JPH04198870A - Speed detector for moving object - Google Patents

Abstract

PURPOSE:To enable automatic checking of whether a speed detection is normal or not by collating first and second tip image data with each other. CONSTITUTION:An image signal of an moving object tip obtained with a front primary camera 10 is converted into a digital image signal with a controller 16. A moving object image signal extraction circuit 20 inputs the output and a synchronous signal 18 to output a first moving object image signal 9hereafter abbreviated as moving object) and a first tip detection signal. The tip imagesignal of a rear primary image camera 11 is controlled 17 to be extracted 21 and a second image signal and a second tip detection signal are outputted. The first and second tip detection signals and a first output signal counted 22 undergo an image synthesization 26. On the other hand, first and second tip image data stored in image memories 23 and 24 are collated 25 to perform an image synthesization 26 of a second output signal as well corresponding to the presence of coincidence of an automobile. In other words, both tip images are overlapped and moreover, a speed display image and a judgment results of display image corresponding to the first and second outputs respectively are synthesized 26 to be displayed on a CRT 27.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a speed detection device for detecting the speed of a moving object such as an automobile.

[Conventional technology]

Conventionally, for example, when detecting the speed of a car from the outside for speed violation enforcement, etc., two sets of light emitters 1,
2 and light receivers 3 and 4 were used, and these were arranged as shown in Figure 6. That is, each light emitter 1, 2 emits a beam B□182 from these, respectively, to the automobile 5, 6.
5, which are arranged perpendicular to the moving direction X of the automobiles 5 and 6 and parallel to each other, including the passing position of
And each of the beams B0. B2 were arranged so as to be separated from each other by a predetermined distance back and forth in the moving direction.

Further, each of the light receivers 3 and 4 receives each of the beams B1. They were arranged so that they each received light B2. Then, based on the output signals of each of the light receivers 3 and 4, a predetermined signal processing circuit (not shown) blocks the rear beam B2 immediately after the front beam B is blocked. An output signal (corresponding to a speed detection signal) corresponding to the elapsed time was obtained.

Although such a conventional speed detection device can normally detect the speed of a car correctly, when two cars 5 and 6 are running parallel to each other as shown in FIG.
The front beam B1 is blocked first, and then the other car 6 blocks the rear beam B1 before the other car 5.
In the case where the vehicle 5.2 is shielded from light, that is, in the case where the front and rear of two vehicles 5.6 running parallel to each other change places within the predetermined distance, the speed of the vehicle cannot be detected correctly.

Nevertheless, the conventional speed detection device is not provided with any means for determining whether or not correct speed detection has been performed.
The two cars 5 and 6 were running parallel to each other as mentioned above.
#!Whether the destination has changed or not! This was extremely inconvenient because it had to be determined whether or not the speed was detected correctly.

[Problem to be solved by the invention]

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a speed detection device for a moving object that can automatically check whether or not speed detection has been performed correctly.

[Means to solve the problem]

In order to solve the above-mentioned problems, the present invention is arranged such that each field of view includes the passing position of the moving object and is substantially perpendicular to the moving direction of the moving object and parallel to each other, and two one-dimensional image cameras arranged so as to be separated from each other by a predetermined distance back and forth in the moving direction, and image signals corresponding to each pixel of each one-dimensional image sensor from each one-dimensional image camera, respectively. It is composed of a controller that sequentially performs scanning at each predetermined scanning period, and a signal processing circuit.

The signal processing circuit generates a rear one-dimensional image immediately after the tip of the moving body reaches the field of view of the front one-dimensional image camera, based on the image signals obtained from the one-dimensional image cameras. Outputs a first output signal corresponding to the elapsed time until the tip of the moving object reaches the field of view of the camera, and outputs a first output signal corresponding to the elapsed time until the tip of the moving object reaches the field of view of the front one-dimensional image camera. The first tip image data of the moving object and the second tip image data of the moving object obtained from the time when the tip of the moving object immediately after that reached the field of view of the rear one-dimensional image camera. The second output signal corresponds to whether the two moving objects match or not.

[Effect]

According to the present invention, the two one-dimensional image cameras are arranged as described above, and the signal processing circuit determines that when the tip of the moving body reaches the field of view of the front one-dimensional image camera, immediately after that, the rear one-dimensional image camera is Since the first output signal corresponding to the elapsed time until the tip of the moving body reaches the field of view of the image camera is output, the first output signal is output based on the same principle as the conventional speed detection device. The output signal corresponds to a speed detection signal, and the speed of a moving object such as a car is detected.

In this way, since the speed of the moving object is detected based on the same principle as the conventional speed detection device, the speed of the moving object can normally be detected correctly. If the front and rear of the two moving bodies change places between the fields of view of each one-dimensional image camera, that is, within the predetermined distance, the speed of the moving bodies cannot be detected correctly.

However, in the present invention, two one-dimensional image cameras are used, and based on each image signal obtained from each one-dimensional image camera, a signal processing circuit detects the tip of the moving body in the field of view of the front one-dimensional image camera. The first tip image data of the moving body obtained from the time when the tip of the moving body reached the rear one-dimensional image camera, and the first tip image data of the moving body obtained from the time when the tip of the moving body reached the field of view of the rear one-dimensional image camera immediately after that. 2 is compared with the tip end image data, and a second output signal corresponding to whether the two moving objects match is output. While the body and the moving object that reaches the field of view of the one-dimensional image camera behind it are the same, as mentioned above, the front and rear of the two moving objects running in parallel are swapped between the fields of view of each image camera. In such a case, since the moving object that reaches the field of view of the front one-dimensional image camera and the moving object that immediately reaches the field of view of the rear one-dimensional image camera are different, the second output signal does not accurately detect the speed. This corresponds to a determination signal indicating whether or not speed detection has been performed, and it is automatically detected whether or not speed detection has been performed correctly. Therefore, according to the present invention, there is no need for the measurer to visually observe whether or not the front and rear of the two movable bodies running in parallel have switched, unlike in the past, and handling is extremely convenient.

〔Example〕

The present invention will be described below based on embodiments shown in the drawings.

FIG. 1 is a block diagram showing an example of a speed measuring device which is a combination of a speed detecting device according to an embodiment of the present invention and display means for displaying the result.

In FIG. 1, 10.11 is a one-dimensional image camera such as a one-dimensional CCD camera or a one-dimensional MOS camera.

As shown in FIGS. 2 to 4, these two one-dimensional image cameras 10 and 11 each have a field of view F2 that is approximately perpendicular to the moving direction and each field of view F□.

F2 are arranged so as to be spaced apart by a predetermined distance back and forth in the moving direction X. Note that FIG. 3 is a view taken along arrows ■--■ in FIG. 2, and FIG. 4 is a view taken along arrows IV-rV in FIG.

In the case of the drawing embodiment, the navigation one-dimensional image camera 10 is
It mainly consists of a one-dimensional image sensor 14 such as a one-dimensional CCD or a one-dimensional MO5 type sensor, and an optical system 15 that forms an image of a car 12.13 on the light receiving surface of the one-dimensional image sensor 14. Its optical axis O is aligned with a direction Y perpendicular to the moving direction X of the vehicle 12.13. Further, the one-dimensional image camera 11
, the optical axis 02 thereof is similarly aligned with the direction Y.

The optical axes 0 and 02 are separated by a predetermined distance. Furthermore, each one-dimensional image camera 10
．． The fields of view F□ and F2 of No. 11 are both in the direction X and direction Y.
Each field of view F is aligned with the direction Z perpendicular to
2 are parallel to each other. However, the fields of view F□ and F2 do not necessarily have to coincide with the direction Z. For example, the fields of view F□ and F2 do not necessarily have to coincide with the direction Z.
You can also leave it tilted.

Further, in FIG. 1, reference numeral 16.17 is a controller that sequentially extracts image signals corresponding to each pixel of each one-dimensional image sensor 14 from each one-dimensional image camera 10.11 at each predetermined scanning period. In the case of the embodiment shown in the drawings, each controller 16, 17 has a synchronous circuit 18.
and a master clock signal (a clock signal that determines the operating speed of the one-dimensional image sensor 14) and a scan start signal (a signal that starts the scanning of the one-dimensional image sensor 14, and whose cycle is the scanning period) as synchronization signals, respectively. Accordingly, each one-dimensional image camera 10.11
A predetermined control signal is sent to each one-dimensional image camera 10.
From ゜11 onwards, analog image signals corresponding to each pixel were obtained in sequence at each synchronized predetermined scanning period, and this analog image signal was A/D converted and output as a digital image signal. ing.

Further, in FIG. 1, 19 is a signal processing circuit, and the signal processing circuit 19 and each of the one-dimensional image cameras 10.
11 and each of the controllers 16 and 17 constitute a speed detection device according to an embodiment of the present invention.

The signal processing circuit 19 operates based on the image signals obtained from the one-dimensional image cameras 10 and 11 to determine whether the front end of the vehicle reaches the field of view Fi of the one-dimensional image camera 10 in front and immediately thereafter. It outputs a first output signal corresponding to the elapsed time until the front end of the vehicle reaches the field of view F2 of the rear one-dimensional image camera 11, and also outputs the first output signal corresponding to the elapsed time until the front end of the vehicle reaches the field of view F2 of the front one-dimensional image camera 10. The first front end image data of the vehicle obtained from the time when the front end of the vehicle reached the field of view F2 of the rear one-dimensional image camera 11, and the second image data of the vehicle obtained from the time when the front end of the vehicle reached the field of view F2 of the rear one-dimensional image camera 11 immediately after that. It is configured to compare the image data of the leading end of the image data and output a second output signal corresponding to whether or not the two images match, and in the case of the embodiment shown in FIG. It is structured as follows.

That is, in FIG. 1, 20 is a moving object image signal extraction circuit, into which the image signal A/D converted by the controller 16 and the synchronization signal from the synchronization circuit 18 are input, and a background image is extracted from the image signal. The first signal is removed.
At the same time, when the first moving object image signal is obtained for the first time from the state where the first moving object image signal is not obtained, that is, the vehicle is detected in the field of view F. When the tip reaches, a signal, ie, a first moving body tip detection signal, is output.

Various specific configurations of the moving object image signal extraction circuit 20 are known, but for example, the image signal in a state where the car is not in the field of view F□ at the beginning of detection is converted into the original background image. The signals are stored in advance as signals, and then, among the image signals obtained in each scanning cycle, those that do not change beyond a predetermined range with respect to the background image signal at that time are sequentially accumulated as the immediately preceding background image signal. - Averaging and sequentially re-memorizing this as a new background image signal, subtracting the background image signal at that point from the image signal obtained sequentially for each scanning cycle, and performing appropriate notch processing (noise removal processing). The first moving object image signal can be outputted using the first moving object image signal.

Further, in FIG. 1, reference numeral 21 denotes a moving object image extraction circuit similar to the moving object image signal extraction circuit 20, and the moving object image signal extraction circuit 21 receives the image signal A/D converted by the controller 17 and the moving object image signal extraction circuit 21. The synchronization signal from the synchronization circuit 18 is input, and the background image signal is removed from the image signal to output a second moving object image signal.
First, the second image signal is not obtained.
At the time when the moving object image signal is obtained, that is, when the front end of the vehicle reaches the field of view F2, the signal, ie.

A second moving body tip detection signal is output.

Further, in FIG. 1, reference numeral 22 denotes a counter, into which the first and second moving object leading edge detection signals and the synchronization signal are input, and from the time when the first moving object leading edge detection signal is input, the second moving object leading edge detection signal is inputted. The number of clocks (
(equivalent to the number of scanning cycles of each one-dimensional image camera 10.11) and outputs the counted value. Therefore, the count value is the elapsed time from when the front end of the car reaches the field of view F1 of the one-dimensional image camera 10 in front to when the front end of the car reaches the field of view F2 of the one-dimensional image camera 11 at the rear. This corresponds to the time, and the counter 22 outputs the counted value as the first output signal.

Note that instead of inputting the synchronization signal to the counter 22, a special clock generator for a clock may be provided and the clock signal may be input to the counter 22.

Furthermore, in FIG. 1, reference numeral 23 denotes an image memory, into which the first moving object image signal and the first moving object leading edge detection signal are input, and from the time when the first moving object leading edge detection signal is input, the first moving object image signal and the first moving object leading edge detection signal are inputted. The image signals of the moving object are taken in for a predetermined number of times of scanning.

Therefore, the image memory 23 stores the first leading end image data of the vehicle from the time when the leading end of the vehicle reaches the field of view F of the one-dimensional image camera 10 in front.

Further, in FIG. 1, 24 is an image memory, and the second
The moving body image signal and the second moving body leading edge detection signal are input, and from the time when the second moving body leading edge detection signal is input, the second moving body image signal is captured for a predetermined number of scans. ing. Therefore, the image memory 24 stores information in the rear one-dimensional image camera 10 immediately after the front end of the vehicle reaches the field of view F□ of the front one-dimensional image camera 10.
Image data of the second leading end of the vehicle (which may or may not be the same as the vehicle) from the time when the leading end of the vehicle reaches the field of view F2 of the first vehicle is stored.

In FIG. 1, reference numeral 25 denotes an image matching circuit which receives first and second moving body tip image data from the image memories 23 and 24, respectively, and matches them to determine whether one vehicle matches or not. The above-mentioned second output signal corresponding to each of the eight signals is outputted.

Note that since the specific configuration of the image matching circuit 25 is clear from known technology, detailed explanation thereof will be omitted.

In the example shown in the first figure, an image synthesizer 26, a CRT 27, and a video printer 28 are provided as display means. In addition to the first and second output signals, the first and second moving body tip image data are sent to the image synthesizer 26.
The images of the leading end of the moving object are superimposed, and the speed display image corresponding to the first output signal and the determination result display image corresponding to the second output signal are combined, and the combined image is displayed on the CRT 27. At the same time, the video printer 28 prints out the image onto a predetermined paper.

Next, a speed detection device according to another embodiment of the present invention will be described.

FIG. 2 is a block diagram showing an example of a speed measuring device that combines the speed detecting device and display means for displaying the result, and the same components as in FIG. 1 are given the same reference numerals.
The explanation will be omitted.

The embodiment shown in the second figure differs from the embodiment shown in the first figure only in that the configuration of the signal processing circuit 19 is partially changed.

That is, in the case shown in the second diagram, the second image is stored in the image memory 24.
A first moving body leading edge detection signal is inputted instead of the moving body leading edge detection signal, and the image memory 24 stores the second moving body image signal from the time when the first moving body leading edge detection signal is input. is captured a predetermined number of times. Therefore, immediately after the front end of the car reaches the field of view F of the front one-dimensional image camera 10, the image memory 24 stores information about the car (whether it is the same as the above-mentioned car or not) in the field of view F2 of the rear one-dimensional image camera 11. The second tip image data of the vehicle will be stored from the time when the tip of the vehicle (regardless of the condition) reaches the front end of the vehicle, but the address where the second tip image data is stored is the one-dimensional image camera in front. The difference is an amount corresponding to the elapsed time from the time when the front end of the vehicle reaches the field of view F1 of the camera 10 to the time when the front end of the vehicle reaches the field of view F2 of the one-dimensional image camera 11 at the rear. In addition, in the case shown in the second diagram, the counter 22
An arithmetic circuit 30 is provided in place of , and the arithmetic circuit 30 is
At which address of the image memory 24 the image data corresponding to the front end of the car is stored is calculated and output. Therefore, the aforementioned first output signal is output from the arithmetic circuit 30.

In the present invention, the specific configuration of the signal processing circuit 19 is not limited to the configuration shown in FIG. 1 or 2.

Furthermore, if a one-dimensional image camera 10.11 that can obtain color image signals instead of black and white is used, when the image matching circuit 25 performs the above-mentioned matching, it is possible to match not only the shape but also the color. This makes it possible to further improve the accuracy of determining whether or not speed detection has been performed correctly.

Note that the present invention can detect the speed of not only automobiles but also various other moving objects.

〔Effect of the invention〕

Not only can the speed of the moving object be detected, but it can also be automatically checked whether or not the speed has been detected correctly, resulting in convenient handling.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of a speed measuring device configured using a speed detecting device according to an embodiment of the present invention, FIG. 2 is a one-dimensional image camera arrangement f1M, and FIG. ■-■ arrow view, Figure 4 is mV-r in Figure 2
V arrow view, FIG. 5 is a block diagram showing an example of a speed measuring device configured using a speed detecting device according to another embodiment of the present invention, and FIG. 6 is a layout diagram of a conventional speed detecting device. It is. 10, 11... one-dimensional image camera, 16, 17...
...Controller, 19...Signal processing circuit.

Claims (1)

[Scope of Claims] Each field of view includes the passing position of the moving object and is arranged to be substantially perpendicular to the moving direction of the moving object and parallel to each other, and each field of view is arranged so as to be parallel to the moving direction of the moving object, and two one-dimensional image cameras arranged a predetermined distance apart from each other in the front and back, and image signals corresponding to each pixel of each one-dimensional image sensor from each one-dimensional image camera at predetermined scanning periods. a controller that sequentially extracts a rear one-dimensional image immediately after the tip of the moving body reaches the field of view of the front one-dimensional image camera, based on the image signals obtained from the one-dimensional image cameras; Outputs a first output signal corresponding to the elapsed time until the tip of the moving object reaches the field of view of the camera, and outputs a first output signal corresponding to the elapsed time until the tip of the moving object reaches the field of view of the front one-dimensional image camera. The first tip image data of the moving object and the second tip image data of the moving object obtained from the time when the tip of the moving object immediately after that reached the field of view of the rear one-dimensional image camera. 1. A speed detection device for a moving object, comprising: a signal processing circuit that compares the moving objects and outputs a second output signal corresponding to whether or not the two moving objects match.