EP3526963A1 - Objektüberwachung mit infrarotbildaufnahme und infrarotpulsbeleuchtung - Google Patents
Objektüberwachung mit infrarotbildaufnahme und infrarotpulsbeleuchtungInfo
- Publication number
- EP3526963A1 EP3526963A1 EP17794899.9A EP17794899A EP3526963A1 EP 3526963 A1 EP3526963 A1 EP 3526963A1 EP 17794899 A EP17794899 A EP 17794899A EP 3526963 A1 EP3526963 A1 EP 3526963A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- opening
- infrared
- radiation source
- image
- characteristic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/32—Position control, detection or monitoring
- E05Y2400/35—Position control, detection or monitoring related to specific positions
- E05Y2400/356—Intermediate positions
Definitions
- the invention relates to a device and a control method and an arrangement.
- Light grid allows the three-dimensional recognition. Here it is
- Light grid structured light a need for three-dimensional sensor technology, since only one camera is used and the system without
- Lichtgitter has no three-dimensional sensors. A typical procedure from this environment is the fringe projection.
- the monitoring of objects can be simple and
- TOF time-of-flight
- An apparatus for monitoring an object comprising an electromagnetic (in particular infrared emitting only) pulsed (i.e., not continuously emitting but in the form of pulses spaced apart in time) electromagnetic radiation
- Radiation source which is set up, the object to be monitored with
- At least one infrared pulse (in particular with a series of temporally spaced infrared pulses) to illuminate, and a
- Has image pickup device which is set up, in part, at least partially or at least temporarily during the lighting with the
- At least one infrared pulse to record at least one image (especially multiple images) of the object to be monitored.
- the object to be monitored is illuminated with at least one infrared pulse, and at least one infrared image of the object to be monitored (in particular within at least a limited time interval) partially, at least partially or at least temporarily recorded during the lighting with the at least one infrared pulse (optionally at least one pulse illumination period and at least one activity period of the
- Image recording are synchronized).
- an arrangement comprising an access structure with one of An object to be passed opening, at least one closure body for selectively at least partially opening or at least partially closing the opening and a device having the features described above for controlling a coverage characteristic of the opening by the at least one closure body based on the at least one recorded image of the object to be monitored ,
- infrared is understood to mean, in particular, non-visible electromagnetic radiation having wavelengths greater than that of visible light
- electromagnetic radiation having wavelengths of more than 800 nm, more particularly more than 1 pm, still more particularly between 800 nm and 1 mm.
- Cameras with sensitivity to infrared radiation which can be implemented according to exemplary embodiments of the invention can be used in the low-frequency infrared range for body heat sensors as well as in the
- the term "object” is understood in particular to mean any physical structure, in particular a movable or moving structure, whose trajectory or behavior is to be detected Examples of such an object are a person, a vehicle, a machine or a vehicle machine part.
- Cross characteristic in particular be understood how large an uncovered by the at least one closure body opening area for
- Allowing the object to pass is which shape has such an opening area and / or for which time interval such an opening area remains open.
- object adaptive the term "object adaptive"
- closing body can be understood to mean, in particular, a physical barrier which can be composed of one or more components in order to close off a partial area or the entire opening.
- a rigid door, a roller door, a roller shutter, etc. which may be horizontally and / or vertically movable, foldable, foldable and / or can be formed or rolled out.
- Monitoring system for an object created in which one or more non-visible infrared pulses are emitted to illuminate the object to be monitored temporarily with infrared light. By temporarily illuminating the object, its recognizability can be made possible on one or more recorded infrared images with high quality.
- Pulsed operation of the infrared radiation source (in contrast to a permanent lighting), their operation is possible with low energy consumption.
- monitoring of an object can be carried out discretely, and without disturbing the object (for example a driver of a vehicle) in its particular safety-relevant activity by visible additional light.
- the object for example a driver of a vehicle
- the brightness or the contrast of the object on the image or images are improved.
- the monitoring system works fault-robust, low-energy and simple.
- the three-dimensional monitoring or sensor system which may be formed for example from at least one passive camera as an image pickup device, an infrared flash device as a radiation source and the control device.
- the camera can be sensitive (especially only) in the infrared range.
- the image recording device of the monitoring system can have at least one camera with at least one camera optics or at least two cameras (wherein a stereometry system can also be implemented with a pinhole camera without optics).
- the infrared flash device can be rhythmically turned on and off during active times (for example, the image capture device). For the three-dimensional monitoring or image recognition are none
- the control device can provide for the synchronization of the recordings of the at least one passive camera with the flash duration and flash time of the infrared flash unit.
- Imaging device be set up within at least one
- the apparatus may further comprise a controller (which may be configured, for example, as a processor) for controlling the Radiation source and the image pickup device may be configured such that at least one pulse illumination period of the radiation source and at least one activity period of the image pickup device for
- Imaging is synchronized (i.e., timed to each other or
- control means for coordinately controlling the radiation source and the image pickup device such as
- Non-illumination period ie, a period in which the radiation source emits no infrared radiation, for example, one or more periods between infrared pulses
- at least one inactivity period or non-recording period of the image pickup device ie, a period in which the image pickup device is not ready to take an image, for example
- the image pickup device can be switched active, which is made possible by the temporary illumination of the object and its recognizability on one or more recorded images with high quality.
- Periods between pulses can be switched inactive, is not only the operation of the infrared radiation source, but also the operation of the
- Image recording device with low energy consumption possible.
- the image recording device can have at least one camera with a camera optics multiplying a detection path or a plurality of cameras.
- a "camera optics multiplying a detection path” can be understood to mean, in particular, a number of optical paths, each of which directs a subarea of an object or other spatial area to be imaged to a common camera (see Figure 2) Camera possible using lenses, beam splitters, Reflectors, etc. Partial images from different spatial areas and / or observation directions can capture simultaneously. Alternatively, multiple cameras and / or at least one movable camera can be used to capture stereometric information.
- the radiation source and the radiation source are identical to one embodiment.
- Imaging device form an object recognition device, which detects the object based on the at least one recorded image
- the object recognizing means may take the one or more recorded images in consideration of
- Evaluate emission characteristics of the radiation source for which in particular methods of image recognition can be used.
- the object recognition device may be a stereometric object recognition device, in particular configured for recognizing the object by means of triangulation using three-dimensional photogrammetry.
- the one-dimensional sensor system may be a stereometric object recognition device, in particular configured for recognizing the object by means of triangulation using three-dimensional photogrammetry.
- stereometric models which are preferably based on triangulation by three-dimensional photogrammetry.
- the device may have a decoding device which is set up for decoding information which is encoded by means of infrared ink and / or infrared phosphor means in a space to be monitored, in particular on the object.
- a decoding device which is set up for decoding information which is encoded by means of infrared ink and / or infrared phosphor means in a space to be monitored, in particular on the object.
- Infrared phosphorescence agent may have the property of being recognizable on an image only in the presence of infrared light.
- the object recognition device can be designed to match different images (for example of the same object) to one another, to which different emission intensities of the respective at least one infrared pulse are assigned.
- different images for example of the same object
- different emission intensities of the respective at least one infrared pulse are assigned.
- differently brightened recordings can be compared against each other such that overall better object recognition and / or
- Noise suppression for example, insect suppression, snow, rain, sleet, fog suppression
- the radiation source may be formed with the at least one infrared pulse, preferably a bidirectional one
- the infrared flash device or the radiation source can therefore a
- Such a response may be based on data transmitted by the emitted infrared light. It may be particularly preferred that this transmission is encoded or cryptographically secured.
- the device may include a
- Communication device for example, a transmission and / or
- Receiving antenna configured to receive information obtained from the monitoring (for example, via a communication network such as the public Internet or a mobile radio network)
- Communication partner device for example, a server or a portable device such as a mobile phone
- the monitoring system can Surrounding (eg zone occupied, escape route occupied, motion alarm, object sizes and object vectors, identity data of detected tags, etc.) and / or environmental information (for example rain shower, snowfall, etc.) to other systems.
- the device may include a
- Radiation source when recording the at least one image at least temporarily turn off when a predetermined image quality criterion (for example, a target contrast) without lighting with the at least one
- a predetermined image quality criterion for example, a target contrast
- Infrared pulse is met, especially in daylight and / or if contours of the object meet a predetermined clarity criterion. According to such a management of the active times of the radiation source, for example, this can be switched off during the day for energy savings or with very clear contours (this can be referred to as cyclical operation).
- the device may include a
- Radiation source for receiving the at least one image only turn on when a power supply readiness of a temporary
- Such a temporary energy store may be, for example, a rechargeable battery or a capacitor that is volatile
- the radiation source for emitting infrared light in a wavelength range between 700 nm and 100 pm, in particular in a wavelength range between 800 nm and 30 ⁇ m, in particular of approximately 10 ⁇ m. It has been found that particularly precise image capturing is possible in this wavelength range. These include in particular those indicative of body heat
- Wavelength range (especially 7 pm to 14 pm) and are thus to
- the radiation source for emitting infrared light according to a predeterminable (in particular spatially
- the infrared power radiated in the longitudinal direction may be higher than the infrared power radiated in the vertical direction to sufficiently illuminate distant objects too.
- the apparatus may further for controlling a coverage characteristic of one of the monitored object
- control device can be set up
- the control device may be configured to control the coverage characteristic based on geometric object data and / or at least one additional situation characteristic.
- geometric object data can be understood in particular to be information regarding the size and / or shape of one or more objects that are to pass through the opening completely or partially free from the closing body For example, if a vehicle of constant shape and size is to pass through the opening
- geometrical object data can also be dynamic, for example if a person is to pass through the opening as an object, which constantly changes its outer contour while walking.
- Object data may also indicate the position or trajectory of an object before and / or passing the aperture.
- additional situation characteristic may in particular be used as a criterion for setting the partial area of the opening which remains uncovered by the at least one closure body
- Such an additional situation characteristic may according to one embodiment of the
- Object type to be dependent on the opening to pass Object type to be dependent on the opening to pass.
- People for example, belonging to a particular culture, gender, age, status within an organization, state of mind,
- Movement speed, etc. carried out an adjustment of the coverage characteristic.
- a property of the scenario passing completely outside the object of passing the object through the aperture for setting the coverage characteristic For example, a temperature, a season, a weather, a
- Covering characteristic of the current situation or the current scenario when passing the object through the opening exposed to an adjustable degree is included in a corresponding control of the at least one closing body.
- the geometric object data may include geometric object dimensions (in particular a shape and / or a size of the object) and / or position data indicative of a position of the object (for example a position of the object at a detection time and / or an expected or predicted position of the object upon reaching the opening) or consist thereof.
- the geometric object data may relate to the intrinsic geometric properties of the object as well as its extrinsic geometric properties relative to the opening and / or the at least one closure body. Such information may be previously known and / or by a
- the shape and / or size of the object form a lower limit for the dimensioning of a passage surface, which is at least to be observed when passing the object through the opening.
- Situational characteristics are independent of the geometric object data and be indicative of a situation when passing the object through the opening.
- the additional situation characteristic compared to the geometrical object data just contribute a complementary information, which can therefore also enhance the precision and validity of the control of the at least one closure body.
- it may be at least one additional situation characteristic
- the device may include a
- Incorrect object detection device adapted to detect a false object in a surrounding area of the opening that does not desire access to the access structure through the opening. So if an object is in the
- Entrance area of an access structure (for example, in the area of a gate in front of a building) is detected, this object may still be one that wants to penetrate into the access structure, or just a wrong object, only by accident or to another Purpose in the
- Entrance area of the access structure for example, cross traffic. If a wrong object (for example due to its orientation, speed or other behavior) can be differentiated from an object actually requiring access to the access structure, the number of incorrect opening operations may expose at least part of the opening to the at least one closing body be reduced. This increases the security of access control and improves the energy balance.
- the device may include a
- the controlled coverage characteristic may comprise at least one of a group consisting of one in one Opening state for allowing the object to pass from the passage surface of the opening kept free by the at least one closing body, and a
- Opening width and / or opening time can also be passed on to a heating and / or cooling system (for example for providing a warm air curtain) for this purpose.
- Closing body still remains partially covered.
- Embodiments of the invention just a continuous transition between a fully open and a fully closed configuration of the opening possible, with each intermediate stage (that is, each partial
- Closing body remains free as far as one through the geometric
- the additional opening may be a multi-opening and / or a longer opening relative to the base opening.
- a multiple opening is understood in particular to mean a buffer area which is actually not required for passage of the object for geometrical reasons, but is additionally provided for the purpose of increasing security or avoiding discomfort for the person described above for the reasons described above.
- a longer opening is understood in particular to mean a buffer time which may not be necessary for passing the object due to its kinematics, but from the above
- Avoiding a person's discomfort can be additionally provided. These increased and / or longer openings may also affect a person as the driver of a vehicle (for example, give the driver the certainty that a gate for a passage is sufficiently wide open).
- the access structure may be selected from a group consisting of a building, a room, a machine, a vehicle, a storage, a garage, and a hangar.
- Other access structures are of course also possible.
- the at least one closing body may be selected from a group consisting of at least one
- pivotable controllable closing body at least one
- longitudinally movable controllable closing body and at least one rollable controllable closing body. Also foldable closure body or the like can be used.
- the at least one closing body may be selected from a group consisting of at least one horizontally movable closing body and at least one vertically movable closing body. Also obliquely movable closing body are possible.
- a closing body or a plurality of closing body may be provided in each case a closing body or a plurality of closing body.
- FIG. 1 shows an apparatus for monitoring an object according to an exemplary embodiment of the invention.
- FIG. 2 shows part of an apparatus for monitoring an object according to an exemplary embodiment of the invention.
- FIG. 3 shows an arrangement with a device for monitoring an object and for correspondingly controlling closure bodies according to an exemplary embodiment of the invention.
- FIG. 4 shows a region of an opening which is not covered by a closing structure during the passage of an object through this region, the region being formed from a basic opening corresponding to the dimensions of the human anatomy and a situation-dependent additional opening.
- the same or similar components in different figures are provided with the same reference numerals.
- Contain compounds of rare earth elements These have the property to illuminate when exposed to infrared light in the visible range. This is another problem with constant illumination of a detection scene by means of infrared headlights, because of the use of such systems in the
- FIG. 1 shows an apparatus 100 for monitoring an object 102 according to an exemplary embodiment of the invention.
- the device 100 according to FIG. 1 is an infrared illumination-modulated three-dimensional one Object sensor allows.
- the scenario in which the device 100 according to FIG. 1 is implemented may be the environment of a door 91 in a building through which a corridor 93 passes.
- the device 100 may sensory monitor whether and which persons as objects 102 are moving through the aisle 93.
- the device 100 for monitoring objects 102 has a
- infrared-emitting pulsed electromagnetic radiation source 116 which may be formed as an array of infrared LEDs.
- the radiation source 116 is set up to illuminate the object 102 to be monitored with at least one infrared pulse, while this is imaged by an image recording device 72.
- Infrared flash system can therefore be a device for delivering short pulse-like
- the radiation source 116 may be configured to emit infrared light having a wavelength of approximately 1 pm.
- the at least one captured image is the basis for the monitoring result by the device 100, and forms, for example, the basis for a decision as to whether an object 102 is granted access to a building.
- An infrared-sensitive image recording device 72 of the device 100 here has two infrared cameras, between which the radiation source 116 is arranged.
- the image recording device 72 is set up to record one or more images of the object 102 to be monitored within respectively limited time intervals during periods of illumination of the object 102 with the infrared pulses. In other periods between the pulses, the
- a microprocessor-based or microprocessor-assisted controller 74 serves to control the radiation source 116, the image capture device 72, and other entities of the device 100.
- the controller 74 may comprise more than one microprocessor, for example, multiple microprocessors, auxiliary auxiliary electronics, etc.
- the controller 74 controls it such that pulse illumination periods of the radiation source 116 and
- Activity periods of the image pickup device 72 are synchronized for image recording or at least partially coincide. Accordingly, illumination-free interpulse periods of the radiation source 116 and periods of inactivity of the image recording device 72 for image recording can be synchronized or at least partially coincide.
- the image recording device 72 has two cameras in order to compile steric image information about the object 102. Together, the radiation source 116 and the image capture device 72 form an object recognition device 114 that is configured to recognize the object 102 based on the at least one captured image. For this, the one or more captured images may or may be analyzed by methods of image processing to extract information (eg, shape, size, type, identity), etc., about the object 102.
- information eg, shape, size, type, identity
- Object recognition device 114 is a in the embodiment shown
- stereometric object recognizer 114 This may be used, for example, to recognize the object 102 by triangulation using
- the object recognizer 114 is configured to take different pictures (which are related to the
- FIG. 1 further shows that the apparatus 100 comprises a decoder 76 adapted to decode information by means of infrared ink and / or infrared phosphor means in the space to be monitored (ie the door 91 with the passageway 93) and / or on the object 102 is coded. If the space or the object 102 is provided with infrared ink or the like in a defined manner (for example, forming an infrared ink bar code), the image pickup device 72 may also provide them
- the radiation source 116 is formed, by means of the infrared pulses additionally a bidirectional communication with a
- Communication partner device 78 (i.e., with a communicatively coupled other device) to initiate and thereby transmit encrypted or coded data to the communication partner device 78. That way that can
- a communication device 80 (for example, wired or wireless) that can be communicated via a communication network is set up, from which
- a power management device 82 is provided in the device 100, which is set up to temporarily switch off the radiation source 116 when the image (s) are being recorded, if a predetermined value
- Infrared pulse is met. For example, such shutting off in daylight or when contours of the object 102 meet a predetermined clarity criterion may be controlled.
- the power management device 82 may further be configured to turn on the radiation source 116 for receiving the image or images only when a power supply readiness of a temporary energy storage 88 was detected for supplying the radiation source 116 with energy.
- the radiation source 116 may be configured to emit infrared light according to a predeterminable emission direction emission intensity characteristic. This means that the radiation source 116 can emit infrared light of different intensities in different spatial directions, for example as a function of an environmental geometry.
- Image pickup device 72 which require only a short exposure time because of their sensitivity, can by means of an infrared flash device as
- Radiation source 116 which via the controller 74 with the
- Exposure control of the camera (s) is connected, a very small or even minimal amount of infrared light in the region to be monitored
- a scene for three-dimensional sensor methods can be ideally illuminated by suitable control or scattering of the amount of infrared light emitted by the radiation source 116 in a direction-dependent manner.
- the sensor in the form of the image pickup device 72 is mounted above a passage (defined, for example, by the door 91) or on the ceiling in aisle 93 at a certain angle to the ground, it may it is assumed that less lightening light is required downwards (towards the bottom) than in the horizontal direction (ie into the remote region of the detection, if this extends spatially farther than a passageway is high).
- the amount of infrared light needed for specific regions, sectors and / or angular ranges can be learned through a teach-in process. Furthermore, by means of the control device 74, the amount of infrared light can be adapted adaptively (ie from image to image or over several images) on the basis of already taken images or due to known object situations (for example in the evening sun or on a street lamp reflective car windows).
- the radiation source 116 can be realized by one or more infrared light emitting diodes (LEDs), which in a particularly preferred embodiment have bundling properties. With preferably used radiation sources 116, a different intensity of the flash infrared can be controlled depending on the emission angle. In a further preferred embodiment, the three-dimensional
- HDR or high dynamic range image HDRI, HDR image, "high-dynamic-range image” or high-contrast image can be understood to mean a digital image that reproduces large differences in brightness in great detail.
- the multiple images can be made with one or more cameras and / or a very fast camera.
- the use of high-sensitivity cameras as the image recording device 72, the required Aufhelllicht elaborate (that is, light intensity multiplied by the turn-on or pulse length of the infrared radiation emitted by the radiation source 116) can be reduced such that materials of the object 102 and / or the surroundings, which emit visible light in response to the presence of infrared radiation, glow so dimly that this illumination of the eye can no longer be detected.
- the required Aufhelllicht elaborate that is, light intensity multiplied by the turn-on or pulse length of the infrared radiation emitted by the radiation source 116)
- the required Aufhelllicht innovation that is, light intensity multiplied by the turn-on or pulse length of the infrared radiation emitted by the radiation source 116) can be reduced such that materials of the object 102 and / or the surroundings, which emit visible light in response to the presence of infrared radiation, glow so dimly that this illumination of the eye can no longer be detected.
- coded signal are transmitted in addition to supplying the camera (s) of
- infrared light can be used to communicate in a variety of ways, for example, in one or more of the following ways:
- Request for identity information and / or authorization information of an object 102 for example, a person or possibly autonomous
- Communication partner device 78 for example, a mobile device (possibly
- Communication partner device 78 a back-channel data transmission via Wifi, Bluetooth, NFC, etc.). Further implementable variants of backchannels are: data transmitters in communication partner device 78 (for example portable device) via infrared diode; or if the mobile device is a mobile device: response communication via camera-flash LED or display white keying. In a further embodiment for answer communication, a display of the mobile device displays a visual code (for example a bar code or a QR code), which is in turn detected by the image recording device 72.
- a visual code for example a bar code or a QR code
- infrared ink on a stationary object (e.g., a lane) and / or on a moving object 102 (eg, a vehicle) with the infrared ink, (optionally coded) information (e.g. as a day).
- a stationary object e.g., a lane
- a moving object 102 e.g, a vehicle
- coded information e.g. as a day
- Image capturing device 72 can be suppressed or prevented that the transmitted information can be visually read by unauthorized persons.
- the machine reading is not trivially possible, as a foreign
- Reception device must first be synchronized with the transmitter rhythm of the device 100 and the radiation source 116. This foreign interception can be achieved by a concealment mechanism (for example, randomizing the time intervals between two emitted from the radiation source 116) Infrared light pulses, Staggered Pulsrepetitionsfrequenz, etc.) are made more difficult.
- a concealment mechanism for example, randomizing the time intervals between two emitted from the radiation source 116) Infrared light pulses, Staggered Pulsrepetitionsfrequenz, etc.
- control unit 74 both the radiation source 116 and the image pickup device 72 controlled (for example, flash triggering synchronized with camera shake), but is (in particular at
- a temporary energy storage 88 for example
- Capacitor contains enough energy for an infrared light pulse. Then, both the infrared light flash and the shot of an image can be triggered by the image pickup device 72.
- even more reliable evaluation is achieved by means of phosphorescent ink (for example on the ground).
- phosphorescent ink for example on the ground.
- Information is coded securely.
- such information may be "pre-busy" and / or "detection area free”.
- a detection area a part of an entire detectable area within a passage can be considered. In this area a door opening can take place (also called activation area).
- This area is typically larger than the apron area, with a hedging area in the immediate vicinity of the passage being considered as the apron area. It is also possible, for example, better hide flying insects from the image, for example, by a statistical means over several shots.
- the comparative combination of images brightened by the radiation source 116 is not affected by the Radiation source 116 brightened images achieved detection of environmental situations with high probability of hit. So can statements like
- the sensitivity of the infrared cameras of the imaging device 72 is limited to the range of body heat sensing (i.e., to a wavelength range around 10 pm, for example, between 7 pm and 14 pm).
- the radiation source 116 used for these mechanisms may, for example, be laser-based.
- an entire scene can be heated simultaneously (for example by means of an optical diffuser) by means of a heat pulse, and in particular during the evaluation, the different cooling rates of the irradiated objects 102, and in this frequency range (for visible light) different
- FIG. 1 shows the temporal (time t) synchronization of
- Pulsing operation of the radiation source 116 (see pulse intensity P) with the
- Activity cycle of the image pickup device 72 (in periods of activity of the camera (s), the detection capability D is different from zero).
- As detail 99 illustrates, time intervals of emission of infrared pulses and
- FIG. 2 shows part of a device 100 for monitoring an object 102 according to an exemplary embodiment of the invention.
- the three-dimensional sensor system of the device 100 is designed as a stereometric (for example, photogrammetric evaluation) sensor system of the image recording device 72 with a camera and two lens systems.
- FIG. 2 thus shows an embodiment in which the object recognition device 114 is provided only with a camera with a camera optics doubling a detection path.
- the electronic effort for forming the corresponding device 100 can thereby be kept very low.
- a first detection path of the image pickup device 72 has a
- a second detection path of the image recording device 72 has a (in particular fully reflecting) second deflection mirror 77, a second filter 79 and a second lens 81.
- two partial regions of the object 102 (shown schematically) to be monitored can be detected simultaneously by means of one and the same camera 114.
- the two images recorded temporally (filter 73, 79 may be formed as a controllable light switch, that is, for a recording can
- FIG. 3 shows an arrangement 150 with a device 100 for monitoring an object 102 and for the resulting control of closure bodies 106 according to an exemplary embodiment of the invention.
- the device 100 according to FIG. 3 can have any of the components that are described with reference to FIG. 1 or FIG. 2
- the arrangement 150 shown in Figure 3 has a schematic only
- the access structure 152 is a building in the embodiment shown.
- the object 102 may be a human desiring to enter the building by passing through the opening 104.
- the object 102 may be, for example, an automobile intended to pass through the opening 104 to enter the vehicle
- Access structure 152 into drive A plurality of occluders 106 are provided for selective, partial or complete opening or closing of the opening 104.
- occluders 106 are provided for selective, partial or complete opening or closing of the opening 104.
- two horizontally movable sliding doors and a vertically movable roller shutter as
- Closing 106 provided.
- the closure bodies 106 may be individually moved by means of a motor 160 (or other drive means) which, under control of a control means 74, may move each one of the closure bodies 106 to a defined position.
- the device 100 is thus for controlling or regulating the
- this passage surface is in terms of space and time depending on objective structural object properties or
- geometric object data i. Shape, size and position of the object 102, set.
- the passage area becomes dependent on situational
- the device 100 may be wholly or partially computer-implemented. At the heart of the device 100 is one formed, for example, as one or more processors
- Control device 74 which controls the coverage characteristic in the manner described below.
- the control device 74 is set up, the
- Coverage characteristic object adaptive i. Depending on characteristics or properties of the object 102 (for example, detectable by means of
- the controller 74 may access a database 162 by way of read and / or write access in which image data, geometric object metrics, situation characteristics, learned data, peculiarities of a culture, etc. may be stored.
- Database 162 may be used, for example, as an electronic mass storage
- control device 74 for controlling the coverage characteristic (spatially and / or temporally) based on the geometric object data and the at least one additional situation characteristic may be designed such that as an additional criterion an energy transfer between an outside of the opening 104 and an inside of the opening 104 is kept as small as possible during an opening for passing the object 102. Efficient and secure management of the transfer of objects 102 between an interior and an exterior of the access structure 152 through the opening 104 can thereby be combined with energy efficient operation.
- the control device 74 for controlling the coverage characteristic may be arranged such that during a
- the opening 104 of the at least one closing body 106 still remains partially covered.
- the passage opening can only be opened as far as it is in view of the geometric object dimensions and the situation characteristic (a) under
- the geometrical object data characterize a shape and / or a size as well as a position of the object 102. This makes it possible to ensure that the passing area is spatially large enough to allow the object 102 to pass through the passing area pass through without abutting the closure body 106 or a boundary of the opening 104 through the building (or other access structure 152). Furthermore, the passage area may be kept open over a sufficiently long period of time to ensure, depending on a current or maximum speed (for example, previously known or ascertained), that the object 102 can enter or drive through the access area 152 within the opening period within the opening period. Photoelectric sensors or the like can be used for this purpose.
- a currently prevailing temperature Tl within the opening 104 i.e., inside the access structure 152
- a currently prevailing temperature T2 outside the opening 104 ie., in FIG Outdoors.
- a culture circle at an installation location of the device 100 can be taken into account.
- information relating to an installation location of the device 100 can be communicated to the control device 74.
- Local, country-specific or cultural peculiarities with regard to the subjective perception of human objects 102 when entering an access structure 152 can thereby be taken into account in the setting of the
- an identity of the object 102 can also be taken into account.
- subjective subjective feelings of a human being may be taken into account, which, for example, when passing through a passing area requires a safety distance in order to enter access structure 152 without discomfort.
- the passage area can only be selected to be insignificantly larger than a cross-sectional area of the object. The same applies to the setting of an opening time of the passage surface, which in the case of a human object 102, taking into account human sensations, should generally be set longer than in the case of an objective object 102.
- the passing area or passing time can be set smaller than if the human object 102 is wearing summer clothing.
- a speed of the object 102 can enter into the control as an additional situation characteristic. This can in particular influence the passing time, i. an opening time of
- Passier Materials have, as a faster object 102, the access structure 152 through the opening 104 pass faster or can pass through than a slower object 102. On the other hand, it may be appropriate to choose a larger object with a faster object 102 than a larger
- FIG. 3 further shows that the device 100 may have a learning device 110 for learning behavior patterns of objects 102 with regard to passing through the opening 104. Behavior patterns that have been learned in this way can then form an additional situation characteristic that will be present in the future
- Tax transactions can be considered. In this way, the
- the device may have a user interface 112 for user-defined predetermination of at least part of the additional situation characteristics.
- a user interface 112 may include an input device (eg, a
- User interface 112 have an output device over which (for
- Example control information an operator of the device 100 can be made accessible.
- the apparatus 100 may further include a stereometric object recognizer 114, which may be formed in accordance with FIG. 1 and / or FIG. 2 and configured to recognize and three-dimensionally characterize an object 102 in a surrounding area of the opening 104 and to determine the geometric object data.
- a stereometric object recognizer 114 which may be formed in accordance with FIG. 1 and / or FIG. 2 and configured to recognize and three-dimensionally characterize an object 102 in a surrounding area of the opening 104 and to determine the geometric object data.
- the stereometric object recognizer 114 may be formed in accordance with FIG. 1 and / or FIG. 2 and configured to recognize and three-dimensionally characterize an object 102 in a surrounding area of the opening 104 and to determine the geometric object data.
- Object Detector 114 has two infrared cameras as
- Imaging devices 72 on, here both sides of the two horizontally movable closure body 106 are mounted in order to capture a space area in front of the opening 104 as completely as possible.
- the object recognizer 114 also has one or more pulsed illumination sources as
- Radiation source 116 which emit infrared pulses in the embodiment shown. These infrared pulses can be used in combination with the
- the image data acquired by the infrared cameras are used by the control device 74 as the basis for determining the geometric object data of an object 102 and, if appropriate, for identifying the object type (for example human,
- the controller 74 may further be communicable with a
- Incorrect object recognition device 118 may be coupled, which may also be formed as at least one processor or part thereof and configured to detect a false object in a surrounding area of the opening 104.
- a "fake object” is considered an object 102 that does not desire access to the access structure 152 through the opening 104.
- the fake object recognizer 118 may detect such false objects (for example, motor vehicles on a road) based on their direction of movement,
- control device 74 can be informed about this and then of driving the closing body 106 to at least partially open the
- the device 100 may also include a collision detection device 120, which is capable of detecting an impending collision of the object 102 the access structure 152 is established around the opening 104 and is further configured to detect an imminent collision
- the collision detection device 120 may also be supplied with data derived from the
- the collision detection device 120 can calculate an expected trajectory of the object 102 from corresponding location and / or speed data and compare this with a trajectory of the closure bodies 106. In this way, impending collisions can be predicted, and countermeasures can be taken to prevent such a collision before a collision occurs. For example, at
- Detecting an imminent collision will be issued an alarm.
- a control of the closure body 106 can be adjusted so that the collision is prevented. Also can over a
- Communication contact with the object 102 (for example, an automatically controlled motor vehicle) are recorded so that the object 102 adapts its movement to prevent the impending collision.
- a reduction or even an optimization of the energy consumption is created by an intelligent gate control.
- a human as an example of an object 102, moves when
- the width and / or the height of the passing of the Versch Anlagenisson stresses 106 Passier Chemistry the opening 104 should be kept low or minimized in terms of energy consumption reduction or optimization. This applies in a corresponding manner for the opening time of such a passage surface.
- the device 100 according to FIG. 3 satisfies these two contradictory needs in equal measure.
- a person needs as object 102 different additional free spaces (for example, a door that is opened further than necessary) in addition to its minimal contour.
- This need for security or a sense of well-being / discomfort depends on various factors. These include: - drive or motivation of a human object 102
- Control device 74 can also be considered.
- a configurable free space in the control system of the control device 74 (in the simplest case, only one parameter, in complex systems larger parameter sets can be used sensibly) can be created. In this way, it is possible in particular to respond to cultural and situational circumstances.
- This free space can also be learned using the learning device 110 (in a simple case by service or installation personnel, alternatively or additionally, this learning can also be done automatically).
- a human can per passage about 6 m 3 of air
- the passing comfort of a person as an object 102 may have priority in the control.
- Temperature difference or the absolute outside temperature the more precise can the passage surface of the opening 104 are approximated to the object contours. This may include, for example, an overfeed of opening and / or a delay in closing.
- a corresponding control logic of the control device 74 can be applied to the external weather situation regarding wind and / or rain.
- control device 74 it is possible for the control device 74 to control the closure bodies 106 such that the opening width of the opening 104 and / or the closure is adapted to the object speed.
- False object recognition device 118 may prevent a
- Opening process can be accomplished by recognizing that an object 102 does not want to go through the opening 104 (for example, by
- Cross traffic suppression This can increase the perceived safety of a person as an object 102 for the assembly 150.
- cross traffic then also advantageously no irritation caused by a (possibly very fast) door opening.
- the device 100 is provided with the object recognition device 114 for providing (in particular static, ie position-related, and / or dynamic, that is to say position-related) object recognition property, the improvement or even optimization of the control can be further refined: in vehicles or others
- objects as object 102 may be closed faster than humans as objects 102.
- the opening may be very late or in communication with or aware of the vehicle
- Security systems for example, how much a door should be open before, so that no emergency stop occurs
- the driver may be notified that the opening is sufficiently large, even if the opening may be intuitively too tight for the driver and the driver would otherwise brake or stop.
- control device 74 may determine the width and / or the height of the passage opening (for example a door opening width and / or height).
- An advantageous control principle which according to an exemplary embodiment of the invention can be carried out by the control device 74, is the principle "only as far as necessary, not as far as possible”. This causes an efficient energy saving.
- the assembly 150 may be at its installation or erection with the corresponding values for the free space requirement be configured by the at least one additional
- Movement forms take place.
- a control by means of a mobile phone application, by means of a service connection, via a web server integrated in the control, etc.
- a web server integrated in the control, etc.
- Control device 74 and / or by means of the learning device 110) are evaluated, how many skillsschreitungsabbrüche take place. Under one
- By-pass abort in this context, is understood to mean that an object 102 begins the process of passing through the opening 104 but terminates before it completes. This information can be forwarded to an external system as well as used for the adaptive adjustment of the opening width by the control device 74.
- the controller 74 may control such that additional clearance is provided when the security with respect to the object contours is small, smaller than usual, or less than a predetermined threshold.
- the object recognition and / or contour detection system used in the form of the object recognition device 114 can be equipped with an evaluation function which assesses with what certainty the contours of the objects 102 were detected.
- Detection uncertainties can be found, for example, in ultrasound systems or Infrared systems occur (for example, due to the influence of extraneous light or extraneous sound). With high security, the controller 74 then einberichtn a smaller clearance than at low security.
- the door opening widths, the number of persons passing through, their direction, the outside and inside temperature and / or the respective opening duration can be combined in an energy model which determines the energy flow through the opening 104 and a correspondingly prepared control information to a suitable heating or cooling system (not shown). This can be done under the control of the control device 74, whereby corresponding data can be taken from the database 162 and / or stored in it. It is also possible to process only individual parameters. For example, the heat curtain can only be switched off if no object 102 has passed through the portal for a certain time. Alternatively or additionally, it is also possible to detect the objects 102 passing through, and thus, depending on the identification of an object 102, to approach an associated heat transport volume for the energy balance. For example, in one vehicle, object 102 may be another
- Heat transport volume to be assumed as a human object 102.
- the contour recognition of an object 102 may be accomplished by the object recognizer 114, for example by means of cameras.
- stereometric methods can be advantageously used by interpreting images from infrared cameras. So that even in the dark a good enough picture quality can be (and people and vehicles or other objects 102 not disturbed or blinded), the shooting range of the
- Object recognition device 114 in the form of cameras as
- Imaging devices 72 are illuminated by means of the radiation source 116 with infrared light.
- this illumination can also take place by means of pulsed IR light or IR flash systems.
- Pulsed infrared light in particular has the advantage that motion blur in a camera system can be reduced or prevented even during acquisition by short or very short light pulses and does not have to be retrospectively calculated out with software-based methods.
- the realization of a radiation source 116 with pulse light causes only a small energy requirement of the radiation source 116.
- a sensor system of the device 100 which according to FIG. 3 is designed as an object recognition device 114, may be able to recognize and analyze the controlled closing bodies 106 (in particular at least one door or at least one gate). It can be either by learning trips, an installation or
- Control by the controller 74 may serve as a reference for the correlation between the desired opening width and actual opening width.
- a control device 74 which controls the movement of the
- collision detection device 120 can take into account. This may allow suppression or prevention of caster effects.
- Collision courses of objects 104 (for example, from both sides of the
- Conditions in particular geometric object data and energy saving criteria
- the device 100 or the arrangement 150 may additionally issue a collision warning.
- this warning can be done optically or acoustically; in the case of autonomously moving objects 102, this warning can be transmitted wirelessly.
- a proposal for the driving route adjustment can be transmitted or controlled by means of a control system.
- FIG. 4 shows a region of an opening 104 which is not covered by a closure structure 106 and which is formed from a base opening 130 corresponding to the dimensions of the human anatomy and an additional opening 132 depending on the situation.
- the controller 74 may be used to control the
- the opening 104 of the at least one closing body 106 remains free as far as the by the geometric
- the additional opening 132 may represent a multi-opening and / or a longer opening with respect to the base opening 130.
- a safety distance between a human object 102 and a passing area delimited by the closing body 106 and the opening 104 can be maintained, which reliably prevents a collision of the object 102 when passing through the opening 104 and subjective, too
- the surface area of the opening 104 according to FIG. 4 kept free by a covering with closing bodies 106 is rectangular (which can be set, for example, with the three closing bodies 106 according to FIG. 3), the surface area kept free by covering with one or more closing bodies 106 can alternatively be any other one Take shape, depending on how many closing body 106 are provided with which shape.
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- Engineering & Computer Science (AREA)
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- Closed-Circuit Television Systems (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102016119343.7A DE102016119343A1 (de) | 2016-10-11 | 2016-10-11 | Objektüberwachung mit Infrarotbildaufnahme und Infrarotpulsbeleuchtung |
PCT/EP2017/075847 WO2018069341A1 (de) | 2016-10-11 | 2017-10-10 | Objektüberwachung mit infrarotbildaufnahme und infrarotpulsbeleuchtung |
Publications (1)
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EP3526963A1 true EP3526963A1 (de) | 2019-08-21 |
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EP17794899.9A Withdrawn EP3526963A1 (de) | 2016-10-11 | 2017-10-10 | Objektüberwachung mit infrarotbildaufnahme und infrarotpulsbeleuchtung |
Country Status (3)
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EP (1) | EP3526963A1 (de) |
DE (1) | DE102016119343A1 (de) |
WO (1) | WO2018069341A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018104202A1 (de) * | 2018-02-23 | 2019-08-29 | Marantec Antriebs- Und Steuerungstechnik Gmbh & Co. Kg | Verfahren zum Betrieb eines Torsystems sowie Torsystem |
DE102018203813A1 (de) * | 2018-03-13 | 2019-09-19 | Pepperl + Fuchs Gmbh | Türsensoreinrichtung und verfahren zum betreiben einer türsensoreinrichtung |
EP3899883B1 (de) * | 2018-12-21 | 2024-04-03 | Inventio Ag | Zugangskontrollsystem mit schiebetür mit objektüberwachungsfunktion |
SG11202104133TA (en) * | 2018-12-21 | 2021-05-28 | Inventio Ag | Access control system with sliding door with a gesture control function |
CN109714511A (zh) * | 2019-01-17 | 2019-05-03 | 苏州工业园区小步电子科技有限公司 | 多功能一体机 |
US20230313595A1 (en) | 2019-03-08 | 2023-10-05 | Inventio Ag | Access control system comprising a sliding door and visualization of status information |
AU2020233914B2 (en) | 2019-03-08 | 2023-06-01 | Inventio Ag | Access control system comprising a sliding door that is opened contactlessly from the inside |
DE102019112338A1 (de) * | 2019-05-10 | 2020-11-12 | Bircher Reglomat Ag | 3D Sensorsystem, betreibbar in verschiedenen Betriebsmodi in Abhängigkeit eines Betriebszustandes eines Verschließkörpers |
CN113338784A (zh) * | 2020-02-18 | 2021-09-03 | 佛山市云米电器科技有限公司 | 智能门 |
CN115668317A (zh) | 2020-05-18 | 2023-01-31 | 因温特奥股份公司 | 针对建筑物门的附加的区域监控 |
EP4189202A1 (de) | 2020-07-31 | 2023-06-07 | Inventio Ag | Gebäudewandmodul mit automatischen türen für benutzer und postzustellung |
CN115562259A (zh) * | 2022-09-24 | 2023-01-03 | 北京融安特智能科技股份有限公司 | 一种机器人故障管理方法、系统、终端及存储介质 |
DE102023101110A1 (de) | 2023-01-18 | 2024-07-18 | Matthias Krebs | Sensorsystem und Verfahren zum Betrieb eines Sensorsystems |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2748565B2 (ja) * | 1989-06-14 | 1998-05-06 | オムロン株式会社 | 自動扉の開閉ファジィ制御装置 |
US7382895B2 (en) * | 2002-04-08 | 2008-06-03 | Newton Security, Inc. | Tailgating and reverse entry detection, alarm, recording and prevention using machine vision |
MXPA05003984A (es) * | 2002-10-15 | 2005-06-22 | Digimarc Corp | Documento de identificacion y metodos relacionados. |
DE10305010B4 (de) * | 2003-02-07 | 2012-06-28 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Bilderzeugung |
JP4267996B2 (ja) | 2003-09-17 | 2009-05-27 | Thk株式会社 | 自動扉装置 |
US7970177B2 (en) * | 2006-03-23 | 2011-06-28 | Tyzx, Inc. | Enhancing stereo depth measurements with projected texture |
WO2014106843A2 (en) * | 2013-01-01 | 2014-07-10 | Inuitive Ltd. | Method and system for light patterning and imaging |
DE202013000227U1 (de) * | 2013-01-11 | 2013-01-24 | Novoferm-Tormatic Gmbh | Gebäudeabschlussvorrichtung sowie Kontrolleinrichtung zur Montage mit einer Gebäudeabschlussvorrichtung |
DE102014110506A1 (de) * | 2014-07-25 | 2016-01-28 | Bircher Reglomat Ag | Verfahren zur Überwachung |
US9654703B2 (en) * | 2014-09-08 | 2017-05-16 | Nxp B.V. | Illumination apparatus |
-
2016
- 2016-10-11 DE DE102016119343.7A patent/DE102016119343A1/de not_active Withdrawn
-
2017
- 2017-10-10 WO PCT/EP2017/075847 patent/WO2018069341A1/de unknown
- 2017-10-10 EP EP17794899.9A patent/EP3526963A1/de not_active Withdrawn
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WO2018069341A1 (de) | 2018-04-19 |
DE102016119343A1 (de) | 2018-04-12 |
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