JP5284122B2 - Passage detection device - Google Patents

Description

  The present invention relates to a passage detection device that detects an object passing through a predetermined location, for example.

  Currently, traffic control devices are used to manage traffic of people. The traffic control device is provided, for example, at an entrance / exit of a specific area such as a railway, an airport, or a facility. For example, an automatic ticket gate as a traffic control device reads an information storage medium possessed by a user and determines whether or not the user can pass. When it is determined that the pass is permitted, the automatic ticket gate opens the door to prompt the user to pass, and when it is determined that the pass is not allowed, the automatic ticket gate closes the door and prevents the user from passing.

  In the automatic ticket gate, it is necessary to associate the owner of the information storage medium with the person whose traffic is controlled by the door. For this purpose, a plurality of sensors for detecting the passing state of the user and the moving object are provided on the side of the main body. (See, for example, Patent Document 1).

JP 2008-14171 A

  The automatic ticket gate described above determines for each sensor whether a person or an object exists in the detection area. The automatic ticket gate determines that a person or an object exists when the brightness level acquired by the sensor is equal to or lower than a reference value. These sensors are used to pass through a passage formed by arranging the automatic ticket gates. They are arranged at predetermined intervals along the direction.

  The automatic ticket checker determines that the same person or object is detected by the respective sensors when the brightness below the reference value is detected by the adjacent sensors. As a result, the automatic ticket gate described above detects the position of the moving person or object.

  However, the automatic ticket gate described above includes a plurality of light receiving elements that receive light so as to correspond to a plurality of illumination units arranged. For this reason, when an illuminating unit is added to increase the number of points to be detected, it is necessary to add the same number of light receiving elements as the illuminating unit. For this reason, there exists a problem that cost increases.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a passage detection device that can detect passing objects with higher accuracy with a simple configuration.

A passage detection device according to an embodiment of the present invention is a passage detection device that detects a passing object passing through a passage formed between a pair of main bodies provided facing each other, and one of the pair of main bodies. A light source for irradiating beam-shaped light, and a main body on the same side as the light source so as to have an optical axis different from the optical axis of the light source. And a detection unit that detects the passing state of the passing object based on an image captured by the imaging unit, and the light source is installed above the imaging unit with an elevation angle. The first illumination unit is provided, and the detection unit has a bright spot height based on the coordinates of the bright spot illuminated by the first illumination unit in the image captured by the imaging unit. Is detected .

  According to one aspect of the present invention, it is possible to provide a passage detection device capable of detecting a passing object with higher accuracy with a simple configuration.

FIG. 1 is a block diagram for explaining a configuration example of a passage detection apparatus according to the first embodiment. FIG. 2 is an explanatory diagram for explaining an example in which a person passes through a passage formed by the passage detection device shown in FIG. FIG. 3 is a diagram showing an overview of the passage detection apparatus shown in FIG. FIG. 4 is an explanatory diagram for describing image processing performed by the image processing unit. FIG. 5 is a top view of a passage formed by a pair of traffic control devices. FIG. 6 is a view of a passage formed by a pair of traffic control devices as viewed from the direction of travel. FIG. 7 is an explanatory diagram for describing an image captured by the traffic control device illustrated in FIG. 1. FIG. 8 is a view of a passage formed by a pair of traffic control devices as viewed from the direction of travel. FIG. 9 is a view of a passage formed by a pair of traffic control devices as viewed from the direction of travel. FIG. 10 is a top view of a passage formed by a pair of traffic control devices. FIG. 11 is a flowchart for explaining the operation of the traffic control device shown in FIG. FIG. 12 is a diagram illustrating an overview of another example of the traffic control device. FIG. 13 is a diagram illustrating an overview of still another example of the traffic control device. FIG. 14 is a diagram illustrating an overview of still another example of the traffic control device. FIG. 15 is a diagram illustrating an overview of still another example of the traffic control device. FIG. 16 is a block diagram for explaining a configuration example of the passage detection apparatus according to the second embodiment. FIG. 17 is a top view of a passage formed by a pair of traffic control devices. FIG. 18 is a view of a passage formed by a pair of traffic control devices as viewed from the direction of travel. FIG. 19 is an explanatory diagram for describing an image captured by the traffic control device illustrated in FIG. 16. FIG. 20 is a top view of a passage formed by a pair of traffic control devices. FIG. 21 is a view of a passage formed by a pair of traffic control devices as viewed from the direction of travel. FIG. 22 is a top view of a passage formed by a pair of traffic control devices. FIG. 23 is an explanatory diagram for describing an image captured by the traffic control device illustrated in FIGS. 20 to 22.

  Hereinafter, a passage detection device according to a first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram for explaining a configuration example of the passage detection apparatus 100 according to the first embodiment.

  As illustrated in FIG. 1, the passage detection device 100 includes a first illumination unit 1, a second illumination unit 2, an illumination control unit 4, an imaging unit 5, an imaging control unit 6, an image input unit 7, and an image processing unit 8. And a control unit 9 and the like. The image input unit 7, the image processing unit 8, and the control unit 9 are connected to each other via a bus 10 or the like.

  FIG. 2 is an explanatory diagram for explaining an example in which a person passes through a passage formed by the pair of main bodies 101 and 102 of the passage detection device 100 shown in FIG.

  FIG. 3 is a diagram illustrating an overview of the passage detection device 100 illustrated in FIG. 1.

  As shown in FIG. 3, the first illumination unit 1 is installed on the passage side of one main body 101 of the passage detection device 100. The 1st illumination part 1 is comprised by the Light Emitting Diode (LED) etc. which emit the near infrared light which has directivity, for example. The 1st illumination part 1 is installed in the channel | path side of one main body 101 of the passage detection apparatus 100 in the state with an elevation angle. That is, the first illumination unit 1 emits near infrared light having directivity at a predetermined angle.

  In addition, the 1st illumination part 1 is provided with the condensing lens. The light emitted from the first illumination unit 1 is collected by a condenser lens. The light emitted from the first illuminating unit 1 is in the form of a beam having an irradiation range radius of about several centimeters at the maximum distance (about the width of the passage formed by the pair of main bodies 101 and 102).

  As shown in FIG. 3, the second illumination unit 2 is installed in a state where a plurality of second illumination units 2 are arranged horizontally on the passage side of one main body 101 and below the installation position of the imaging unit 5. The second illumination unit 2 includes, for example, a light emitting diode (LED) that emits near-infrared light having directivity, and follows a passage direction of a passage formed by the pair of main bodies 101 and 102. Several are installed horizontally. That is, the 2nd illumination part 2 emits the near infrared light which has directivity toward the main body 102 on the opposite side horizontally.

  The second illumination unit 2 includes a condensing lens, and the light emitted from the second illumination unit 2 is collected by the condensing lens and formed by a maximum distance (formed by the pair of main bodies 101 and 102). In the form of a beam having a radius of about several centimeters.

  The illumination control unit 4 controls lighting timing and irradiation intensity of the first illumination unit 1 and the second illumination unit 2, and includes, for example, an electric board on which a counter IC is mounted. Moreover, the illumination control part 4 is controlling the timing which lights turn on by switching ON and OFF of the electric current sent through the 1st illumination part 1 and the 2nd illumination part 2, and adjusts a current value. Thus, the light emission intensity of the illumination can be changed.

  As shown in FIG. 3, the imaging unit 5 is installed on the passage side of one main body 101 of the passage detection device 100, and includes, for example, a camera having an area image sensor such as a CCD or a CMOS. . The imaging unit 5 forms an image of light received by an optical system such as a lens on an area image sensor. Each pixel of the area image sensor converts the received light into an electrical signal, that is, an image, and outputs a digital signal. Output as. When the camera included in the imaging unit 5 is an analog camera, for example, the signal is digitized by an A / D converter and output.

  The imaging control unit 6 controls the timing of imaging by the imaging unit 5 and controls the gain of the area image sensor of the imaging unit 5. In addition, the imaging control unit 6 can guarantee the simultaneity of the cameras by sharing the horizontal synchronization signals and the vertical synchronization signals of a plurality of cameras. The simultaneity control of the imaging control unit 6 can be realized by, for example, distributing a synchronization signal by a pulse generator. Further, the imaging control unit 6 can perform imaging by the imaging unit 5 in synchronization with the first illumination unit 1 and the second illumination unit 2 by synchronizing the signal with the illumination control unit 4.

  The image input unit 7 sequentially captures images acquired by the imaging unit 5, and includes, for example, a memory for temporarily storing images, a timing signal generation unit, and the like. The timing signal generator generates a timing signal for controlling timing for capturing an image.

  The image processing unit 8 performs various image processing on the image input by the image input unit 7. For example, the image processing unit 8 performs binarization processing and labeling processing on the input image. Further, the image processing unit 8 specifies the center of gravity of each area labeled by the labeling process.

  The control unit 9 comprehensively controls operations of the illumination control unit 4, the imaging control unit 6, and the image processing unit 8, and includes a memory that functions as a storage unit. This memory is composed of, for example, a ROM, a RAM, a nonvolatile memory, and the like. The ROM stores a control program, control data, and the like in advance, and the RAM functions as a working memory. Temporarily stores data being processed. The non-volatile memory stores the processing result of the apparatus.

  The control unit 9 calculates the distance from the main body of the passage detection device 100 to the object based on the position of the center of gravity specified by the image processing unit 8, and the person or object passing through the passage based on the calculated distance The thickness in the direction between the main bodies is calculated.

  FIG. 4 is an explanatory diagram for describing image processing performed by the image processing unit 8. FIG. 4A is a diagram illustrating an example of an input image input from the image input unit 7. When an image as shown in FIG. 4A is input, the image processing unit 8 performs binarization processing on the input image. In other words, the image processing unit 8 compares the threshold value stored in a memory (not shown) with the value of each pixel of the input image, and determines that the pixel less than the threshold is “0 (dark)” and the pixel that is equal to or greater than the threshold is “1 ( Replace with “Akira)”.

  In addition, the location where the irradiation light from the first illumination unit 1 is reflected by the person passing through the passage and the location illuminated by the second illumination unit 2 are “bright”, and the other A threshold is set in the memory so that the location is “dark”. By the above binarization processing, an image as shown in FIG. 4B is obtained. FIG. 4B is a diagram illustrating an example of an image that has been binarized.

  Next, the image processing unit 8 performs a labeling process on the binarized image. That is, the image processing unit 8 finds one pixel that is “bright” in the image shown in FIG. 4B and has no label added, and adds a label. The image processing unit 8 adds the same label to the “bright” pixels among the four neighboring pixels connected to the labeled pixels.

  By performing this process on the entire image, “bright” regions (bright spots) are classified as groups. With the labeling process described above, data as shown in FIG. 4C is obtained. FIG. 4C is a diagram illustrating an example of label information added to each pixel by the labeling process. In the figure, four areas are detected as illumination positions.

  In the present embodiment, the labeling process is performed so as to add a label to pixels in the vicinity of four “bright” pixels. However, the present invention is not limited to this. The labeling process may be performed in any range. Since the pixels may vary depending on the size of the illumination, the uniformity of the illumination light, the influence of noise, etc., the range for the labeling process should be set as appropriate, for example, around 8 pixels or around 24 pixels. Can do.

  The image processing unit 8 performs centroid calculation processing for calculating the centroid of each group based on the label information. That is, the image processing unit 8 obtains the coordinates (center of gravity) of the center of each illumination based on the coordinates and the number of pixels of each pixel in the area.

  FIG. 4D is a diagram illustrating one region classified by the labeling process. As shown in FIG. 4D, there are five pixels in the classified area. When the coordinates of the center of gravity of this area are (Xc, Yc), the coordinates of each pixel in the area are (Xi, Yi), and the number of pixels in the area is n, the following formulas 1 and 2 are established.

  The center of gravity (Xc, Yc) can be specified by Equation 1 and Equation 2 above.

  Next, how to obtain the distance from the apparatus to the object will be described. In the present embodiment, a method for obtaining the distance from the apparatus to the object using the principle of triangulation will be described, but the method for obtaining the distance may be any other method.

5 and 6 are explanatory diagrams for explaining an example in which an object (person) passes through a passage formed by a pair of main bodies 101 and 102. FIG.
FIG. 5A and FIG. 5B are views of the passage formed by the pair of main bodies 101 and 102 as viewed from above.
FIGS. 6A and 6B are views of a passage formed by the pair of main bodies 101 and 102 as viewed from the direction of travel.

  5A and 6A show a case where the distance from the main body 101 to the person is short, and FIGS. 5B and 6B show the case from the main body 101 to the person. It shows the case where the distance of is far.

  As shown in FIGS. 5A and 6A, when a person is present in the imaging range of the imaging unit 5 and the person passes near one main body 101, a plurality of persons are installed. Three of the second illumination units 2 irradiate a person, and the first illumination unit 1 also irradiates a person. In the example shown in FIGS. 5A and 6A, when the imaging unit 5 captures an image, an image as shown in FIG. 7A is captured.

  Also, as shown in FIGS. 5B and 6B, when a person exists in the imaging range of the imaging unit 5 and the person passes far from one main body 101, a plurality of persons are installed. Three of the second illumination units 2 are irradiating a person, and the first illumination unit 1 is also irradiating a person. In the example as shown in FIGS. 5B and 6B, when the imaging unit 5 takes an image, an image as shown in FIG. 7B is taken.

  The control unit 9 calculates the distance from the main body to the person and the height of the lighting position of the person by the first lighting unit based on the input images shown in FIGS. 7A and 7B.

  FIG. 7A is an explanatory diagram for describing an image captured in the example illustrated in FIGS. 5A and 6A. FIG. 7B is an explanatory diagram for describing an image captured in the example illustrated in FIGS. 5B and 6B.

  A point F shown in FIGS. 7A and 7B is the center point of the screen of the imaging unit 5. As shown in FIG. 7A, in the example shown in FIG. 5A and FIG. 6A, since a person is close to the apparatus main body, the bright spot is reflected away from the focal point F. As shown in FIG. 7B, in the example shown in FIG. 5B and FIG. 6B, since the person is far from the apparatus main body, the bright spot is reflected close to the center point F.

  As shown in FIGS. 7A and 7B, the bright spot P illuminated by the first illumination unit 1 is reflected above the center point F, and below the center point F. On the side, the bright spot Q illuminated by the second illumination unit 2 is reflected. In addition, since the 2nd illumination part 2 is arranged in multiple numbers by the side surface of the main body 101 of the passage detection apparatus 100, multiple luminescent spots Q are reflected.

  As described above, the coordinates of the bright spot that moves into the image change depending on the distance between the main body 101 and the object. That is, based on the coordinates of the bright spot, the distance between the main body 101 and the object can be obtained by back calculation. Further, the height of the illumination position on the object can be obtained by back calculation based on the coordinates of the bright spot.

  FIG. 8 is a view of a passage formed by the pair of main bodies 101 and 102 as viewed from the direction of travel. Here, a method for calculating the distance between the object and the apparatus main body and the height of the illumination position based on the illumination by the first illumination unit 1 will be described.

  First, a distance La from the imaging unit 5 to a person is obtained. The camera position indicates the center point of the camera.

  An angle (irradiation angle) formed by the irradiation direction of the first illumination unit 1 and the horizontal is defined as θL. In addition, an angle formed by a line connecting the illumination position P and the imaging unit 5 and the horizontal is θa. Furthermore, the distance in the height direction between the first illumination unit 1 and the imaging unit 5 is defined as Ds. In this case, the following formula 3 is established.

tan (θa) = (La · tan θL + Ds) / La (Formula 3)
Here, the distance from the imaging unit 5 to a point F ′ in the optical axis direction of the imaging unit (direction of the center point F of the screen) is Lc, and the angle formed by the optical axis of the imaging unit 5 and the horizontal is θel. . Further, the plane at the point F ′ in the direction perpendicular to the optical axis direction of the imaging unit at the distance Lc is defined as the frame plane, and the point where the extension line of the line connecting the imaging unit 5 and the illumination position P intersects the frame plane is P. ′. In this case, the distance Da between the point P ′ and the point F ′ is expressed as the following Equation 4.

Lc · tan (θa-θel) = Da (Formula 4)
Here, the angle of view of the imaging unit 5 is θver. Furthermore, let R ′ be a point where a straight line that forms an angle of 1 / 2θver with the optical axis of the imaging unit 5 and the frame surface intersect. In this case, the distance Dver between the point R ′ and the point F ′ (distance that is a half of the image frame width in the vertical direction) Dver is expressed by the following Equation 5.

Dver = Lc · tan (θver / 2) (Formula 5)
The number of pixels in the X-axis direction (horizontal direction) of the images shown in FIGS. 7A and 7B is 2Nhor, and the number of pixels in the Y-axis direction (vertical direction) of the images shown in FIGS. 7A and 7B is 2Nver. In the images shown in FIGS. 7A and 7B, the distance (number of pixels) between the center of gravity of the illumination position P and the center point F is N1. In this case, the following relationship is established between the distance Dver and the distance Da.

Da / Dver = N1 / Nver (Formula 6)
When Equations 3 to 6 are solved for La, the following Equation 7 is obtained.

La = Ds · (C1 · tanθel-1) / [C1 · (1 + tanθL · tanθel) + tanθel-tanθL]
... (Formula 7)
C1 is expressed by the following formula 8.

C1 = N1 · tan (θver / 2) / Nver (Formula 8)
θel, θL, θver, and Ds are constants based on conditions such as the installation state of the first illumination unit 1 and the imaging unit 5. N1 / Nver is a value obtained from the image. Therefore, the control unit 9 of the passage detection device 100 can calculate the horizontal distance La from the imaging unit 5 to the illumination position P based on the image acquired by the imaging unit 5.

  Next, the height Dh of the illumination position P is calculated. When the height of the installation position of the imaging unit 5 is Dcam, the height Dh of the illumination position P is calculated by the following formula 9.

Dh = Dcam + La ・ tanθL + Ds (Formula 9)
As described above, the control unit 9 of the passage detection device 100 has the coordinates of the center of gravity and the center point F of the illumination position P illuminated by the first illumination unit 1 reflected in the image captured by the imaging unit 5. The height Dh of the illumination position of the passing person (target object) and the horizontal distance La to the imaging unit 5 can be obtained based on the distance. That is, the control unit 9 functions as a detection unit that detects the passing state of the passing object based on the captured image.

  In the automatic ticket gate, it is determined that a person whose height is 125 cm or more is an adult. Therefore, by setting the elevation angle of the first illumination unit 1 so that Dh is approximately 125 cm, If there is a bright spot P in the state where a bright spot S exists (a person is present), it is determined that the child is an adult.

  Further, as described above, by calculating the distance La from both sides of the pair of main bodies 101 and 102, the thickness Lw of the object in the direction between the main bodies can be calculated. If the distance from one body 101 to the object is La1, the distance from the other body 102 to the object is La2, and the distance between the pair of bodies 101, 102 is Lm, the thickness Lw of the object is , Lw = Lm− (La1 + La2). Thereby, for example, it is possible to prevent a person having a small thickness such as a bag from being mistaken as a person.

  FIG. 9 is a view of a passage formed by the pair of main bodies 101 and 102 as viewed from the direction of travel. Here, a method for calculating the distance between the object and the apparatus main body and the width of the object in the passage direction of the passage based on the illumination by the second illumination unit 2 will be described.

  First, a distance La from the imaging unit 5 to the object is obtained.

  The angle between the line connecting the illumination position Q and the imaging unit 5 and the horizontal is θa, and the distance in the height direction between the second illumination unit 2 and the imaging unit 5 is Ds. In this case, the following formula 10 is established.

tan (θa) = Ds / La (Equation 10)
Here, a distance to a point F ′ in the optical axis direction of the imaging unit 5 (direction of the center point F of the screen) is Lc, and an angle formed by the optical axis of the imaging unit 5 and the horizontal is θel. Further, the plane at the point F ′ in the direction perpendicular to the optical axis direction at the distance Lc is defined as the frame plane, and the point at which the extension line of the line connecting the imaging unit 5 and the illumination position Q intersects the frame plane is defined as Q ′. . In this case, the distance Da between the point Q ′ and the point F ′ is expressed as the following Expression 11.

Lc · tan (θa + θel) = Da (Formula 11)
Here, the angle of view of the imaging unit 5 is θver. Furthermore, let R ′ be a point where a straight line that forms an angle of 1 / 2θver with the optical axis of the imaging unit 5 and the frame surface intersect. In this case, the distance Dver between the point R ′ and the point F ′ (a distance that is ½ of the image frame width in the vertical direction) Dver is expressed as the following Expression 12.

Dver = Lc · tan (θver / 2) (Formula 12)
The number of pixels in the X-axis direction (horizontal direction) of the images shown in FIGS. 7A and 7B is 2Nhor, and the number of pixels in the Y-axis direction (vertical direction) of the images shown in FIGS. 7A and 7B is 2Nver. In the images shown in FIGS. 7A and 7B, the distance (number of pixels) in the Y-axis direction between the center of gravity of the illumination position Q and the center point F is N2. In this case, the following relationship is established between the distance Dver and the distance Da.

Da / Dver = N2 / Nver (Formula 13)
When Equations 10 to 13 are solved for La, the following Equation 14 is obtained.

La = Ds · (C2 · tanθel + 1) / (C2−tanθel) (Formula 14)
C2 is expressed by the following formula 15.

C2 = N2 · tan (θver / 2) / Nver (Formula 15)
θel, θL, θver, and Ds are constants based on conditions such as the installation state of the second illumination unit 2 and the imaging unit 5. N2 / Nver is a value obtained from the image. For this reason, the passage detection device 100 can calculate the horizontal distance La from the imaging unit 5 to the illumination position Q based on the image acquired by the imaging unit 5.

  Here, the relationship between the angle of the optical axis of the first illumination unit, the angle of the optical axis of the second illumination unit, and the angle of the optical axis of the imaging unit is such that the optical axis of the imaging unit 5 is the same as that of the first illumination unit 1. It is preferable that the optical axis and the optical axis of the second illumination unit 2 are arranged so as to be approximately in the middle (θL−θeL = θeL, that is, θL = 2θeL). With this relationship, the coordinates of the bright spot P and the bright spot Q both change to the maximum depending on the distance from the imaging unit to the object, and the detection accuracy can be increased. Is.

  The angle of the optical axis of the first illumination unit 1, the angle of the optical axis of the second illumination unit, and the angle of the optical axis of the imaging unit are at least the optical axis of the first illumination unit and the second illumination. As long as the optical axis of the optical unit and the optical axis of the imaging unit do not intersect each other and the detection accuracy is not lowered, the optical axis may be arranged at any angle.

  Since a plurality of second illumination units 2 are arranged in a line on the passage side of the main body 101, a plurality of bright spots Q appear in the image. The distance between the optical axis of the imaging unit 5 and the illumination position Q is fixed at Ws. That is, the passage detection device 100 can obtain the width of the object in the passage direction of the passage by performing a calculation based on the bright spot Q illuminated by the second illumination unit 2.

  FIG. 10 is a view of a passage formed by the pair of passage detection devices 100 as viewed from above. As shown in FIG. 10, the object (person) is illuminated by the second illumination unit 2 that is not arranged in the center.

  First, a distance La from the imaging unit 5 to the object is obtained. An angle formed by a line connecting the illumination position Q and the imaging unit 5 and the optical axis of the imaging unit 5 is defined as θa. Further, the distance between the second illumination unit 2 and the imaging unit 5 in the passage direction of the passage formed by the pair of passage detection devices 100 is Ws. Further, when the distance in the horizontal direction between the imaging unit 5 and the illumination position Q is La, the following Expression 16 holds.

tan (θa) = Ws / La (Formula 16)
Here, a distance to a point F ′ in the optical axis direction (the direction of the center point F of the screen) of the imaging unit 5 is Lc, and a plane perpendicular to the optical axis direction at the distance Lc is a frame plane. Further, a point where an extension line of the line connecting the imaging unit 5 and the illumination position Q and the frame surface intersect is defined as Q ′. In this case, the distance Wa between the point Q ′ and the point F ′ is expressed as the following Expression 17.

Lc · tanθa = Wa (Formula 17)
Here, the angle of view of the imaging unit 5 is θhor. Furthermore, let S ′ be a point where a straight line that forms an angle of ½θhor with the optical axis of the imaging unit 5 and the frame surface intersect. In this case, the distance between the point S ′ and the point F ′ (distance that is a half of the image frame width in the vertical direction) Whor is expressed by Equation 18 below.

Whor = Lc ・ tan (θhor / 2) (Formula 18)
The number of pixels in the X-axis direction (horizontal direction) of the images shown in FIGS. 7A and 7B is 2Nhor, and the number of pixels in the Y-axis direction (vertical direction) of the images shown in FIGS. 7A and 7B is 2Nver. In the images shown in FIGS. 7A and 7B, the distance (number of pixels) in the X-axis direction between the center of gravity of the illumination position Q and the focal point F is N3. In this case, a relationship such as the following Expression 19 is established between the distance Whor and the distance Wa.

Wa / Whor = N3 / Nhor (Formula 19)
When Equations 16 to 19 are solved for La, they are expressed as Equation 20 below.

La = Ws / C3 (Equation 20)
C3 is expressed by the following formula 21.

C3 = N3 · tan (θhor / 2) / Nhor (Formula 21)
θhor and Ws are constants based on conditions such as the installation state of the second illumination unit 2 and the imaging unit 5. N3 / Nhor is a value obtained from the image. For this reason, the passage detection device 100 can calculate the horizontal distance La from the imaging unit 5 to the illumination position Q based on the image acquired by the imaging unit 5.

  As described above, the distance from the imaging unit 5 to the object is calculated by analyzing the image acquired by the imaging unit 5, but is not limited to the above-described method. For example, the lookup table may be created by calculating in advance the relationship between N1, N2, or N3 and the distance. In this case, the passage detection device 100 can recognize the distance to the object and the height of the object by referring to the lookup table based on the coordinates of the bright spot in the image. It is also possible to add a function for correcting lens distortion.

  In addition, when the 2nd illumination part 2 has shifted | deviated to the imaging direction with respect to the imaging part 5 like FIG. 10, the method of calculating the distance to a target based on the illumination position by a 2nd illumination part is the following. In some cases, the distance cannot be accurately calculated. However, if the second illumination unit is disposed at the same position as the imaging unit in the passing direction, the distance can be calculated only in the Y-axis direction.

  When the second illumination unit 2 is displaced from the imaging unit, the distance La to the object is calculated by the method shown in FIG. can do. That is, by solving Equation 20 for Ws, it can be expressed as Equation 22.

Ws = La · C3 (Equation 22)
Since C3 can be obtained from the image, the position Ws of the second illumination unit 2 can be calculated by the above formula 22.

FIG. 11 is a flowchart for explaining the operation of the passage detection apparatus 100 shown in FIG.
First, the passage detection device 100 acquires an image within an angle of view by the imaging unit 5 (step S11).

  When the image is input by the imaging unit 5, the image processing unit 8 of the passage detection device 100 performs binarization processing on the input image (step S12). In other words, the image processing unit 8 compares the threshold value with the value of each pixel of the input image, and replaces the pixels below the threshold value with “dark” and the pixels above the threshold value with “light”.

  The image processing unit 8 performs a labeling process on the binarized image (step S13). That is, the image processing unit 8 performs the process of attaching the same label to adjacent “bright” pixels on the entire image subjected to the binarization process.

  The image processing unit 8 performs a centroid calculation process for calculating the centroid point of each group based on the image subjected to the labeling process (step S14). That is, the image processing unit 8 obtains the coordinates (center of gravity) of the center of each illumination based on the coordinates and the number of pixels of each pixel in the area.

  Next, the control unit 9 of the passage detection device 100 determines the distance La between the imaging unit 5 and the object and the height Dh of the illumination position P based on the coordinates of the bright spot P illuminated by the first illumination unit 1. An upper calculation process is performed to calculate (step S15).

  That is, the control unit 9 calculates the number of pixels N1 between the center point F and the bright point P based on the image. The control unit 9 can calculate the horizontal distance La from the imaging unit 5 to the illumination position P by solving Equations 7 and 8 using N1. Further, the height Dh of the illumination position P can be calculated by solving Equation 9 using the value of La.

  Note that the thickness Lw of the object can also be calculated by performing the processing in step S15 from the facing detection device 100 on the facing side.

  Next, the control unit 9 of the passage detection device 100 performs a lower calculation process for calculating the distance La between the object and the imaging unit 5 based on the coordinates of the bright spot Q illuminated by the second illumination unit 2. (Step S16).

  That is, the control unit 9 calculates the number of pixels N2 between the focal point F and the bright spot Q based on the image. The control unit 9 can calculate the horizontal distance La from the imaging unit 5 to the illumination position Q by solving Equations 14 and 15 using N2.

  However, it is not known which illuminating point Q in the image is caused by which of the plurality of second illuminating units 2. Therefore, La is first obtained from the vertical relationship, and then the illumination emission position is calculated from the horizontal relationship.

  For example, the horizontal emission position of the illumination is calculated by the above-described mathematical formula 22 with the central portion as the coordinate 0. The correspondence between the calculation result of the distance and each illumination can be realized by using, for example, a method of selecting an illumination having a value closest to the distance to the illumination arrangement position. By associating in this way, it is possible to specify the second illumination unit 2 that emits illumination to the bright spot.

  The control unit 9 writes the calculated processing result (distance La and height Dh) in a RAM (random access memory) in the image processing unit 8 (step S17). Here, the processing for one image acquired by the imaging unit 5 ends.

  As described above, the passage detection device 100 has the coordinates of the center of gravity and the focal point F of the illumination position P illuminated by the first illumination unit 1 or the second illumination unit reflected in the image captured by the imaging unit 5. The height Dh of the passing person (object) by solving mathematical formulas determined by the installation conditions of the imaging unit 5 and the first illumination unit 1 or the second illumination unit 2 based on the distance from The distance La in the horizontal direction from the imaging unit 5 can be obtained. As a result, it is possible to provide a passage detection device capable of detecting a passing object with higher accuracy with a simple configuration.

  In the above-described embodiment, the passage detection device 100 is described as including one first illumination unit 1 installed with an elevation angle and a plurality of second illumination units 2 arranged horizontally. However, it is not limited to this configuration. This configuration is a minimum configuration, and the number of lights may be further increased.

  FIG. 12 is a diagram illustrating an overview of another example of the passage detection device 100. As illustrated in FIG. 12, the passage detection device 100 includes a plurality of first illumination units 1, and the plurality of first illumination units 1 are installed at different elevation angles. Thus, by installing the plurality of first illumination units 1 at different elevation angles, the height of the object that can be detected can be given a width.

  FIG. 13 is a diagram illustrating an overview of still another example of the passage detection device 100. As illustrated in FIG. 13, the passage detection device 100 includes a plurality of first illumination units 1, and the plurality of first illumination units 1 are installed horizontally. That is, by arranging the plurality of first illumination units 1 horizontally in this way, the passage detection device 100 can detect the height of the object at a plurality of positions.

  FIG. 14 is a diagram illustrating an overview of still another example of the passage detection device 100. As illustrated in FIG. 14, the passage detection device 100 includes a plurality of rows of second illumination units 2. That is, the passage detection device 100 includes a plurality of second illumination units 2 that are horizontally arranged at different heights. Thus, by arranging the second illumination units 2 in a plurality of rows, the passage detection device 100 can detect the distance to the object at different heights.

  FIG. 15 is a diagram illustrating an overview of still another example of the passage detection device 100. As illustrated in FIG. 15, the passage detection device 100 includes a line-shaped continuous parallel illumination 11 as a second illumination unit. Thus, by using the parallel illumination 11 as the second illumination unit, the resolution in the horizontal direction can be increased.

  Next, the passage detection apparatus according to the second embodiment of the present invention will be described in detail.

  FIG. 16 is a block diagram for explaining a configuration example of the passage detection apparatus 100 according to the second embodiment. The same reference numerals are given to the same components as those of the passage detection device 100 of the first embodiment, and detailed description thereof will be omitted.

  As illustrated in FIG. 16, the passage detection device 100 includes a first illumination unit 1, a second illumination unit 2, a third illumination unit 3, an illumination control unit 4, an imaging unit 5, an imaging control unit 6, and an image input. Unit 7, image processing unit 8, control unit 9, and the like. The image input unit 7, the image processing unit 8, and the control unit 9 are connected to each other via a bus 10 or the like.

  As shown in FIGS. 17 and 18, the third illumination unit 3 is installed in a state where a plurality of third illumination units 3 are arranged horizontally on the passage side of the other main body 102 opposite to the main body where the imaging unit 5 is installed. . The 3rd illumination part 3 is comprised by LED etc. which emit near-infrared light, for example. Moreover, the 3rd illumination part 3 is provided with the diffusion plate which is not shown in figure. That is, the light emitted from the LED is diffused by the diffusion plate and enters the imaging unit 5 installed in one main body 101.

  The second illuminating unit 2 and the third illuminating unit 3 are arranged in the height direction so that the illumination from the second illuminating unit 2 does not hit the light exit of the third illuminating unit 3 or , Are displaced from each other in the horizontal direction. Or you may shift the lighting timing of the illumination of the 2nd illumination part 2 and the 3rd illumination part 3 mutually, without shifting an installation position.

  The image processing unit 8 performs various image processing on the image input by the image input unit 7. For example, the image processing unit 8 performs binarization processing and labeling processing on the input image. Further, the image processing unit 8 specifies the center of gravity of each area labeled by the labeling process.

  FIG. 19 is an explanatory diagram for describing an image captured by the imaging unit 5 of the passage detection device 100 illustrated in FIG. 16.

  As shown in FIG. 19, in the image of this embodiment, the bright spot P by the first illumination unit 1 and the bright spot Q by the second illumination unit 2 described in the first embodiment are reflected. Furthermore, the bright spot S by the 3rd illumination part 3 is reflected in the image of this embodiment.

  The bright spot S by the third illumination unit 3 always appears in the same position. However, when there is a passing object between the third illumination unit 3 and the imaging unit 5, the bright spot S is not reflected. The control unit 9 detects the presence or absence of a passing object based on whether or not the bright spot S exists at a predetermined position in the image. That is, when it is determined that the bright spot S exists at a predetermined position, the control unit 9 determines that there is no passing object in the passage. Further, when the control unit 9 determines that the bright spot S does not exist at the predetermined position, the control unit 9 determines that there is a passing object in the passage.

  In addition, when determining whether or not the bright spot S exists at a predetermined position for one pixel, an accurate determination may not be performed due to noise. Therefore, when the position coordinate of the illumination to be determined is only one pixel, the presence / absence of the bright spot S may be determined based on an average value of a plurality of neighboring pixels (for example, eight neighboring pixels).

  With this configuration, for example, a passing object that cannot be detected by illumination from the first illumination unit 1 and the second illumination unit 2, such as a passing object with low reflectance, can be detected. As a result, it is possible to provide a passage detection device that can detect passing objects with a simple configuration with higher accuracy.

  In the present embodiment, the third illumination unit 3 has been described as being installed on the main body opposite to the imaging unit 5, but the present invention is not limited to this. Both of the passage detection devices 100 that form a passage may include the imaging unit 5 and the third illumination unit 3.

  20 to 22 are explanatory views for explaining an example in which both the main bodies 101 and 102 of the passage detection device 100 forming the passage are provided with the light source and the imaging unit 5.

  FIG. 20 is a diagram for explaining the function of each main body in a view in which a passage formed by the pair of main bodies 101 and 102 is viewed from above. FIG. 21 is a diagram for explaining the passage formed by the pair of main bodies 101 and 102 as seen from the direction of travel, with the functions of the main bodies disassembled. FIG. 22 is an explanatory diagram for explaining the passage detection device 100 including the light source and the imaging unit 5 in both the main bodies 101 and 102 forming the passage.

  As shown in FIG. 22, one main body (first main body) 101 of the passage detection device 100 includes a first illumination unit 1, a second illumination unit 2, a third illumination unit 3, and an imaging unit 5. I have. In addition, the 2nd illumination part 2 and the 3rd illumination part 3 are shifted and arrange | positioned at the vertical direction or the horizontal direction.

  As shown in FIG. 22, the other main body (second main body) 102 of the passage detection device 100 also includes the first illumination unit 1, the second illumination unit 2, the third illumination unit 3, and the imaging unit. 5 is provided. In addition, the second illumination unit 2 prevents the light emitted from the second illumination unit 2 installed in the one main body 101 from hitting the exit of the third illumination unit 3 of the other main unit 102 facing the second illumination unit 2. And the installation position of the 3rd illumination part 3 is adjusted.

  20A and 21A are diagrams for explaining the second illumination unit 2 of the first main body 101 and the third illumination unit 3 of the second main body 102. FIG. 20B and 21B are diagrams for explaining the third illumination unit 3 of the first main body 101 and the second illumination unit 2 of the second main body 102. FIG.

  As shown in FIG. 20A and FIG. 21A, a person is present in the imaging range of the imaging unit 5. In addition, three of the plurality of second illumination units 2 installed on the passage side of the first main body 101 irradiate a person. Furthermore, the 1st illumination part 1 is irradiating a person. Moreover, the light from the 3rd illumination part 3 installed in multiple numbers by the channel | path side of the 2nd main body 102 is interrupted | blocked according to a standing position of a person.

  That is, in the example illustrated in FIGS. 20 and 21, when a person stands at the position A, images as illustrated in FIGS. 23A and 23D are captured by the respective imaging units 5. In the example shown in FIGS. 20 and 21, when a person stands at the position B, images as shown in FIGS. 23B and 23E are taken by the respective imaging units 5. In the example shown in FIGS. 20 and 21, when a person stands at the position C, images as shown in FIGS. 23C and 23F are captured by the respective imaging units 5. 23A, 23B, and 23C show images of the imaging unit of one main body 101, and FIGS. 18D, 18E, and 18F show images of the imaging unit of the other main body 102. FIG.

  As shown in FIGS. 23A to 23F, the bright spot P illuminated by the first illumination unit 1 is reflected above the center of the image. In addition, below the center of the image, the bright spot Q illuminated by the second illumination unit 2 and the bright spot S illuminated by the third illumination unit 3 are reflected. Note that there are a plurality of bright spots Q and bright spots S by the second illumination section 2 and the third illumination section 3 on the passage side of the main body of the passage detection device 100 when the second illumination section 2 and the third illumination section 3 are present. Because they are arranged, multiple images are shown. The third illumination unit 3 is a light source installed in the main body that faces the imaging unit 5. For this reason, the bright spot S by the 3rd illumination part 3 is always reflected in the predetermined position of an image.

  FIG. 23A illustrates an image captured by the imaging unit 5 of one main body 101 in an example in which a person stands at the position A in the example illustrated in FIGS. 20A and 21A. It is explanatory drawing for. In this case, since the person is close to the imaging unit 5, the bright spot P and the bright spot Q are reflected away from the center of the image. In addition, the number of bright spots S to be reflected is small.

  FIG. 23C illustrates an image captured by the imaging unit 5 of one main body 101 in the example illustrated in FIGS. 20A and 21A in the example where a person stands at the position C. It is explanatory drawing for. In this case, since the person is far from the imaging unit 5, the bright spot P and the bright spot Q are reflected near the center of the image. In addition, the number of bright spots S to be reflected is large.

  FIG. 23B illustrates an image captured by the imaging unit 5 of one main body 101 in the example illustrated in FIGS. 20A and 21A in the example where a person stands at the position B. It is explanatory drawing for. In this case, since the person exists in the middle of the pair of main bodies, the result is intermediate between the example shown in FIG. 23A and the example shown in FIG.

  FIG. 23D illustrates an image captured by the imaging unit 5 of one of the main bodies 102 in the example illustrated in FIGS. 20B and 21B, in which the person stands at the position A. It is explanatory drawing for. In this case, since the person is close to the imaging unit 5, the bright spot P and the bright spot Q are reflected away from the center of the image. In addition, the number of bright spots S to be reflected is small.

  FIG. 23E illustrates an image captured by the imaging unit 5 of one of the main bodies 102 in the example illustrated in FIGS. 20B and 21B, in which the person is standing at the position C. It is explanatory drawing for. In this case, since the person is far from the imaging unit 5, the bright spot P and the bright spot Q are reflected near the center of the image. In addition, the number of bright spots S to be reflected is large.

  FIG. 23F illustrates an image captured by the imaging unit 5 of one of the main bodies 102 in the example illustrated in FIGS. 20B and 21B where the person is standing at the position B. It is explanatory drawing for. In this case, since the person exists in the middle of the pair of main bodies, the result is intermediate between the example shown in FIG. 23D and the example shown in FIG.

  As described above, the first illumination unit 1, the second illumination unit 2, the third illumination unit 3, and the imaging unit 5 are installed in both main bodies of the passage detection device 100 that form a passage.

  Thereby, for example, even if a blind spot in the imaging unit 5 increases when a person walks to one of the main units, the third illumination unit is installed by the imaging unit 5 installed on the opposite main unit. The illumination by 3 can be imaged. As a result, the passage detection device 100 can detect passage stably.

In addition, this invention is not limited to the said embodiment as it is, It can implement by changing a component in the range which does not deviate from the summary in an implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine the component covering different embodiment suitably.
The invention described in the scope of the claims at the beginning of the present application is added below.
[C1]
A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
A light source that is provided on the passage side of one of the pair of main bodies and that emits beam-shaped light;
An imaging unit that is provided in the main body on the same side as the light source so as to have an optical axis different from the optical axis of the light source, and that captures an image of a predetermined range on the passage side;
A detection unit that detects a passing state of the passing object based on an image captured by the imaging unit;
A passage detection device comprising:
[C2]
The light source includes a first illumination unit installed above the imaging unit with an elevation angle,
The detection unit detects a height of a bright spot based on coordinates of a bright spot illuminated by the first illumination unit in the image captured by the imaging unit. Passage detection device.
[C3]
The detection unit further detects a horizontal distance from the imaging unit to the bright spot based on the coordinates of the bright spot illuminated by the first illumination unit in the image taken by the imaging unit. The passage detection apparatus according to C2, characterized by:
[C4]
The light source includes a second illuminating unit that is installed in plural along the passage direction of the passage below the imaging unit at an angle at which light is emitted horizontally.
The detection unit is based on any one of the coordinates of a plurality of bright spots illuminated by the plurality of second illumination units reflected in an image captured by the imaging unit. The passage detection apparatus according to C3, wherein a horizontal distance from the light spot to the bright spot is detected.
[C5]
The passage detection device according to C4, wherein the optical axis of the imaging unit is arranged to be intermediate between the optical axis of the first illumination unit and the optical axis of the second illumination unit.
[C6]
A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
A light source that is provided on each of the pair of main bodies and that emits beam-shaped light;
An imaging unit that is provided on both of the pair of main bodies so as to have an optical axis different from the optical axis of the light source, and captures an image of a predetermined range on the passage side,
Based on the image captured by the imaging unit, based on the coordinates of the bright spot in the image captured by the imaging unit, a detection unit for detecting the height of each bright spot for each imaging unit;
A passage detection device comprising:
[C7]
Each of the light sources of the main body includes an illuminating unit that is installed at a lower angle than the imaging unit along the passage direction of the passage at an angle that emits light horizontally.
The detection unit is configured to detect bright spots from the imaging unit based on coordinates of any one of a plurality of bright points illuminated by the plurality of illumination units reflected in an image captured by the imaging unit. The passage detection device according to C6, wherein the horizontal distance is detected for each imaging unit.
[C8]
The detection unit detects the thickness of a passing object in the direction between the main bodies based on the detected distance from each of the imaging units to the bright spot and the distance between the pair of main bodies. The passage detection device described.
[C9]
The passage detection device according to C8, wherein the optical axes of the respective imaging units are arranged so as to be intermediate between the optical axes of the respective light sources and the optical axes of the respective illumination units.
[C10]
A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
An imaging unit that is provided on one of the pair of main bodies and captures an image of a predetermined range on the passage side;
A first portion that is provided with an elevation angle so as to have an optical axis different from the optical axis of the imaging unit above the imaging unit on the passage side of the main body in which the imaging unit is installed, and irradiates beam-shaped light An illumination unit;
Second illumination that irradiates beam-shaped light, which is provided in plural along the passage direction of the passage at an angle that emits light horizontally below the imaging portion on the passage side of the main body on which the imaging unit is installed And
A main body in which the imaging unit is installed, a third illuminating unit that is provided in a plurality along the passage direction of the passage below the imaging unit on the passage side of the other main body, and irradiates light;
The coordinates of the bright spot illuminated by the second illumination unit are detected by detecting the height of the bright spot based on the coordinates of the bright spot illuminated by the first illumination unit in the image captured by the imaging unit. The horizontal distance from the imaging unit to the bright spot is detected based on the image and further passes through the passage based on the coordinates of the bright spot illuminated by the third illumination unit in the image taken by the imaging unit. A detection unit for detecting whether or not an object exists;
A passage detection device comprising:
[C11]
A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
An imaging unit that is provided on both of the pair of main bodies and that captures images of a predetermined range on the passage side,
A first illuminating unit that is provided with an elevation angle so as to have an optical axis different from the optical axis of the imaging unit above the imaging unit on both passage sides of the pair of main bodies, and irradiates beam-shaped light And a plurality of second illuminations that irradiate beam-like light, each being provided along the passage direction of the passage at an angle that emits light horizontally below the imaging unit on both passage sides of the pair of main bodies. And
A plurality of third illumination units that are provided along the passage direction of the passages below the imaging units on both passage sides of the pair of main bodies and irradiate light; and
The height of the bright spot is detected for each of the imaging sections based on the coordinates of the bright spot illuminated by the first illumination section in the image captured by the imaging section, and illumination is performed by the second illumination section. The horizontal distance from the imaging unit to the bright spot is detected for each of the imaging units based on the coordinates of the bright spots to be illuminated, and further illuminated by the third illumination unit in the image captured by the imaging unit Detection units for detecting for each imaging unit whether there is a passing object in the passage based on the coordinates of the bright spot to be performed,
A passage detection device comprising:

  DESCRIPTION OF SYMBOLS 1 ... 1st illumination part, 2 ... 2nd illumination part, 3 ... 3rd illumination part, 4 ... Illumination control part, 5 ... Imaging part, 6 ... Imaging control part, 7 ... Image input part, 8 ... Image Processing unit, 9 ... control unit, 10 ... bus, 11 ... parallel illumination, 100 ... pass detection device.

Claims (10)

A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
A light source that is provided on the passage side of one of the pair of main bodies and that emits beam-shaped light;
An imaging unit that is provided in the main body on the same side as the light source so as to have an optical axis different from the optical axis of the light source, and that captures an image of a predetermined range on the passage side;
A detection unit that detects a passing state of the passing object based on an image captured by the imaging unit;
Equipped with a,
The light source includes a first illumination unit installed above the imaging unit with an elevation angle,
The detection unit detects the height of the bright spot based on the coordinates of the bright spot illuminated by the first illumination unit in the image captured by the imaging unit.
A passage detection device characterized by that. The detection unit further detects a horizontal distance from the imaging unit to the bright spot based on the coordinates of the bright spot illuminated by the first illumination unit in the image taken by the imaging unit. The passage detection device according to claim 1 . The light source includes a second illuminating unit that is installed at a lower angle than the imaging unit along the passage direction of the passage at an angle at which light is emitted horizontally. The detection unit is imaged by the imaging unit. The horizontal distance from the imaging unit to the bright spot is detected based on the coordinates of any one of the bright spots illuminated by the plurality of second illumination units in the captured image. The passage detection device according to claim 2 , wherein: The passage detection device according to claim 3 , wherein the optical axis of the imaging unit is arranged so as to be intermediate between the optical axis of the first illumination unit and the optical axis of the second illumination unit. A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
A light source that is provided on each of the pair of main bodies and that emits beam-shaped light;
An imaging unit that is provided on both of the pair of main bodies so as to have an optical axis different from the optical axis of the light source, and captures an image of a predetermined range on the passage side,
Based on the image captured by the imaging unit, based on the coordinates of the bright spot in the image captured by the imaging unit, a detection unit for detecting the height of each bright spot for each imaging unit;
A passage detection device comprising: Each of the light sources of the main body includes an illuminating unit that is installed at a lower angle than the imaging unit along the passage direction of the passage at an angle that emits light horizontally.
The detection unit is configured to detect bright spots from the imaging unit based on coordinates of any one of a plurality of bright points illuminated by the plurality of illumination units reflected in an image captured by the imaging unit. 6. The passage detection device according to claim 5 , wherein the distance in the horizontal direction is detected for each imaging unit. The said detection part detects the thickness of the passing material of the direction between main bodies based on the distance from the said each said imaging part to the detected bright spot, and the distance between said pair of main bodies. 6. The passage detection device according to 6 . The passage detection device according to claim 7 , wherein the optical axes of the respective imaging units are arranged so as to be intermediate between the optical axes of the respective light sources and the optical axes of the respective illumination units. A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
An imaging unit that is provided on one of the pair of main bodies and captures an image of a predetermined range on the passage side;
A first portion that is provided with an elevation angle so as to have an optical axis different from the optical axis of the imaging unit above the imaging unit on the passage side of the main body in which the imaging unit is installed, and irradiates beam-shaped light An illumination unit;
Second illumination that irradiates beam-shaped light, which is provided in plural along the passage direction of the passage at an angle that emits light horizontally below the imaging portion on the passage side of the main body on which the imaging unit is installed And
A main body in which the imaging unit is installed, a third illuminating unit that is provided in a plurality along the passage direction of the passage below the imaging unit on the passage side of the other main body, and irradiates light;
The coordinates of the bright spot illuminated by the second illumination unit are detected by detecting the height of the bright spot based on the coordinates of the bright spot illuminated by the first illumination unit in the image captured by the imaging unit. The horizontal distance from the imaging unit to the bright spot is detected based on the image and further passes through the passage based on the coordinates of the bright spot illuminated by the third illumination unit in the image taken by the imaging unit. A detection unit for detecting whether or not an object exists;
A passage detection device comprising: A passage detection device that detects a passing substance passing through a passage formed between a pair of main bodies provided facing each other,
An imaging unit that is provided on both of the pair of main bodies and that captures images of a predetermined range on the passage side,
A first illuminating unit that is provided with an elevation angle so as to have an optical axis different from the optical axis of the imaging unit above the imaging unit on both passage sides of the pair of main bodies, and irradiates beam-shaped light And a plurality of second illuminations that irradiate beam-like light, provided in plural along the passage direction of the passage at angles that emit light horizontally below the imaging units on both passage sides of the pair of main bodies. And
A plurality of third illumination units that are provided along the passage direction of the passages below the imaging units on both passage sides of the pair of main bodies and irradiate light; and
The height of the bright spot is detected for each of the imaging sections based on the coordinates of the bright spot illuminated by the first illumination section in the image captured by the imaging section, and illumination is performed by the second illumination section. The horizontal distance from the imaging unit to the bright spot is detected for each of the imaging units based on the coordinates of the bright spots to be illuminated, and further illuminated by the third illumination unit in the image captured by the imaging unit Detection units for detecting for each imaging unit whether there is a passing object in the passage based on the coordinates of the bright spot to be performed,
A passage detection device comprising:

Images