JP4247720B2 - Passing number detection device and method - Google Patents

Description

  The present invention relates to a passing-person detection apparatus and method.

Japanese Patent Application Laid-Open No. 8-161453 discloses a technique (number counting device) for measuring the number of persons passing through a measurement area. This technology irradiates slit light along the passage width direction from the slit light irradiation means installed above the passage where the number of people such as the entrance gate of the event venue needs to be measured, and the slit light is applied to the person or the passage. The reflected light generated by the reflection is received by the light receiving means, and calculation processing based on the triangulation principle is performed on the incident angle of the reflected light, the horizontal axis is the measurement range in the passage width direction, and the vertical axis is the distance information. A two-dimensional image is created, the head of each person is determined from the two-dimensional image, and the number of persons passing through the passage is measured by counting the number of heads.
JP-A-8-161453

 By the way, the above-mentioned conventional technique can measure the number of persons passing through the monitoring area to a certain degree with respect to a comparatively narrow measurement area such as an entrance / exit gate of an event venue. However, it cannot be applied to the measurement of the number of people in a relatively wide measurement area such as a passage in a station or a crosswalk. The reason is that when the measurement area is wide, it takes time to scan and irradiate the slit light to the wide measurement area, and the measurement error due to the movement of the person during the scanning and irradiation. This is because of the increase.

 The present invention has been made in view of the above-described circumstances, and an object thereof is to accurately measure the number of people passing through a relatively wide range such as a passage or a pedestrian crossing in a station.

 In order to achieve the above object, according to the present invention, as a first solving means related to the passing number detecting device, a device for detecting the number of passing persons (passing number) passing through a predetermined monitoring area, the monitoring A laser sensor for acquiring distance information at each position of the monitoring area by irradiating the area with laser light in a scanning manner and detecting reflected light of the laser light, and a monitoring area based on the distance information at each position And determining the total number of passersby present in the predetermined time, and calculating the total number of the passersby within the predetermined time, and dividing the total by the total number of passers per passerby passing through the monitoring area Passing number determination means for determining the number of passing persons, the passing number determination means corrects the number of passing persons based on a change in walking speed of passers-by passing through the monitoring area. , To adopt the means of.

 According to the present invention, as the second solving means relating to the passing number detecting device, in the first solving means, the total number of persons passes through the monitoring area by one passer-by at a standard walking speed. It is characterized by the number of people who have been duplicated until then.

In the present invention, as the third solving means relating to the passing person detecting device, in the first or second solving means, the passing person determining means is an average density k of passers who exist in the monitoring area within a predetermined time. Based on the following relational expression (4) consisting of (number of people / m ² ) and walking speed v (m / s), a walking speed v when a passerby is crowded is calculated. A method of calculating the corrected passing number N ₁ based on the following relational expression (5) consisting of a walking speed v ₀ is adopted.

 Further, in the present invention, as a fourth solving means relating to the passing number detecting device, in any one of the first to third solving means, the passing number determining means is the presence of a passerby based on the distance information at each position. The area is determined, and the detection area Sc of the passerby in the existence area is determined. The detection area Sc, the standard passerby area Sp per standard passerby, and the passersby form a group. The means of determining the number of persons n based on the following relational expression (1) consisting of the density coefficient α indicating the density of the case is employed.

 Further, in the present invention, as a fifth solving means relating to the passing number detection device, in the fourth solving means, the density coefficient α is obtained when the density of the group is variously changed without considering the density coefficient α. It is characterized by being experimentally obtained from the difference in the number of people in the determined group and the actual number of people.

 Further, in the present invention, as a sixth solving means relating to the passing number detecting device, in the fourth or fifth solving means, the passing number determining means is based on the relationship between the position of the passer and the measurement resolution of the laser sensor. Then, a means for correcting the standard passer area Sp according to the position of the passer is adopted.

 On the other hand, according to the present invention, as a first solving means related to the passing number detection method, there is a method for detecting the number of passing persons (passing number) passing through a predetermined monitoring area, and scanning the monitoring area with laser light. A first step of acquiring distance information at each position of the monitoring region by detecting the reflected light of the laser beam and the traffic existing in the monitoring region based on the distance information at each position A second step of determining the number of people, a third step of calculating the total number of people within a predetermined time, and dividing the total by the total number of passers-by who pass through the monitoring area And a fourth step of determining the number of passing persons within the predetermined time, and in the fourth step, correcting the number of passing persons based on the walking speed of passers-by passing through the monitoring area. Sampling Use.

 Further, in the present invention, as a second solving means relating to the passing person detection method, in the first solving means, the total number of persons passes through the monitoring area by one passer-by at a standard walking speed. It is characterized by the number of people who have been duplicated until then.

In the present invention, as the third solving means relating to the passing person detection method, in the first or the second solving means, in the fourth step, the average density k of passers-by existing in the monitoring area within a predetermined time. Based on the following relational expression (4) consisting of (number of people / m ² ) and walking speed v (m / s), a walking speed v when a passerby is crowded is calculated. A method of calculating the corrected passing number N ₁ based on the following relational expression (5) consisting of a walking speed v ₀ is adopted.

 Further, in the present invention, as a fourth solving means relating to the passing number detection method, in any one of the first to third solving means, in the second step, the presence of a passerby based on the distance information at each position. The area is determined, and the detection area Sc of the passerby in the existence area is determined. The detection area Sc, a standard passerby area Sp per standard passerby, and a density coefficient α indicating the passerby density The means of determining the number of people based on the following formula (1) based on the above is adopted.

 In the present invention, as a fifth solving means relating to the passing number detection method, in the fourth solving means, when the density coefficient α is variously changed without considering the density coefficient α, the density coefficient α is changed. It is characterized by being experimentally obtained from the difference in the number of people in the determined group and the actual number of people.

 Further, in the present invention, as a sixth solving means relating to the passing number detection method, in the fourth or fifth solving means, in the second step, based on the relationship between the position of the passerby and the measurement resolution of the laser sensor. The standard person area Sp is corrected according to the position of the passerby.

 According to the present invention, the number of persons in the monitoring area is determined based on the distance information at each position of the monitoring area acquired by detecting the reflected light of the laser beam, and the cumulative number of persons within a predetermined time is calculated. By dividing the total number of people by the total number of people per person passing through the monitoring area, the number of people passing within the predetermined time is determined. Therefore, all persons passing through the monitoring area can be counted as the number of people passing. By setting the area to a passage or pedestrian crossing in the station, it is possible to measure the number of people passing through a wide range.

 Furthermore, according to the present invention, since the number of passing people is corrected in consideration of the change in walking speed of the person passing through the monitoring area, the passing number of people can be accurately measured.

 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a functional configuration of the passing-through number detection device according to the present embodiment. As shown in FIG. 1, the passing number detection device includes a laser sensor head 1, a control / signal processing unit 2, and a passing number determination unit 3. Among these components, the laser sensor head 1 and the control / signal processing unit 2 constitute a laser sensor, and thus the passing number detection device is configured by combining the laser sensor and the passing number determination unit 3. ing.

   As shown in FIG. 2, the laser sensor head 1 is installed at a high place in the vicinity of a predetermined irradiation area, and pulsed laser light (laser pulse) with a predetermined repetition period under the control of the control / signal processing unit 2. Are sequentially irradiated in a scanning manner and the reflected light of the laser pulse is sequentially received. That is, when the laser sensor head 1 scans and emits a laser pulse for one line in the main scanning direction, the laser sensor head 1 scans in the main scanning direction by sequentially moving the irradiation position by a predetermined pitch in the sub-scanning direction orthogonal to the main scanning direction. By repeating the irradiation, the laser pulse is irradiated over the entire irradiation region, the reflected light of the laser pulse is sequentially received, and the received light signal is output to the control / signal processing unit 2.

   The irradiation area is an area that includes a predetermined monitoring area R that needs to know the number of passers-by, and is set on, for example, an outdoor road. It is set as a pedestrian crossing where passers-by passes.

   Here, as shown in FIG. 2, when there is a passerby in such an irradiation area in a direction approaching the laser sensor head 1, the passerby can see from the laser sensor head 1 positioned obliquely above the traveling direction. Laser pulses are emitted from the front of the body to the head.

   As shown in FIG. 1, the laser sensor head 1 includes a laser light source 1a, a collimating lens 1b, a polygon mirror 1c, a swinging mirror 1d, a condensing lens 1e, a light receiver 1f, a main scanning motor 1g, and a sub scanning motor. 1h, a main scanning motor driver 1i, a sub scanning motor driver 1m, and the like.

   The laser light source 1a generates a laser pulse with a predetermined wavelength under the control of the control / signal processing unit 2 and emits it to the collimator lens 1b, while controlling the timing signal Si indicating the repetition timing of the laser pulse. Output to. The collimating lens 1b converts this laser pulse into parallel light and emits it to the polygon mirror 1c. The polygon mirror 1c is a polyhedron in which four surfaces having the same width and orthogonal to each other are formed as mirror surfaces, and the laser pulse incident from the collimating lens 1b by rotating in a predetermined direction as shown by an arrow is shown in FIG. Reflected in a scanning manner in the main scanning direction. The oscillating mirror 1d is provided in the emitting direction of the laser pulse reflected by the polygon mirror 1c, and the laser pulse is shown in FIG. 2 by oscillating around an axis orthogonal to the rotation axis of the polygon mirror 1c. Reflected in a scanning manner in the sub-scanning direction.

   That is, the measurement light emitted from the laser sensor head 1 to the irradiation area has a vertical angle θ for looking up the irradiation area from the laser sensor head 1 shown in FIG. By setting the horizontal angle φ in the horizontal plane shown in (b), that is, by setting the measurement direction by the polygon mirror 1c and the swing mirror 1d, scanning is performed in the main scanning direction and the sub-scanning direction. The irradiation area is irradiated. The reflected light in the measurement light irradiation area is reflected by the oscillating mirror 1d and the polygon mirror 1c and enters the condenser lens 1e.

   The condensing lens 1e condenses the reflected light on the light receiving surface of the light receiver 1f. The light receiver 1 f receives reflected light (photoelectric conversion) and outputs a received light signal Sr indicating the intensity of the reflected light to the control / signal processing unit 2. The main scanning motor 1g is a motor that rotationally drives the polygon mirror 1c. The sub-scanning motor 1h is a motor that drives the swing mirror 1d to swing. The main scanning motor driver 1i is a drive circuit that rotates the main scanning motor 1g at a predetermined rotational speed. The sub-scanning motor driver 1m is a stepping motor or a servo motor that swings the swing mirror 1d at a predetermined angle and a predetermined timing.

   The control / signal processing unit 2 controls the operation of the laser sensor head 1 (specifically, the laser light source 1a, the main scanning motor driver 1i, and the sub-scanning motor driver 1m) and the time difference between the timing signal Si and the light reception signal Sr. Based on (delay time Δt), the distance L to the measurement light reflection position at the measurement point P defined by the vertical angle θ and the horizontal angle φ is calculated from the position on the curved coordinates with the laser sensor head 1 as the origin. To do. That is, as shown in FIG. 2, the control / signal processing unit 2 calculates the distance L at the measurement point P at predetermined intervals in the main scanning direction based on the delay time Δt of the light reception signal Sr with respect to the timing signal Si. Then, the control / signal processing unit 2 uses the distance L related to the plurality of measurement points P, that is, a data set including the vertical angle θ, the horizontal angle φ, and the distance L for each measurement point P as measurement data, and the passing number determination unit 3 Output to.

   For example, if the number of measurement points P in the main scanning direction is n and the number of measurement lines in the sub-scanning direction is m, the control / signal processing unit 2 sets the distance Lij for (n × m) measurement points Pij. Each is acquired, and the measurement data of each measurement point Pij composed of the distance Lij, the vertical angle θij, and the horizontal angle φij is output to the passing number determination unit 3.

   The passing number determining unit 3 is the most characteristic component in the passing number detecting device. The passing number determination unit 3 determines the number of passing persons (passing number) passing through the monitoring region R by performing predetermined signal processing on the above-described measurement data. The passing number determination unit 3 determines the number of passers-by based on the measurement data acquired by the laser sensor, so what density the measurement points P are set in the irradiation area in the laser sensor, that is, The spatial resolution when measuring the distance L must be set to a sufficient value according to the size of the passerby. That is, the density of the measurement points P is set to such an extent that at least a passerby and the background can be sufficiently identified.

   Next, the operation of the passing number detection apparatus configured as described above will be described with reference to the flowchart shown in FIG. The operation of the laser sensor is known as disclosed in, for example, Japanese Patent Application Laid-Open No. 2002-140790. Therefore, in the following description of the operation, a passing number determination unit that is a characteristic component of the passing number detection device is described. 3 will be described in detail with a focus on the operation.

   First, when the passing number determination unit 3 acquires measurement data (vertical angle θij, horizontal angle φij, distance Lij) related to the plurality of measurement points Pij described above from the control / signal processing unit 2 (step S1), the measurement data is obtained. XYZ orthogonal coordinate system set on the irradiation area, that is, the main scanning direction is the X axis, the sub scanning direction is the Y axis, and the direction orthogonal to the X axis and the Y axis (vertical perpendicular to the ground surface or the floor surface). The coordinates are converted into distance data (conversion distance data) on an XYZ orthogonal coordinate system with the direction (direction) as the Z axis (step S2).

   This conversion distance data is the height H of the reflected position of reflected light at each position on the road where the irradiation area is set (position on the XY coordinate) (position on the Z coordinate with the ground or floor surface as the reference position). ), That is, a data set composed of an x-coordinate value, a y-coordinate value, and a z-coordinate value. For example, when the reflection position of the reflected light is the road surface, the height coordinate z in the conversion distance data is “0”, whereas when the reflection position of the reflected light is the passer's head, the height coordinate z is the road surface. To the head of the passerby.

   The passing number determination unit 3 compares the z-coordinate value of such converted distance data with a predetermined passer determination threshold value (for example, a threshold value indicating the height of the passer's knee), thereby allowing the passerby to pass. The passerby candidate measurement data indicating the candidate is extracted (step S3). Such passer candidate measurement data is obtained by picking up only the conversion distance data whose z coordinate value exceeds the height of the passer's knee among the conversion distance data at each position in the monitoring region R. The passing number determination unit 3 groups such passerby candidate measurement data that are adjacent or close to each other as one group (step S4). Then, for each group detected as a result of the grouping process, the position (x coordinate value and y coordinate value) and size (area on the XY orthogonal coordinate system) of the passer candidate based on the passer candidate measurement data. ) Is specified, and a detection frame (rectangular frame) and a detection ID are set (step S5).

   FIG. 4 is a schematic diagram showing a state in which the detection frame is set. In this figure, there are five passers-by a to e in the monitoring area R, of which passers-a exists in a single state, while passers-by b-e form a group. ing. When the measurement light is irradiated to the monitoring region R from the direction indicated by the arrow, each passerby a to e receives the measurement light on the front surface of the body. In this figure, the black circles of the passers-by a to e schematically indicate the irradiation positions of the measurement light. However, in the case of the passers-by forming a group, Because there is a blind spot of the previous passerby, there is a part where the measurement light is not irradiated even on the front of the body. The passing number determination unit 3 specifies the position and size of the passer-by candidate based on the z coordinate value (passer-by height H) of the passer-bye candidate measurement data obtained based on such measurement light. Then, a detection frame including the passerby candidate area is set.

   The passing number determination unit 3 compares the size of such passer-by candidates with a predetermined threshold value (single / multiple threshold value), so that the passer-by candidate is a single person or a plurality of passer-by candidates. It is determined whether the person is a crowded group (step S6). The single / multiple threshold value is obtained by multiplying the size of a passerby candidate for a passerby having a standard physique by a correction coefficient of about 1.4, for example. The passing number determination unit 3 compares such a single / multiple threshold value with the size of the passer candidate for each detection ID, so that the passer candidate is single for each passer candidate for each detection ID. Or, determine if there are multiple people.

   Then, the passing number determination unit 3 counts the number of passers as “one person” for the passer candidate determined to be a single person (step S7), while for the passer candidates determined as a plurality of persons, steps S8 and S9. The number of persons is specified by performing the number determination process consisting of For example, in the case of FIG. 4, the passerby a is determined to be a single person, but the passersby b to e are determined to form a group.

   In this number determination process, the passing number determination unit 3 maps the passer-by candidate measurement data to a cell space in which cells of a predetermined area are set, and does not exist as a cell in which a passer-by candidate exists (passer-by candidate cell). A cell table that identifies the cell (passer-by-passer cell) is generated (step S8). FIG. 5 is a schematic diagram showing such a cell table. In each passer-by a to e in FIG. 4, cells corresponding to passer-by candidate measurement data are blacked out as passer-by candidate cells.

   Further, the passing number determination unit 3 counts the number of passerby candidate cells corresponding to the passers-by within the detection frame determined to be a group, and multiplies this number by the area of the cell to thereby display the cell table. The total cell area Sc of passer candidates is calculated, and the total cell area Sc, the area of a standard passer on the cell table (cell standard passer area Sp), and the density coefficient α are expressed by the following equation (1). Based on this, the number n of passersby present in the detection frame W1 is calculated (step S9).

     Here, when the passerby forms a group, the density coefficient α becomes a blind spot of the previous passerby, and there is a portion where the measurement light is not irradiated to the subsequent passerby, The part is obtained by quantifying different points depending on the degree of crowding (passengerness) of passers-by. As can be seen from equation (1), when the density coefficient α increases (that is, the density increases) even if the total cell area Sc is constant, the number n of persons to be determined increases. By determining the number of people n of the group based on the equation (1) including the density coefficient α, the number of people n can be grasped more accurately.

     Such a density coefficient α will be described in more detail. When the density coefficient α is set to “0” and the density of the group is variously changed, the density coefficient α is obtained by measuring the number of groups in the passing number detection device and the actual number of persons at that time. It was obtained experimentally from the difference in the number of people. Since the degree of congestion has a certain correlation with the size of the area that becomes the blind spot of the measurement light, the number of people n of the group based on the equation (1) including the density coefficient α set corresponding to such a degree of density. It is possible to determine the correct number n of groups based on the experimental results.

     On the other hand, the cell standard passer area Sp is a fixed value defined in advance, but it may be corrected according to the passer's position as follows. That is, the measurement interval in the horizontal direction of the laser sensor becomes rougher as the distance from the laser sensor head 1 increases, and thus the detection area of the passerby becomes smaller as the distance from the laser sensor head 1 increases. This can be easily understood by looking at the measurement light interval in FIG. Therefore, as shown in FIG. 6, the measurement resolution A of the laser sensor has a characteristic proportional to the distance from the laser sensor head 1 to the reflection position (that is, the position of the passerby). Accordingly, the relationship between the characteristics shown in FIG. 6 and the cell standard passer area Sp for a passerby of standard physique is obtained in advance by experiments, and the cell standard passer area Sp is determined according to the distance from the laser sensor head 1 to the passer. It is conceivable to determine the number of people in the group with higher accuracy by correcting the above.

For example, the cell standard passer area at the reference distance L0 (that is, the measurement resolution a0) in FIG. 6 is obtained as S0, and the cell standard passerby area S0 is used to obtain the reference as shown in the following formula (2) or (3). The cell standard passer area Sp is corrected according to the distance of the passer's position with respect to the distance L0. In addition, W in Formula (3) is the width of the passerby of a standard physique.
a) When the distance L is less than the reference distance L0

    b) When the distance L is larger than the reference distance L0

    According to the correction methods according to equations (2) and (3), it is possible to determine the number of passers far from the reference distance L0 with higher accuracy than in the above embodiment.

    Now, the number of persons is determined for each detection frame to which the detection ID is given by the processing up to step S9. The passing number determination unit 3 calculates the total number of persons in the monitoring region R by adding the number of persons in the detection frame of the single person determined in step S7 and the number of persons in the group detection frame determined in step S9 ( Step S10).

The total number of persons is the number of persons measured for one frame of laser irradiation (a time for scanning once from the measurement start point (P ₁₁ ) to the measurement end point (P _nm ) at the measurement point Pij). Therefore, the total number of people is the number of passers-by who existed in the monitoring area R per frame, and is not the number of passers-by who passed the monitoring area R.

  Here, assuming that the distance in the Y-axis direction of the monitoring area R is 10 m and the walking speed of a standard passer-by is 4 km / h, it takes about 9 seconds for the passer-by to pass the monitoring area R. . Since the time per one frame of laser irradiation is about 0.5 seconds, the passerby is measured 18 times in total while passing through the monitoring region R over 9 seconds. As a result, the total number of persons measured while one passer-by passes through the monitoring area R is 18. Therefore, by calculating the cumulative number of passersby who existed in the monitoring area R within a certain time, and dividing the cumulative number by the total number of passers per passerby as described above, It is possible to calculate the number of people passing through R.

  Therefore, when the total number of people per frame is calculated in step S10, the passing number determination unit 3 calculates the cumulative number of people by adding the previous value and the current value of the total number of people (step S11). Then, the passing number determination unit 3 determines whether or not a predetermined time has passed (step S12). If it is determined “NO”, the process proceeds to the operation of step S1, and if it is determined “YES”, step S13 is performed. Move to operation. As described above, the operations from steps S1 to S12 are repeated for a certain period of time, whereby the total number of persons per frame, that is, the total number of persons obtained within the certain period of time is calculated.

  Subsequently, the passing number determination unit 3 calculates the passing number of people in the monitoring region R within a certain time by dividing the total number of persons obtained as described above by the total number of persons per passer (in this case, 18). (Step S13).

By the operation as described above, it is possible to obtain the number of people passing through the monitoring region R within a certain time. However, the number of passers is calculated on the assumption that the walking speed per passer is 4 km / h. However, when the number of passers passing through the monitoring area R increases, that is, the passer density increases. The walking speed per passer will decrease. For example, according to a traffic engineering pedestrian simulation analysis model, in the case of a passage in a station, the relationship between the passer density k (number of persons / m ² ) and the walking speed v (m / s) is expressed by the following relational expression (4 (Traffic engineering handbook CD-ROM version: see [Company] Traffic Engineering Study Group).

  By correcting the number of passing people calculated in step S13 in consideration of such a decrease in walking speed, it is possible to obtain a passing number of people with high accuracy. Accordingly, the passing number determination unit 3 calculates the passer density k per frame by dividing the total number of people per frame obtained in step S10 by the area of the monitoring region R. The passer-by density k is calculated for each frame within a predetermined time, and the average value of the passer-by density k within the predetermined time is calculated (step S14).

Then, the passing person determination unit 3 calculates the walking speed v at the time of crowding by substituting the average value of the passer-by density k into the relational expression (4), and the walking speed v, the passage obtained in step S13. The corrected passing number N ₁ is calculated based on the following relational expression (5) consisting of the number N and the standard walking speed v ₀ (4 km / h≈1.11 m / s) (step S15). ₁ is output to the outside as a measurement result.

 As described above, according to the present embodiment, the number of passersby in the monitoring region R is determined based on the measurement data of the laser sensor, that is, the information on the position and distance of the reflection position of the measurement light. By calculating the number of people and dividing the total number of people by the total number of passers-by passers who pass through the monitoring area R, the number of passing persons within the predetermined time is determined. The number of passing people can be counted, and by setting the monitoring area R to a passage or a pedestrian crossing in the station, a wide number of passing people can be measured.

 In addition, since the number of passing people is corrected in consideration of a decrease in walking speed of passers-by who pass through the monitoring region R at the time of crowding, it is possible to measure the passing number of people with high accuracy.

  In the above embodiment, the above relational expression (4) representing the change in the pedestrian speed at the time of crowding in the passage in the station premises is used, but not limited to this, for example, a pedestrian in other situations such as a pedestrian crossing You can use the formula for speed.

It is a block diagram which shows the function structure of the passage number detection apparatus concerning one Embodiment of this invention. FIG. 3 is a schematic diagram showing an attachment position of the laser radar head 1 and an irradiation state of measurement light in the passage number detecting device according to the embodiment of the present invention. FIG. 6 is a flowchart showing an operation process of a passing number determination unit 3 in the passing number detection apparatus according to the embodiment of the present invention. It is a 1st schematic diagram which supplementarily demonstrates operation | movement of the passage number detection apparatus concerning one Embodiment of this invention. It is a 2nd schematic diagram which supplementarily demonstrates operation | movement of the passage number detection apparatus concerning one Embodiment of this invention. 5 is a graph showing a relationship between a measurement resolution a and a distance L in a laser sensor in the passing-through-number detection apparatus according to an embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Laser radar head, 1a ... Laser light source, 1b ... Collimating lens, 1c ... Polygon mirror, 1d ... Swing mirror, 1e ... Condensing lens, 1f ... Light receiver, 1g ... Main scanning motor, 1h ... Sub scanning motor, DESCRIPTION OF SYMBOLS 1i ... Main scanning motor driver, 1m ... Sub scanning motor driver, 2 ... Control / signal processing part, 3 ... Passing number determination part

Claims (12)

A device for detecting the number of passersby (passing people) passing through a predetermined monitoring area,
A laser sensor that obtains distance information at each position of the monitoring area by irradiating the monitoring area with laser light in a scanning manner and detecting reflected light of the laser light;
Based on the distance information at each position, the number of passersby present in the monitoring area is determined, and the total number of passersby within a predetermined time is calculated, and the total per passerby passing through the monitoring area is calculated. Passing number determination means for determining the number of passing persons within the predetermined time by dividing by the number of persons,
The passing number determining means corrects the passing number based on a walking speed of a passerby passing through the monitoring area.  2. The passing number detecting apparatus according to claim 1, wherein the total number of persons is the number of persons counted repeatedly until one passer-by passes through the monitoring area at a standard walking speed. The passer-by determination means is a passer-by based on the following relational expression (4) consisting of the average density k (number / m ² ) and the walking speed v (m / s) of passers-by existing in the monitoring area within a predetermined time. walking speed v to calculate the at confluence, and calculates a correction passing people N ₁ based on the following equation consisting of the walking speed v, passing people N and standard walking speed v ₀ (5) The number-of-passages detection device according to claim 1 or 2.

The number-of-passengers determination means determines the presence area of the passer-by based on the distance information at each position and determines the detection area Sc of the passer-by in the presence area. The number of persons n is determined on the basis of the following relational expression (1) including a standard passer area Sp per person and a density coefficient α indicating a density when the passers form a group. Item 4. The number-of-passages detection device according to any one of Items 1 to 3.

        The density coefficient α is obtained experimentally from the difference in the number of persons in the group determined when the density of the group is variously changed without considering the density coefficient α and the actual number of persons. The passing number detection device according to claim 4.         6. The passage number determining means corrects the standard passer area Sp according to the position of the passer based on the relationship between the passer's position and the measurement resolution of the laser sensor. Passing number detection device. A method for detecting the number of passersby (passing people) passing through a predetermined monitoring area,
A first step of obtaining distance information at each position of the monitoring region by irradiating the monitoring region with laser light in a scanning manner and detecting reflected light of the laser beam;
A second step of determining the number of passersby present in the monitoring area based on the distance information at each position;
A third step of calculating a cumulative total of the number of people within a predetermined time;
A fourth step of determining the number of people passing within the predetermined time by dividing the total by the total number of passers per person passing through the monitoring area;
In the fourth step, the number of passing persons is corrected based on the walking speed of a passerby who passes through the monitoring area.  8. The passing number detection method according to claim 7, wherein the total number of persons is a number of persons counted repeatedly until one passerby passes through the monitoring area at a standard walking speed. In the fourth step, the passerby is based on the following relational expression (4) consisting of the average density k (number of persons / m ² ) and the walking speed v (m / s) of the passersby who exist in the monitoring area within a predetermined time. walking speed v to calculate the at confluence, and calculates a correction passing people N ₁ based on the following equation consisting of the walking speed v, passing people N and standard walking speed v ₀ (5) The method of detecting the number of passing people according to claim 7 or 8.

In the second step, the presence area of the passer-by is determined based on the distance information at each position, and the detection area Sc of the passer-by in the presence area is determined. The number of persons n is determined based on the following formula (1) based on a standard passer area Sp per person and a density coefficient α indicating the density of passers-by: Number of people detection method.

       The density coefficient α is obtained experimentally from the difference in the number of persons in the group determined when the density of the group is variously changed without considering the density coefficient α and the actual number of persons. The passing number detection method according to claim 10. 12. In the second step, the standard passer area Sp is corrected according to the passer's position based on the relationship between the passer's position and the measurement resolution of the laser sensor. Passing number detection method.

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