JP2005156379A - Method and device for measuring/monitoring moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To permit an imaging means for use in measurement to be also used for monitoring, and to stably perform both the measurement and the monitoring by a single imaging means. <P>SOLUTION: In the method for measuring/monitoring a moving body by projecting a light, such that a light beam crosses the moving direction of the moving body and by receiving the reflected light by a camera 33a, a first optical filter 51 for preferentially transmitting the wavelength of the light beam and a second optical filter 52 for inhibiting the transmission of the wavelength of the light beam on the light-receiving axis of the camera 33a, can be selectively applied, wherein the first optical filter 51 is applied in the measurement mode, and wherein the second optical filter 52 is applied in the monitoring mode. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a moving object measurement and monitoring method and apparatus for a moving object that is used for measuring a person's movement and grasping a customer's trend in a store such as a supermarket and other facilities.

  In recent years, in a large-scale commercial facility such as a supermarket or a store, a strategy of determining the layout and handling products in the store by grasping the flow of people (customers) in the store is becoming essential.

  For such a purpose, a measuring device for counting the number of passing customers is installed at a necessary place in the store. As such a measuring apparatus, conventionally, an image processing method or a light cutting method (slit light image processing method) has been proposed (Patent Document 1).

  On the other hand, in order to prevent the occurrence of accidents and unforeseen situations in the store and to ensure the safety of customers, the passages in the store, checkout counters, etc. are monitored with cameras. For example, an in-store image captured by a camera installed on a ceiling or the like is displayed on a display device in a monitor room and monitored by a monitor. If an abnormality is found from the image, the camera is remotely PTZ controlled, the abnormal portion or person is tracked by the camera, and the image is stored in a storage device as necessary.

However, among the methods of the measuring apparatus described above, the former image processing method has a problem that the processing time is long because the amount of image information is enormous and the reliability is not high. When using the latter light cutting method, the measurement time is short and the reliability is high, but image information cannot be obtained. Therefore, if monitoring is to be performed together with measurement, a monitoring camera is installed separately. There is a need. When a monitoring camera is installed separately from the measuring device, the equipment cost increases and maintenance is also expensive.
JP2002-245560

  It is an object of the present invention to make it possible to use an imaging unit used for measurement also for monitoring, and to stably perform both measurement and monitoring by a single imaging unit.

  According to the method of the present invention, an object moving on the floor surface or the like by projecting a light beam onto the floor surface or the like so as to intersect the moving direction of the object by the light projecting means and receiving the reflected light by the imaging means. A first optical filter that preferentially passes the wavelength of the light beam and a second light that makes it difficult to pass the wavelength of the light beam on the light receiving axis of the imaging means. An image captured by the imaging means without using the light beam is applied when the object passing through the position where the light beam is projected is measured, and the first light filter is applied. When the surroundings are monitored by the above, the second optical filter is applied.

  According to the apparatus of the present invention, the optical filter is detachably or selectably provided on the light receiving axis of the imaging means.

  Preferably, the optical filter includes a band-pass filter that preferentially passes the wavelength of the light beam and a band-cut filter that hardly passes the wavelength of the light beam, and the optical filter moves to move the light In the measurement mode for measuring an object passing through the position where the beam is projected, the band-pass filter is in a monitoring mode for monitoring the surroundings with an image captured by the imaging means without using the light beam. Each of the band cut filters is configured to be selected.

  Further, the position or orientation of the image pickup means is monitored by a measurement mode position for measuring an object passing through the position where the light beam is projected and an image picked up by the image pickup means without using the light beam. Driving means for changing to a monitoring mode position for performing the operation, the optical filter is fixedly provided with respect to the driving means, and the position or orientation of the imaging means by the driving means And the optical filter is configured to be automatically selected.

  In addition, the optical filter is disposed on the light receiving axis at the measurement mode position, and is disposed on the light receiving axis at the monitoring mode position, and a band pass filter that preferentially passes the wavelength of the light beam. And a band cut filter which is difficult to pass the wavelength of the light beam.

  In the present invention, objects for measurement and monitoring include people, passers-by, animals, and other moving objects.

  According to the present invention, the image pickup means used for measurement can be used for monitoring, and both measurement and monitoring can be stably performed by one image pickup means.

  FIG. 1 is a diagram showing an example of the overall configuration of a measurement and monitoring system 1 showing an embodiment of the present invention, FIG. 2 is a diagram showing the external shape of a counter device 3, and FIG. 3 is a side view showing the internal structure of the counter device 3 4 is a diagram showing the internal structure of the counter device 3 as viewed from below, FIG. 5 is a diagram showing the configuration of the light projecting optical system of the counter device 3, and FIG. 6 is a side view of the configuration of the light projecting optical system of the counter device 3. 7 is a diagram showing examples of various shapes of the optical filter devices 32, 32b to 32d, and FIG. 8 is a block diagram showing an example of the overall configuration of the counter device 3. As shown in FIG. 7A to 7C are views of the optical filter device viewed from below, and FIG. 7D is a cross-sectional view of the optical filter device viewed from the side.

  In FIG. 1, a measurement monitoring system 1 includes a host computer 2, a counter device 3, and a communication line 4. In the figure, only one counter device 3 is shown, but in practice, a large number of counter devices 3, 3,... The host computer 2 and each counter device 3 are connected to each other via a communication line 4. As the communication line 4, a wireless or wired LAN, a public line, a dedicated line, the Internet, or the like is used.

  This measuring and monitoring system 1 is a facility used by many people, such as a large store such as a supermarket or a department store, an underground mall where many specialty stores gather, a terminal building such as an airport or a station, a museum, or an event venue. Used in etc. In this embodiment, a measurement monitoring system 1 used in a supermarket will be described.

  The measurement monitoring system 1 has a function of counting the number of customers passing through a supermarket sales floor, an event venue, a passageway, a staircase, and the like, and a function of monitoring or observing the situation of these places with images.

  The host computer 2 includes a computer main body PC constituted by a CPU, a memory, and the like, a display device (display) DP, a hard disk (magnetic storage device) HD, and an input device NS. Interfaces for communication and control are also included. As the input device NS, a keyboard KB, a mouse MS, and a joystick, a touch panel, and other various operation input means (not shown) are used.

  The host computer 2 is installed in a supermarket manager room or guard room, and counts, displays, and processes measurement data transmitted from each counter device 3. Further, when an image (image data) for monitoring is transmitted from the counter device 3, the image is displayed on the display surface HG of the display device DP. A manager or a monitoring person monitors the state of each traffic area and its surroundings based on the displayed image. Further, the host computer 2 analyzes the contents of the image to determine whether there is an abnormality, and makes various notifications to an administrator or a monitor based on the determination result. Further, each counter device 3 is remotely controlled automatically or by an operator's operation. By remote control, the operation mode of each counter device 3 can be switched, the processing operation can be controlled, and the PTZ operation of the camera unit of each counter device 3 can be controlled. Details will be described later. As the host computer 2, a personal computer or a workstation is used.

  2 shows a state in which the counter device 3 is attached to the ceiling CL. FIG. 2 (a) is a view (front view) of the counter device 3 seen from below in that state, and FIG. 2 (b) is a side view. FIG. 2C shows a view seen from another side. In FIG. 2A, the optical filter device 32 shows a state where the optical filter is removed.

  In FIG. 2, the counter device 3 includes an optical filter device 32, a camera unit 33, optical glasses 34 a and 34 b, a microphone 35, indicator lights 36 a and 36 b, a reset switch 36 c, and a power input terminal 37, inside or on the main body casing 31. The communication terminal 38, the external audio input terminal 39a, the external audio output terminal 39b, the external sensor control terminal 40, and an arithmetic control unit for performing arithmetic processing are attached.

  The optical filter device 32 is provided so as to protrude downward substantially at the center of the main casing 31, and a disk-shaped first optical filter 51 is attached to the central portion of the protruding tip. A second optical filter 52 having a conical surface shape (see FIG. 7A) is attached so as to be positioned above and to surround the periphery of the first optical filter 51.

  The optical filter device 32 is provided so as to cover the optical axis (light receiving axis) of the camera unit 33 provided inside the main body casing 31, and the position or orientation of the optical axis of the camera is changed by the PTZ operation of the camera unit 33. When changed, either the first optical filter 51 or the second optical filter 52 exists on the optical axis. Details will be described later.

  The camera unit 33 includes a camera body (imaging device, hereinafter sometimes referred to as “camera”) 33a and a drive device 33b. The camera 33a receives and captures reflected laser light, which will be described later, and captures images of passersby and their backgrounds and outputs images (image data). The camera 33a is configured to perform pan (P), tilt (T), and zooming (Z) control (PTZ control) by the driving device 33b. The driving device 33b is controlled according to the operation mode of the counter device 3. That is, under the control of the drive device 33b, in the measurement mode, the measurement mode position (see FIG. 3) is set to a fixed posture with the optical axis of the camera 33a facing downward. At the measurement mode position, the camera 33a images the reflected light of the laser light via the first optical filter 51. In the monitoring mode, the camera 33a is set to the monitoring mode position in the oblique direction. At the monitoring mode position, the camera 33a images the surrounding situation via the second optical filter 52. The monitoring mode position is changed according to the movement of the passerby and the surrounding situation. That is, in the monitoring mode, the position and orientation of the camera 33a, that is, the imaging area is changed according to the situation.

  The optical glasses 34a and 34b are transparent glass plates for protecting the inside of the counter device 3, and are formed in slit-like windows provided on both sides of the lower surface of the main body casing 31 in order to project laser light onto the floor surface or the like. It is attached. The laser light generated inside the main body casing 31 becomes two linear light beams, passes through the optical glasses 34a and 34b, is emitted downward, and is projected onto the floor surface or the like so as to intersect the moving direction of the customer. Lighted. In the measurement mode, the camera 33a receives the reflected light of the projected laser beam, detects a change in the received light image due to the laser beam being blocked by a passerby, and detects a passing customer. The number of people is counted by counting the detection results.

  The microphone 35 collects ambient sounds and converts them into audio signals. Light emitting diodes (LEDs) or the like are used for the indicator lamps 36a and 36b, respectively, and the operation state of the counter device 3 and the communication state with the host computer 2 are displayed by display states such as lighting, blinking, and extinguishing.

  As shown in FIGS. 3 and 4, a camera unit 33 is disposed at the center of the main casing 31, and laser irradiation units 55 a and 55 b are disposed on both sides thereof.

  The laser irradiation units 55a and 55b are arranged symmetrically to each other, and irradiate laser beams parallel to each other from the optical glasses 34a and 34b on both sides as described above. Since these have the same configuration, only one laser irradiation unit 55a will be described.

  Referring also to FIG. 5 and FIG. 6, the laser irradiation unit 55a includes a semiconductor laser 551a, a collimator lens 552a, a first expander lens 553a, a second expander lens 554a, and a light projecting mirror 56a.

The semiconductor laser 551a emits a laser beam having a wavelength λ ₁ in a region having a longer wavelength than the visible region, that is, an infrared region that is an invisible region.

  The collimator lens 552a is a plano-convex cylinder lens and has a characteristic of collecting only one axial direction (L direction in FIG. 5) of incident light. Laser light emitted from the semiconductor laser 551a by the collimator lens 552a is parallel to the L direction, that is, laser light that travels only in a direction perpendicular to the L direction. In addition, about the H direction of FIG. 6, the spread of incident light is maintained as it is.

  The first expander lens 553a is a cylindrical cylinder lens and has a characteristic of diffusing only the −axis direction (L direction in FIG. 5) of incident light. The first expander lens 553a spreads the laser beam parallelized in the L direction in a predetermined slit length direction (Ma direction). In addition, about the H direction of FIG. 6, the spread of incident light is maintained as it is.

  The second expander lens 554a is a plano-convex cylinder lens, and has a characteristic of condensing only the −axis direction (H direction in FIG. 6) of incident light. By the second expander lens 554a, the laser beam having a spread in the H direction emitted from the semiconductor laser 551a becomes a parallel laser beam having a predetermined slit width Wa. In addition, about the H direction of FIG. 6, the spread of incident light is maintained as it is.

  By these optical processes, laser light (slit light) having a predetermined width Wa and a predetermined length Ma is obtained from the laser light emitted from the semiconductor laser 551a. It is possible to obtain an arbitrary width W and expansion length M by adjusting the characteristics of each lens and the distance between the lenses.

  The shaped laser beam is deflected by the projection mirror 56a, passes through the optical glass 34a, and is projected to the outside as the laser beam La. Also for the other laser irradiation unit 55b, the laser light emitted from the semiconductor laser 551b is shaped so as to have a predetermined width Wb and a predetermined spread length Mb, passes through the optical glass 34b, and is externally supplied as laser light Lb. Will be flooded.

  Note that the predetermined widths Wa and Wb of the laser beams La and Lb are the same after the light is projected from the optical glasses 34a and 34b to the outside. On the other hand, the lengths Ma and Mb of the laser beams La and Lb are the lengths at the positions of the light projection mirrors 56a and 56b and spread in the length direction, so that they are reflected by the light projection mirrors 56a and 56b. After the light is projected from the optical glasses 34a and 34b to the outside, it becomes longer. These two laser beams La and Lb are parallel to each other.

  However, the laser beams La and Lb may also be spread in the width direction (Wa and Wb directions). The laser beams La and Lb are linear laser beams extending in the directions of the lengths Ma and Mb. Instead, the laser beams La and Lb are dot laser beams and the dot laser beams are extended in the length direction. You may make it scan. Since the two laser beams La and Lb are parallel to each other, calculation for measurement is easy, but they need not be parallel to each other.

  Next, the optical filter device 32 will be described.

  As described above, the optical filter device 32 is provided with the first optical filter 51 at the measurement mode position and the second optical filter 52 at the monitoring mode position.

The first optical filter 51 is a band-pass filter that preferentially passes the wavelength λ ₁ of the laser light emitted from the semiconductor lasers 551a and 551b. That is, the first optical filter 51 selectively transmits the vicinity of the wavelength λ ₁ . However, if the wavelength near the wavelength λ _{1 in} the infrared region is transmitted and the wavelength region of visible light shorter than the wavelength λ ₁ is difficult to be transmitted or blocked, that is, the visible region is cut, the wavelength λ ₁ Longer wavelengths may be transmitted. Therefore, for example, a high-cut filter that cuts a wavelength region shorter than the visible region can be used as the band-pass filter here.

The second optical filter 52 is a band cut filter (infrared cut filter) that is difficult to pass the wavelength λ ₁ of the laser light emitted from the semiconductor lasers 551a and 551b. That is, the second optical filter 52 selectively cuts the vicinity of the wavelength λ ₁ . However, a wavelength longer than the wavelength λ ₁ may be cut as long as the vicinity of the wavelength λ _{1 in} the infrared region is cut and the visible wavelength region shorter than the wavelength λ ₁ is transmitted. Therefore, for example, a low cut filter that cuts a wavelength region longer than the infrared region can be used as the band cut filter here.

  Of these two optical filters, the first optical filter 51 in the measurement mode and the second optical filter 52 in the monitoring mode are selectively arranged on the optical axis of the camera 33a.

  In general, a CCD used as an image sensor of the camera 33a has high sensitivity even in an infrared region having a wavelength longer than that of a human visible region, so that the color tone may be unnatural depending on an environment such as illumination. In the measurement mode, laser light La and Lb in the infrared region is emitted from the optical glass 34b. When a normal image captured by the camera 33a is required in the monitoring mode or the like, the laser light La and Lb is used. Is preferably not received.

  Therefore, in the monitoring mode, an image with a more natural color tone can be obtained by imaging through the second optical filter 52 that is an infrared cut filter.

  On the other hand, in the measurement mode, it is necessary to capture the infrared laser beam irradiated on the floor surface with the camera 33a. However, when external light other than the laser light enters the camera 33a, image information by the external light is simultaneously captured. This becomes noise and the reliability of measurement decreases. Therefore, in the measurement mode, by imaging through a band-pass filter that transmits only the laser light in the infrared region, image information due to external light is blocked, and images based only on the measurement laser light La and Lb are input. A more reliable number of people can be counted.

  As described above, the camera 33a is switched by the driving device 33b so as to be in a position and posture suitable for each according to the measurement mode or the monitoring mode. When the camera 33a is in the measurement mode position, the first optical filter 51 suitable for the measurement mode is arranged on the optical axis, and when the camera 33a is in the monitoring mode position, the second optical filter 52 suitable for the monitoring mode is on the optical axis. Be placed.

  Thus, in the optical filter device 32, the first optical filter 51 and the second optical filter 52 are arranged in appropriate positions in appropriate shapes according to the respective modes, and the position and orientation of the camera 33a. Accordingly, an optical filter suitable for the mode at that time is automatically selected.

  In the above description, the first optical filter 51 of the optical filter device 32 has been described as having a conical surface shape, but may have various other shapes.

  That is, in addition to using the disc-shaped first optical filter 51 and the conical surface-shaped second optical filter 52 as shown in FIG. 7A, as shown in FIG. The optical filter device 32b may be configured by using the first optical filter 51b and the pyramidal second optical filter 52b. Further, as shown in FIG. 7 (c), two plate-like second optical filters 52c are obliquely conical on both sides in the direction along the path of the square-plate-like first optical filter 51c. Thus, the optical filter device 32c may be configured. Further, as shown in FIG. 7D, the first optical filter 51d, which is a part of a spherical shape, and the second optical filter 52d, which is a part of a spherical shape, are smoothly connected to form a semispherical shape as a whole. The optical filter device 32d may be used.

  Next, the function of each part of the counter device 3 will be further described with reference to FIG. In FIG. 8, thin line arrows indicate the flow of electrical signals, and thick line arrows indicate the flow of images (image data).

  The counter device 3 includes laser irradiation units 55a and 55b, a camera unit 33, a sub-control unit 60 that controls the drive device 33b, and a main control unit 70 that controls the counter device 3 as a whole.

  In addition to the semiconductor laser drivers 550a and 550b, the laser irradiation units 55a and 55b include the semiconductor lasers 551a and 551b, the collimator lens 552a, the first expander lens 553a, and the second expander lens 554a as described above. , And an optical system TKa, b composed of a light projection mirror 56a.

  In the camera unit 33, each scene is passed through a second optical filter 52 that is an infrared cut filter in the monitoring mode, and a first optical filter 51 that is a bandpass filter that transmits only the infrared region in the measurement mode. The image is formed on the CCD 42 through the zoom lens 41. It is converted into an electric signal by the CCD 42. The electric signal is converted into a digital signal by the CDS / ADC 43 and transferred to the main CPU 72. The timing generator 44 generates control signals for the CCD 42 and the CDS / ADC 43 and controls them. The timing generator 44 is controlled by the main CPU 72.

  In the drive device 33 b of the camera unit 33, tilt drive is performed by the tilt drive motor 47 and pan drive is performed by the pan drive motor 48. The zoom lens 41 is zoomed by an impact actuator 46. Since zoom control is performed in a plurality of stages, a photo reflector 45 is provided as the position sensor.

  The sub-control unit 60 controls each motor or actuator of the drive device 33b. The tilt drive motor 47 is controlled by the tilt driver 62, the pan drive motor 48 is controlled by the pan driver 63, and the impact actuator 46 is controlled by the impact actuator driver 64. Each of these drivers is controlled by the sub CPU 61.

The main control unit 70 controls the entire counter device 3. The main control unit 70 includes a power supply unit 71, a main CPU 72, a memory 73, an audio codec 74, a LAN controller 75, a wireless LAN card 76, and the like. Further, it is connected to an external reset switch 36c, indicator lights 36a and 36b, and a microphone 35. The power supply unit 71 converts the power supply voltage input from the power input terminal 37 into a predetermined voltage necessary for each unit and supplies the converted voltage. The main CPU 72 controls the memory 73, the audio codec 74, the LAN controller 75, the wireless LAN card 76, the CDS / ADC 43 and timing generator 44 of the camera unit 33, and the sub CPU 61 of the sub controller 60. The main CPU 72 has an image generation function (image generation unit), a data calculation function (data calculation unit), and a control function (control unit).
(Image generation)
Data (image data) output from the CCD 42 of the camera unit 33 is input to the main CPU 72. This data is the LAW data of the CCD 42 and cannot be generated as an image as it is. Therefore, data conversion and image processing are performed in the main CPU 72 to generate image data. The input LAW data is once taken into the memory 73. White balance, LAW-RGB conversion, gamma correction, and RGB-YCbCr matrix conversion are sequentially performed on the LAW data, and converted to general-purpose image data. Exposure control is performed using LAW data in the same manner as white balance. The image data is subjected to image compression by a data calculation unit and converted into still image data or moving image data. The image data can be transferred to the host computer 2 via the LAN controller 75 described later.
[Voice input / output processing]
Audio input can be performed by the built-in microphone 35 or an external microphone through the external audio input terminal 39a. The microphone 35 and the external audio input terminal 39a are connected to the audio codec 74. Usually, the built-in microphone 35 is given priority. The external audio input terminal 39a has a function of a changeover switch. When the external microphone is connected to the external audio input terminal 39a, the built-in microphone 35 is disconnected from the audio codec 74, and the external microphone is given priority. The input audio can be output directly to the external audio output terminal 39b without being codec, can be processed by the main CPU 72 after codec, or can be stored in the memory 73. In addition to directly outputting the input sound, the sound output can select and output a plurality of sound data stored in the memory 73 in advance, and the host computer 2 via the LAN controller 75 described later. Audio data can be transferred to
[External sensor control]
In order to control and process the counter device 3, there is an external sensor control terminal 40, which has an input terminal and an output terminal. The counter device 3 can be triggered by a signal from a sensor connected to an input terminal, or a device connected to an output terminal can be controlled by a calculation result.
[Communication, LED display, reset]
The counter device 3 includes a LAN controller 75 and can be controlled from the outside. Further, by installing the wireless LAN card 76, wired or wireless external control can be performed.

  As described above, the two indicator lamps 36a and 36b display the operation state of the counter device 3 and the communication state in the LAN controller. The reset switch 36c is used when the operation of the counter device 3 or communication is abnormal, or when returning the camera unit 33 to the initial setting.

  Next, the processing operation in the measurement mode by the counter device 3 will be described.

  9 and 10 are diagrams showing the positional relationship between the arrangement state of the counter device 3 and the passerby (customer) TN, and FIG. 11 is a view showing a change in the slit image as the passerby TN progresses. FIGS. 12 and 13 FIG. 4 is a diagram illustrating a method for calculating the height, speed, and size of an object. FIG. 9 is a view seen from the side of the traveling direction of the passer-by TN, and FIG. 10 is a view seen from the front in the traveling direction of the passer-by TN.

  As shown in FIGS. 9 and 10, the counter device 3 is installed at a height H with respect to the floor surface FL, and projects the laser beams La and Lb toward the floor surface FL. The arrow X is the traveling direction of the passerby TN, and the arrow Y is the width direction of the passerby TN. The imaging region SR of the camera 33a has an angle of view θx with respect to the traveling direction X and an angle of view θy with respect to the width direction Y. That is, the imaging region SR is a rectangular region on the XY plane on the floor surface FL.

In the slit image FS1 shown in FIG. 11A, it can be seen that the laser beams La and Lb are not blocked by anything, and the passerby TN has not reached the position of the laser beams La and Lb. This is the initial state. When the passerby TN travels in the traveling direction X, first, the laser beam La is blocked. As a result, as shown in the slit image FS2 shown in FIG. 11B, a part Lat ₀ of the laser light La moves upward by ΔLat to become a displacement position Lat.

Next, when the passerby TN passes (or is passing) the laser beam La and blocks the laser beam Lb, a part Lbt ₀ of the laser beam Lb is shown in the slit image FS3 shown in FIG. 11C. Is moved by ΔLbt to become a displacement position Lbt.

  Finally, when the passerby TN passes the laser beam Lb, the original state, that is, the initial state is restored.

  The movement amounts ΔLat and ΔLbt of the laser beams La and Lb in the slit image FS depend on the height h of the passerby TN. Accordingly, the height h of the person can be obtained from the amount of movement of the slit image FS. Thus, by seeing the change in the slit image FS of the two laser beams La and Lb, it is possible to detect the passerby TN and determine the moving direction thereof. Each time the detected passerby TN is detected, the number of passersby can be counted by counting the detected number.

12 and 13, when the counter device 3 is disposed at a height H from the floor surface FL, the initial position of the laser light La in the slit image FS is Lat ₀ . When the object TNm having a height h blocks the laser beam La, the position of the laser beam La becomes Lat. Here, when the height h is simply obtained,
h = ΔLat / L × H
It becomes.

The moving speed v of the object TNm is obtained from the time required to pass the two laser beams La and Lb. The slit image FS is updated every 1/30 seconds. The interval between the laser beams La and Lb is r, and the number of frames in which the two laser beams La and Lb sequentially change is counted. Therefore, the moving speed v is
v = (r / number of frames) × 30
Q
The length g of the object TNm is obtained by the number of frames of the continuous slit image FS. That is, since the speed and one frame time are known, the length g is
g = speed × number of frames × 1/30
The width wh of the object TNm is
wh = (w / W) × Wh
It becomes. However, Wh is the width of the laser beams La and Lb at the height h,
Wh = 2 × tan ⁻¹ (θy / 2) × (H−h)
It is.

  In this way, the passerby TN or the object TNm passing through the laser beams La and Lb is detected, and the moving speed, height, length, and width thereof are obtained.

  Next, the detection process of the passerby TN in the measurement mode will be described with reference to a flowchart.

  FIG. 14 is a flowchart showing passer-by measurement processing.

  In FIG. 14, first, initialization for measurement is performed (# 71). The pan, tilt, and zoom of the driving device 33b are fixed after being set to the measurement mode position, and the first optical filter 51 that is a band pass filter is applied. In addition, an area for storing measurement data is secured in the memory 73. Next, a reference line is created (# 72). Here, the acquired slit image FS is binarized to determine a reference line. Then, a portion where the laser beams La and Lb are blocked is calculated (# 73). Next, the passerby TN is determined based on the calculated movement amount of the slit image FS (# 74).

  Next, direction detection is performed based on the movement state of the two laser beams La and Lb in the slit image FS (# 75). Then, the determination result of the passerby TN, the moving direction, and the data of the slit image FS are stored in the memory 73. Next, an end determination is performed, and if not ended, the process returns to the creation of the reference line and the subsequent processing is repeated.

  FIG. 15 is a flowchart showing a mode switching process from the measurement mode to the monitoring mode.

  In FIG. 15, when the measurement mode is entered (# 80), the measurement process shown in FIG. 14 is performed (# 81). When the series of measurement processes is completed, it is confirmed whether or not an event has occurred (# 82). Here, if no event occurs, the measurement mode is continued, and if an event occurs, the mode is switched to the monitoring mode (# 83). After entering the monitoring mode, the measurement mode is entered when the set time is reached or the operator operates.

  Incidentally, as described above, the counter device 3 can be controlled by the host computer 2, but the following control or process control is possible.

  That is, in the monitoring mode, PTZ control, exposure control, white balance adjustment, image display function (streaming display), still image capture, movie clip, clip image playback, image size change, compression rate change, transfer It is possible to change the rate, capture audio data, and control audio output.

  In the measurement mode, it is possible to display the slit image FS (streaming display) and display the number of people (total number, total number per unit time, etc.).

  In addition, the measurement mode and the monitoring mode can be switched. In addition, the above-described control can be individually performed on the plurality of counter devices 3.

  According to the above-described embodiment, the optical filter suitable for each is automatically selected by switching between the counting mode and the monitoring mode, so that the single camera 33a can provide stable and reliable in each mode. High operation can be obtained. That is, the camera 33a used for measurement can also be used for monitoring, and both measurement and monitoring can be stably performed by one camera 33a.

Further, the posture of the camera 33a suitable for each of the monitoring mode and the counting mode is different. For example, as described above, when the counter device 3 is installed on the ceiling, the camera 33a faces downward (floor direction) in the counting mode, and in the monitoring mode, the person's appearance and the like can be specified from the downward direction. Slightly upward is suitable. According to the present embodiment, the optical filter device 32 provided so as to cover the camera 33a below the camera 33a allows an optical filter suitable for each according to the position and posture of the camera 33a without using a special filter replacement device. Will be automatically selected.
[Modification 1]
Next, a modification of the optical filter device will be described.

  FIG. 16 is a side view showing Modification 1 of the optical filter device.

  As shown in FIG. 16, in the optical filter device 32B, a planar first optical filter 51B and a second optical filter 52B are arranged side by side on the same plane, and are movable in the horizontal direction. In order to move the first optical filter 51B and the second optical filter 52B in the horizontal direction, a driving device 321 using a motor or the like is provided. The first optical filter 51B has the same characteristics as the first optical filter 51 described above, and the second optical filter 52B has the same characteristics as the second optical filter 52 described above.

  In the measurement mode, as shown in FIG. 15A, the optical filter is moved and positioned in the direction of the arrow M1 by the driving device 321, and the first optical filter 51B, which is a bandpass filter, is placed on the optical axis of the camera 33a. Be placed.

  In the monitoring mode, as shown in FIG. 15B, the optical filter is moved and positioned in the direction of the arrow M2 by the driving device 321, and the second optical filter 52B, which is an infrared cut filter, is used as the light of the camera 33a. Arranged on the axis.

In this example, the camera 33a does not change its posture according to the mode, but the camera 33a is fixed, and the optical filter is selected on the optical axis of the camera 33a by moving the optical filter by the driving device 321. It is. However, in the monitoring mode, it is desirable to expand the imaging area by performing zoom control of the camera 33a. In that case, the second optical filter 52B may be enlarged so as to cover the imaging region.
[Modification 2]
FIG. 17 is a side view showing a second modification of the optical filter device.

  As shown in FIG. 17, in the optical filter device 32C, the first optical filter 51C is detachably attached to the window 312 of the cover panel 311 of the main body casing 31. The first optical filter 51C has the same characteristics as the first optical filter 51 described above.

  In the measurement mode, as shown in FIG. 17A, the first optical filter 51C that is a bandpass filter is arranged on the optical axis of the camera 33a. In the monitoring mode, the first optical filter 51C is removed, and instead, a second optical filter 52C is attached to the window 312 as shown in FIG. The second optical filter 52C has the same characteristics as the second optical filter 52 described above. Accordingly, in the monitoring mode, the second optical filter 52C that is an infrared cut filter is disposed on the optical axis of the camera 33a.

  In this example, the first optical filter 51C and the second optical filter 52C are detachable from the cover panel 311. By replacing these optical filters according to the mode, the optical axis of the camera 33a can be changed. The optical filter is selected at.

  When the counter device 3 is installed, the first optical filter 51C and the second optical filter 52C are both removed, or the second optical filter 52C is attached, and the floor surface FL, etc. The counter device 3 can be positioned while the above situation is captured by the camera 33a and confirmed through the image FG.

  In this case, the first optical filter 51C is attached to the cover panel 311 when the counter device 3 is attached, and the entire cover panel 311 is removed from the main casing 31 as shown in FIG. Further, there may be no optical filter on the optical axis of the camera 33a. In this way, the image FG without the optical filter can be obtained by the camera 33a simply by removing the cover panel 311 from the main body casing 31 when the counter device 3 is installed.

  According to these modified examples 1 and 2, the camera 33a used for measurement can be used for monitoring, and both the measurement and monitoring can be stably performed by one camera 33a. .

  In the above-described embodiment, in the monitoring mode, the operations of the laser irradiation units 55a and 55b may be stopped so that the laser beams La and Lb are not projected.

  In the above-described embodiment, the counting process in the measurement mode is performed in each counter device 3, but the processing is applied to the image FG obtained by the camera 33 a or the image FG from each counter device 3 to the host computer 2. An image or the like may be transmitted, and the host computer 2 may perform necessary image processing, measurement processing, or counting processing. Instead of the floor surface FL, a ground surface, a wall surface, another surface, or a space may be used.

  In the embodiment described above, the configuration, shape, dimensions, function, number, processing content, processing order, display content, etc. of the whole or each part of the counter device 3, the host computer 2, or the measurement monitoring system 1 are the same as those of the present invention. It can be changed appropriately according to the purpose.

  It is used to monitor whether there are any abnormalities in passages and facilities in commercial facilities and public facilities, and to count the number of visitors and traffic.

It is a figure which shows the example of a structure of the measurement monitoring system which shows embodiment of this invention. It is a figure which shows the external appearance shape of a counter apparatus. It is a side view which shows the internal structure of a counter apparatus. It is a figure which shows the internal structure of a counter apparatus seeing from the downward direction. It is a figure which shows the structure of the light projection optical system of a counter apparatus. It is a figure which shows the structure of the light projection optical system of a counter apparatus seeing from a side surface. It is a figure which shows the example of the various shapes of an optical filter apparatus. It is a block diagram which shows the example of the whole structure of a counter apparatus. It is a figure which shows the positional relationship of the arrangement | positioning state of a counter apparatus, and a passerby. It is a figure which shows the positional relationship of the arrangement | positioning state of a counter apparatus, and a passerby. It is a figure which shows the change of the slit image accompanying advancing of a passerby. It is a figure explaining the calculation method of the height, speed, and size of an object. It is a figure explaining the calculation method of the height, speed, and size of an object. It is a flowchart which shows a passerby's measurement process. It is a flowchart which shows a mode switching process. It is a side view which shows the modification 1 of an optical filter apparatus. It is a side view which shows the modification 2 of an optical filter apparatus.

Explanation of symbols

1 Measurement monitoring system 2 Host computer 3 Counter device (measurement monitoring device)
31 Body casing (casing)
32, 32b, 32c, 32d Optical filter device (optical filter)
32B, 32C Optical filter device (optical filter)
33 camera unit 33a camera (imaging means)
33b Driving device (driving means)
51, 51b, 51c, 51d First optical filter 51B, 51C First optical filter 52, 52b, 52c, 52d Second optical filter 52B, 52C Second optical filter 55a, 55b Laser irradiation unit (projection means) )
321 Drive TN Passerby (object)
FL Floor FL

Claims (8)

This is a method of measuring and monitoring an object moving on the floor surface or the like by projecting a light beam onto the floor surface or the like so as to intersect the moving direction of the object by the light projecting means and receiving the reflected light by the imaging means. And
A first optical filter that preferentially passes the wavelength of the light beam and a second optical filter that makes it difficult to pass the wavelength of the light beam are selectively applicable on the light receiving axis of the imaging means. ,
When measuring an object passing through the position where the light beam is projected, the first optical filter is applied,
Applying the second optical filter when the surroundings are monitored by an image captured by the imaging means without using the light beam;
A method for measuring and monitoring a moving object. A moving object measurement and monitoring device having a light projecting means for projecting a light beam intersecting the moving direction of the object onto a floor surface and the like and an imaging means for receiving the reflected light of the light beam,
An apparatus for measuring and monitoring a moving object, wherein an optical filter is detachably or selectably provided on the light receiving axis of the imaging means. One of the optical filters is a bandpass filter that preferentially passes the wavelength of the light beam.
The measuring and monitoring apparatus for moving objects according to claim 2. One of the optical filters is a band cut filter that hardly allows the wavelength of the light beam to pass through.
The measuring and monitoring apparatus for moving objects according to claim 2. The optical filter is
A band pass filter that preferentially passes the wavelength of the light beam and a band cut filter that hardly passes the wavelength of the light beam,
In the measurement mode for measuring an object passing through the position where the light beam is projected by the movement of the optical filter, the bandpass filter uses the image picked up by the image pickup means without using the light beam. In the monitoring mode for monitoring the surroundings, the band cut filter is configured to be selected respectively.
The measuring and monitoring apparatus for moving objects according to claim 2. The position or orientation of the image pickup means is monitored by the measurement mode position for measuring an object passing through the position where the light beam is projected and the image picked up by the image pickup means without using the light beam. Drive means for changing to the monitoring mode position for
The optical filter is fixed to the driving means;
The optical filter is configured to be automatically selected according to the position or orientation of the imaging unit by the driving unit.
The measuring and monitoring apparatus for moving objects according to claim 2. The optical filter is
A bandpass filter that is disposed on the light receiving axis at the measurement mode position and preferentially passes the wavelength of the light beam;
It is arranged to be positioned on the light receiving axis at the monitoring mode position, and consists of a band cut filter that hardly allows the wavelength of the light beam to pass through.
The moving object measurement monitoring apparatus according to claim 6. The optical filter is provided protruding downward from the casing of the measurement monitoring device,
The bandpass filter is provided in a plate shape at the center of the protruding tip,
The band cut filter is provided in a conical shape so as to surround the periphery of the band pass filter.
The moving object measurement monitoring apparatus according to claim 7.

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