JP5373486B2 - Detection device for opening and closing part - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a detector for opening/closing part capable of accurately detecting a person or an object approaching the opening/closing part even when the environment around it is changed or disturbance light enters it. <P>SOLUTION: This detector for opening/closing part includes an illumination unit 40 for illuminating an approach detection region including an approach path when opening the opening/closing part and an imaging unit 50 for imaging the approach detection region. This detector images the predetermined number of images being different depending on luminance conditions by using an imaging means, compares a first rate of luminance with a second rate of luminance which are calculated with respect to the predetermined number of different images, and detects intrusion of the object upon the approach detection region based on change of the rates of luminance per predetermined timing. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a detection device for an opening / closing unit that detects a person or an object approaching an opening / closing device such as a shutter.

  2. Description of the Related Art Conventionally, a person or an object approaching an opening / closing device such as a shutter is detected by performing image processing, and the opening / closing operation of the opening / closing device is controlled according to the detection result. For example, in Japanese Patent Application Laid-Open No. 2004-68515, a detection device that detects a person or an object in the vicinity of such an opening / closing device images a predetermined area over the entire surface of one side of the opening / closing device such as a shutter curtain, Compared with the original image taken in advance at the time of installation of the device, if the area of the different part in the image is greater than or equal to a predetermined threshold, it is detected that the object has entered the opening of the switchgear. . In Japanese Patent Application Laid-Open No. 06-200672, a moving object is detected by performing differential processing or the like on image data obtained by photographing the front of an automatic door and enhancing the contour of the object. Further, in Japanese Patent Laid-Open No. 05-113090, the shutter opening is photographed from above the shutter panel, and the human body approaches the area near the shutter panel in the photographed image based on characteristics such as the area, brightness, and shape of the moving object. Recognizes the presence or absence of In addition, a configuration is described in which a moving object is detected by taking a difference from a background image even when there is no change in luminance or the like.

JP 2004-068515 A Japanese Patent Laid-Open No. 06-200672 Japanese Patent Laid-Open No. 05-113090

  However, in the above-described conventional detection device, a person or an object is detected by performing image processing such as comparison or differentiation of images, but the detection region is affected by an environmental change or disturbance light (such as a car headlight). When there is a change in luminance, there is a problem that these are erroneously detected as people or objects.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a detection device for an opening / closing unit that can accurately detect a person or an object approaching the opening / closing unit without being affected by environmental changes or ambient light.

The present invention provides an illumination means for illuminating an entry detection area including an entry path when the opening / closing part is opened, an imaging means for imaging the entry detection area, and a predetermined number of different brightness conditions using the imaging means at every predetermined timing. The image acquisition means for capturing and acquiring the images, the luminance for each of the predetermined number of images, the luminance ratio calculation means for calculating the luminance ratio between the predetermined number of images, and the luminance ratio calculation means, a different predetermined number Comparing means for comparing the first luminance ratio and the second luminance ratio calculated for the image of the image, and detecting means for detecting entry of an object into the entry detection area based on the comparison result of the comparing means It was.

  In the present invention, since the luminance ratio calculated from a plurality of different images is used, for example, the luminance of a plurality of images with different luminance conditions captured in a state where the illumination light of a streetlight is incident The ratio and the brightness ratio of multiple images with different brightness conditions taken in the absence of streetlight illumination light are the same regardless of whether illumination light is incident. Since the influence of light does not occur, it is possible to detect an object approaching the opening / closing unit with higher accuracy.

  In addition, it is preferable that the illumination unit and the imaging unit are arranged in the vicinity of the lower end of the opening / closing unit, and the approach detection region is a region having a predetermined height or more from the lower end of the opening. As a result, for example, even if dust that does not need to be detected as an entering object rolls on the ground and enters the opening, it will not be detected as an entering object, and the detection accuracy of the entering object is further improved. Can be made. In addition, since an area other than the ground is used as an imaging area, a change in luminance is less likely to occur in the captured image due to the influence of a shadow or the like, and an entering object can be detected with higher accuracy.

  The image processing apparatus further includes a difference image calculation unit that calculates a difference image between an image captured by the imaging unit when illuminated by the illumination unit and an image captured by the imaging unit when not illuminated. It is preferable that the luminance ratio calculation means calculates the luminance ratio based on the difference image. Thereby, the noise component in the imaged image can be removed, and the detection accuracy of the approaching object can be further improved.

  In addition, it is preferable that the illumination unit sets the entry detection region as a light distribution region, and the imaging unit sets a region including the entry detection region as an imaging region. Alternatively, it is preferable that the imaging unit sets the approach detection region as an imaging region, and the illumination unit sets a region including the approach detection region as a light distribution region. Thereby, the approach detection area can be easily defined by the light distribution area or the imaging area.

  Further, the image acquisition means captures a predetermined number of images with different brightness conditions by changing the illumination intensity by the illumination means by setting the exposure time of the imaging means to a certain time width, and always turns on the illumination means. By changing the exposure time, a predetermined number of images with different luminance conditions are taken, the exposure state of the imaging means is always opened, and the illumination intensity by the illuminating means is changed to change a predetermined number of images with different luminance conditions. It is preferable to perform any one of imaging. Thereby, it is possible to easily capture a predetermined number of images having different luminance conditions.

  In addition, it is preferable that the luminance ratio calculation unit divides the image into two or more areas and calculates the luminance ratio for each of the sections. Thereby, the advancing direction of the approaching object can be detected.

  In addition, the illumination unit performs illumination using infrared rays, and the imaging unit preferably includes a filter that allows only wavelengths in the vicinity of the wavelength of infrared rays to pass. In this case, since unnecessary light rays can be blocked by a filter and imaging can be performed, detection accuracy of the moving object can be further improved.

  According to the present invention, it is possible to accurately detect a person or an object approaching the opening / closing unit without being affected by environmental changes or ambient light.

It is a functional block diagram of the shutter device in the first embodiment. It is a partially broken figure which shows the internal structure of a detection part. It is a figure which shows the light distribution area | region of a detection part. It is a flowchart which shows the flow of the process which stops the opening / closing operation | movement of a shutter panel. It is a figure which shows the process of acquiring the image of several sheets from which brightness | luminance conditions differ. It is a figure which shows the process of calculating difference data. It is a flowchart which shows the flow of the process which calculates feature data. It is a figure which shows divided image data and feature data. It is a flowchart which shows the flow of the process which detects an approaching object. It is a figure which shows the transition state of the change area in feature data. It is a figure which shows the process of acquiring the image of several sheets from which brightness | luminance conditions differ. It is a figure which shows the light distribution area | region of a detection part. It is a functional block diagram of a shutter device in a modification. It is a functional block diagram of the shutter apparatus in 2nd Embodiment. It is a figure which shows a mode that an approaching object is detected using pattern illumination. It is a figure which shows a mode that an approaching object is detected using pattern illumination. It is a figure which shows a mode that an approaching object is detected using the pattern illumination from which an irradiation position switches. It is a figure which shows a mode that an approaching object is detected using the pattern illumination from which an irradiation position switches. It is a figure which shows a mode that an approaching object is detected by making an imaging area and a light distribution area cross | intersect. It is a figure which shows a mode that an approaching object is detected by making an imaging area and a light distribution area cross | intersect. It is a figure which shows the example which applied the detection apparatus for the opening / closing part which concerns on this invention to the power window of the vehicle.

  Hereinafter, an example in which the detection device for an opening / closing part according to the present invention is applied to a shutter device having an automatic opening / closing function will be described with reference to the drawings.

  First, the first embodiment will be described.

  As shown in FIG. 1, the shutter device 1 includes a shutter panel 2 that opens and closes an opening, a shutter drive unit 3 that drives the shutter panel 2, and whether a person or an object has entered an entry detection area around the opening. It is comprised from the detection part 4 which detects whether. Here, the entry detection area refers to an area including an entry route to the opening in a state where the opening is opened by the shutter panel 2.

  The shutter drive unit 3 includes a drive mechanism unit 31 that opens and closes the shutter panel 2, a drive control unit 32 that controls the drive mechanism unit 31 according to a stop instruction from the detection unit 4 and stops the opening and closing operation of the shutter panel 2, And a switch 33. A driving power source 5 serving as a power source for driving the shutter panel 2 is connected to the driving mechanism unit 31. The switch 33 cuts off the power supplied from the drive power supply 5 to the drive mechanism unit 31 according to an instruction from the detection unit 4. When receiving a stop instruction from the detection unit 4, the drive control unit 32 transmits a check signal indicating whether or not the stop of the shutter panel 2 has been normally completed to the detection unit 4.

  The detection unit 4 enters the entry detection area from the illumination unit 40 that illuminates the entry detection area, the imaging unit 50 that captures the area including the entry detection area, and the control of the illumination unit 40 and the image captured by the imaging unit 50. It is comprised from the control part 60 which detects a person or an object.

  The control unit 60 includes an illumination lighting control unit 61 that controls on / off of illumination lighting of the illumination unit 40, illumination intensity, and the like, and an imaging element drive control unit 62 that controls imaging timing, exposure time, and the like of the imaging unit 50. ing. The imaging timing of the imaging unit 50 controlled by the imaging element drive control unit 62 and the illumination irradiation timing of the illumination unit 40 controlled by the illumination lighting control unit 61 are synchronized.

  Furthermore, the control unit 60 acquires an image data acquisition unit 63 that acquires image data captured by the imaging unit 50, and a detection processing unit 64 that detects a person or an object that enters the entry detection region from the acquired image data. And a determination result output unit 65 that requests the shutter drive unit 3 to stop the operation of the shutter panel 2 based on a determination result by the detection processing unit 64, and a storage unit that stores image data acquired from the imaging unit 50, and the like 66 and an end determination unit 67 for determining whether or not to end the entry detection process.

  Specifically, as illustrated in FIG. 2, the detection unit 4 includes an imaging element 101 that receives light, an optical filter 102 that is disposed in front of the imaging element 101, For controlling the imaging lens 103 for condensing the light on the imaging device 101, the light source 104, the illumination lens 105 for distributing the light from the light source 104 to a predetermined area, the imaging device 101, the light source 104, and the like. The control board 106 and a connector 109 for connecting to the shutter driving unit 3 are configured. An imaging unit 50 is configured by the imaging element 101, the optical filter 102, and the imaging lens 103, and an illumination unit 40 is configured by the light source 104 and the illumination lens 105. As the image sensor 101, for example, a complementary metal oxide semiconductor (CMOS) can be used.

  An irradiation window 107 and a sensor window 108 are provided on the front surface of the housing 100. Light from the light source 104 is irradiated toward the entry detection region through the irradiation window 107. The imaging unit 50 images an area including the entry detection area via the sensor window 108.

  The light source 104 generates infrared rays. The optical filter 102 is a band-pass filter and passes only wavelengths near the infrared ray. The control board 106 is mounted with a CPU, a memory (storage unit 66), and the like, and performs processing in the control unit 60 of FIG.

  As shown in FIG. 3A, the detection unit 4 is attached to a position above the opening of the shutter device 1, and irradiates illumination light toward an entry detection region including an entry path to the opening and performs imaging. Do. The spread of the illumination light in the horizontal direction is regulated by the horizontal frames 6 provided on both sides of the shutter device 1. The detection unit 4 captures an area including a light distribution area. As shown in FIG. 3B, the detection unit 4 is provided on both sides of the shutter panel 2.

  Next, a flow of processing for detecting a person or an object entering the entry detection area and stopping the shutter will be described with reference to FIG.

  This process is started when the user of the shutter device 1 gives an instruction to open and close the shutter panel 2. When there is an instruction to open and close the shutter panel 2, the power is supplied to the detection unit 4 in step S10. In step S11, the detection unit 4 performs initial setting of each unit. As the initial setting, for example, the illumination unit 40 and the imaging unit 50 may be set so as to have an appropriate exposure condition in which the captured image is not saturated.

  In step S <b> 12, the imaging element drive control unit 62 makes a request to the control of the imaging unit 50 and the illumination lighting control unit 61 so as to capture a plurality of images having different luminance conditions. In step S <b> 13, the imaging unit 50 captures a plurality of images with different luminance conditions for the region including the entry detection region, and transfers the captured image data to the image data acquisition unit 63. Here, the plurality of images having different luminance conditions transferred to the image data acquisition unit 63 are, for example, as shown in FIG. 5, the exposure time of the imaging unit 50 is 1/1000 sec, and the illumination unit 40 performs illumination. The image is obtained by changing the intensity into four levels of non-lighting, strong, medium, and weak. Further, these luminance conditions are changed repeatedly for imaging, and this imaging is performed continuously at intervals of 33 ms, for example. As a result, as shown in FIG. 6, a plurality of pieces of image data with different luminance conditions can be repeatedly obtained with the image data of the luminance conditions 1 to n as one cycle when the illumination is not turned on.

  In step S <b> 14, the image data acquisition unit 63 cuts out only the image area used for entry detection from the image data transferred from the imaging unit 50, and stores it in the storage unit 66 as extracted image data. The image area used for this approach detection is an area where reflected light of illumination light is reflected. Thereby, as shown in FIG. 6, the extraction image data at the time of lighting non-lighting and the extraction image data of the luminance conditions 1-n are acquirable.

  In step S <b> 15, the detection processing unit 64 calculates feature data used for the entry detection determination from the extracted image data stored in the storage unit 66. Details of the feature data calculation process will be described later.

  In step S <b> 16, the detection processing unit 64 compares time-series feature data stored in the storage unit 66 and detects whether a person or an object has entered the entry detection area. Details of this approach detection process will be described later.

  In step S17, the determination result output unit 65 determines whether or not a person or an object has entered the entry detection area by the detection processing unit 64. If no entry has been detected (NO), the process proceeds to step S18. If the entry is detected (YES), the process proceeds to step S19.

  In step S <b> 18, the end determination unit 67 determines whether to end the entry detection process. This determination is made, for example, by determining that the entry detection process is to be ended after a lapse of a certain time after the instruction to open and close the shutter panel 2 is completed. When the termination determination is made (YES), the power of the detection unit 4 is turned off and the present process is terminated. On the other hand, when the end determination has not been made (NO), the process returns to step S12 and the above-described entry detection process is repeated.

  When it is detected in step S17 that a person or an object has entered the entry detection area, the determination result output unit 65 instructs the drive control unit 32 to stop the operation of the shutter panel 2 in step S19. In step S20, the determination result output unit 65 confirms the check signal transmitted from the drive control unit 32, and determines whether or not the shutter panel 2 has been normally stopped. If the shutter panel 2 is normally stopped (YES), this process is terminated. If the shutter panel 2 is not normally stopped (NO), the process proceeds to step S21.

  In step S <b> 21, the determination result output unit 65 activates the fail-safe function and controls the switch 33 to cut off the power supply from the drive power supply 5 to the drive mechanism unit 31. After the power supply is cut off, this process is terminated.

  Next, the details of the feature data calculation process performed in step S15 of FIG. 4 will be described using the flowchart of FIG. This conversion process is performed by the detection processing unit 64.

  When the feature data calculation process is started, extracted image data when the illumination is not turned on is acquired from the storage unit 66 in step S30. In step S31, the number of luminance conditions at the time of illumination lighting in step S12 of FIG. 4 is acquired and set as an initial value. Here, n types of luminance conditions at the time of lighting are set, and “luminance condition N (Nmin = 1, Nmax = n)” is set as an initial value.

  In step S <b> 32, the extracted image data under the brightness condition N is acquired from the storage unit 66. In step S33, a difference process is performed between the extracted image data under the brightness condition N and the extracted image data when the illumination is not turned on, and the difference image data under the brightness condition N is calculated as shown in FIG. By this difference processing, the noise component in the extracted image data with the luminance condition N can be removed.

In step S34, it divides the difference image data of the luminance condition N, by performing integral processing for the luminance for each divided area, and calculates the divided image data of the luminance condition N. The divided image data, for example, as shown in FIG. 8, 3 divide the longitudinal direction of the difference image data, a lateral direction 16 divides, for each divided area, row the integration process of the image data relating to the luminance of each area Calculated by obtaining the integral data value . The divided image data is preferably divided into two or more in the direction (vertical direction in the divided image data in FIG. 8) that enters the opening of the shutter device 1 in the difference image data. Thereby, the moving direction of the person or thing in an approach detection area | region is detectable. Next, in step S35, the integral data value of each area of the divided image data is stored in the storage unit 66.

  In step S36, it is determined whether difference image data and divided image data have been calculated for all the extracted image data with the luminance conditions 1 to n. When the difference image data and the divided image data are calculated for all the luminance conditions (YES), the process proceeds to step S37, and when not calculated (NO), the process returns to step S32, and the extracted images of all the luminance conditions are obtained. The above process is repeated until the calculation process for data is completed.

In step S37, for the divided image data of the calculated luminance conditions 1 to n for one cycle, the ratio (luminance ratio) of the integrated data value for each divided area between the divided image data is calculated as feature data. . For example, as shown in FIG. 8, in this feature data, when the luminance condition N is set to N = 1 to 3, the luminance ratio in all the divided areas is “1: 2: 4”, for example. In the feature data of FIG. 8, the luminance ratio “1: 2: 4” is described only for some of the divided areas, and the others are omitted. Next, in step S38, the calculated feature data is stored in the storage unit 66. After the feature data is saved, this process (the flowchart in FIG. 7) is terminated, and the process returns to the flowchart in FIG.

  Next, details of the approach detection process performed in step S16 of FIG. 4 will be described using the flowchart of FIG. 9 and FIG. This approach detection process is performed by the detection processing unit 64.

  In step S40, feature data at the time P (latest feature data stored in the storage unit 66) and feature data at the time P-1 (previous to the feature data at the time P) are stored from the storage unit 66. Feature data). In step S41, the feature data at P and the feature data at P-1 are compared.

  In step S42, it is determined whether or not there are a predetermined number or more of change areas exceeding a preset threshold value between the feature data at P and P-1. If there are more than a predetermined number of change areas, it is determined that there is a change in the feature data, and the process proceeds to step S43. If there are no more than a predetermined number of change areas (NO), there is no change in the feature data, and entry detection is performed. This process is terminated assuming that no person or object has entered the area, and the process returns to the flowchart of FIG. Specifically, for example, as shown in FIG. 10, when there are change areas X1, X2, and X3 in which the luminance ratio has changed when the feature data at P is compared with the feature data at P-1, It is determined that there is a change between the feature data at P and P-1. In FIG. 10, the portions where the divided areas are blank are omitted from the description of the luminance ratio, and the luminance ratio of these portions is “1: 2: 4”.

  If there is a change between the feature data, a comparison process between the transition pattern of the change area and a predetermined transition pattern is performed in step S43. Here, first, the change area calculated this time is compared with the change area calculated in the previous process, and the transition pattern of the change area is calculated. Next, the calculated transition pattern of the change area is compared with a predetermined transition pattern set in advance. The predetermined transition pattern indicates, for example, in which direction the change area is transitioning.

  In step S44, it is determined whether or not the transition pattern of the change area is similar to the predetermined transition pattern. If they are similar (YES), it is determined that there is a transition in the change area, and the process proceeds to step S45. If the process proceeds and is not similar (NO), it is determined that no person or object has entered the entry detection area, and the process ends.

  Here, a specific example of transition pattern comparison and similarity determination performed in steps S43 and S44 will be described with reference to FIG. Further, the predetermined transition pattern is set to a state in which the occurrence position of the change area transitions from the upper side to the lower side of the feature data. Furthermore, as shown in FIG. 10, the change area calculated in the previous process refers to the change area Y1 obtained by comparing the feature data at P-1 with the feature data at P-2. .

  As shown in FIG. 10, the change area Y1 calculated for the feature data at P-1 (change area calculated last time), and the change areas X1 to X3 calculated for the feature data at P (currently calculated). Compared with (change area), the occurrence position of the change area is moving toward the lower side of the feature data. In this case, since the transition of the occurrence position of the change area matches the predetermined transition pattern, it is determined that there is a transition in the change area.

  Returning to FIG. 9, in step S45, as in the process of step S43, the transition pattern of the change area is calculated by comparing the change area calculated in the previous time with the change area calculated in the previous process. A comparison process between the calculated transition pattern and a predetermined transition pattern is performed. Specifically, as shown in FIG. 10, the change areas Z1 to Z3 calculated for the feature data at P-2 (change areas calculated in the previous process) and the feature data at P-1 are calculated. The change area Y1 (change area calculated last time) is compared, and the transition pattern of the change area is calculated.

  In step S46, similarly to the process of step S44, it is determined whether or not the transition pattern calculated in the previous process and the transition pattern calculated in the previous process are similar to a predetermined transition pattern. If they are similar (YES), it is determined that there is a transition in the change area, and the process proceeds to step S47. If they are not similar (NO), a person or an object has entered the entry detection area. This processing is terminated as if it is not present.

  In step S47, it is determined that a person or an object has entered the entry detection area, and an entry detection signal is output to the determination result output unit 65. After the entry detection signal is output, this process ends.

  As described above, in the first embodiment, a plurality of images with different luminance conditions are acquired for the entry detection area including the approach path to the opening of the shutter device 1, and the luminance ratio of these images is calculated. . When a moving object enters the entry detection area, a change area in which the luminance ratio changes between temporally continuous feature data (feature data at P, P-1, and P-2) occurs. By comparing the transition pattern of the change area with a predetermined transition pattern, a person or an object entering the entry detection area is detected. Thereby, even when an environmental change or disturbance light is incident on the approach detection area, a person or an object can be accurately detected.

  In the first embodiment, in order to capture a plurality of images with different luminance conditions, the exposure time of the imaging unit 50 is fixed and the intensity of illumination by the illumination unit 40 is changed. As shown in FIG. 11 (a), with respect to the captured image when the illumination is turned on, the illumination unit 40 is kept irradiated with a constant intensity, and the exposure time is changed to 1/1000 sec, 1/500 sec, 1/250 sec. Thus, images with different luminance conditions may be captured. In this case, it is preferable to control the exposure time using, for example, an electronic shutter. Further, as shown in FIG. 11B, an image with different luminance conditions may be taken by changing the illumination intensity to the open state and the illumination intensity.

  In addition, the detection unit 4 that performs imaging and illumination is attached to a position above the opening of the shutter device 1, but the detection unit 4 </ b> A is arranged at the opening of the opening as in the shutter device 1 </ b> A illustrated in FIG. It is good also as attaching to the position of predetermined height from a lower end, and making the light distribution area | region of illumination into more than predetermined height from the lower end of an opening part. In this case, illumination is applied to the horizontal frame 6 provided on both sides of the shutter device 1 </ b> A and the upper frame 7 provided on the upper side of the opening, and the horizontal frame 6 and the upper frame 7 are imaged. As a result, for example, even if garbage that does not need to be detected as an entering object rolls on the ground and enters the opening, it is not detected as an entering object, and the detection accuracy of the entering object is further improved. Can be made. Furthermore, since the horizontal frame 6 and the upper frame 7 are used as the imaging region, the luminance change due to shadows or the like is reduced, and the entering object can be detected with higher accuracy.

  In addition, as shown in FIG. 13, even in the shutter device 1B that does not have a lighting unit, as described above, the feature data including the luminance ratio is calculated, and the transition pattern of the change area where the luminance ratio changes changes. Based on this, entry detection can be performed. In this case, as shown in FIG. 11A, the imaging element drive control unit 62B of the detection unit 4B changes the exposure time of the imaging unit 50B, so that the luminance conditions are different even without the illumination unit. A plurality of images can be taken.

  Further, in the image captured by the imaging unit 50, the region for calculating the feature data (the region where the illumination light is reflected) has an elongated line shape. By capturing an image by aligning the center line of the line-shaped area and the optical center of the imaging lens 103 of the imaging unit 50, an image with less distortion can be obtained in the area where the feature data is calculated.

  Furthermore, in the first embodiment, only the entry detection area is irradiated with illumination light, and imaging is performed so as to cover the entry detection area. Conversely, only the entry detection area is imaged. The illumination light may be irradiated so as to cover the entry detection area.

  Next, a second embodiment will be described.

  In the present embodiment, the illumination method and the detection processing method for entering objects in the first embodiment are changed. The configuration for stopping the shutter panel 2 based on the entry detection result is the same as in the first embodiment, and a description thereof is omitted. Further, the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  As illustrated in FIG. 14, the shutter device 1 </ b> C includes a shutter panel 2 that opens and closes an opening, a shutter driving unit 3 that drives the shutter panel 2, and whether a person or an object has entered an entry detection area around the opening. It is comprised from the detection part 4C which detects whether.

  The detection unit 4C detects an illumination unit 40C that illuminates the entry detection area with red light, an imaging unit 50C that images the entry detection area, and a person or an object that enters the entry detection area from an image captured by the imaging unit 50C. It is comprised with the control part 60C.

  The control unit 60C includes an illumination lighting control unit 61C that controls on / off of illumination lighting of the illumination unit 40C, and an imaging element drive control unit 62C that controls imaging timing of the imaging unit 50C. The imaging timing of the imaging unit 50C controlled by the imaging element drive control unit 62C and the illumination irradiation timing of the illumination unit 40C controlled by the illumination lighting control unit 61C are synchronized.

  Further, the control unit 60C acquires an image data acquisition unit 63C that acquires image data captured by the imaging unit 50C, and a detection processing unit 64C that detects a person or an object that enters the entry detection region from the acquired image data. A determination result output unit 65, a storage unit 66, and an end determination unit 67.

  As shown in FIG. 15A, the detection unit 4C is attached at a position above the opening of the shutter device 1C, and emits red illumination light toward an entry detection region including an entry path to the opening. The area including the entry detection area is imaged. Here, the illumination unit 40C irradiates the pattern illumination M1 in which the shades are arranged in a matrix.

  Next, a process for detecting a person or an object entering the entry detection area will be described.

  This detection process is started when the user of the shutter device 1C gives an instruction to open and close the shutter panel 2. The imaging element drive control unit 62C issues an instruction to the imaging unit 50C and the illumination lighting control unit 61C, and images an area including the entry detection area at the timing when the illumination light is irradiated. The captured image includes red pattern illumination M1 as shown in FIG. 15 (b). In the captured image data, the image data acquisition unit 63C cuts out only the image area used for the entry detection, and stores it in the storage unit 66 as extracted image data. The image area used for the entry detection is an area where the pattern illumination M1 is captured in the captured image data. The detection processing unit 64C compares the latest extracted image data stored in the storage unit 66 with the extracted image data stored last time, and determines whether a person or an object has entered the entry detection area.

  Specifically, as shown in FIGS. 16A and 16B, when the person H enters the approach detection area and the person interferes with the illuminated illumination light, the illumination pattern that is captured is captured. A change occurs in the shape of M1. Therefore, the detection processing unit 64C outputs an approach detection signal to the determination result output unit 65, assuming that a person or an object has entered the approach detection region when the shape of the pattern illumination M1 has changed. .

  As described above, in the second embodiment, when the pattern illumination of red is irradiated and the shape of the pattern illumination is changed, it is detected that a person or an object has entered the entry detection region. Even when there is an incident of ambient light, people and objects can be accurately detected. Further, by irradiating with red illumination, it is possible to visually notify a person around the shutter device 1C that the shutter panel 2 is operating.

  Note that, as shown in FIG. 15A, the word “caution” may be used as the pattern illumination shape as in the pattern illumination M2. In this case, the person around the shutter device 1 can be visually informed that the shutter panel 2 is operating more reliably. Moreover, you may use the pattern illumination of a some line shape like the pattern illumination M3.

  Furthermore, as another example of pattern illumination, as in the shutter device 1D shown in FIGS. 17A and 17B, the irradiation position of the linear illumination light emitted from the detection unit 4D is sequentially switched to enter. Illumination light may be irradiated to different positions in the detection region. Here, it is assumed that line-shaped illumination light is irradiated repeatedly from a position far from the shutter panel 2 toward a near position.

  As shown in FIGS. 18A and 18B, when a person H enters the entry detection area, the line-shaped illumination light sequentially from the position far from the opening to the position in the captured image. Changes. By detecting the change in the shape of the illumination light, it is possible to detect that a person or an object has entered the entry detection area. In addition, irradiation is performed one by one while changing the irradiation position of the line-shaped illumination light, and the change in the shape of the illumination light is detected, so that each illumination is not affected by other illumination lights having different irradiation positions. A change in the shape of light can be detected accurately, and an entering object can be detected with higher accuracy.

  As yet another example, as in the shutter device 1E shown in FIG. 19A, the light distribution area of illumination irradiated from the detection unit 4E and the imaging area may be crossed. The area where the illumination light distribution area and the imaging area overlap is the entry detection area. The light distribution area and the imaging area of the illumination by the detection unit 4E are set so that the entry detection area is equal to or higher than a predetermined height from the opening of the shutter device 1E. The detection unit 4E irradiates the pattern illumination M4 in which the shades are arranged in a matrix. As shown in FIG. 19B, the image captured by the detection unit 4E is in a state where the pattern illumination M4 does not enter the entry detection area.

  As shown in FIGS. 20A and 20B, when a person H enters the entry detection area, the pattern illumination M4 is irradiated on the head, shoulder, etc. of the person H, and pattern illumination is performed in the entry detection area. M4 is detected. Thus, depending on whether or not the pattern illumination M4 is detected in the entry detection region, a person or an object approaching the opening of the shutter device 1E can be detected. In addition, since the light distribution area and the imaging area are set so that the entry detection area is at a predetermined height or more from the opening of the shutter device 1E, dust or the like that does not need to be detected as an entry object is removed from the ground. Even if it rolls and enters the opening, it will not be erroneously detected as an entry. Furthermore, even if the ground condition changes due to changes in shadows or weather, it is possible to detect an entering object without being affected by these changes.

  In each of the above-described embodiments and modified examples, imaging is performed only when the shutter panel of the shutter device is operated. However, even when the shutter panel is not operated, it is possible to enter by photographing the periphery of the shutter device with the imaging unit. In addition to detection, a function as a monitoring camera for monitoring the periphery of the shutter device can be provided.

  Further, by placing an optical filter for MTF (Modulation Transfer Function) control on the front surface of the image pickup device of the image pickup unit and adding blur to the picked-up image, it is possible to protect the privacy of the person being picked up. In this case, for example, the optical filter for MTF control may be slid to the front surface of the image sensor only when privacy protection needs to be performed. In addition, a transparent state and a blurred state may be switched using a filter made of a material that changes from transparent to a light diffusion state by applying a voltage.

  Further, in each of the above embodiments, a person or an object entering the opening when the shutter device is opened is detected, but other than this, for example, as shown in FIGS. 21 (a) and 21 (b). In addition, a hand of a person H entering the opening when the power window 210 provided in the vehicle 200 is opened may be detected. In this case, a detection unit 4F that performs illumination and imaging is attached to the upper position of the power window 210 inside the vehicle 200, and an area including an approach path to the opening when the power window 210 is opened is defined as an entry detection area. Detects an entry into the entry detection area. In addition, the approach detection method shall use the method demonstrated in 1st Embodiment and 2nd Embodiment. Thereby, when the power window 210 is operated, the hand of the person H approaching the opening of the window can be accurately detected in a non-contact manner without being affected by environmental changes or ambient light.

  Further, as in the embodiment of the shutter device, a function as a monitoring camera that monitors the periphery of the power window in addition to the detection of entry by photographing the periphery of the power window by the imaging unit even when the power window is not operated. Can also be given.

  DESCRIPTION OF SYMBOLS 1 ... Shutter apparatus, 2 ... Shutter panel, 3 ... Shutter drive part, 4 ... Detection part, 40 ... Illumination unit, 50 ... Imaging unit.

Claims (8)

Illumination means for illuminating an entry detection area including an entry route when the opening / closing part is opened,
Imaging means for imaging the entry detection area;
Image acquisition means for capturing and acquiring a predetermined number of images with different brightness conditions using the imaging means at each predetermined timing;
Luminance ratio calculating means for calculating the luminance for each of the predetermined number of images and calculating a luminance ratio between the predetermined number of images ;
Comparing means for comparing the first luminance ratio and the second luminance ratio calculated for the different predetermined number of images by the luminance ratio calculating means;
A detection device for an opening / closing part, comprising: a detection unit configured to detect entry of an object into the entry detection region based on a comparison result of the comparison unit. The illumination means and the imaging means are arranged in the vicinity of the lower end of the opening / closing part,
2. The detection device for an opening / closing part according to claim 1, wherein the entry detection area is an area having a predetermined height or more from a lower end of the opening when the opening / closing part is opened. The image processing apparatus further includes a difference image calculation unit that calculates a difference image between an image captured by the imaging unit when illuminated by the illumination unit and an image captured by the imaging unit when not illuminated. ,
The detection device for an opening / closing part according to claim 1 or 2, wherein the luminance ratio calculating means calculates a luminance ratio based on the difference image. The illumination means uses the approach detection area as a light distribution area,
The detection device for an opening / closing part according to any one of claims 1 to 3, wherein the imaging means uses an area including the entry detection area as an imaging area. The imaging means uses the approach detection area as an imaging area,
The said illumination means makes the area | region containing the said approach detection area | region a light distribution area | region, The detection apparatus for opening-and-closing parts as described in any one of Claims 1-3 characterized by the above-mentioned. The image acquisition means includes
Taking a predetermined number of images with different brightness conditions by changing the illumination intensity by the illumination means with a constant time width of the exposure time of the imaging means,
Imaging the predetermined number of images with different brightness conditions by changing the exposure time of the imaging means, with the illumination means always on;
The exposure state of the imaging unit is always open, and a predetermined number of images with different luminance conditions are captured by changing the illumination intensity of the illumination unit. The detection apparatus for the opening-closing part as described in any one of these.   The said brightness | luminance ratio calculation means divides the said image into two or more area | regions, and calculates a brightness | luminance ratio for every said division | segmentation, The opening-and-closing part use part as described in any one of Claims 1-6 characterized by the above-mentioned. Detection device. The illumination means performs illumination using infrared rays,
The detection device for an opening / closing part according to any one of claims 1 to 7, wherein the imaging means includes a filter that allows only a wavelength near the wavelength of the infrared ray to pass.