JP6881898B2 - Gate device - Google Patents

Description

The present invention relates to a gate device that regulates or permits the passage of passers-by.

In public places where many people gather, such as airports and conference halls, bringing in dangerous materials such as explosives may be restricted in order to prevent accidents and terrorism. In order to ensure compliance with such restrictions, there is a technique for detecting dangerous goods contained in the baggage of passersby. Documents relating to techniques for detecting dangerous substances include, for example, Patent Documents 1 to 3.

Patent Document 1 describes a security system that collects information in a security center, collates it with a database, and determines a risk.
Patent Document 2 describes a sampling device that handles dangerous substances such as explosives and collects the dangerous substances from a person having explosive particles or the like attached to clothes or the like.
Patent Document 3 describes a dangerous substance detection system having a neutron detection device.

Japanese Unexamined Patent Publication No. 2009-175819 Japanese Unexamined Patent Publication No. 2009-204545 Japanese Unexamined Patent Publication No. 2012-122804

Since public transportation is a public place where many people gather, it may be necessary to restrict the carry-on of dangerous goods. Of public transportation, for public transportation where the number of passengers per vehicle such as aircraft and some ships is relatively small, dangerous goods are placed in the passenger's baggage by detection devices such as X-ray imaging devices and metal detectors. It is confirmed whether it is included (hereinafter referred to as "security check"). On the other hand, for public transportation such as railways, where the number of passengers per vehicle is relatively large, security checks are rarely performed because the security check takes time and impairs the convenience of passengers. .. However, there is a need for security checks in mass transportation such as railroads as well as in aircraft.

In addition, security checks are necessary not only in public transportation but also in hotels, office buildings, conference halls, etc., but the necessary security checks are not always performed for the same reason that the convenience is impaired.

In view of the above circumstances, an object of the present invention is to provide a means for detecting the contents of a passerby's baggage without significantly reducing the convenience of the passerby.

In order to solve the above-mentioned problems, the present invention includes an associative means for associating a passerby passing through a gate with baggage whose contents are detected by a detection device, and the related means is provided on a transportation path of the transportation device. The association is made based on the time when the loaded baggage is detected at a predetermined position and the time when the passerby is detected at a specific position on the route to the gate, which has a specific positional relationship with the predetermined position. The gate device is provided as a first aspect.

According to the gate device of the first aspect, the contents of the baggage of a passerby passing through the gate can be detected. In addition, it is relatively easy to identify which passerby the baggage that has detected the contents belongs to.

In the gate device of the first aspect, the passability determining means for acquiring the information of the contents detected by the detection device and determining whether or not the passerby can pass through the gate based on the information of the contents. The configuration of providing may be adopted as the second aspect.

According to the gate device of the second aspect, it is possible to determine whether or not the passerby can pass through the gate according to the information of the contents of the baggage of the passerby.

Further, the present invention acquires information on the contents detected by the detection device and an associative means for associating a passerby passing through the gate with the baggage whose contents are detected by the detection device. The passability determining means for determining whether or not the passerby can pass through the gate is provided based on the information of the above, and the passability determining means identifies the position of the baggage based on the distance image generated by the distance image sensor. A gate device for determining whether or not the passerby can pass through the gate based on the specified position is provided as a third aspect.

According to the gate device of the third aspect, the contents of the baggage of a passerby passing through the gate can be detected. In addition, it is possible to determine whether or not the passerby can pass through the gate according to the information on the contents of the baggage of the passerby. Further, by acquiring the distance image generated by the distance image sensor, it is possible to prevent the inconvenience that the baggage whose contents are not detected by the detection device passes through the gate together with the passerby.

In the gate device according to any one of the first to third aspects, the related means acquires information for tracking the passerby and associates the baggage with the information for tracking. It may be adopted as a fourth aspect.

According to the gate device of the fourth aspect, after passing through the gate, a passerby carrying a specific baggage can be tracked.

In the gate device of the fourth aspect, the configuration in which the related means acquires an image of the passerby as it passes through the gate as the tracking information may be adopted as the fifth aspect. ..

According to the gate device of the fifth aspect, the appearance of a passerby carrying a particular baggage is specified after passing through the gate.

The present invention also includes an associative means for associating a passerby passing through the gate with baggage whose contents are detected by a detection device, and the associative means captures an image of the passerby as it passes through the gate. An image taken to monitor the space in which the passerby can move after passing through the gate, associating the baggage with the tracked information, acquired as information for tracking the passerby. A gate device provided with a position specifying means that obtains and analyzes an image of the passerby when passing through the gate and an image captured for monitoring, and identifies the position of the passerby based on the result of the analysis. , and it provides as a sixth aspect.

According to the transmission / reception device of the sixth aspect, the contents of the baggage of a passerby passing through the gate can be detected. It is also possible to track passers-by carrying certain baggage after passing through the gate. Also, after passing through the gate, the appearance of a passerby carrying a particular baggage is identified. It is also possible to identify the location of a passerby associated with a particular baggage.

In the gate device of the sixth aspect, the position identification necessity determination that acquires the information of the contents detected by the detection device and determines the necessity of specifying the position of the passerby based on the information of the contents. As a seventh aspect, a configuration may be adopted in which the positioning means is provided with means, and the positioning means continues or stops the identification of the position of the passerby based on the result of the determination by the position identification necessity determination means. ..

According to the gate device of the seventh aspect, it is possible to reduce the processing for unnecessary tracking of passersby.

In the gate device of any of the fourth to seventh aspects, the eighth aspect is that the related means acquires the information read from the passerby's pass ticket as the tracking information. May be adopted as.

According to the gate device of the eighth aspect, the passerby can be tracked by the information read from the toll ticket.

The present invention also includes an associative means for associating a passerby passing through the gate with baggage whose contents are detected by a detection device, the associating means being said based on a distance image generated by a distance image sensor. The position of the baggage and the passerby is specified, and the time when the baggage is placed or passed the predetermined position and the time when the passerby is determined by using the identified baggage and the position of the passerby are specified. A gate device that makes the association based on the time when the person was in the position or the time when the predetermined position was passed is provided as a ninth aspect.

According to the gate device of the ninth aspect, the contents of the baggage of a passerby passing through the gate can be detected. In addition, it is relatively easy to identify which passerby the baggage that has detected the contents belongs to. In addition, by acquiring the distance image generated by the distance image sensor, the passerby and the baggage are associated with each other.

Further, the present invention specifies an associative means for associating a passerby passing through a gate with baggage whose contents are detected by a detection device, a moving speed of the passerby, and transports the baggage to the detection device. with respect to the transporting device, a gate device with a transport instruction means for instructing to carry the baggage at a speed corresponding to the moving speed of the passersby who the specific, provided as an aspect of the first 0.

According to the gate apparatus of the first 0 embodiment, it is possible to detect the contents of the baggage passerby passing through the gate. In addition, the inconvenience that the baggage whose contents are detected by the detection device is far away from the passerby is avoided.

In the gate apparatus of the first 0 embodiment, the conveyance instruction means, the distance identifies a moving speed of the passer based on the distance image generated by the image sensor, be employed as embodiments configurations of the first 1 of Good.

According to the gate device of the first aspect, by acquiring the distance image generated by the distance image sensor, the inconvenience that the baggage whose contents are detected by the detection device is far away from the passerby is avoided. ..

In the gate device of the first or second or sixth or seventh or eighth aspect, the size of the baggage is specified based on the distance image generated by the distance image sensor, and the size of the specified baggage is predetermined. If the size is larger than the size, a configuration may be adopted as the first and second aspect in which the transport device for transporting the baggage to the detection device is provided with a transport instruction means for instructing the transport device to stop the transport of the baggage.

According to the gate device of the first and second aspects, by acquiring the distance image generated by the distance image sensor, there is an inconvenience that baggage larger than the size that the contents can be detected by the detection device is transported to the detection device. Avoided.

Further, the present invention is based on an associative means for associating a passerby passing through a gate with baggage whose contents are detected by a detection device and a distance image generated by a remote image sensor, and the position of the passerby's body. A gate device including a transport instruction means for instructing a transport device that transports the baggage to the detection device to stop the transport of the baggage when the specified position of the body is within a predetermined area. provides as an aspect of the first 3.

According to the gate apparatus of the first third aspect, it is possible to detect the contents of the baggage passerby passing through the gate. In addition, when a passerby reaches for the baggage to be carried to the detection device by acquiring the distance image generated by the distance image sensor, the hand of the passerby holding the baggage mistakenly reaches the detection device. The risk of getting into is reduced.

The present invention also includes an associative means for associating a passerby passing through the gate with baggage whose contents are detected by a detection device, and an upstream transport means and a downstream transport means in the baggage transport direction. After the preceding passerby has passed through the gate, the downstream transport means does not transport the baggage until all the baggage is removed from the downstream transport means, and the upstream transport means does not carry the baggage. It means a gate device for conveying baggage, provides as an aspect of the first 4.

According to the gate apparatus of the first fourth embodiments, it is possible to detect the contents of the baggage passerby passing through the gate. In addition, until the baggage of the passerby who has left the gate device in advance is removed, the baggage is not transported to the passerby who has left the gate device while proceeding with the detection of the contents of the baggage of the following passerby. Can be done.

The figure which shows the main structure of the security system which concerns on one Embodiment. The figure which shows the appearance of the gate apparatus which concerns on one Embodiment. The figure which shows the structure of the gate apparatus which concerns on one Embodiment. The figure which shows the functional structure of the gate apparatus which concerns on one Embodiment. The figure which shows the upstream transport part and the downstream transport part in one modification. The figure which shows the main structure of the security system which concerns on one modification. The figure which shows the appearance of the gate device and the distance image sensor which concerns on one modification. The figure for demonstrating the distance image data generated by the distance image sensor which concerns on one modification. The figure for demonstrating the distance image data generated by the distance image sensor which concerns on one modification. The figure which shows the structure of the gate apparatus which concerns on one modification. The figure which shows the functional structure of the gate device which concerns on one modification. The figure for demonstrating the method in which the position identification part which concerns on one modification identifies the position of baggage and a passerby.

1. 1. Embodiment 1-1. Overall Configuration of Security System The security system 9 according to the embodiment of the present invention will be described below. FIG. 1 is a diagram showing a main configuration of a security system 9 according to an embodiment of the present invention. The security system 9 has a gate device 1 and a monitoring device 2.

In the present embodiment, the gate device 1 is arranged at the ticket gate of the station, and the passage of a passerby P (railroad passengers, etc.) passing from the outside space L to the inside space H such as the station platform is permitted by opening and closing the gate G. regulate. Passerby P may carry one or more baggage J. In FIG. 1, as an example, a passerby P carrying one baggage J moves from the outside space L through the gate G to the inside space H.

The monitoring device 2 has a control unit 21, a storage unit 22, and a plurality of cameras 23. Each of the plurality of cameras 23 continuously images different locations in the space H. The control unit 21 sequentially stores images (moving images and still images) obtained by imaging by a plurality of cameras 23 in the storage unit 22 in association with information such as an imaging location and an imaging time. The passerby P moving in the space H is always imaged by one of the cameras 23.

1-2. Configuration of Gate Device FIG. 2 is a diagram showing the appearance of the gate device 1. Further, FIG. 3 is a diagram showing the configuration of the gate device 1. The gate device 1 includes a control unit 11, a toll ticket reader / writer 12, an opening / closing unit 13, an imaging unit 14, a motion sensor 15, a detection unit 16, and a transport unit 17.

The control unit 11 includes a computing device such as a CPU (Central Processing Unit), a non-volatile memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory), and a storage device such as RAM (Random Access Memory) and ROM (Read Only Memory). It is equipped with and executes a program stored in a ROM or the like. The control unit 11 controls each unit of the gate device 1 by executing the above program.

The gate G is, for example, two plate-shaped members, each of which is rotatably supported around an axis in the vertical direction.

The opening / closing unit 13 has a drive mechanism such as a motor or a gear, and opens / closes the gate G by rotating two plate-shaped members of the gate G by the drive mechanism in response to an instruction from the control unit 11. Do.

The image pickup unit 14 has an image pickup element such as a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary metal-oxide semiconductor) image sensor, and generates an image of a passerby P passing through the gate G. The image of the passerby P is sent to the control unit 11.

When the passerby P carrying the baggage J puts the baggage J on the transport path of the transport unit 17, the transport unit 17 transports the baggage J to the baggage receiving area R in the direction D1 from the outside space L toward the inside space H. .. While the baggage J is being transported to the transport unit 17, the baggage J passes in the vicinity of the detection unit 16, and at that time, the detection unit 16 detects the contents of the baggage J.

After placing the baggage J on the transport path of the transport unit 17 and letting go of the baggage J, the passerby P is a pass ticket reader / writer with information stored in the pass ticket T (not shown in FIG. 2) in his / her possession. Have 12 read. In the present embodiment, the toll ticket T is a non-contact IC card or a magnetic ticket, and the toll ticket reader / writer 12 is a device that reads and writes information to the non-contact IC card and the magnetic ticket. The information stored in the toll ticket T includes ticket information, reserved seat information, and the like. When the toll ticket T is a non-contact IC card, the information stored in the toll ticket T includes the remaining charge, usage history, and the like. The control unit 11 determines whether or not a passerby may pass through the gate G based on the information read from the pass ticket T by the pass ticket reader / writer 12.

The motion sensor 15 is a sensor that detects the presence of a person, and is, for example, an infrared sensor. The motion sensor 15 is arranged on the outside space L side of the gate G, and detects the passage of the passerby P before the passage of the gate G. When the motion sensor 15 detects the passage of the passerby P, it sends a detection signal to the control unit 11.

The detection unit 16 irradiates the baggage J with an electromagnetic wave, and generates an image drawn by shading according to the intensity of the electromagnetic wave transmitted through the baggage J. The electromagnetic wave emitted by the detection unit 16 to the baggage J is an electromagnetic wave in a frequency band that passes through the baggage J but has a different transmittance depending on the substance of the contents of the baggage J, and is, for example, X-ray.

Further, the detection unit 16 analyzes the image generated by the irradiation of the electromagnetic wave by a known image analysis method, and estimates the type of the object included in the content C by shape pattern matching or the like.

Further, the detection unit 16 may detect the baggage J that has detected the content C, for example, (Case 1) Dangerous Goods, (Case 2) Dangerous Goods, according to the type of the thing contained in the estimated contents C. Yes, (Case 3) Non-dangerous goods are classified into three types. Case 1 is, for example, a case where it is estimated that the content C includes a large knife, a pistol, or the like. Case 2 does not correspond to Case 1, but is, for example, a case where it is estimated that the content C contains a large amount of liquid, or a case where the estimation of the type of the content contained in the content C is incomplete. Case 3 is a case that does not correspond to either case 1 or case 2. The detection unit 16 sends the classification result to the control unit 11.

The image generated by the detection unit 16, the type of the object included in the content C estimated by the detection unit 16, and the classification result of the baggage J by the detection unit 16 are all the baggage detected by the detection device. This is an example of information on the contents of.

The control unit 11 determines whether or not the passerby P can pass through the gate G based on the information read from the pass ticket T by the pass ticket reader / writer 12, and based on the classification result of the baggage J sent from the detection unit 16. , The passerby P determines whether or not the passage of the gate G is possible.

When the control unit 11 determines that the passerby P cannot pass through the gate G in the passability determination based on the information read from the toll ticket T, the control unit 11 instructs the opening / closing unit 13 to close the gate G.

When the control unit 11 determines that the passerby P can pass through the gate G in the passability determination based on the information read from the pass ticket T, the control unit 11 subsequently determines that the baggage J is classified by the detection unit 16. Then, the following control is performed.

When the classification result of the baggage J is case 1, that is, when it is determined that the contents C are likely to contain dangerous goods, the control unit 11 instructs the opening / closing unit 13 to close the gate G and closes the gate G. Instruct the transport unit 17 to carry the baggage J in the reverse direction, that is, in the reverse direction of the direction D1. In this case, the passerby P has the baggage J that has been sent back from the gate device 1 to the position on the upstream side of the transport path of the transport unit 17, and goes to, for example, the window where the station staff is, and the baggage J by the station staff. Will be inspected.

When the classification result of the detection unit 16 is case 2, that is, when it is determined that the content C may contain a dangerous substance, the control unit 11 instructs the opening / closing unit 13 to open the gate G and opens the gate G. , The image pickup unit 14 is instructed to image the passerby P, and the image of the passerby P generated by the imaging and the information of the contents C of the baggage J detected by the detection unit 16 (for example, by the detection unit 16). The image captured by the electromagnetic wave, the type of the object contained in the content C estimated by the detection unit 16, and the classification result of the baggage J specified by the detection unit 16) are associated with each other and stored in, for example, a non-volatile memory. ..

When the classification result of the detection unit 16 is case 3, that is, when it is determined that the content C does not contain a dangerous substance, the control unit 11 instructs the opening / closing unit 13 to open the gate G.

When the gate G is opened, the passerby P picks up the baggage J that has reached the baggage receiving area R, passes through the gate G, and enters the hall space H.

1-3. Functional configuration of the gate device FIG. 4 is a diagram showing a functional configuration of the gate device 1. By executing the above-mentioned program, the control unit 11 functions as an association unit 111, a passability determination unit 112, a position identification unit 113, and a position identification necessity determination unit 114.

The association unit 111 detects the passerby P passing through the gate G based on the time when the baggage J is placed in the predetermined position or has passed the predetermined position and the time when the passerby P has passed the predetermined position. The content C is associated with the baggage J detected by the part 16.

Specifically, when the body of the passerby P is detected by the motion sensor 15 immediately after the timing when the baggage J passes through the detection unit 16, the association unit 111 sets the baggage J and the passerby P. Correspondence and correspondence information indicating the contents of the correspondence are generated. Correspondence information corresponds to, for example, the baggage J in which the content C is detected by the detection unit 16 after the gate device 1 is activated, and the passerby P in which the motion sensor 15 detects the content C. It is information indicating whether to do it.

Further, the related unit 111 acquires information for tracking the passerby P when the classification result of the baggage J by the detection unit 16 is case 2, and tracks the baggage J and the passerby P. Associate with information. Specifically, the related unit 111 acquires an image of the passerby P when passing through the gate G from the imaging unit 14 as information for tracking the passerby P, and uses the corresponding information of the passerby P and the baggage J as information. Add an image of passerby P.

Further, the related unit 111 acquires the information read by the passerby reader / writer 12 from the passerby T of the passerby P as the information for tracking the passerby P. The information read from the toll ticket T includes, for example, information on the vehicle on which the passerby P is riding and the reserved seat. The related unit 111 adds the information read from the pass ticket T to the corresponding information of the passerby P and the baggage J.

The passability determination unit 112 acquires the information of the content C detected by the detection unit 16, and determines whether or not the passerby P can pass through the gate G based on the information of the content C. As described above, the passability determination unit 112 performs a passability determination based on the information read from the toll ticket T and a passability determination based on the classification result of the detection unit 16, and the result of the passability determination is It is determined that the passerby P may pass through the gate G only if both result in that the passerby P may pass through the gate G.

The position specifying unit 113 continuously acquires images captured by a plurality of cameras 23 from the monitoring device 2 in order to monitor the space in which the passerby P can move after passing through the gate G, that is, the space H in the hall. doing. When the classification result of the baggage J by the detection unit 16 is case 2, the position identification unit 113 acquires an image of the passerby P when passing through the gate G from the association unit 111. Then, the position specifying unit 113 analyzes the image of the passerby P when passing through the gate G and the image for monitoring the space H in the hall, and identifies the position of the passerby P based on the result of the analysis.

Specifically, the position specifying unit 113 analyzes the image of the passerby P when passing through the gate G, and determines the positions and sizes of the passerby P's hands, feet, face, etc., and the passerby P's eyes, nose, and so on. Specify the position of the mouth, etc., the color and shape of the clothes of the passerby P, and the like. Hereinafter, such information specified by the position specifying unit 113 is referred to as "feature information". Subsequently, the position specifying unit 113 analyzes an image captured by the camera 23 at the position closest to the gate device 1 immediately after passing through the gate G of the passerby P, and from the image, the feature of the passerby P. Search for images that have feature information that matches or resembles the information. The position specifying unit 113 determines the position of the passerby P immediately after passing through the gate G based on the imaging direction of the camera 23 that captured the image used for the search and the position of the image of the searched passerby P in the image. Identify. After that, the position specifying unit 113 repeats the process of searching for an image having the feature information matching or similar to the feature information of the passerby P from the images sequentially acquired from the monitoring device 2, and thereby the position of the passerby P. Continue to identify.

The position identification necessity determination unit 114 acquires the information of the content C detected by the detection unit 16, and determines the necessity of specifying the position of the passerby P based on the information of the content C. The position identification unit 113 continues or stops the identification of the position of the passerby P based on the result of the determination by the position identification necessity determination unit 114.

For example, as described above, when the classification result of the baggage J by the detection unit 16 is case 2, the position identification unit 113 continuously performs the position identification process of the passerby P. Case 2 also includes a case where the detection unit 16 has not completed the estimation of the type of the item included in the content C of the baggage J. That is, when it takes time to analyze the image of the baggage J captured by the electromagnetic wave, the detection unit 16 classifies the baggage J into the case 2. In that case, the gate G is opened, and the position of the passerby P is continuously specified by the position specifying unit 113.

After that, when the detection unit 16 determines that the classification result of the baggage J is case 3, that is, when the baggage J is determined not to contain dangerous goods, the position identification necessity determination unit 114 determines the position identification necessity determination unit 114. Based on the result of the determination according to 16, it is determined that the process of specifying the position of the passerby P is unnecessary. In this case, the position identification unit 113 stops specifying the position of the passerby P according to the determination of the position identification necessity determination unit 114.

On the other hand, when the detection unit 16 determines that the classification result of the baggage J is case 1, that is, when the baggage J is determined to contain dangerous goods, the position identification necessity determination unit 114 determines the position identification necessity determination unit 114. Based on the result of the determination according to 16, it is determined that the process of specifying the position of the passerby P is necessary. In this case, the position identification unit 113 continues to specify the position of the passerby P according to the determination of the position identification necessity determination unit 114.

According to the security system 9 described above, it is possible to detect the contents of baggage carried by a passerby without significantly reducing the throughput of the passerby passing through the gate device 1. If it is determined that the baggage contains dangerous goods before the passerby passes through the gate G, the gate G is closed to prevent the dangerous goods from being brought into the space H. ..

In addition, if it is difficult to determine whether or not the baggage contains dangerous goods, the passerby is not restricted from moving to the hall space H, but the position of the passerby in the hall space H is continuous. Therefore, the station staff and the like can monitor the behavior of the passerby as needed, and can prevent the occurrence of a problem and promptly respond when a problem occurs.

The configuration, shape, size, and arrangement relationship described in the above embodiments are only schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and can be changed to various forms as long as it does not deviate from the scope of the technical idea shown in the claims.

2. Modifications The above embodiments can be variously modified. An example of these modifications is shown below. In addition, two or more modified examples shown below may be combined as appropriate.

2-1. Modification 1
In the above-described embodiment, the transport unit 17 is composed of one transport device that transports the baggage J from the position where the passerby P placed the baggage J to the baggage receiving area R. Instead, the transport unit 17 included in the gate device 1 has, for example, an upstream transport unit 17a installed on the upstream side in the transport direction of the baggage J and a downstream transport unit 17b installed on the downstream side thereof. You may be. In this case, the upstream transport unit 17a and the downstream transport unit 17b can carry out the baggage J transport operation independently of each other in accordance with the instructions of the control unit 11.

FIG. 5 is a diagram showing an upstream transport portion 17a and a downstream transport portion 17b in this modified example. As shown in FIG. 5, the upstream transport unit 17a is arranged in the outside space L, and the downstream transport unit 17b is arranged in the inside space H. The upstream transport unit 17a transports the baggage J in the direction D1a and passes it through the detection unit 16.

The downstream transport unit 17b receives the baggage J after the content C is detected by the detection unit 16 from the upstream transport unit 17a, and further transports the baggage J in the direction D1b (which may be the same as the direction D1a) to the baggage receiving area R. To reach. Hereinafter, the operation of the transport unit 17 in this modification is taken as an example in which the passerby P1 carrying the baggage J1 passes through the gate device 1 and then the passerby P2 carrying the baggage J2 tries to pass through the gate device 1. To explain.

The control unit 11 transports the baggage J1 to the upstream transport unit 17a in the direction D1a until the baggage J1 reaches the baggage receiving area R after the passerby P1 places the baggage J1 on the transport path of the upstream transport unit 17a. Instructing the downstream transport unit 17b to transport the baggage J1 in the direction D1b. As a result of the upstream transport unit 17a and the downstream transport unit 17b operating according to the instruction of the control unit 11, the baggage J1 reaches the baggage receiving area R without waiting for the passerby P1 to pass through the gate G.

After that, when the control unit 11 determines whether or not the gate G can be passed by the passerby P1, the control unit 11 instructs the opening / closing unit 13 to close the gate G and the upstream transport unit 17a. And the downstream transport unit 17b is instructed to reverse the baggage J1. As a result of the upstream transport unit 17a and the downstream transport unit 17b operating according to the instruction of the control unit 11, the baggage J1 is returned to the place where the passerby P1 on the transport path of the upstream transport unit 17a first puts the baggage J1. In this case, the passerby P1 picks up the baggage J1 and, for example, goes to the window of the station and is inspected by the station staff or the like.

On the other hand, when the control unit 11 determines whether or not the gate G can be passed by the passerby P1, the control unit 11 instructs the opening / closing unit 13 to open the gate G. After that, when the passerby P2 places the baggage J2 on the transport path of the upstream transport unit 17a, the control unit 11 instructs the upstream transport unit 17a to start transporting the baggage J2 in the direction D1a, and the passerby P1 directs the baggage J2. The baggage J1 is picked up, and it is determined whether or not all the baggage has been removed from the downstream transport unit 17b. The control unit 11 does not cause the downstream transport unit 17b to start transport until all the baggage is removed from the downstream transport unit 17b. After that, when the passerby P1 picks up the baggage J1 and all the baggage is removed from the downstream transport unit 17b, the control unit 11 instructs the downstream transport unit 17b to start transporting the baggage J2 in the direction D1b. As a result, the baggage J2 of the passerby P2 is transported to the baggage receiving area R.

In this modification, the detection unit 16 can detect the baggage J2 of the following passerby P2 after the preceding passerby P1 has passed through the gate G until the baggage J1 is picked up. Since the baggage J2 of P2 does not reach the baggage receiving area R, the baggage of the passerby P1 and the baggage of the passerby P2 will not be mixed.

2-2. Modification 2
In the above-described embodiment, the passability of the passerby P based on the information of the content C is determined by the passability determination unit 112 of the control unit 11. Instead of this, a configuration other than the control unit 11 may determine whether or not the passerby P can pass through the gate G. For example, the control unit 11 may transmit the information of the content C detected by the detection unit 16 to an external server device, and receive the determination result by the server device from the server device.

2-3. Modification 3
In the above-described embodiment, the related unit 111 uses the image of the passerby P when passing through the gate G and the information read from the passerby T possessed by the passerby P as the information for tracking the passerby P. And get. The type of information for tracking the passerby P acquired by the association unit 111 is not limited to these. For example, the gate device 1 has a recording unit that records a voice emitted by the passerby P when passing through the gate G, and the related unit 111 acquires voice information indicating the voice of the passerby P from the recording unit. May be good.

2-4. Modification 4
In the above-described embodiment, the association unit 111 associates the baggage J with the passerby P based on the time when the baggage J has passed the predetermined position and the time when the passerby P has passed the predetermined position. Instead of these, the association unit 111 may generate correspondence information based on the time when the baggage J is placed in the predetermined position and the time when the passerby P is in the predetermined position. For example, the transport unit 17 has a weight sensor in a portion where the baggage J is placed, and when the baggage J is placed in that portion, the weight sensor detects that the baggage J has been placed and transports the baggage J. You may. Further, after the passerby P puts the baggage J on the transport path, a plurality of weight sensors are provided on the floor of the route to the gate G, and the baggage J is placed on the transport path based on the weight measured by these weight sensors. The position of the passerby P at the time of placement may be specified. In this case, the association unit 111 determines the baggage J and the passerby based on the time when the transport unit 17 detects the baggage J by the weight sensor and the time when the weight sensor arranged on the floor measures the weight of the passerby P. A configuration for associating P may be adopted.

Further, the related unit 111 continuously images the passerby P who has the baggage J in the outside space L and analyzes a series of images obtained so that the baggage J is separated from the hand of the passerby P. May be associated with the passerby P and the baggage J by specifying.

2-5. Modification 5
A configuration may be adopted in which the security system according to the present invention includes a distance image sensor, and the gate device performs processing for enhancing the convenience or safety of the security system based on the distance image generated by the distance image sensor.

FIG. 6 is a diagram showing a main configuration of the security system 109 according to this modified example. In FIG. 6, the components provided by the security system 109 in common with the security system 9 according to the above-described embodiment are designated by the same reference numerals as those of the components included in the security system 9. The security system 109 includes a gate device 101 in place of the gate device 1 provided in the security system 9.

Further, the security system 109 includes a distance image sensor 3 that the security system 9 does not have. FIG. 7 is a diagram showing the appearance of the gate device 101 and the distance image sensor 3. The distance image sensor 3 is mounted on the gate device 101 (for example, the lower surface of the ceiling in the space where the gate device 101 is arranged), and obtains distance image data representing the distance image in the region S shown in FIG. Generate.

FIG. 8 is a diagram for explaining the distance image data generated by the distance image sensor 3. In the example of FIG. 8, an object K1 having a height of M1 and an object K2 having a height of M2 are arranged in the region A1. Since the object K2 is placed on the object K1, the height from the floor to the upper surface of the object K2 is (M1 + M2). The distance image sensor 3 is installed at a position where the height from the floor is M0.

The distance image data generated by the distance image sensor 3 is a collection of pixel data arranged on a two-dimensional plane, like ordinary image data. However, while the pixel data of the normal image data shows the shade of each of the one color or the three primary colors, the pixel data of the distance image data is an object located at a position corresponding to the pixel from the position of the distance image sensor 3. The distance to the position of the surface (depth seen from the distance image sensor 3) is shown.

The distance image data generated by the distance image sensor 3 in the state of FIG. 8 is as shown in FIG. The pixel data corresponding to the pixels in the region B1 shown in FIG. 9 indicates H0, which is the distance from the height of the distance image sensor 3 to the floor. Further, the pixel data corresponding to the pixels in the area B2 indicates the distance (M0-M1) from the height of the distance image sensor 3 to the upper surface of the object K1. Further, the pixel data corresponding to the pixels in the area B3 indicates the distance from the height of the distance image sensor 3 to the upper surface of the object K2 (M0-M1-M2). As described above, the distance image data shows the three-dimensional shape of the object in the region A1 as seen from the distance image sensor 3.

The distance image sensor 3 measures, for example, the time from the position corresponding to each pixel until the laser irradiated toward the object reflects on the object and returns to the irradiated position, and is based on the measured time. Distance image data is generated by a TOF (Time Of Flight) method that specifies the depth at a position corresponding to each pixel of an object. However, the method for generating the distance image data adopted in the distance image sensor 3 is not limited to the TOF method, and any other method such as the area demodulation method may be adopted.

FIG. 10 is a diagram showing the configuration of the gate device 101 and the device connected to the gate device 101. In FIG. 10, among the constituent parts included in the gate device 101, those common to the constituent parts (see FIG. 3) included in the gate device 1 are designated by the same reference numerals as those in the gate device 1. As shown in FIG. 10, the gate device 101 includes a control unit 1011 in place of the control unit 11 of the gate device 1. The distance image sensor 3 is connected to the control unit 1011 and the control unit 1011 acquires the distance image data generated by the distance image sensor 3.

FIG. 11 is a diagram showing a functional configuration of the control unit 1011. Among the functional configuration units included in the control unit 1011 that are common to the functional configuration unit (see FIG. 4) included in the control unit 11 of the gate device 1, the same reference numerals as those in the control unit 11 are attached.

The control unit 1011 includes the association unit 10111 in place of the association unit 111 included in the control unit 11. Further, the control unit 1011 includes a passability determination unit 10112 instead of the passability determination unit 112 included in the control unit 11. Further, the control unit 1011 includes an operation instruction unit 10115 (an example of a transport instruction means) that the control unit 11 does not have.

The association unit 10111 identifies the positions of baggage and passersby based on the distance image indicated by the distance image data generated by the distance image sensor 3, and uses the identified positions of the baggage and passersby to identify the baggage and passersby. Make an association. Therefore, the association unit 10111 includes a position identification unit 1111 that identifies the positions of baggage and passersby.

FIG. 12 is a diagram for explaining a method in which the position specifying unit 1111 identifies the positions of baggage and passersby. The position of the baggage and the passerby specified by the position specifying unit 1111 means an area in the three-dimensional space occupied by the baggage and the passerby. FIG. 12 illustrates a distance image represented by the distance image data generated by the distance image sensor 3 when a passerby holding baggage is in the area S. In the position specifying unit 1111, the degree of similarity between the distance image represented by the distance image data generated by the distance image sensor 3 and the reference distance image indicating the distance image of a general person is equal to or higher than a predetermined threshold value. The part of is specified as the area occupied by passers-by.

Subsequently, the position specifying portion 1111 is specified as an area occupied by the head of the passerby, which is the portion of the area occupied by the specified passerby that shows a shape close to a sphere at the highest position in the vertical direction. Subsequently, the position specifying portion 1111 is located at a position closer to the distance E2 (however, E2> E1) than the distance E1 from the center position of the head in the horizontal direction, and the height does not change significantly, and the head does not change significantly. The area that moves at approximately the same speed as the part is specified as the area occupied by baggage.

When the association unit 10111 monitors the passerby and baggage areas continuously identified by the position identification unit 1111 and detects that the baggage area is separated from the passerby area on the transport path of the transport unit 17, the association unit 10111 determines that the baggage area is separated from the passerby area. Associate the passers-by and baggage that occupy each of those separate areas with each other.

The passability determination unit 10112 identifies the position of the baggage based on the distance image indicated by the distance image data generated by the distance image sensor 3, and determines whether or not the passerby can pass through the gate G based on the specified position of the baggage. .. Therefore, the passability determination unit 10112 includes a position identification unit 1121 that performs the same processing as the position identification unit 1111.

The passability determination unit 10112 monitors the passerby and baggage areas continuously identified by the position identification unit 1121, and the baggage area is not on the transport path of the transport unit 17, but the passage of the passerby shown in FIG. When it is detected that it has passed the upper line F, it is determined that the passerby who is moving with the baggage area is not allowed to pass. In that case, the passability determination unit 10112 instructs the opening / closing unit 13 to close the gate G. As a result, baggage is prevented from passing through the gate G without being detected by the detection unit 16.

The operation instruction unit 10115 gives an operation instruction to the detection unit 16 and the transport unit 17 using the distance image data generated by the distance image sensor 3.

More specifically, the operation instruction unit 10115 instructs the transport unit 17 to transport the baggage of the passerby at a speed corresponding to the moving speed of the passerby. Further, when the size of the baggage transported to the detection unit 16 by the transport unit 17 is larger than a predetermined size, the operation instruction unit 10115 instructs the transport unit 17 to stop the transport operation. Further, when the operation instruction unit 10115 detects that a part of the passerby's body has entered a predetermined area adjacent to the detection unit 16 from the upstream side, the operation instruction unit 10115 stops the baggage transportation operation for the transport unit 17. At the same time as instructing, the detection unit 16 is instructed to stop the detection operation.

In order to give an operation instruction to the detection unit 16 and the transport unit 17 described above, the operation instruction unit 10115 has a position identification unit 1151 that performs the same processing as the position identification unit 1111 and a movement speed identification unit that specifies the movement speed of a passerby. It includes 1152.

For example, when the position specifying unit 1151 identifies the position of the passerby at time t1 as the position A shown in FIG. 6 and the position of the passerby at time t2 as the position B shown in FIG. The moving speed specifying unit 1152 specifies the moving speed of the passerby by dividing the distance from the position A to the position B by the time from the time t1 to the time t2.

The operation instruction unit 10115 refers to the transport unit 17 at the timing when the position of the passerby continuously specified by the position identification unit 1151 reaches the position B shown in FIG. 6, for example, by the movement speed identification unit 1152. Instruct to carry baggage at the speed of movement of the specified passerby. The transport unit 17 performs a transport operation in accordance with the instructions of the operation instruction unit 10115.

As a result, when the passerby places the baggage on the transport path of the transport unit 17 and then heads for the gate G at a movement speed substantially the same as the movement speed up to that point, the baggage does not leave the passerby. Therefore, there is no danger that the baggage will be transported to the vicinity of the gate G earlier than the passerby, and the baggage will be taken away by another person before the passerby reaches the vicinity of the baggage.

Further, when the baggage area specified by the position specifying unit 1151 is separated from the passerby area on the transport path of the transport unit 17, the size of the baggage area passes through the detection unit 16. Determine if it is larger than a given maximum size possible. When it is determined that the size of the baggage area is larger than the maximum size, the operation instruction unit 10115 instructs the transfer unit 17 to stop the transfer operation. The transport unit 17 stops the transport operation in accordance with the instruction from the operation instruction unit 10115. As a result, the inconvenience that baggage of a size that cannot pass through the detection unit 16 is transported to the detection unit 16 is avoided.

The position specifying unit 1151 can specify the size (height) in the vertical direction in addition to the horizontal size (length and width) of the baggage. Therefore, even if the size of the baggage placed on the transport path exceeds the maximum size in the height direction, the baggage will not be transported toward the detection unit 16.

Further, the operation instruction unit 10115 monitors whether or not a part of the passerby area continuously specified by the position identification unit 1151 enters the space indicated by the area Q in FIGS. 6 and 7. .. When a part of the passerby's area enters the area Q, for example, after the passerby puts the baggage on the transport path, he / she notices that there is something to be taken out from the baggage and is transported toward the detection unit 16. This is the case when you reach for your baggage.

When the operation instruction unit 10115 detects that a part of the passerby's area has entered the area Q, the operation instruction unit 10115 instructs the detection unit 16 to stop the detection operation, and at the same time, instructs the transfer unit 17 to stop the transfer operation. When the detection unit 16 detects baggage by electromagnetic waves harmful to the body such as X-rays, when the body of a passerby approaches the inside of the detection unit 16 or the vicinity of the entrance thereof, the passerby is irradiated with the harmful electromagnetic waves. There is a danger. In the gate device 101, since the detection operation of the detection unit 16 is stopped before the body of the passerby approaches the inside of the detection unit 16 or the vicinity of the entrance thereof, there is no danger that the passerby is irradiated with harmful electromagnetic waves. In addition, the passerby can reach out to the area Q to stop the transportation of the baggage and pick it up without chasing the baggage.

The control unit 1011 included in the gate device 101 described above can specify the position of a passerby based on the distance image data generated by the distance image sensor 3. Therefore, the gate device 101 does not have to include the motion sensor 15.

Further, the movement speed specifying unit 1152 included in the operation instruction unit 10115 described above calculates the moving speed of the passerby area specified by the position specifying unit 1151 based on the distance image data. The method by which the moving speed specifying unit 1152 specifies the moving speed of a passerby is not limited to this. For example, the security system 109 includes motion sensors arranged at two passage points on the path of the passerby toward the gate device 101, and the moving speed identification unit 1152 bases the passerby based on the detection results of the motion sensors. A configuration may be adopted that specifies the moving speed of the. In this case, the moving speed specifying unit 1152 determines the distance between the two motion sensors as the time from the timing of detecting a passerby by the motion sensor on the upstream side to the timing of detecting a passerby by the motion sensor on the downstream side. By dividing by, the moving speed of passersby is specified.

The specific processing performed by each component of the control unit 1011 described above is an example, and can be variously deformed. For example, the method by which the control unit 1011 specifies the position of the baggage based on the distance image is not limited to the method described with reference to FIG. 12, for example, the area of the hand of a passerby is specified and the tip of the specified hand area is specified. Various methods such as a method of specifying the area of the object connected to the portion as the baggage area can be adopted.

2-6. Other Modifications In the above-described embodiment, the security system 9 is arranged at the ticket gate of the station. The location of the security system 9 is not limited to the ticket gates of stations, but can be arranged in various locations such as the entrance and exit of event venues and the entrance and exit of office buildings.

Further, in the above-described embodiment, the control unit 11 includes a CPU (general-purpose processor) and performs processing according to a program. Instead of this, the control unit 11 may be configured by a dedicated processor.

Further, in the above-described embodiment, the toll ticket T is a non-contact IC card or a magnetic ticket, but the type of the toll ticket T is not limited to these.

Further, in the above-described embodiment, the detection unit 16 detects the content C of the baggage J by taking an image of the baggage J by electromagnetic waves. The method by which the detection unit 16 detects the baggage J is not limited to taking an image by electromagnetic waves. For example, a metal detector, an analyzer for identifying a volatile substance, or the like may be adopted as the detection unit 16.

1 ... Gate device, 11 ... Control unit, 111 ... Related unit, 112 ... Passability determination unit, 113 ... Position identification unit, 114 ... Position identification necessity determination unit, 12 ... Pass ticket reader / writer, 13 ... Opening / closing unit, 14 ... Imaging unit, 15 ... Motion sensor, 16 ... Detection unit, 17 ... Transport unit, 2 ... Monitoring device, 21 ... Control unit, 22 ... Storage unit, 23 ... Camera, 9 ... Security system, 3 ... Distance image sensor , 101 ... Gate device, 109 ... Security system, 1011 ... Control unit, 1111 ... Position identification unit, 1121 ... Position identification unit, 1151 ... Position identification unit, 1152 ... Movement speed identification unit, 10111 ... Related unit, 10112 ... Passing Possibility determination unit, 10115 ... Operation instruction unit.

Claims (14)

Equipped with an associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector.
The related means is at a time when the baggage placed on the transport path of the transport device is detected at a predetermined position and at a specific position of a route toward the gate in which the passerby has a specific positional relationship with the predetermined position. A gate device that makes the above association based on the time when it was detected. The gate device according to claim 1, further comprising a passability determination means for acquiring information on the contents detected by the detection device and determining whether or not the passerby can pass through the gate based on the information on the contents. .. An associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector,
It is provided with a passability determining means for acquiring information on the contents detected by the detection device and determining whether or not the passerby can pass through the gate based on the information on the contents.
The passability determining means is a gate device that identifies the position of the baggage based on a distance image generated by a distance image sensor and determines whether or not the passerby can pass through the gate based on the specified position. The gate device according to any one of claims 1 to 3, wherein the related means acquires information for tracking the passerby and associates the baggage with the information for tracking. The gate device according to claim 4, wherein the related means acquires an image of the passerby as it passes through the gate as information for tracking the passerby. Equipped with an associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector.
The related means acquires an image of the passerby as it passes through the gate as information for tracking the passerby, and associates the baggage with the information for tracking.
An image captured for monitoring the space in which the passerby can move after passing through the gate is acquired, and an image of the passerby when passing through the gate and an image captured for monitoring are obtained. A gate device provided with a position specifying means for analyzing and identifying the position of the passerby based on the result of the analysis. A position identification necessity determination means for acquiring information on the contents detected by the detection device and determining the necessity of specifying the position of the passerby based on the information on the contents is provided.
The gate device according to claim 6, wherein the position specifying means continues or stops specifying the position of the passerby based on the result of determination by the position specifying necessity determination means. The gate device according to any one of claims 4 to 7, wherein the related means acquires the information read from the passerby's pass ticket as the tracking information. Equipped with an associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector.
The related means identifies the positions of the baggage and the passerby based on the distance image generated by the distance image sensor, and uses the identified positions of the baggage and the passerby to put the baggage in a predetermined position. A gate device that makes the association based on the time when the passerby was placed or passed the predetermined position and the time when the passerby was at the predetermined position or passed the predetermined position. An associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector,
A transport instruction means for specifying the moving speed of the passerby and instructing the transport device for transporting the baggage to the detection device to transport the baggage at a speed corresponding to the moving speed of the specified passerby. A gate device with and. The gate device according to claim 10, wherein the transport instruction means specifies the moving speed of the passerby based on the distance image generated by the distance image sensor. The size of the baggage is specified based on the distance image generated by the distance image sensor, and when the size of the specified baggage is larger than a predetermined size, the baggage is transferred to the detection device with respect to the baggage. The gate device according to claim 1 or 2 or 6 or 7 or 8, further comprising a transport instruction means for instructing the stop of transport. An associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector,
A transport device that identifies the position of the passerby's body based on the distance image generated by the distance image sensor, and transports the baggage to the detector when the identified body position is within a predetermined area. A gate device including a transport instruction means for instructing the stop of transport of the baggage. An associated means of associating a passerby passing through the gate with baggage whose contents are detected by a detector,
It is equipped with an upstream transport means and a downstream transport means in the baggage transport direction.
After the preceding passerby has passed through the gate, the downstream transport means does not transport the baggage until all the baggage is removed from the downstream transport means, and the upstream transport means does not carry the baggage. Is a gate device that transports baggage.

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