Intrusion detection system

An intrusion detection system comprising:

• a machine position acquisition unit that acquires a position of a work machine at work inside a work area in a predetermined coordinate system;
• a point cloud data acquisition unit that acquires point cloud data indicating a distance from a predetermined reference point to an object located inside or outside the work area;
• a position calculation unit that calculates positions of respective points of the point cloud data in the coordinate system;
• a specifying unit that specifies, as specific data, a portion corresponding to the work machine from the point cloud data, based on the position of the work machine and the positions of the respective points of the point cloud data in the coordinate system;
• and
• a detection unit that detects that another object different from the work machine has entered the work area, based on remaining portion of the point cloud data other than the specific data in the point cloud data, wherein
• the work machine is provided with a mark for acquiring a position of the work machine from outside the work machine, and
• the machine position acquisition unit includes
• an imaging unit that images the mark, and
• a machine position calculation unit that calculates the position of the work machine in the coordinate system based on the mark imaged by the imaging unit.

An intrusion detection system comprising:

• a machine position acquisition unit that acquires a position of a work machine at work inside a work area in a predetermined coordinate system:
• a point cloud data acquisition unit that acquires point cloud data indicating a distance from a predetermined reference point to an object located inside or outside the work area;
• a position calculation unit that calculates positions of respective points of the point cloud data in the coordinate system;
• a specifying unit that specifies, as specific data, a portion corresponding to the work machine from the point cloud data, based on the position of the work machine and the positions of the respective points of the point cloud data in the coordinate system;
• and
• a detection unit that detects that another object different from the work machine has entered the work area;
• based on remaining portion of the point cloud data other than the specific data in the point cloud data;
• and
• a clustering unit that clusters the point cloud data into cluster point clouds,
• wherein the position calculation unit calculates positions of the cluster point clouds in the coordinate system, and
• the specifying unit specifies, as the specific data, a cluster point cloud matching with the position of the work machine among the cluster point clouds.