 12 transmits an orientation notification signal to the outside of the object detection device 1. The orientation notification signal is a signal indicating that the installation orientation of the object detection device 1 is not appropriate.

[0062] As described above, the object detection device 1 includes a transmitting unit 12 that transmits a signal to the outside indicating that the installation posture is inappropriate when the determination unit 7 determines that the installation posture is inappropriate. Although not particularly limited, in this embodiment, the transmitting unit 12 transmits the posture notification signal to an external information terminal 13 (for example, a smartphone or tablet terminal). The information terminal 13 notifies that the installation posture is inappropriate based on the posture notification signal.

[0063] [Alarm Control Unit] As shown in Figure 1, the object detection device 1 is equipped with an alarm control unit 14. The alarm control unit 14 is configured to switch the alarm unit 3 between an alert state and an unalarm state. The alert state is a state in which an alarm can be output. The unalarm state is a state in which no alarm is output regardless of the detection result of the sensor unit 2.

[0064] Thus, the object detection device 1 includes an alarm control unit 14 that can switch the alarm unit 3 between an alert state in which an alarm can be output and an unalert state in which no alarm is output regardless of the detection result of the sensor unit 2.

[0065] As shown in Figure 1, the object detection device 1 is equipped with a changeover switch 15. The changeover switch 15 is a manually operable switch and is configured to accept ON and OFF operations. The ON operation is an operation to switch from a non-alert state to an alert state. The OFF operation is an operation to switch from an alert state to a non-alert state.

[0066] The changeover switch 15 sends a signal to the alarm control unit 14 corresponding to the input operation. The alarm control unit 14 switches the alarm unit 3 between the armed state and the unarmed state according to the signal. For example, if the changeover switch 15 receives an ON operation, the alarm control unit 14 switches the alarm unit 3 from the unarmed state to the armed state. Also, if the changeover switch 15 receives an OFF operation, the alarm control unit 14 switches the alarm unit 3 from the armed state to the unarmed state.

[0067] However, as shown in Figure 1, the alarm control unit 14 is configured to acquire the determination result from the determination unit 7. The alarm control unit 14 does not switch from the unguarded state to the guarded state if the determination unit 7 determines that the installation posture is not appropriate. Therefore, when the determination unit 7 determines that the installation posture is not appropriate, even if the changeover switch 15 is turned ON, the system will not switch from the unguarded state to the guarded state.

[0068] [Warning Range Setting Unit] As shown in Figure 1, the object detection device 1 is equipped with a warning range setting unit 16. The warning range setting unit 16 sets the warning range 61 (see Figures 4 and 5). The warning range 61 is the range in which the alarm unit 3 outputs an alarm. In other words, if an intruder enters the warning range 61, the alarm unit 3 outputs an alarm. That is, the object detection device 1 is equipped with a warning range setting unit 16 that sets the warning range 61, which is the range in which an alarm is output. As shown in Figures 4 and 5, the warning range 61 is set within the detectable range 6. Although not particularly limited, in this embodiment, the warning range 61 is set as a three-dimensional space.

[0069] Information indicating the alert range 61 is sent from the alert range setting unit 16 to the alarm unit 3. The alarm unit 3 also acquires the detection result from the sensor unit 2 (data indicating the position and vector of objects within the detectable range 6), as described above. Based on the detection result and the information indicating the alert range 61, the alarm unit 3 outputs an alarm to the alarm device 4. More specifically, the alarm unit 3 outputs an alarm to the alarm device 4 when it is in an alert state and an intruder enters the alert range 61. However, if the alarm unit 3 is not in an alert state, it does not output an alarm even if an intruder enters the alert range 61.

[0070] Furthermore, Figures 4 and 5 show the rated range 62. The rated range 62 is the maximum range in which a certain level of detection accuracy by the sensor unit 2 is ensured. The detectable range 6 and the rated range 62 are ranges determined by the specifications of the sensor unit 2 (object detection device 1).

[0071] The rated range 62 is defined within the detectable range 6. In the range of the detectable range 6 that is outside the rated range 62, the detection accuracy of the sensor unit 2 is relatively low, but it is still possible to detect the presence of an object. Although not particularly limited, in this embodiment, the detectable range 6 and the rated range 62 are defined as three-dimensional space. Also, although not particularly limited, as shown in Figure 4, the detectable range 6, the warning range 61, and the rated range 62 all have a sector shape in a plan view.

[0072] In Figure 5, the boundaries at the leading edge (the left end in Figure 5) of the detectable range 6, the alarm range 61, and the rated range 62 are straight lines. However, the present invention is not limited to this, and the boundaries at the leading edge of the detectable range 6, the alarm range 61, and the rated range 62 may be arc-shaped. That is, the detectable range 6, the alarm range 61, and the rated range 62 may all have a fan-shaped form when viewed from the side.

[0073] Figures 4 and 5 also show the warning distance 41, the rated distance 42, and the limit distance 43. The warning distance 41 is the distance from the object detection device 1 in a plan view to the tip of the warning range 61 (in particular, it may be the tip in the front direction of the object detection device 1). The rated distance 42 is the distance from the object detection device 1 in a plan view to the tip of the rated range 62 (in particular, it may be the tip in the front direction of the object detection device 1), and as described above, it is the maximum distance at which a certain level of detection accuracy by the sensor unit 2 is ensured. The limit distance 43 is the distance from the object detection device 1 in a plan view to the tip of the detectable range 6 (in particular, it may be the tip in the front direction of the object detection device 1). The rated distance 42 and the limit distance 43 are distances determined by the specifications of the sensor unit 2 (object detection device 1).

[0074] Although not particularly limited, in this embodiment, the warning distance 41, the rated distance 42, and the limit distance 43 are all distances in the horizontal direction.

[0075] [Learning] The alert range setting unit 16 is configured to execute learning processes according to the learning flow shown in Figure 6. The learning process is the process of setting the alert range 61 based on the detection results of the sensor unit 2. In other words, the alert range setting unit 16 is configured to execute learning processes that set the alert range 61 based on the detection results of the sensor unit 2.

[0076] The learning flow will be described in detail below. While not particularly limited, the alert range setting unit 16 may be configured to initiate this learning flow when it receives a predetermined operation input from the user. This operation input may be performed via a human operation unit (not shown) provided in the object detection device 1.

[0077] When the learning flow is executed, the process in step S01 is performed first. In the learning flow (learning process), as shown in Figure 1, the alert range setting unit 16 continuously acquires the detection results from the sensor unit 2 over time. In step S01, the alert range setting unit 16 determines whether or not the sensor unit 2 has detected an object within the detectable range 6.

[0078] If the sensor unit 2 detects an object within the detectable range 6 ("Yes" in step S01), the process proceeds to step S02. If the sensor unit 2 does not detect an object within the detectable range 6 ("No" in step S01), the process in step S01 is executed again. In other words, this learning flow (learning process) will not end unless the sensor unit 2 detects an object within the detectable range 6.

[0079] As shown in Figure 1, the warning range setting unit 16 has a distance determination unit 17. In step S02 of Figure 6, the distance determination unit 17 calculates the detected object distance 40 (see Figures 4 and 5) and determines whether the calculated detected object distance 40 is less than or equal to the rated distance 42. The detected object distance 40 is the distance from the object detection device 1 to the object detected by the sensor unit 2. Although not particularly limited, in this embodiment, the detected object distance 40 is the distance in a plan view and is the distance in the horizontal direction.

[0080] Here, we will explain the calculation of the detected object distance 40 with an example. In this example, the object detected by the sensor unit 2 is assumed to be the user located at the first position A1 shown in Figure 5.

[0081] The distance determination unit 17 calculates the vertex distance L3 shown in Figure 5 based on the detection result obtained by the sensor unit 2 from the warning range setting unit 16. The vertex distance L3 is the distance between the object detection device 1 and the vertex (upper end) of the object detected by the sensor unit 2. The vertex distance L3 is equal to the length of the object line 50, which is a straight line connecting the object detection device 1 and the vertex.

[0082] Furthermore, as shown in Figure 1, the detection result from the tilt sensor 8 is sent to the warning range setting unit 16. The distance determination unit 17 calculates the object angle G2 based on the detection result from the tilt sensor 8 and the detection result from the sensor unit 2. The object angle G2 is the angle (tilt) of the object line 50 with respect to the horizontal plane HL.

[0083] The distance determination unit 17 then calculates the detected object distance 40 by multiplying the vertex distance L3 by the cosine of the object angle G2.

[0084] As shown in Figure 6, if the detected object distance 40 exceeds the rated distance 42 (No in step S02), the process proceeds to step S03. If the detected object distance 40 is less than or equal to the rated distance 42 (Yes in step S02), the process proceeds to step S04.

[0085] In step S03, as shown in Figure 1, a predetermined signal is sent from the warning range setting unit 16 to the distance notification unit 18 provided in the object detection device 1. Upon receiving the signal, the distance notification unit 18 notifies the user that the detected object distance 40 exceeds the rated distance 42.

[0086] Thus, the object detection device 1 includes a distance notification unit 18 that, during the learning process, notifies the device that the detected object distance 40 exceeds the rated distance 42 if the detected object distance 40 exceeds the rated distance 42. The distance notification unit 18 may be a device that provides notification by light (for example, a lamp or display) or a device that provides notification by sound (for example, a buzzer).

[0087] As shown in Figure 6, after step S03, the process returns to step S02. That is, as long as the detected object distance 40 does not fall below the rated distance 42, this learning flow (learning process) will not end, and the distance notification unit 18 will continue to notify the user.

[0088] For example, Figures 4 and 5 show a first position A1 and a second position A2. The first position A1 is a position within the rated range 62. The second position A2 is a position within the detectable range 6 but outside the rated range 62.

[0089] In the learning flow (learning process), if the user is located at the second position A2, the system determines "No" in step S02 of Figure 6, and the learning flow (learning process) does not terminate. Instead, the distance notification unit 18 issues a notification. In response to this notification, if the user moves from the second position A2 to the first position A1, the system determines "Yes" in step S02, and the process proceeds to step S04.

[0090] In step S04, the distance determination unit 17 determines the current (latest) detected object distance 40 as the alert distance 41. The process then proceeds to step S05.

[0091] In step S05, the alarm range setting unit 16 sets the alarm range 61. At this time, the alarm range setting unit 16 sets the alarm range 61 such that the alarm distance 41 of the alarm range 61 is the alarm distance 41 determined in step S04. After that, this learning flow (learning process) ends.

[0092] Thus, the object detection device 1 includes a distance determination unit 17 that determines the warning distance 41, which is the distance from the object detection device 1 to the tip of the warning range 61, during the learning process. Furthermore, the distance determination unit 17 is configured to determine the detected object distance 40 as the warning distance 41 if the detected object distance 40, which is the distance from the object detection device 1 to the object detected by the sensor unit 2, is within the rated distance 42.

[0093] Furthermore, the alarm unit 3, determination unit 7, height acquisition unit 9, attitude acquisition unit 10, transmission unit 12, alarm control unit 14, warning range setting unit 16, and distance determination unit 17 may each be physical devices such as microcomputers, or functional units in software.

[0094] According to the configuration described above, the determination unit 7 determines whether the installation posture of the object detection device 1 is appropriate based on its installation height and installation posture. Therefore, if the system is configured to notify the user if it is determined to be inappropriate, as in the above embodiment, the user can understand that the object detection device 1 is not installed in an appropriate installation posture according to its installation height. As a result, the user can realize that the installation posture needs to be improved.

[0095] Furthermore, if the determination result from the determination unit 7 is configured to be recorded as a log, the user can check the log to determine whether or not the object detection device 1 is installed in an appropriate orientation according to the installation height.

[0096] Therefore, according to the configuration described above, it is possible to realize an object detection device 1 that can be easily installed in an appropriate installation posture according to the installation height.

[0097] [Other Embodiments] (1) The object detection device 1 may be equipped with an installation height setting unit for setting the installation height. Furthermore, the height acquisition unit 9 may be configured to acquire the installation height set by the installation height setting unit. The installation height setting unit may be configured to set the installation height according to input to a human operation unit, such as a predetermined button. In this case, for example, if the user knows the actual installation height, the user can input the installation height, and the height acquisition unit 9 can acquire that installation height.

[0098] (2) In the learning flow (learning process) of Figure 6, if the detected object distance 40 exceeds the rated distance 42 (No in step S02), the distance determination unit 17 may be configured to forcibly determine the rated distance 42 as the warning distance 41 and terminate the learning flow (learning process).

[0099] (3) The posture notification unit 11 does not need to be provided.

[0100] (4) A confirmation notification unit may be provided that notifies the user that the installation posture is appropriate when the determination unit 7 determines that the installation posture is appropriate.

[0101] (5) The alarm control unit 14 may be configured to automatically switch the alarm unit 3 from an unguarded state to an armed state when the determination unit 7 determines that the installation posture is appropriate.

[0102] (6) A recording unit may be provided to record the determination result by the determination unit 7 as a log.

[0103] (7) The criterion for determination in step S02 of Figure 6 does not have to be the rated distance 42, but may be any distance. For example, the distance determination unit 17 stores a predetermined set distance and may determine in step S02 of Figure 6 whether the detected object distance 40 is less than or equal to the set distance. In this case, the set distance corresponds to the "predetermined distance" according to the present invention.

[0104] (8) When the learning flow (learning process) in Figure 6 starts, the alert range 61 may already be set, or the alert range 61 may not be set (in other words, it may not exist). If the alert range 61 is already set, it may be updated to the new alert range 61 set in step S05.

[0105] Furthermore, the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.

[0106] The present invention can be used in an object detection device that includes a sensor unit for detecting objects and is capable of acquiring positional information of the detected object in a three-dimensional coordinate system.

[0107] 1: Object detection device 2: Sensor unit 3: Alarm unit 7: Judgment unit 9: Height acquisition unit 10: Attitude acquisition unit 11: Attitude notification unit 12: Transmission unit 14: Alarm control unit 16: Warning range setting unit 17: Distance determination unit 18: Distance notification unit 40: Detected object distance 41: Warning distance 42: Rated distance (predetermined distance) 61: Warning range

Claims

1. An object detection device equipped with a sensor unit for detecting objects and capable of acquiring positional information of a detected object in a three-dimensional coordinate system, comprising: a height acquisition unit for acquiring the installation height of the object detection device; a posture acquisition unit for acquiring the installation posture of the object detection device; and a determination unit for determining whether the installation posture is appropriate based on the installation height acquired by the height acquisition unit and the installation posture acquired by the posture acquisition unit.

2. The object detection device according to claim 1, further comprising a posture notification unit that notifies the user that the installation posture is inappropriate when the determination unit determines that the installation posture is inappropriate.

3. The object detection device according to claim 2, wherein the attitude notification unit changes the mode of notification based on the degree of deviation of the installation attitude from an appropriate installation attitude.

4. The object detection device according to claim 1, wherein the height acquisition unit acquires the installation height based on the detection result of the sensor unit.

5. The object detection device according to claim 1, comprising an installation height setting unit for setting the installation height, wherein the height acquisition unit acquires the installation height set by the installation height setting unit.

6. The object detection device according to claim 1, further comprising a transmitting unit that transmits a signal to the outside indicating that the installation posture is inappropriate when the determination unit determines that the installation posture is inappropriate.

7. An object detection device according to any one of claims 1 to 6, comprising: an alarm unit that outputs an alarm based on the detection result of the sensor unit; and an alarm range setting unit that sets an alarm range which is the range over which the alarm is output.

8. The object detection device according to claim 7, wherein the warning range setting unit is configured to perform a learning process to set the warning range based on the detection result of the sensor unit, and the learning process includes a distance determination unit that determines the warning distance, which is the distance from the object detection device to the tip of the warning range, and the distance determination unit is configured to determine the detected object distance as the warning distance when the detected object distance, which is the distance from the object detection device to the object detected by the sensor unit, is within a predetermined distance, and the learning process includes a distance notification unit that notifies that the detected object distance exceeds the predetermined distance when the detected object distance exceeds the predetermined distance.

9. An object detection device according to any one of claims 1 to 6, comprising: an alarm unit that outputs an alarm based on the detection result of the sensor unit; and an alarm control unit that can switch the alarm unit between an alert state in which an alarm can be output and an unalert state in which no alarm is output regardless of the detection result of the sensor unit, wherein the alarm control unit does not switch from the unalert state to the alert state if the determination unit determines that the installation posture is inappropriate.

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