JP6148053B2 - Object detection system - Google Patents

Description

  The present invention relates to an object detection system, and more particularly to an object detection system capable of accurately recognizing an object that extends within a detection region and outside the detection region.

  In recent years, platforms where trains stop are equipped with platform doors that can be opened and closed in synchronism with the train doors of the trains so that they can be safely moved onto and from the trains by preventing them from falling off the platform. A home door device is installed.

  However, the edge of the platform is shielded by the platform door device, so the visibility is poor when confirming the safety of the platform, and it is used near the platform door of the platform door device, especially in the gap between the platform door and the train. If the platform door closes in the presence of an object such as a person or a bag, it is extremely dangerous, and an object detection technique near the platform door is important.

  Therefore, conventionally, a system for detecting an object near the platform door device has been developed. As such a system, for example, based on the measurement result of the three-dimensional distance image sensor that measures the distance to the object and the amount of reflected light from the object, and the position of the object in the detection space and And a detection control unit that determines whether to detect the target object as an object based on a position and a threshold value of the size, and the detection control unit defines a predetermined detection space in a three-dimensional manner. A technique is disclosed in which a threshold for detecting an object is changed for each detection area while being divided into a plurality of detection areas corresponding to the distance from the distance image sensor (see, for example, Patent Document 1).

JP 2011-016421 A

  However, in the technique described in Patent Document 1, an object in a plurality of detection areas corresponding to the distance from the three-dimensional distance image sensor is detected, but only an object in the detection area can be detected. For example, there is a problem that an object cannot be accurately detected when an object such as a bag or a bag is caught in a vehicle door or when a passenger rushes into the vehicle.

  Generally, when detecting an object based on a distance value obtained by a 3D distance image sensor, it is necessary to consider an error in the distance value obtained by the 3D distance image sensor. Therefore, a strict area is set as a detection area including a vehicle door. For this reason, it is extremely difficult to properly detect an object sandwiched between vehicle doors. Further, even when an object is detected by an image based on a distance value in the detection area, there is a problem that it cannot be determined that there is an object if the number of pixels of the object image in the detection area is small. For this reason, there is a problem in that it is impossible to properly detect the vehicle door being caught or the passengers are rushing on, and sufficient safety cannot be ensured.

  The present invention has been made in view of the above points, and an object of the present invention is to provide an object detection system capable of accurately recognizing an object that extends in the detection area and outside the detection area.

For the present invention, to attain the aforementioned object, the object detection system according to a first aspect of the invention, the contact Keru object to a preset predetermined detection region, a detection unit for detecting based on the information of the corresponding image wherein the detection unit, when detecting an object in a predetermined range value for information Oite the image at the boundary of the detection area, have lines outside the object detection of the detection region of the boundary portion as a reference, The presence / absence of an object to be recognized is determined based on object detection information in the detection area and object detection information outside the detection area .
According to a second aspect of the present invention, in the first aspect, the detection unit detects the size of an object based on numerical information related to a pixel that is information of the image.
According to a third aspect of the present invention, in the second aspect, when the detection unit detects an object with a predetermined number of pixels or less in the boundary portion, the number of pixels in the detection region and the outside of the detection region. The presence or absence of an object to be recognized is determined based on a value obtained by adding the number of pixels.

According to a fourth aspect of the invention, there is provided the distance image sensor according to any one of the first to third aspects , wherein the distance image sensor that measures a distance value to the object is provided, and the detection unit outputs a distance output from the distance image sensor. The presence or absence of an object to be recognized is determined based on the outlier .

According to a fifth aspect of the present invention, in the fourth aspect , the distance image sensor includes a scanner that scans light within the detection area and outside the detection area.

  According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the detection area is an area set near a platform door of a platform door device installed on a platform of a station. Features.

According to the first aspect of the invention, when the detection unit detects an object at the boundary portion of the detection region, the detection of the object outside the detection region is performed using the boundary portion as a reference. An object extending between the inside and the outside can be properly detected, and the presence or absence of the object can be accurately detected. In particular, the detection of an object outside the detection area is performed with reference to the boundary portion, and the presence / absence of an object to be recognized is determined based on the detection information of the object in the detection area and the detection information of the object outside the detection area. Even if it cannot be sufficiently recognized as an object within the detection area, the inside and outside of the detection area based on the detection information of the object detected outside the detection area and the detection information of the object detected within the detection area It is possible to properly detect an object straddling each other.

According to the invention of claim 4, a distance image sensor that measures the distance value to the object is provided, the detection unit determines the presence of an object to be recognized on the basis of the distance value outputted from the range image sensor Thus, an object can be detected based on the distance image generated based on the distance value obtained by the distance image sensor, and an object extending between the inside and the outside of the detection region can be properly detected.

  According to the fifth aspect of the invention, the distance image sensor includes the scanner that scans the light within the detection area and outside the detection area. An object outside the detection area can be properly detected.

  According to the invention according to claim 6, since the detection area is an area set in the vicinity of the platform door of the platform door device installed on the platform of the station, an object extending between the inside and the outside of the detection area is appropriately set. For example, an object can be detected accurately when an object such as a bag or a bag is caught in a vehicle door or when a passenger rushes into the vehicle. As a result, it is possible to appropriately detect vehicle vehicle pinching, passenger rush-in, and the like, thereby ensuring sufficient safety.

It is a schematic structure figure showing an embodiment of an object detection system concerning the present invention. It is a block diagram which shows embodiment of the distance image sensor used for the object detection system which concerns on this invention. It is the schematic which shows embodiment of the two-dimensional scanner used for the distance image sensor of the object detection system which concerns on this invention. It is explanatory drawing which shows the example in the case of detecting the elongate object in the object detection system which concerns on this invention. It is explanatory drawing which shows the example in the case of detecting the object of a rectangular parallelepiped in the object detection system which concerns on this invention. It is a flowchart which shows the object detection operation | movement in the object detection system which concerns on this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows an embodiment in which the object detection system according to the present invention is applied to a home door system. A platform 2 on which a vehicle 1 stops is provided with a home door device 3. The apparatus 3 includes a partition wall 4 that partitions the platform 2 and the vehicle 1, and a home door 6 that can be opened and closed at a position corresponding to the vehicle door 5.

  In the present embodiment, the distance image sensor 7 constituting the object detection system is installed between the partition wall 4 of the platform door device 3 and the vehicle 1, and the distance image sensor 7 is in a state near the platform door 6. And so on from the side of the platform 2. The distance image sensor 7 is connected to a detection unit 8.

  Next, the distance image sensor 7 will be described.

  As shown in FIG. 2, the distance image sensor 7 includes a two-dimensional scanner 10. In this embodiment, a planar actuator is used as the two-dimensional scanner 10. In addition to the planar actuator, a polygon mirror or a galvanometer mirror may be used.

  As shown in FIG. 3, the two-dimensional scanner 10 of the present embodiment includes a frame-shaped fixing unit 11 installed on a device substrate (not shown). A frame-shaped second movable portion 13 is swingably supported inside the fixed portion 11 via a second torsion bar 12, and the first torsion bar is located inside the second movable portion 13. The first movable portion 15 is supported via the 14 so as to be swingable. That is, the first movable part 15 and the second movable part 13 are swingable in directions orthogonal to each other via the second torsion bar 12, and the first movable part 15 and the second movable part 13 are , It is configured to be driven at different drive frequencies. The fixed portion 11, the second movable portion 13, the first movable portion 15, the first torsion bar 14, and the second torsion bar 12 are integrally formed.

  A drive coil (not shown) for driving the first movable part 15 is provided on the first movable part 15, and a drive coil (not shown) for driving the second movable part 13 is provided on the second movable part 13. Two pairs of static magnetic field generating members (not shown) are disposed around the fixed portion 11 and are arranged with opposite magnetic poles facing each other with the first movable portion 15 interposed therebetween. The static magnetic field generating member may be a permanent magnet or an electromagnet.

  As shown in FIG. 2, the distance image sensor 7 includes a control unit 20, and the control unit 20 is provided with a laser controller 21 for controlling the laser beam and the scanner. The control unit 20 is provided with a scanner driver 22 to which an inner shaft driving signal and an outer shaft driving signal from the laser controller 21 are input. The scanner driver 22 is provided for the two-dimensional scanner 10 with respect to the laser controller 21. The inner shaft drive signal for driving the first movable portion 15 and the outer shaft drive pulse for driving the second movable portion 13 based on the inner shaft drive signal and the outer shaft drive signal output from Is configured to output. A scanner synchronization signal for detecting the driving positions of the first movable unit 15 and the second movable unit 13 is sent via a filter 23 from a detection device (not shown) of the two-dimensional scanner 10 to the laser controller 21 of the control unit 20. It is configured as follows.

  The distance image sensor 7 includes a laser projector 24, and the laser projector 24 is provided with a laser element 25 for emitting laser light. The laser projector 24 is provided with a laser driver 26 that outputs a projection drive pulse to the laser element 25 based on a laser emission timing signal sent from the laser controller 21. In the laser projector 24, a projecting optical device 28 configured by, for example, a mirror or a lens for projecting the laser beam emitted from the laser element 25 to the two-dimensional scanner 10 via the beam splitter 27. Is provided. Furthermore, a light emission monitor 29 for monitoring the light projection timing of the laser light is connected to the light projecting optical device 28. The light emission monitor 29 includes a light receiving element (not shown). The light receiving element receives the laser light projected from the light projecting optical device 28 to monitor the light projecting timing by the light projecting optical device 28. It has become.

  Further, the distance image sensor 7 includes a laser light receiving unit 30, and the laser light receiving unit 30 is provided with a light receiving element 31 for receiving laser light. The laser light receiving unit 30 is configured by, for example, a mirror or a lens for causing the light receiving element 31 to receive the laser light projected from the laser element 25 via the light projecting optical device 28 and reflected by the two-dimensional scanner 10. A light receiving optical device 32 is provided. The laser light receiving unit 30 is provided with a preamplifier 33 that amplifies a light reception signal from the light receiving element 31.

  The distance image sensor 7 includes a distance measuring unit 34. The distance measuring unit 34 includes a resonance circuit 35 and a rising circuit 36 for detecting a light reception signal transmitted from the preamplifier 33 of the laser light receiving unit 30. Each is provided. The resonance circuit 35 is mainly used when the distance to be measured is relatively long, and the rising circuit 36 is mainly used when the distance to be measured is relatively short. The distance measurement unit 34 is provided with stop timing generation circuits 37 and 37 that generate timings received by the light receiving element 31 based on light reception signals sent via the resonance circuit 35 and the rising circuit 36. The distance measuring unit 34 includes a time measuring circuit for measuring the time from the light projection timing to the light reception timing from the light reception timing generated by the stop timing generation circuit 37 and the light projection timing sent from the light emission monitor 29. 38, 38 are provided.

  Further, the control unit 20 is provided with a distance value calculation circuit 39, and time data from the time measurement circuit 38 is sent to the distance value calculation circuit 39 via the A / D converters 40 and 40. ing. The distance value calculating circuit 39 is configured to be able to acquire a distance value based on the time data from the time measuring circuit 38. The acquired distance value is an image to be described later via the external interface 41. It is configured to be output to the data processing device 8. That is, by operating the first movable part 15 and the second movable part 13 of the two-dimensional scanner 10 and projecting laser light from the laser projecting part 24 to the two-dimensional scanner 10, laser light is generated in a two-dimensional region. The laser beam projected from the two-dimensional scanner 10 and reflected by the object is reflected by the two-dimensional scanner 10 and received by the laser light receiving unit 30, so that each pixel in the range scanned by the two-dimensional scanner 10 is scanned. The distance value at can be acquired. The laser light receiving unit 30 is provided with an A / D converter 42 that A / D converts the light reception signal output from the preamplifier 33 and sends it to the distance value calculation circuit 39 as the amount of received light.

  Further, the control unit 20 is provided with a main power supply 43 for supplying power to the control unit 20 and the distance measurement measurement unit 34. Further, the control unit 20 receives the power supply from the main power supply 43 and receives a laser driver 26, a preamplifier. 33 and an HV power supply 44 for supplying power to the scanner driver 22 is provided.

  In addition, the detection unit 8 generates a two-dimensional frame image based on the distance value output from the distance image sensor 7 and generates the largest distance value in each pixel of the frame image, that is, the farthest distance value. The image is stored as a background image, and a difference image is generated by obtaining a difference from the newly acquired distance value with the background image as a reference. And the detection part 8 is comprised so that the presence or absence of an object may be detected by extracting an object image based on the produced | generated difference image.

  In the present embodiment, the range detected by the distance image sensor 7 is set in advance as a detection area. For example, as shown in FIGS. 4 and 5, an arbitrary area between the home door 6 and the vehicle 1 is set as a detection area, and the presence or absence of an object is detected based on a distance value in the detection area. Is configured to do.

  In this case, in the present embodiment, when an object is detected at the boundary portion of the detection area, laser light is scanned in the vicinity of the detected object outside the detection area, and an object outside this detection area is detected. Is configured to do. When an object is detected outside the detection area, the presence / absence of the object is detected by adding the object information within the detection area and the object information outside the detection area and recognizing it as one object information. Has been.

  That is, normally, in the detection area, when a certain number of pixels or more are detected, the detection area is set to recognize that there is an object, but the detected object in the detection area. If the number of pixels is less than a certain value, it is not recognized that there is an object. This is because if it is set to detect an object that is too fine, erroneous detection may occur.

  A specific example will be described with reference to FIGS. 4 shows a case where a long object such as a umbrella exists in the door portion of the vehicle 1, and FIG. 5 shows that a rectangular object such as a bag exists in the door portion of the vehicle 1. It shows the case. As shown in FIGS. 3 and 4, when the number of pixels of the detected object is 50 pixels or more, when it is set to recognize that there is an object, an object of 20 pixels is detected in the detection region. In some cases, it is not recognized that there is an object. In the present embodiment, when an object is detected in the detection area, the distance image sensor 7 scans outside the detection area and detects an object outside the detection area. When a 20-pixel object is detected within the detection area and a 40-pixel object is detected outside the detection area, the pixel values of these objects, 20 pixels and 40 pixels, are added to obtain a 60-pixel object. It is configured to recognize that there is.

  Next, the operation of this embodiment will be described.

  First, the laser controller 21 causes the scanner driver 22 to output the inner axis driving signal and the outer axis driving signal, and the scanner driver 22 causes the two-dimensional scanner 10 to output the inner axis driving pulse and the outer axis driving pulse. The drive coil of the three-dimensional scanner 10 is energized, thereby causing the first movable portion 15 and the second movable portion 13 to swing.

  In this state, the laser emission timing signal is output from the laser controller 21 to the laser projection unit 24, and the projection drive pulse is output from the laser driver 26 to the laser element 25. Laser light is projected to the two-dimensional scanner 10 through the two-dimensional scanner 10.

  Then, the laser light is scanned in the two-dimensional region by the two-dimensional scanner 10, and the laser light projected from the two-dimensional scanner 10 and reflected by the object is reflected by the two-dimensional scanner 10 and passes through the light receiving optical device 32. The laser light receiving unit 30 receives the light. This light reception signal is output to the stop timing generation circuit 37 via the resonance circuit 35 or the rising circuit 36, and the light reception timing generated by the stop timing generation circuit 37 by the time measurement circuit 38 and the projection sent from the light emission monitor 29. The time from the light timing to the light receiving timing is measured and output to the distance value calculation circuit 39. Then, the distance value calculation circuit 39 calculates the distance value at each pixel in the range scanned by the two-dimensional scanner 10 based on the time data from the time measurement circuit 38, and this distance value is sent to the detection unit 8.

  Next, the operation of the detection unit 8 will be described with reference to the flowchart shown in FIG.

  First, the detection unit 8 generates a background image based on the distance value output from the distance image sensor 7, generates a difference image with reference to the background image, extracts an object image, and detects the presence or absence of the object. .

  If an object having a certain number of pixels or more is detected in the detection area (ST1: YES), it is recognized that there is an object. In addition, when an object having a certain number of pixels or more is not detected in the detection area, and an object is detected at the boundary portion of the detection area but the number of pixels is less than that (ST2: YES), outside the detection area An object is detected by scanning the region with laser light (ST3).

  If an object is detected outside the detection area (ST4: YES), whether the number of pixels of the object within the detection area and the number of pixels of the object outside the detection area are added to obtain a certain number of pixels. It is determined whether or not (ST5), and if the number of pixels exceeds a certain value (ST5: YES), it is recognized that an object exists.

  Also, when no object is detected at the boundary of the detection area (ST1: NO), when no object is detected outside the detection area (ST4: NO), and the number of pixels of the object within the detection area and the object outside the detection area If the number of pixels does not reach a certain number (ST5: NO), it is recognized that there is no object.

  As described above, in the present embodiment, when an object is detected based on the distance image generated based on the distance value by the distance image sensor 7 at the boundary portion in the detection area, the object outside the detection area And the presence / absence of the object is recognized based on the detection information of the object in the detection area and the detection information of the object outside the detection area. For example, an object can be accurately detected when an object such as a bag or a bag is caught in a vehicle door or when a passenger rushes into the vehicle. As a result, it is possible to appropriately detect vehicle vehicle pinching, passenger rush-in, and the like, thereby ensuring sufficient safety.

  In the above-described embodiment, the case where the distance image sensor 7 and the detection unit 8 are configured separately has been described. However, the distance image sensor 7 may include the detection unit 8 and be configured integrally. . Moreover, in the said embodiment, although the case where an object was detected using the distance image sensor 7 was demonstrated, it is not limited to the distance image sensor 7, You may make it use various sensors, such as an infrared sensor.

  Furthermore, in the above-described embodiment, an example in which the object detection system is applied to a home door system has been described. However, for example, any system can be applied to any system that manages doors, such as an automatic door system of a building. May be.

  The present invention is not limited to the above-described embodiment, and various modifications can be made based on the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Platform 3 Home door apparatus 4 Partition wall 5 Vehicle door 6 Home door 7 Distance image sensor 8 Detection part 10 Two-dimensional scanner 11 Fixed part 13 2nd movable part 15 1st movable part 20 Control part 21 Laser controller 22 Scanner driver DESCRIPTION OF SYMBOLS 24 Laser projector 25 Laser element 26 Laser driver 28 Light projection optical apparatus 29 Light emission monitor 30 Laser light reception part 31 Light reception element 32 Light reception optical apparatus 34 Distance measurement measurement part

Claims (6)

Great Keru object to a preset predetermined detection areas, comprising a detector for detecting on the basis of the information of the corresponding image, the detection unit is a predetermined range with respect to information of Oite the image at the boundary of the detection area when detecting an object by value, have rows object detection outside of said detection area boundary portion as a reference, in the detection information of the object on the outside of the object detection information and the detection area in the detection region An object detection system characterized by determining the presence or absence of an object to be recognized based on .   The object detection system according to claim 1, wherein the detection unit detects the size of an object based on numerical information related to a pixel that is information of the image.   The detection unit recognizes based on a value obtained by adding the number of pixels in the detection area and the number of pixels outside the detection area when an object is detected with a predetermined number of pixels or less in the boundary portion. The object detection system according to claim 2, wherein presence or absence of a power object is determined. It has a distance image sensor that measures the distance value to the object ,
The detection unit, object detection according to any one of claims 1 to 3, characterized in that to determine the presence or absence of the distance the object to be recognized on the basis of the distance value outputted from the image sensor system. The object detection system according to claim 4 , wherein the distance image sensor includes a scanner that scans light within the detection region and outside the detection region.   The object detection system according to any one of claims 1 to 5, wherein the detection area is an area set near a platform door of a platform door device installed on a platform of a station.

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