JP5539096B2 - Monitoring sensor - Google Patents

Description

  The present invention relates to a monitoring sensor that detects an object that has entered a monitoring area by irradiating a search signal into the monitoring area and receiving a reflection signal thereof.

Conventionally, in order to detect an object that has entered a wide monitoring area such as outdoors, a search signal such as infrared ray, visible light, or ultrasonic wave is irradiated into the monitoring area and reflected from the object in the monitoring area. A monitoring sensor has been developed that detects an object in a monitoring area by receiving a signal.
An example of such a monitoring sensor is to set a monitoring area according to a scan angle for two-dimensionally scanning light from an optical distance meter, and when detecting an intruder in the monitoring area, distance data and angle data to the intruder are obtained. The position of the intruder is calculated from the distance data and the angle data (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 10-244102

The monitoring sensor must prevent the monitoring function from being invalidated in order to ensure security. In particular, when such a monitoring sensor is used in a security system that detects a suspicious object such as a suspicious person or a suspicious vehicle that has entered the monitoring area and reports an abnormality, the monitoring function is invalidated. Since the security system fails to detect suspicious objects, it is very important to prevent such a situation.
For example, if an unauthorized person installs an obstacle that blocks a part or all of the monitoring area, the reachable range of the search signal emitted from the monitoring sensor is narrowed. Further, the reachable range of the exploration signal may be narrowed due to the growth or budding of planting existing in the monitoring area or in the vicinity of the boundary of the monitoring area. Thus, when a shield that blocks the exploration signal appears in the monitoring area after setting the monitoring area, the other side of the shielding that should have been monitored (the side farther from the shielding as viewed from the monitoring sensor) ) Cannot be detected, and the range where the detection is impossible becomes a blind spot for security.
As described above, the conventional monitoring sensor as disclosed in Patent Document 1 detects a case where a shield appears later in the monitoring area and the reachable range of the search signal is limited. There is a problem that security cannot be maintained and secured.

Therefore, as a countermeasure to this problem, if it is detected as a visual field obstruction act that the reachable range of the exploration signal is limited, an alarm notifying the occurrence of the visual field obstruction act is notified to the monitoring center, etc. It is conceivable to have an employee check the monitoring area.
However, in a security system in which such a monitoring sensor is used, before a suspicious person enters the building, in order to quickly detect and report the suspicious person, for example, the garden of a detached house It may be set as a monitoring area. In such a case, the monitoring sensor is installed outdoors. And if the monitoring sensor is installed outdoors, small animals such as insects and lizards adhere to the surface of the monitoring window, which is the light emitting and receiving surface that receives the exploration signal or receives the reflected signal, or water drops due to rainfall May adhere. If deposits such as small animals or water droplets adhere to the monitoring window, the survey signal may be blocked by the deposits, and the survey signal may not reach the entire monitoring area. However, such small animals move without staying in the same place for a long time. In addition, since water droplets flow down or evaporate with time, the reachable range of the exploration signal due to these deposits is only temporary.
When the monitoring sensor detects such a temporary limitation of reachable range as a visual disturbance, it actually erroneously detects the occurrence of the disturbance even though there is no change in the monitoring area. There is a fear.

  Therefore, an object of the present invention is to provide a monitoring sensor capable of discriminating between deposits temporarily attached to the surface of the monitoring window and shields appearing in the monitoring area after setting the monitoring area.

As one aspect of the present invention, a disturbance determination unit that executes a disturbance determination process for determining whether or not at least a part of a monitoring area is unmonitorable by a shield, and at least a part of the monitoring area is unmonitorable. A monitoring sensor having an output unit that outputs a disturbance detection signal when determined is provided. The monitoring sensor is disposed in the housing having the monitoring window, and is reflected by an object existing in the monitoring region by scanning a search signal from one end to the other end of the monitoring region through the monitoring window. By receiving a search signal, a detection unit that generates ranging data in which a plurality of scanning directions and distances to objects corresponding to the plurality of scanning directions are associated with each other, and in the ranging data, in the vicinity of the monitoring window Based on a proximity point measurement unit that extracts a scanning direction corresponding to a distance as a proximity measurement point, and a first proximity measurement point number that is the number of proximity measurement points extracted from distance measurement data acquired at the first time A proximity object determination unit that determines whether or not a proximity object that is close to the monitoring window exists, and a removal unit that physically removes adhering matter attached to the monitoring window when it is determined that a proximity object exists are operated for a certain period of time. Removal The number of second proximity measurement points, which is the number of proximity measurement points extracted from the distance measurement data acquired at the second time after the means control unit and the removal means operate for a certain period, is greater than the number of first proximity measurement points. And a disturbance determination unit that determines that a temporary deposit other than the shield is attached to the monitoring window when the threshold is less than the predetermined threshold.
The removing means preferably has a vibrator fixed in contact with the inner surface of the monitoring window, and the removing means control section preferably drives the vibrator to apply vibration to the monitoring window for a certain period. Alternatively, the removing means has an air sending section arranged to blow air to the outer surface of the monitoring window, and the removing means control section drives the air sending section to blow air to the outer surface of the monitoring window for a certain period of time. Is preferred.

  Moreover, it is preferable that a disturbance determination part performs a disturbance determination process, when it determines with the temporary adhering matter not adhering to the monitoring window.

  The detection unit periodically scans the monitoring area with the exploration signal, and generates ranging data every time the scanning is performed. The disturbance determination unit generates the ranging data every time the ranging data is generated. Based on the monitoring window, it is determined whether or not temporary deposits adhere to the monitoring window, and if the state determined that the temporary deposits adhere to the monitoring window continues for a predetermined time, at least the monitoring area Preferably, it is determined that an environmental abnormality that cannot be partially monitored has occurred, and the output unit preferably outputs an environmental abnormality signal indicating that an environmental abnormality has occurred when the environmental abnormality has occurred.

  The monitoring sensor according to the present invention has an effect of being able to discriminate between an adhering matter temporarily attached to the surface of the monitoring window and a shielding object that appears in the monitoring area after the monitoring area is set.

1 is an overall configuration diagram of a security system including a monitoring sensor according to one embodiment of the present invention. It is a schematic block diagram of the monitoring sensor which concerns on one Embodiment of this invention. It is a flowchart which shows the operation | movement of an intrusion determination process. It is a flowchart which shows the operation | movement of a proximity | contact object determination process. It is a flowchart which shows the operation | movement of a removal means control process. It is a flowchart which shows the operation | movement of a disturbance determination process. It is a flowchart which shows the operation | movement of a visual field disturbance determination process. It is a flowchart which shows operation | movement of an object detection process. It is a schematic block diagram of a security device.

  Hereinafter, a monitoring sensor according to an embodiment of the present invention will be described with reference to the drawings. The monitoring sensor scans the search signal from one end to the other end of the monitoring area at a predetermined cycle, and receives the reflected signal that is the search signal reflected by the object, thereby expressing the azimuth viewed from the monitoring sensor. The distance to the object is measured for each scanning direction. And this monitoring sensor, for each scanning direction, by comparing the distance to the boundary of the monitoring area stored in advance and the latest measurement distance, a part of the monitoring area is shielded by the shielding, Detect visual field disturbance. In addition, when the number of scanning directions in which the distance to an object is in the vicinity of the monitoring window is present at a predetermined ratio with respect to the number of scanning directions in the entire monitoring area, this monitoring sensor temporarily attaches to the monitoring window (hereinafter, It is determined that there is a possibility that the adhering material may be adhered. The monitoring sensor, after taking physical measures to remove temporary deposits on the monitoring window, reduces the number of scanning directions in the vicinity of the monitoring window compared to before the physical measure. Then, it is determined that a temporary deposit is attached to the monitoring window, and the visual field disturbance detection is stopped.

  FIG. 1 is a diagram illustrating an overall system configuration of a security system including a monitoring sensor according to one embodiment. As shown in FIG. 1, the security system 1 has three units installed on three surfaces around the building 101 so as to monitor the monitoring areas 102 a to 102 c set in a part of the site of the building 101. A monitoring sensor 2 and a security device 3 connected to each monitoring sensor 2 through a communication line 4 and installed in a building 101 are provided.

When each monitoring sensor 2 detects a suspicious object such as a suspicious person or a suspicious vehicle that has entered the monitoring areas 102a to 102c, it transmits an intrusion abnormality signal indicating that fact to the security device 3. Further, when each monitoring sensor 2 detects that monitoring of at least a part of the monitoring areas 102a to 102c is blocked, the monitoring sensor 2 transmits a blocking detection signal indicating that fact to the security device 3. Further, when each monitoring sensor 2 detects that a state where a part of the monitoring area cannot be monitored continues for a certain period due to the adhering matter adhering to the monitoring window, it outputs an environmental abnormality signal indicating that fact. Transmit to the security device 3. Furthermore, each monitoring sensor 2 may transmit the identification number of the monitoring sensor 2 to the security device 3 together with the intrusion abnormality signal, the disturbance detection signal, or the environmental abnormality signal.
The security device 3 can communicate with the monitoring center device 6 arranged in the monitoring center via the public communication line 5. When the security device 3 receives the intrusion abnormality signal, the disturbance detection signal, or the environmental abnormality signal from any of the monitoring sensors 2, the security device 3 transmits the intrusion abnormality signal, the disturbance detection signal, or the environmental abnormality signal to the identification number of the security device 3 or The information is transmitted to the monitoring center device 6 together with the identification number of the building where the security device 3 is installed.

  The number of monitoring sensors 2 included in the security system 1 is not limited to three. The number of the monitoring sensors 2 is appropriately determined according to the shape and size of the region to be monitored and a shield existing beforehand in the region. The installation position of the monitoring sensor 2 is also set as appropriate according to the shape of the region to be monitored or the position and shape of the building.

  The monitoring sensor 2 detects a suspicious object that has entered the monitoring area. The monitoring sensor 2 determines whether or not monitoring of at least a part of the monitoring area is obstructed, for example, by blocking a part of the monitoring area by a shield installed later. Further, the monitoring sensor 2 determines whether or not a part of the monitoring area is an abnormal environment state in which the monitoring is impossible due to the adhering matter attached to the monitoring window of the monitoring sensor 2 for a certain period of time. To do.

  FIG. 2 is a schematic configuration diagram of the monitoring sensor 2. The monitoring sensor 2 includes a detection unit 21, a communication unit 22, a storage unit 23, a removing unit 24, and a control unit 25. Each of these parts is accommodated in a housing 26 made of metal or resin. A monitoring window 27 made of a light-transmitting member such as glass or transparent plastic is provided on the front surface of the housing 26, that is, the surface facing the monitoring region. In the present embodiment, the monitoring window 27 is formed in an arc shape with the detection unit 21 as a center, and the distance between each point on the surface of the monitoring window 27 on the horizontal plane passing through the detection unit 21 and the detection unit 21 is It is almost the same. However, in another embodiment, the monitoring window 27 may be formed in a planar shape.

  The detector 21 irradiates the search signal into the monitoring area and receives the reflected signal. And the detection part 21 produces the ranging data containing the measured value of the distance to the object which reflected the search signal from the monitoring sensor 2 for every scanning direction by analyzing a reflected signal. For this purpose, the detection unit 21 includes, for example, a laser oscillation unit 211, a scanning mirror 212, a drive unit 213, a light receiving unit 214, and a distance measurement data generation unit 215.

The laser oscillation unit 211 oscillates, for example, a near-infrared pulse laser having a wavelength of about 890 nm as a search signal. The pulse laser is output toward the scanning mirror 212. Further, the laser oscillation unit 211 outputs the phase information of the pulse laser to the distance measurement data generation unit 215.
The scanning mirror 212 is, for example, a galvano mirror or a polygon mirror, and is driven by the driving unit 213 to change the direction of the reflecting surface thereof, thereby scanning the entire monitoring region with a pulse laser at regular intervals (for example, 30 msec). .

In the present embodiment, the laser oscillation unit 211 and the scanning mirror 212 are arranged so as to horizontally scan a fan-shaped monitoring region having a predetermined center angle centered on the monitoring sensor 2 with a pulse laser. The predetermined center angle is set to 180 °, for example. The pulse laser reflected by the scanning mirror 212 is irradiated toward the outside of the monitoring sensor 2 through the monitoring window 27 provided on the front surface of the housing 26 of the monitoring sensor 2.
The laser oscillating unit 211 and the scanning mirror 212 may be arranged so that the pulse laser that is an exploration signal has a predetermined depression angle with respect to the horizontal plane, and the pulse laser approaches the ground as it moves away from the monitoring sensor 2. .
Further, the monitoring area may be scanned by repeatedly scanning the pulse laser in the same direction from one end of the monitoring area to the other end, or the pulse laser is scanned every scan. The direction may be reversed. Further, the monitoring area may be set in a range narrower than the scanning range as an area included in the scanning range in which the detection unit 21 performs scanning according to the monitoring environment.

The drive unit 213 includes, for example, a motor, a mechanism for transmitting the rotational driving force generated by the motor to the rotation shaft of the scanning mirror 212, and a circuit for controlling the motor. It is driven to rotate at a corresponding equal rotation speed.
In addition, the drive unit 213 notifies the distance measurement data generation unit 215 of angle information indicating the direction in which the pulse laser is currently being irradiated.

  The light receiving unit 214 includes a light receiving element such as a CCD, a CMOS, or a photodiode, for example, and is disposed in the vicinity of the laser oscillation unit 211. The light receiving unit 214 receives the reflected signal that arrives along the scanning direction irradiated with the search signal via the monitoring window 27 and the scanning mirror 212. Then, the light receiving unit 214 outputs a light reception signal having a value corresponding to the intensity of the reflected signal to the distance measurement data generation unit 215.

  The distance measurement data generation unit 215 measures the distance from the monitoring sensor 2 to the object that reflects the reflected signal for each scanning direction, and generates distance measurement data representing the relationship between the scanning direction and the distance. For this purpose, the distance measurement data generation unit 215 includes a processor and its peripheral circuits. The distance measurement data generation unit 215 obtains a difference between the phase of the reflected signal obtained from the light reception signal and the phase of the pulse laser output from the laser oscillation unit 211, for example, according to the Time Of Flight method, and based on the difference. Measure distance. When the light receiving unit 214 does not receive the reflected return light within a predetermined time in a certain scanning direction, the distance measurement data generation unit 215 determines that there is no object within the reachable range of the pulse laser in the scanning direction. Judgment is made, and the distance for the scanning direction is set as a preset pseudo value indicating that. This pseudo value is set to an appropriate value, for example, a distance from the monitoring sensor 2 to the outer edge of the monitoring region, or an effective measurement distance by pulse laser light.

  The distance measurement data generation unit 215 generates one distance measurement data for each scan. One distance measurement data includes, for example, the number of scanning angles obtained by adding 1 to the number obtained by dividing the angle range corresponding to the entire monitoring area by a predetermined angle interval, and the distance at the scanning angle. For example, if the angle range corresponding to the entire monitoring area is 180 ° and the interval between adjacent scanning angles is 0.25 °, one distance measurement data includes 721 pairs of scanning angles and distances. . The scanning angle represents an angle formed by a predetermined reference azimuth and a scanning azimuth with the installation position of the monitoring sensor 2 as an origin. For example, when the front direction when facing the monitoring area from the monitoring sensor 2 is set as the reference azimuth, and the monitoring area is set so that the angle range is 90 degrees equally to the left and right with respect to the reference azimuth, scanning is performed. The angle is a value within the range of -90 ° to 90 °.

The detection unit 21 may be configured to scan the search signal two-dimensionally in the horizontal and vertical directions and obtain three-dimensional data including the scanning direction and the measurement distance. As for the distance measuring method, various known methods may be employed. For example, a phase difference method, a triangulation method, or the like can be used.
The detection unit 21 outputs the distance measurement data generated for the scan to the control unit 25 every time one scan is completed.

  The communication unit 22 connects the monitoring sensor 2 via the communication line 4 so as to be communicable with the security device 3. For this purpose, the communication unit 22 has an interface circuit corresponding to the communication line 4 that connects the monitoring sensor 2 and the security device 3. Then, the communication unit 22 transmits the intrusion abnormality signal, the disturbance detection signal, or the environmental abnormality signal generated by the control unit 25 to the security device 3. In that case, the communication part 22 may transmit the identification number of the sensor 2 for monitoring to the security apparatus 3 with those signals.

  The storage unit 23 includes, for example, a nonvolatile semiconductor memory and stores various information and programs used by the monitoring sensor 2. The information stored in the storage unit 23 includes, for example, monitoring area information, reference data, current state information, a proximity object flag, and a disturbance flag. The storage unit 23 stores the distance from the detection unit 21 to the monitoring window 27 at each scanning angle. Furthermore, the memory | storage part 23 may memorize | store the ranging data produced | generated within the past fixed period.

The monitoring area information is information indicating the range of the monitoring area to be monitored by each monitoring sensor 2. For example, the monitoring area 2 scans the search signal around the monitoring sensor 2 and a predetermined angular interval (for example, The distance from the monitoring sensor 2 to the outer edge of the monitoring area for each scanning angle separated by 0.25 ° is included. Alternatively, the monitoring area information is an expression representing the position of each sampling point separated by a predetermined distance on the outer edge of the monitoring area, or the coordinates of the outer edge of the monitoring area, in two-dimensional coordinates with the installation position of the monitoring sensor 2 as the origin. A coefficient may be included.
The monitoring area information is, for example, a setting terminal (not shown) or an operation part (not shown) connected via the communication unit 22 when the monitoring sensor 2 is installed, when the monitoring area is defined or changed, for example. )). Alternatively, the monitoring area information may be distance measurement data generated when there is no object other than an object existing in advance in the monitoring area, such as when the monitoring sensor 2 is activated.

  The reference data is distance measurement data that is used to detect a suspicious object that has entered the monitoring area, and is generated when no other object exists in advance in the monitoring area. The reference data can be, for example, distance measurement data generated when the monitoring sensor 2 is activated or at a timing instructed via the operation unit or the setting terminal. Further, the control unit 25 selects the distance value having the highest appearance frequency within the past fixed period for each scanning angle based on the distance measurement data generated by the detection unit 21 as needed, and rewrites the selected distance value. Thus, the reference data may be updated. The reference data may be used as the monitoring area information.

The current state information is information indicating whether or not an environmental abnormality state in which a state where a part of the monitoring area is unmonitorable due to the deposit attached to the monitoring window 27 continues for a certain period at the present time. is there. If the environment is abnormal at the present time, the current state information has a value indicating that, for example, “1”. On the other hand, if the environment is not abnormal at the present time, the current state information has a value indicating that, for example, “0”. The current state information is obtained when the control unit 25 determines that the environmental abnormal state has occurred, or when a guard or the like performs an operation indicating that the environmental abnormal state has been resolved via the setting terminal or the operation unit. And is rewritten by the control unit 25.
The disturbance flag is a flag that indicates whether or not an attached object such as a small animal or a water droplet is attached to the monitoring window 27. While the control unit 25 determines that the deposit is attached to the monitoring window 27, the disturbance flag has a value indicating that, for example, “1”. On the other hand, while the control unit 25 determines that no deposit is attached to the monitoring window 27, the disturbance flag has a value indicating that effect, for example, “0”.
The proximity object flag is a flag indicating whether or not a proximity object that is an object in proximity to the monitoring window 27 exists. Note that the close object includes a deposit attached to the monitoring window 27. While the control unit 25 determines that there is a proximity object to the monitoring window 27, the proximity object flag has a value indicating that, for example, “1”. On the other hand, while the control unit 25 determines that there is no object close to the monitoring window 27, the proximity object flag has a value indicating that, for example, “0”.

  The removing unit 24 is a unit that physically removes small animals attached to the monitoring window 27 or deposits such as water droplets. For example, the removing unit 24 includes a piezoelectric element and a drive circuit that drives the piezoelectric element. The piezoelectric element is fixed to the inner surface of the monitoring window 27 at a position that does not overlap the scanning range of the search signal, for example, one of the upper, lower, left and right ends. The piezoelectric element is excited according to an AC drive signal applied from the drive circuit, and vibrates in the thickness direction of the monitoring window 27, thereby giving vibration to the monitoring window 27. When the drive circuit receives the start signal from the removal means control unit 254 of the control unit 25, the drive circuit starts outputting the AC drive signal and continues outputting the AC drive signal until receiving the stop signal from the removal means control unit 254. And the removal means 24 continues operation | movement until it receives a stop signal after receiving a starting signal.

  The removing unit 24 is not limited to the above example, and for example, drives an air pump, a blowing nozzle that blows air sent from the air pump toward the entire outer surface of the monitoring window 27, and an air pump. And a driver circuit. Also in this case, when the driving circuit receives the start signal from the removing unit control unit 254 of the control unit 25, the driving circuit starts outputting the driving signal for operating the air pump, and continues to receive the stop signal from the removing unit control unit 254. Continue to output. If the assumed deposit is removable by heat or light, such as an oil film or water vapor, depending on the installation environment, the removal means 24 conducts or irradiates the outer surface of the monitoring window 27 with heat or light. It is also possible to use an appropriate removal means depending on the environment.

  The control unit 25 has at least one processor, a timer, and its peripheral circuits. The control unit 25 controls each unit of the monitoring sensor 2. In addition, the control unit 25 detects a suspicious object that has entered the monitoring area based on the distance measurement data, and determines whether there is a visual field disturbance in the monitoring area and whether the environment is abnormal. For this purpose, the control unit 25 includes an intrusion determination unit 251, a proximity point measurement unit 252, a proximity object determination unit 253, a removal means control unit 254, a disturbance determination unit 255, and a disturbance determination unit 256. Each of these units is mounted on the monitoring sensor 2 as a function module realized by software executed on a processor included in the control unit 25, for example.

Whenever the latest distance measurement data is received, the intrusion determination unit 251 compares the latest distance measurement data with the reference data, and extracts the difference in the distance to the object, so that it is within the monitoring area. Detect suspicious objects that have entered.
FIG. 3 is an operation flowchart of intrusion determination processing executed by the intrusion determination unit 251. The intrusion determination unit 251 executes the following intrusion determination process every time the latest distance measurement data is received, that is, every time when the detection unit 21 completes one scan of the monitoring area.
The intrusion determination unit 251 calculates the difference between the distance value included in the distance measurement data and the distance value included in the reference data for each scanning angle (step S101). Then, the intrusion determination unit 251 extracts, as an intruding object candidate point, a scanning angle at which the distance value indicated in the latest distance measurement data is closer than the distance value indicated in the reference data by a predetermined distance or more and closer to the monitoring sensor 2 (step S102). The predetermined distance is set to, for example, the minimum value of the thickness of the object to be detected, for example, 15 cm.

ただし、d₁は、グループの一方の端の侵入物体候補点における距離値であり、d₂は、他方の端の侵入物体候補点における距離値である。またθは、測距データに含まれる、隣接する走査角度間の間隔である。そしてnは、そのグループに含まれる侵入物体候補点の数である。 The intrusion determination unit 251 determines whether there is an intruding object candidate point (step S103). If there is no intruding object candidate point, the intrusion determining unit 251 determines that there is no intruding object in the monitoring area. The intrusion determination unit 251 notifies the control unit 25 that there is no intrusion abnormality, and ends the intruding object determination process.
On the other hand, if there is an intruding object candidate point, the intrusion determining unit 251 combines the adjacent intruding object candidate points into one group if the difference in distance value between adjacent intruding object candidate points is within a predetermined value. A labeling process is performed (step S104). The predetermined value is set to 10 cm, for example.
Then, the intrusion determination unit 251 obtains a width for each group (step S105). For example, the group width W _g is calculated by the following equation according to the cosine theorem.

Here, d ₁ is a distance value at an intruding object candidate point at one end of the group, and d ₂ is a distance value at an intruding object candidate point at the other end. Θ is an interval between adjacent scanning angles included in the distance measurement data. N is the number of intruding object candidate points included in the group.

The intrusion determination unit 251 selects a group whose group width W _g is greater than or equal to a predetermined width from the groups created by the labeling process as an intruding object candidate group that may be a suspicious object (step S106). This predetermined width is also set to the minimum value of the thickness of the object to be detected, for example, 15 cm.
The intrusion determination unit 251 uses the scanning angle corresponding to the intruder object candidate point at the center of the intruder object candidate group and the distance value at the intruder object candidate point as the position of the intruder object candidate group with the monitoring sensor 2 as the origin, The storage unit 23 stores the position of the intruding object candidate group and the corresponding distance measurement data acquisition time.

  The intrusion determination unit 251 determines a target intrusion object candidate group from among groups not yet set as the target intrusion object candidate group among the intrusion object candidate groups obtained from the latest distance measurement data (step S107). . Then, the intrusion determination unit 251 performs the tracking process between the intruding object candidate group of interest and the past candidate group that is the intruding object candidate group obtained for the ranging data one to several times before, and pays attention to it. It is determined whether there is a past candidate group corresponding to the same object as the object corresponding to the intruding object candidate group (step S108). Note that any of various known tracking processes can be employed as the tracking process. For example, the intrusion determination unit 251 obtains the position of the past candidate group that is closest to the position of the intruding object candidate group of interest, and the difference between these positions is the expected moving speed of the suspicious object to be detected and the two If the distance is equal to or less than the movable distance determined as the product of the difference between the acquisition times of the candidate groups, it is determined that the target intruding object candidate group and the past candidate group correspond to the same object.

When there is a past candidate group corresponding to the same object as the object corresponding to the target intruding object candidate group, the intrusion determination unit 251 selects an object assigned to the past candidate group with respect to the target intruding object candidate group. The same object identification number as the identification number is assigned, and the object identification number is associated with the position of the target intruding object candidate group and stored in the storage unit 23 (step S109). Then, the intrusion determination unit 251 determines the distance between the position of the target intruding object candidate group to which the same object identification number is assigned and the position of the oldest intruding object candidate group from the object corresponding to the target intruding object candidate group. The travel distance is calculated (step S110).
The intrusion determination unit 251 determines whether or not the movement distance is a predetermined value or more (step S111). If the movement distance is equal to or greater than the predetermined value, the intrusion determination unit 251 determines that the intruding object candidate group of interest is due to a suspicious object that has intruded into the monitoring area, and an intrusion abnormality has occurred (step S112). The intrusion determination unit 251 generates an intrusion abnormality signal and notifies the control unit 25 of the intrusion abnormality signal. Then, the intrusion determination unit 251 ends the intrusion determination process.

On the other hand, if there is no past candidate group corresponding to the same object as the object corresponding to the intruding object candidate group of interest in step S108, the intrusion determining unit 251 determines which past A new object identification number different from the object identification number assigned to the candidate group is associated and stored in the storage unit 23 (step S113).
After step S113 or when the moving distance is less than the predetermined value in step S111, the intrusion determination unit 251 determines whether there is an unfocused intruding object candidate group (step S114). When there is an unfocused intruding object candidate group (step S114—Yes), the intrusion determining unit 251 repeats the processing after step S107.
On the other hand, when all the intruding object candidate groups have already been set as the intruding object candidate group of interest (step S114-No), the intrusion determining unit 251 determines that no intrusion abnormality has occurred. The intrusion determination unit 251 notifies the control unit 25 that there is no intrusion abnormality, and ends the intrusion determination process.

The proximity point measurement unit 252 and the proximity object determination unit 253 determine whether there is a proximity object that is close to the monitoring window 27 based on the distance measurement data.
Therefore, the proximity point measurement unit 252 counts the number of scanning angles in the vicinity of the monitoring window 27 in the distance measurement data. Then, the proximity point measurement unit 252 writes the number in the storage unit 23.
When the ratio of the number of scanning angles in which the distance value to the object with respect to the total number of scanning directions is substantially equal to the distance from the detection unit 21 to the monitoring window 27 is equal to or greater than a predetermined ratio, the proximity object determination unit 253 It is determined that a close object exists.

FIG. 4 is a flowchart showing the operation of the proximity object determination process executed by the proximity point measurement unit 252 and the proximity object determination unit 253. Note that the proximity point measurement unit 252 and the proximity object determination unit 253 execute the proximity object determination process every time the latest distance measurement data is received, that is, each time when one scan of the monitoring area by the detection unit 21 ends.
The proximity point measurement unit 252 includes a proximity object that is close to the monitoring window 27 at a scanning angle in which the distance value to the object is substantially equal to the distance from the detection unit 21 to the monitoring window 27 in the latest distance measurement data. It is extracted as a proximity measurement point that is a possible scanning angle (step S201).
Specifically, the proximity point measurement unit 252 extracts a scanning angle at which the distance value is equal to or less than a predetermined distance Thd as the proximity measurement point. The predetermined distance Thd is set to a value obtained by adding an offset value about the thickness of the small animal to the distance from the detection unit 21 to the monitoring window 27, for example, 5 cm. Alternatively, the proximity point measurement unit 252 determines the difference between the distance value included in the latest distance measurement data and the distance value from the detection unit 21 to the monitoring window 27 stored in the storage unit 23 for each scanning angle. An absolute value may be obtained, and a scanning angle at which the absolute value of the difference becomes a predetermined threshold value or less may be extracted as a proximity measurement point. The predetermined threshold is set to 1 cm, for example.
The proximity point measurement unit 252 may remove, as noise, independent proximity measurement points that do not have adjacent proximity measurement points, for example, by performing a morphological opening calculation. Further, the proximity point measurement unit 252 may perform a morphological closing operation so that a scanning angle that is surrounded by the proximity measurement points and is not a proximity measurement point may be used as the proximity measurement point.
Next, the proximity point measurement unit 252 calculates the number of proximity measurement points included in the distance measurement data (step S202). Then, the proximity point measurement unit 252 writes the number of proximity measurement points in the storage unit 23 together with the current time.

The proximity object determination unit 253 reads the latest number of proximity measurement points from the storage unit 23, and the ratio of the number of proximity measurement points to the total number of scanning angles from which the distance value included in the distance measurement data is calculated, that is, the total number of scanning orientations. It is determined whether or not the ratio is equal to or greater than a predetermined ratio Th1 (step S203). For example, Th1 is set to a value corresponding to the trunk width of a small animal that may adhere to the monitoring window 27, for example, 10%. If the ratio of the number of proximity measurement points to the total number of scanning directions is equal to or greater than Th1, the proximity object determination unit 253 determines that there is an object close to the monitoring window 27, such as an adhering matter attached to the monitoring window 27. Then, the proximity object determination unit 253 sets the value of the proximity object flag stored in the storage unit 23 to a value indicating that a proximity object exists (hereinafter, referred to as “ON” for convenience) (step S204). ).
On the other hand, if the ratio of the number of proximity measurement points to the total number of scanning azimuths is less than Th1, in step S203, the proximity object determination unit 253 sets the proximity object flag value stored in the storage unit 23 as the proximity object exists. It is set to a value indicating that this is not done (hereinafter referred to as “OFF” for convenience) (step S205).
After step S204 or S205, the proximity point measurement unit 252 and the proximity object determination unit 253 end the proximity object determination process.

If the proximity object is a deposit on the monitoring window 27, the deposit may be removed from the monitoring window 27 by applying vibration to the monitoring window 27 or blowing air toward the outer surface of the monitoring window 27. high.
Therefore, when it is determined that an object is present in the vicinity of the monitoring window 27, the removal means control unit 254 drives the removal means 24 for a certain period to physically remove the deposits attached to the monitoring window 27. To do.

FIG. 5 is a flowchart showing the operation of the removal means control process executed by the removal means control unit 254. The removal unit control unit 254 executes the removal unit control process every time the latest distance measurement data is received, that is, every time when the detection unit 21 completes one scan of the monitoring area.
The removal means control unit 254 determines whether or not the removal means 24 is already being driven (step S301). If the removal means 254 is not being driven, it is determined whether or not the proximity object flag is OFF when the previous removal means control process is executed and turned ON when the current removal means control process is executed (step S302). If the proximity object flag has changed from OFF to ON, the removal means control unit 254 outputs an activation signal to the removal means 24 and causes the removal means 24 to start operation (step S303). And the removal means control part 254 starts a timer and starts time-measurement. Further, the removal means control unit 254 sets the latest number of proximity measurement points stored in the storage unit 23 as the number of measurement points before removal that represents the number of proximity measurement points immediately before the removal means 24 operates. And the removal means control part 254 memorize | stores in the memory | storage part 23 the flag showing that it is the number of measurement points before removal in correlation with the number of proximity | contact measurement points.

On the other hand, when the removing unit 24 is already driven in step S301, it is determined whether or not the elapsed time from the start signal output has reached a predetermined period (step S304). The predetermined period is set to 10 seconds, 30 seconds, or 1 minute, for example.
When the elapsed time from the output of the activation signal has reached the predetermined period, the removal unit control unit 254 outputs a stop signal to the removal unit 24 and stops the removal unit 24 (step S305). Further, the removal unit control unit 254 writes operation log information indicating that the removal unit 24 has been operated for a certain period and the stop time in the storage unit 23.

  After step S303 or step S305, or if the proximity object flag has not changed from OFF to ON in step S302, or if the elapsed time from the activation signal output has not reached the predetermined period in step S304, the removing means The control unit 254 ends the removal means control process. And the removal means control part 254 memorize | stores the value of the proximity | contact thing flag at the time of execution of this removal means control process in the memory | storage part 23 separately from the proximity | contact object flag itself in order to perform the process of step S302.

As described above, if the proximity object is an adhering object temporarily attached to the monitoring window 27 such as a small animal or a water drop, the proximity object is removed from the surface of the monitoring window 27 by operating the removing unit 24. It is likely to move along its surface. On the other hand, if the proximity object is a cloth such as a cloth arranged so as to cover the monitoring window 27 by a suspicious person or a board placed immediately before the monitoring window 27, the monitoring window 27 is vibrated or monitored. Even if the air is blown toward the surface of the window 27, there is a high possibility that the proximity object is not removed from the monitoring window and does not move.
Therefore, the disturbance determination unit 255 determines whether the number of proximity measurement points has decreased after the proximity object is detected and the removal unit 24 operates for a certain period of time or during the operation of the removal unit 24 before the operation of the removal unit 24 starts. Based on whether or not, it is determined whether or not the proximity object detected even after the removing unit 24 is stopped is not a shielding object but an adhesion object temporarily attached to the monitoring window 27. Also, the disturbance determination unit 255 determines whether an environmental abnormality has occurred.

FIG. 6 is a flowchart showing the operation of the disturbance determination process executed by the disturbance determination unit 255. The disturbance determination unit 255 executes a disturbance determination process every time the latest distance measurement data is received, that is, every time one scan of the monitoring area by the detection unit 21 is completed.
The disturbance determination unit 255 determines whether or not the value of the proximity object flag stored in the storage unit 23 is “ON” (step S401). If the value of the proximity object flag is “ON”, the disturbance determination unit 255 indicates that the value of the disturbance flag stored in the storage unit 23 is a value indicating that the adhering material is attached to the monitoring window 27 (hereinafter referred to as “disturbance object flag”). Then, it is determined whether or not it is expressed as “ON” for convenience (step S402).
If the value of the disturbance flag is a value indicating that no deposit is attached to the monitoring window 27 (hereinafter referred to as “OFF” for convenience), the disturbance determination unit 255 immediately after the removal unit 24 stops. Whether or not (step S403). For example, when the disturbance determination unit 255 determines that it is the first disturbance determination process after the removal unit 24 stops by referring to the operation log information, the disturbance determination unit 255 determines that it is immediately after the removal unit 24 stops.

If the removing unit 24 is in operation (No at Step S403), the disturbance determination unit 255 ends the disturbance determination process because there is a possibility that the attached matter may be removed.
On the other hand, if it is immediately after the removal means 24 stops (step S403-Yes), the disturbance determination part 255 will read the number of measurement points before removal from the memory | storage part 23. FIG. Furthermore, the disturbance determination unit 255 reads the latest number of proximity measurement points as the number of measurement points after removal (step S404). Then, the disturbance determination unit 255 obtains a measurement point decrease number obtained by subtracting the measurement point number after removal from the measurement point number before removal (step S405). The disturbance determination unit 255 determines whether or not the number of measurement point decreases is equal to or greater than a predetermined threshold Ths (step S406). The predetermined threshold Ths can be set to a value equal to or less than a value obtained by multiplying the total number of scanning azimuths by the threshold Th1 for determining that a close object exists, for example, a value corresponding to 5% of the total number of scanning azimuths. .

  If the number of measurement point decreases is less than the threshold value Ths, the disturbance determination unit 255 determines that the proximity object is not an attached object temporarily attached to the monitoring window 27. That is, in this case, there is a possibility that the proximity object is some kind of shield. Then, the disturbance determination unit 255 ends the disturbance determination process.

  On the other hand, if the number of measurement point reductions is equal to or greater than the threshold value Ths, the disturbance determination unit 255 determines that the proximity object is not an obstruction but an attachment temporarily attached to the monitoring window 27. Then, the disturbance determination unit 255 rewrites the value of the disturbance flag stored in the storage unit 23 from “OFF” to “ON” (step S407). And the disturbance determination part 255 starts a timer, and starts time-measurement of the continuation time when the deposit | attachment has adhered (step S408). Thereafter, the disturbance determination unit 255 ends the disturbance determination process.

On the other hand, if the value of the disturbance flag is “ON” in step S402 (step S402—Yes), that is, if it is detected that the adhered matter has already adhered to the monitoring window 27, the disturbance determining unit 255. Determines whether or not the continuation time during which the adhering material has adhered has exceeded a predetermined environmental abnormality monitoring period (step S409). The environmental abnormality monitoring period is set to 1 hour, for example.
When the continuation time during which the deposit is adhered exceeds a predetermined environmental abnormality monitoring period, the disturbance determination unit 255 determines that an environmental abnormality has occurred. Then, the disturbance determination unit 255 generates an environmental abnormality signal and notifies the control unit 25 of the environmental abnormality signal (step S410). In addition, the disturbance determination unit 255 rewrites the value of the current state information stored in the storage unit 23 to a value indicating that an environmental abnormality has occurred.
After step S410, or when the continuation time during which the deposit is attached is within the environmental abnormality monitoring period in step S409, the disturbance determination unit 255 ends the disturbance determination process.

In step S401, when the value of the proximity object flag is “OFF”, that is, when it is determined by the proximity object determination unit 253 that there is no proximity object (No in step S401), the monitoring window 27 is displayed. Even if the deposit is attached to the surface, the deposit is already removed. Therefore, the disturbance determination unit 255 determines whether or not the value of the disturbance flag stored in the storage unit 23 is “ON” (step S411). If the value of the disturbance flag is “ON”, the disturbance determination unit 255 rewrites the value of the disturbance flag stored in the storage unit 23 to “OFF” (step S412). And the disturbance determination part 255 resets a timer, and stops the time measurement of the continuation time to which the deposit | attachment has adhered (step S413).
After step S413 or when the value of the disturbance flag is “OFF” in step S411, the disturbance determination unit 255 notifies the control unit 25 that no environmental abnormality has occurred, and then ends the disturbance determination process. To do.

In addition, when the value of the current state information is a value indicating that an environmental abnormality has occurred, the result of the presence / absence of attached matter indicates that the attached matter has not adhered for a predetermined number of times. In addition, the disturbance determination unit 255 may determine that the environmental abnormality has been resolved, and rewrite the value of the current state information stored in the storage unit 23 to a value indicating that no environmental abnormality has occurred. The predetermined number of times is set to, for example, about several times.
Also, the disturbance determination unit 255 determines whether or not the number of measurement points reduced by subtracting the number of measurement points after removal from the number of measurement points before removal is equal to or greater than a predetermined threshold Ths (steps S405 and S406), and determines that the number is greater than or equal to the threshold Ths. However, instead of setting the disturbance flag to “ON” (step S407), it may be determined whether or not the number of measurement points after removal is smaller than the number of measurement points before removal by a predetermined percentage or more. In this case, for example, the disturbance determination unit 255 obtains a measurement point reduction rate obtained by dividing the above-described measurement point reduction number by the measurement point number before removal in step S405, and the measurement point reduction rate is determined to be a predetermined threshold Ths ′ in step S406. What is necessary is just to determine whether it is (for example, 0.5 etc.) or more.

Whenever the latest ranging data is received, the interference determination unit 256 determines whether or not monitoring of at least a part of the monitoring area is disabled based on the comparison result between the latest ranging data and the monitoring area information. The visual field disturbance determination process for determining the image is executed.
In an outdoor environment, after the monitoring sensor 2 is installed and the operation of the security system 1 is started, planting in the monitoring area or in the vicinity of the boundary of the monitoring area grows, or flying objects fall by the wind into the monitoring area. Or a user in the monitoring area may install a fence or the like. Further, there is a possibility that a suspicious person installs a shield in the monitoring area in order to obstruct monitoring by the monitoring sensor 2.
In such a case, the search signal does not reach at least a part of the monitoring area. Then, since the monitoring sensor 2 cannot detect an object existing in a region where the search signal does not reach, the region where the search signal does not reach becomes a blind spot of the monitoring sensor 2.
If a blind spot occurs, the monitoring sensor 2 can no longer detect a suspicious object that should be detected, so it is preferable that the blind spot is resolved early. Therefore, the disturbance determination unit 256 determines that a visual field disturbance abnormality has occurred when a blind spot of a certain size or more generated in the monitoring area is detected.

  However, as described above, if a temporary deposit adheres to the monitoring window 27, the survey signal may temporarily not reach a part of the monitoring area due to the deposit, and a blind spot may be generated. Further, if the removing means 24 is in operation, the deposits may be removed. Therefore, the disturbance determination unit 256 determines whether or not the visual field disturbance abnormality has occurred only when the attached matter is not attached to the monitoring window 27 and the removing unit 24 is not operating.

FIG. 7 is an operation flowchart of visual field disturbance determination processing executed by the disturbance determination unit 256. The disturbance determination unit 256 executes the visual field disturbance determination process every time the latest distance measurement data is received, that is, every time when the scanning of the monitoring area by the detection unit 21 is completed.
The interference determination unit 256 determines whether or not the removing unit 24 is operating (step S501). For example, the interference determining unit 256 can determine that the removing unit 24 is operating if the timer is measuring the operating time of the removing unit. If the removing unit 24 is in operation, there is a possibility that the attached matter may be removed from the monitoring window 27. Therefore, the disturbance determination unit 256 ends the visual field disturbance determination process.
On the other hand, if the removing unit 24 is stopped, the interference determination unit 256 determines whether or not the value of the disturbance flag stored in the storage unit 23 is “OFF” (step S502). When the value of the disturbance flag is “ON” (step S502—No), that is, when the adhering matter adheres to the monitoring window 27, the disturbance determination unit 256 ends the visual field disturbance determination process.

ここでpは、隣接する走査角度間の間隔（角度単位、例えば、0.25°）である。Mは、測距データに含まれる距離値の総数である。d_iは、測距データに含まれるi番目の走査角度についての距離値である。 On the other hand, when the value of the disturbance flag is “OFF” (step S502—Yes), the disturbance determination unit 256 calculates an area that can be monitored by the monitoring sensor 2 within the monitoring region (step S502). This monitorable area _Sp is calculated by the following equation, for example.

Here, p is an interval between adjacent scanning angles (angle unit, for example, 0.25 °). M is the total number of distance values included in the distance measurement data. d _i is a distance value for the i-th scanning angle included in the distance measurement data.

Interference determination unit 256, monitorable area S _p is determined whether a predetermined percentage or less of the area S of the whole monitoring area (step S504). The predetermined ratio is set to 1/2, for example. The area S of the entire monitoring area is calculated by substituting the distance value of each scanning angle included in place of, the monitoring area information of the distance values d _i of each scan angle in equation (2).
When the monitorable area _Sp is less than or equal to a predetermined ratio of the total area S of the monitoring area, the disturbance determination unit 256 determines that a visual field disturbance abnormality has occurred. Then, the disturbance determination unit 256 generates a disturbance detection signal and notifies the control unit 25 of the disturbance detection signal (step S505).
If monitorable area S _p in step S504 is larger than a predetermined percentage of the total area S of the monitored area, interference determining unit 256 determines that the visual field disturbance abnormality has not occurred, notifies the control unit 25 (Step S506).
After step S505 or step S506, the disturbance determination unit 256 ends the visual field disturbance determination process.
The interference determination unit 256 determines whether or not the visual field disturbance abnormality has occurred on the condition that the removal unit 24 is not operating by determining whether or not the removal unit 24 is operating in step S501. However, the determination in step S501 may be omitted. In this case, if the disturbance flag is “OFF” even if the removing unit 24 is operating, the disturbance determination unit 256 determines whether a visual field disturbance abnormality has occurred (if no deposit is attached to the monitoring window 27). It will be determined whether or not.

FIG. 8 is a flowchart showing the operation of the object detection process executed by the control unit 25. The control unit 25 executes an object detection process every time one scan of the monitoring area by the detection unit 21 ends.
The control unit 25 receives distance measurement data from the detection unit 21 (step S601). Then, the control unit 25 stores the distance measurement data in the storage unit 23. In addition, the control unit 25 passes the distance measurement data to the intrusion determination unit 251, the proximity point measurement unit 252, and the interference determination unit 256.
The intrusion determination unit 251 performs an intrusion determination process (step S602). When the intrusion determination unit 251 detects a suspicious object that has entered the monitoring area, the intrusion determination unit 251 generates an intrusion abnormality signal and passes it to the control unit 25. The control unit 25 stores a flag indicating that the intrusion abnormality signal has been received in the storage unit 23. If the intrusion determination unit 251 determines that no intrusion abnormality has occurred, the intrusion determination unit 251 notifies the control unit 25 that there is no intrusion abnormality. And the control part 25 memorize | stores the time which received the notification in the memory | storage part 23 as a normal return time regarding an intrusion abnormality. The details of the intrusion determination process are as described above with reference to FIG.

  The proximity point measurement unit 252 and the proximity object determination unit 253 execute proximity object determination processing (step S603). Then, the proximity point measurement unit 252 and the proximity object determination unit 253 obtain the number of proximity measurement points, and write the number of proximity measurement points in the storage unit 23 together with the current time. The proximity point measurement unit 252 and the proximity object determination unit 253 determine whether there is a proximity object. When the proximity point measurement unit 252 and the proximity object determination unit 253 determine that a proximity object exists, the proximity object flag value stored in the storage unit 23 is set to “ON”, and conversely, the proximity object exists. If it is determined that there is no such object, the value of the proximity flag stored in the storage unit 23 is set to “OFF”. The details of the proximity object determination process are as described above with reference to FIG.

  Further, the removal means control unit 254 executes removal means control processing (step S604). Then, the removing unit control unit 254 operates the removing unit 24 for a certain period after the proximity object is detected. The details of the removal means control process are as described above with reference to FIG.

  The disturbance determination unit 255 executes a disturbance determination process (step S605). When the disturbance determination unit 255 determines that the attached matter has adhered to the monitoring window 27, the disturbance flag value stored in the storage unit 23 is set to “ON”, and conversely, the attached matter adheres to the monitoring window 27. If it is determined that it is not, the value of the disturbance flag stored in the storage unit 23 is set to “OFF”. In addition, the disturbance determination unit 255 determines that an environmental abnormality has occurred when the duration during which the attached matter has adhered to the monitoring window 27 exceeds the environmental abnormality monitoring period, and passes an environmental abnormality signal to the control unit 25. The control unit 25 stores a flag indicating that the environmental abnormality signal has been received in the storage unit 23. When the disturbance determination unit 255 determines that no environmental abnormality has occurred, the disturbance determination unit 255 notifies the control unit 25 that there is no environmental abnormality. And the control part 25 memorize | stores the time which received the notification in the memory | storage part 23 as a normal return time regarding environmental abnormality. The details of the disturbance determination process are as described above with reference to FIG.

  The disturbance determination unit 256 executes a visual field disturbance determination process (step S606). When the disturbance determination unit 256 determines that the visual field disturbance has occurred, the disturbance determination unit 256 generates a disturbance detection signal and passes it to the control unit 25. The control unit 25 stores a flag indicating that the interference detection signal has been received in the storage unit 23. If the disturbance determination unit 256 determines that no visual field disturbance has occurred, the disturbance determination unit 256 notifies the control unit 25 that there is no disturbance abnormality. And the control part 25 memorize | stores the time which received the notification in the memory | storage part 23 as a normal return time regarding visual field disturbance abnormality. The details of the visual field disturbance determination process are as described above with reference to FIG.

The control unit 25 determines whether there is an abnormal signal that has not been output among abnormal signals such as an intrusion abnormal signal, an environmental abnormal signal, and a disturbance detection signal received from each unit (step S607). For example, the control unit 25 refers to the previous transmission time and the normal return time of the abnormal signal stored in the storage unit 23 for each received abnormal signal. And the control part 25 makes the abnormal signal in which the normal return time is not recorded after the last transmission time be an abnormal signal which is not output.
When there is a non-output abnormality signal, the control unit 25 outputs the non-output abnormality signal to the security device 3 via the communication unit 22 (step S608). And the control part 25 memorize | stores the output time in the memory | storage part 23 as last transmission time corresponding to the output abnormal signal.
After step S608 or when there is no unoutput abnormality signal in step S607, the control unit 25 ends the object detection process.
Note that the order of execution of the processes of steps S602 to S606 is not limited to the above, and any of steps S602 to S606 may be executed first.

  Furthermore, the control unit 25 transmits a sensor status signal including sensor status information indicating whether the monitoring sensor 2 is operating normally or is malfunctioning to the security device 3 via the communication unit 22 periodically or irregularly. May be.

  FIG. 9 is a schematic configuration diagram of the security device 3. The security device 3 includes an operation unit 31, a sensor interface unit 32, a storage unit 33, a control unit 34, and a center communication unit 35.

  The operation unit 31 has, for example, a plurality of operation buttons. When the user presses one of the operation buttons, the operation unit 31 causes the control unit 34 to input a predetermined operation signal assigned to the operation button or various input information such as a user identification number and a password. Output to. And the user can change the security mode showing the security state of a monitoring object building by operating the operation part 31. FIG. Details of the security mode will be described later.

The sensor interface unit 32 connects the security device 3 and the monitoring sensor 2 so that they can communicate with each other. For this purpose, the sensor interface unit 32 includes, for example, an interface circuit corresponding to the communication line 4 that connects the security device 3 and the monitoring sensor 2. The sensor interface unit 32 receives various abnormal signals and the identification code of the monitoring sensor 2 from the monitoring sensor 2 via the communication line 4 and passes them to the control unit 34.
In addition, the security device 3 is connected to the monitored building or other sensors via the sensor interface unit 32, such as an open / close sensor installed at the entrance of the building, a human sensor installed in the building, and the like. It may be connected. In this case, the sensor interface unit 32 may receive an abnormal signal from another sensor and pass it to the control unit 34.
Further, the sensor interface unit 32 periodically or irregularly receives a sensor status signal including sensor status information indicating whether the sensor is operating normally or in failure from the monitoring sensor 2 or another sensor. The sensor state information may be stored in the storage unit 33.

The storage unit 33 includes, for example, a non-volatile semiconductor memory and stores various information and programs used in the security device 3.
For example, the storage unit 33 displays the security mode information indicating the currently set security mode, the identification number of the security device 3 or the identification number of the monitoring target building where the security device 3 is installed, the identification number of the user, and the password. Remember. Further, the storage unit 33 stores an abnormality detection log in which various abnormal signals received from any of the monitoring sensors 2 and the reception time of the abnormal signals are associated with the identification number of the monitoring sensor 2 that has generated the abnormal signal. May be. Further, the storage unit 33 may store current state information indicating the current state of each monitoring sensor 2 connected to the security device 3. This current body information indicates, for example, whether the monitoring sensor 2 is in a state in which a visual field disturbance abnormality, an environmental abnormality or an intrusion abnormality is detected, or a normal state in which no abnormality is detected. Further, the storage unit 33 may store sensor state information.

  The control unit 34 has at least one processor and its peripheral circuits. The control unit 34 controls each unit of the security device 3. The control unit 34 includes an abnormality processing unit 341 and a mode setting unit 342 that sets a security mode according to an operation signal from the operation unit 31.

The abnormality processing unit 341 performs abnormality processing according to the currently set security mode.
In the present embodiment, the security mode includes a security set mode and a security release mode.
The security set mode is set when, for example, a monitoring area including a building where the security system 1 is installed and a monitoring area set around the building is unmanned, such as at night or on holidays.
When the abnormality processing unit 341 indicates that the security mode information stored in the storage unit 33 is the security set mode, when any abnormality signal is received from any of the monitoring sensors 2 or other sensors, An abnormality notification signal including the received abnormality signal and the security device 3 or the identification code of the building where the security device 3 is installed is generated. Then, the abnormality processing unit 341 transmits an abnormality notification signal to the monitoring center device 6 via the center communication unit 35. In addition, the abnormality processing unit 341 writes information regarding the received abnormality signal in the abnormality detection log stored in the storage unit 33. The abnormality processing unit 341 corrects the current state information stored in the storage unit 33 in accordance with the received abnormality signal. Alternatively, when the abnormality processing unit 341 receives an operation signal indicating that the abnormality of any of the monitoring sensors 2 has been eliminated via the operation unit 31, the abnormality processing unit 341 displays the current state information corresponding to the monitoring sensor 2 as follows: You may correct | amend so that it may be in a normal state.

  On the other hand, the security release mode is set when there is a user having a legitimate authority in the monitoring area, for example, during the daytime on weekdays. When the abnormality processing unit 341 receives a certain abnormality signal from any of the monitoring sensors 2 or other sensors when the security mode information stored in the storage unit 33 indicates the security release mode, Information related to the received abnormality signal is written in the abnormality detection log stored in the unit 33. However, the abnormality processing unit 341 does not transmit an abnormality notification signal to the monitoring center device 6. The abnormality processing unit 341 does not correct the current state information stored in the storage unit 33. However, even when the current security mode is the security release mode, the abnormality processing unit 341 generates an abnormality notification signal including the environmental abnormality signal when it receives an environmental abnormality signal from any of the monitoring sensors 2. The abnormality notification signal may be transmitted to the monitoring center device 6. As a result, the security device 3 can report the fact to the monitoring center device 6 even when the monitoring sensor 2 becomes unable to monitor due to an environmental abnormality during the security release mode setting. It is possible to eliminate the environmental abnormality that has occurred in the sensor 2.

  The mode setting unit 342 sets the security mode according to the operation signal from the operation unit 31. Specifically, the mode setting unit 342 determines that when the user identification number and password received from the operation unit 31 match the user identification number and password stored in the storage unit 33, Allow change of security mode. When the mode setting unit 342 receives an operation signal for setting the security mode to the security set mode from the operation unit 31 while the change of the security mode is permitted, the mode setting unit 342 sets the security mode information stored in the storage unit 33 to the security set. Rewrite the value to indicate the mode. On the other hand, when the mode setting unit 342 receives an operation signal for setting the security mode to the security release mode from the operation unit 31 with the change of the security mode permitted, the mode setting unit 342 guards the security mode information stored in the storage unit 33. Rewrite the value to indicate the release mode.

  When the storage unit 33 stores sensor state information, the mode setting unit 342 refers to the sensor state information, and sets the security mode to the security set mode only when each sensor is operating normally. It may be set. Further, the mode setting unit 342 may prohibit the change from the security release mode to the security set mode when an environmental abnormality has occurred in any of the monitoring sensors 2. If the sensor status information indicates that any sensor is out of order, or if an environmental abnormality has occurred, the mode setting unit 342 enters the security set mode through a monitor or speaker (not shown). You may notify the sensor 2 which cannot be set, and the sensor 2 for monitoring which has failed or the environmental abnormality has generate | occur | produced.

  The center communication unit 35 has an interface circuit for connecting the security device 3 to the public communication line 5. And the center communication part 35 performs the connection process between the security apparatus 3 and the monitoring center apparatus 6 according to control of the control part 34, for example, when reporting abnormality to the monitoring center apparatus 6. FIG. Then, after the connection is established between the security device 3 and the monitoring center device 6, the center communication unit 35 transmits the abnormality notification signal received from the control unit 34 to the monitoring center device 6 through the public communication line 5. When the transmission of the abnormality notification signal is finished, the center communication unit 35 performs processing for releasing the connection between the security device 3 and the monitoring center device 6.

  As described above, the monitoring sensor according to one embodiment of the present invention performs full scanning in which the number of proximity measurement points corresponding to an object located in the vicinity of the monitoring window corresponds to the entire monitoring area from the distance measurement data. If the ratio to the number of azimuths is within a predetermined range, it is determined that there is an object close to the monitoring window that may be an attachment to the monitoring window. When the proximity sensor is detected, the monitoring sensor operates the removing unit to remove the adhered matter attached to the monitoring window. Therefore, this monitoring sensor can end the state where a part of the monitoring area cannot be monitored by the object attached to the monitoring window at an early stage. In addition, this monitoring sensor determines whether or not the adhering object is attached to the monitoring window based on the comparison result of the proximity measurement points before and after the operation of the removing means. Can be determined accurately. Furthermore, since this monitoring sensor stops the visual field disturbance determination process while it is determined that the attached matter is attached to the monitoring window, the attached matter on the monitoring window is erroneously determined as the visual field disturbance due to the installation of a shielding object or the like. Can be prevented. In addition, since this monitoring sensor reports an environmental abnormality even if the adhered object continues to be attached to the monitoring window for a certain period or more, at least a part of the monitoring area is obstructed by environmental factors Can be prevented from continuing for a long time.

The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments. For example, it is assumed that the state where the visual field disturbance has occurred continues for a certain period of time. In particular, when a suspicious person intentionally sets a part of the monitoring area as a blind spot for monitoring and tries to perform some illegal act within the blind spot, a certain period of time is required to perform the illegal act. So interference determination unit determines a plurality of times of scanning continuous by detection unit, only if the ratio of the monitorable area S _p to the area S of the entire monitoring area becomes a predetermined ratio or less, the visual field disturbance abnormality has occurred and May be. Thereby, the monitoring sensor can prevent erroneous detection of the occurrence of the visual field disturbance abnormality in the case where a blind spot is instantaneously generated due to, for example, an exploration signal being interrupted by a falling fallen leaf or the like.
The detection unit may irradiate an exploration signal other than near-infrared rays, for example, a visible ray, an ultrasonic wave, or a millimeter wave as the exploration signal.
As described above, those skilled in the art can make various modifications in accordance with the embodiment to be implemented within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Security system 2 Monitoring sensor 3 Security apparatus 4 Communication line 5 Public communication line 6 Monitoring center apparatus 21 Detection part 22 Communication part 23 Memory | storage part 24 Removal means 25 Control part 26 Housing 27 Monitoring window 211 Laser oscillation part 212 Scan mirror 213 Drive Unit 214 light receiving unit 215 distance measurement data generation unit 251 intrusion determination unit 252 proximity point measurement unit 253 proximity object determination unit 254 removal means control unit 255 disturbance determination unit 256 disturbance determination unit 31 operation unit 32 sensor interface unit 33 storage unit 34 control unit 35 Center communication unit 341 Abnormal processing unit 342 Mode setting unit

Claims (3)

An interference determination unit that executes an interference determination process for determining whether or not at least a part of the monitoring area is unmonitorable due to an obstruction, and interference detection when at least a part of the monitoring area is determined to be unmonitorable A monitoring sensor having an output unit for outputting a signal,
A housing having a monitoring window;
A plurality of probe signals are arranged in the housing, scanned from one end to the other end of the monitoring area through the monitoring window, and received by the object reflected in the monitoring area. A detection unit that generates distance measurement data in which the scanning azimuth and the distance to the object corresponding to each of the plurality of scanning azimuths are associated with each other;
In the distance measurement data, a proximity point measurement unit that extracts a scanning direction corresponding to a distance in the vicinity of the monitoring window as a proximity measurement point;
Proximity object determination for determining whether or not there is a proximity object close to the monitoring window based on the first proximity measurement point number that is the number of the proximity measurement points extracted from the distance measurement data acquired at the first time And
A removal means controller for operating a removal means for physically removing the adhering matter adhering to the monitoring window when it is determined that the proximity object exists;
A second proximity measurement point number, which is the number of the proximity measurement points extracted from the distance measurement data acquired at a second time after the removal means has been operated for a certain period, is more predetermined than the first proximity measurement point number. If reduced more the threshold, the proximity object is the determination that the clothes with the temporarily adhered to the monitoring window, the second proximity measurement points is not reduced the predetermined threshold value or more than the first proximity measurement points If not, the disturbance determination unit that determines that the adjacent object is the possibility of the shield rather than a temporary deposit,
A monitoring sensor comprising: The interference judgment unit performs the interference determination processing when said temporary deposit monitoring window is not judged to be deposited, monitoring sensor according to claim 1. The detection unit periodically scans the monitoring area with the search signal, and generates the distance measurement data each time the scan is performed,
The disturbance determination unit determines whether or not the temporary deposit is attached to the monitoring window based on the distance measurement data every time the distance measurement data is generated. It is determined that an environmental abnormality has occurred in which at least a part of the monitoring area cannot be monitored when the state where the temporary deposit is determined to have adhered for a predetermined time period,
The monitoring sensor according to claim 1, wherein the output unit outputs an environmental abnormality signal indicating that the environmental abnormality has occurred when the environmental abnormality has occurred.

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