JPH05113091A - Automatic switching device - Google Patents

Abstract

PURPOSE:To stop a mover automatically and emit an alarm at a time when a person comes nearer to the device and has fallen into a state of being dangerous at the time of opening or closing it by means of image recognition. CONSTITUTION:Each operating time of an opening or closing means 1 and a lighting means 14 is set to a timer means 13. When it comes to the operating time of the lighting means 14, spot in and around the opening or closing means is illuminated and successively an image is fed to a mover detecting means 4, a mover recognizing means 5 and a trouble judging means 6 in order from an image input means 2, through which the presence of something wrong is judged. With this constitution, if there is anything unusual in the opening or closing means 1 during its operation, it can be stopped at once.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic opening / closing device for extracting a moving object existing in the vicinity of an opening / closing device such as a shutter or an automatic door with an image and for identifying an abnormality of the extracted moving object.

[0002]

2. Description of the Related Art As shown in FIG. 6, a conventional automatic opening / closing device of this type has, for example, a contact sensor provided on the lower end surface of a shutter, and the opening / closing operation is performed when the contact sensor touches an object. It was supposed to stop (conventional example 1). Further, there is a means for detecting the temperature of the human body using an infrared sensor and confirming the presence or absence of the human body by utilizing the change in the output of the infrared sensor (conventional example 2). On the other hand, there is an example (conventional example 4) in which an image pickup means is provided in the vicinity of the shutter to constantly monitor the image with human eyes (conventional example 3) or a moving body near the shutter is detected by image processing. In the conventional example 4, as a means for detecting a moving object from an image, as shown in FIG. 8, a background screen A and a current screen B are displayed.
The difference screen C is taken and only the moving part is extracted.

[0003]

However, in the above-mentioned conventional example 1, no detection can be made until the lower end of the switchgear is contacted. In addition, since the contact sensor does not detect the object until it reaches a certain pressure after contacting the object, as shown in FIG. 6, when the obstacle 40 is placed in one area of the switchgear, the contact pressure exceeds the certain pressure. Was detected and then stopped. Therefore, the lower end surface of the switchgear stops where there is an obstacle 40, and moves where there is no obstacle 40, causing the guides 41 and 42 for movement to be distorted, which causes a failure. There was a problem of being connected. Further, since this means does not detect a person in the vicinity of the switchgear, there is a problem that it is dangerous if a person is near the switchgear, and therefore automatic driving cannot be performed.

Further, the means for detecting with the infrared sensor of the conventional example 2 cannot understand complicated states such as grasping the state and recognizing a human being by designating a region even though the approximate position of the moving body is known. was there.

Further, in the conventional example 3, the image pickup means is used for recognition by human eyes, and therefore, there is a problem that it must be constantly monitored.

Further, as in the case of the conventional example 4, the means for detecting a moving body by an image stores a background image in the background image memory section 15 by the image input means 2 as shown in FIG. Is stored in the current image memory unit 16, and then
The difference calculation from the current image memory section 16 to the background image memory section 15 is performed by the difference means 18, and this is binarized by the thresholding means 22 to extract the shape of the moving body. There is a problem that the control reliability is lowered because the illuminance change is also detected as a moving body when the difference calculation is performed when the illuminance around is changed.

SUMMARY OF THE INVENTION The present invention is to solve the above problems and provides an automatic opening / closing device for detecting a moving object in an image and controlling the opening / closing means while paying attention to and monitoring the moving object of interest in an intended area. The purpose of 1.

The second is to notify when an abnormality is detected.
Has the purpose of.

[0009]

In order to achieve the first object, the present invention illuminates an opening / closing means, an image inputting means for picking up an image in the vicinity of the opening / closing means, and an image pickup area for picking up an image by the image inputting means. Illuminating means, opening / closing means and timer means for outputting operation signals of the illuminating means, moving body detecting means for detecting a moving body in the image input by the image inputting means, and recognition of the state of the moving body detected by the moving body detecting means. Moving body recognition means,
An abnormality determination output means for determining an abnormal state of the moving body recognized by the moving body recognition means, and a control means for controlling the opening / closing means by the output of this abnormal state determination means and the timer means are provided.

Further, in order to achieve the second object, the opening / closing operation is stopped at the time of an abnormality, and when the abnormality has occurred for a predetermined time or more, the notifying means gives a notification.

[0011]

According to the present invention, the opening and closing time of the opening and closing means and the operating time of the illuminating means are set by the timer means, and when the set time comes, the lighting means illuminates the vicinity of the opening and closing means to open and close the opening and closing means. The moving body detecting means detects the moving body in the image input by the image inputting means for picking up an image of the vicinity, and the moving body recognizing means for recognizing the state of the moving body recognizes the position of the moving body and the like. The abnormality determining means determines whether or not there is a moving object at a predetermined position and having a predetermined number of pixels or more, and when there is an abnormality due to the output of the abnormality determining means, this is checked when the opening / closing means is operating. Stop.

If the output of the abnormality judging means is abnormal for a predetermined time or longer, the notifying means gives a notification.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, 1 is an opening / closing means, 2 is an image inputting means for picking up an image near the opening / closing means 1, 4 is a moving body detecting means for detecting a moving body in an image picked up by the image inputting means 2,
5 is a moving body recognizing means for recognizing the state of the moving body detected by the moving body detecting means 4, 6 is an abnormality judging means for judging that the moving body recognized by the moving body recognizing means is close to the cutout region,
Reference numeral 7 is a control means for controlling the drive means 1 by the output of the abnormality determination means 6, 8 is an informing means for giving an alarm by the output of the control means 7, and 13 is an opening / closing means for opening / closing the opening / closing means 1 via the control means 7 when the set time comes. A timer A for controlling and a timer B for controlling the illuminating means 14 for providing a constant illumination in the vicinity of the opening / closing means 1 before the opening / closing means 1 operate. Further, the moving body detecting means 4 stores a background image memory section 15 for storing a background image from the signal obtained from the image inputting section 2, and a current image memory section 16 for storing a current image from the signal obtained from the image inputting section 2. A previous image memory unit 17 for storing an image of the signal obtained from the image input unit 2 prior to the current image, and a difference unit 18 for calculating a difference between the background image memory unit 15 and the current image memory unit 16, Change detecting means 20 for detecting a changed portion from the outputs of the previous image memory portion 17, the current image memory portion 16 and the background image memory portion 15, a background rewriting means 21 for rewriting the background image by the output of the change detecting means 20, and a difference means. The image obtained in 18 is set to 2 according to a set threshold value.
It is composed of a binarizing means 22 for digitizing.

FIG. 2 is a perspective view showing the whole one embodiment of the automatic opening / closing device of the present invention. Reference numeral 23 is an automatic opening / closing device.
Is constituted by a so-called shutter, and an illumination means 14 for illuminating the vicinity of the opening / closing means 1 is arranged above.

3 and 4, 24 is an image input by the image input means 2 installed from the upper side to the lower side of the opening / closing means 1, 25 is a human body, and an area 26 sandwiched between the straight line a and the straight line b. Is a shutter area, area 27 sandwiched between straight lines b and d is outside the shutter area, and area 28 sandwiched between straight lines b and c is a dangerous area.

The operation of the above configuration will be described with reference to FIG. If timer A is on in step 101,
In step 102, the lighting means 14 is turned on. Step 1
At 03, the image input means 2 inputs an image in the vicinity of the opening / closing means 1. Next, in step 105, the moving body outside the shutter area 27 is detected by the moving body detecting means 4, and the position of the moving body detected by the moving body detecting means 4 is determined in step 10
The moving body recognition means 5 of 6 detects. It should be noted that the human body 25 is recognized here based on characteristics such as the area, brightness, and shape of the moving body.

Thereafter, in step 107, it is checked whether or not the on-time of the timer B for starting the operation of the opening / closing means 1 has been reached. If the operating time of the opening / closing means 1 has not been reached, the process returns to step 103 to input an image. If the operating time of the opening / closing means 1 is reached, the abnormality determining means 6 determines that the human body 25 has approached the vicinity of the dangerous area 28 based on the position information detected in step 108. When the human body 25 recognized by the moving body recognition means 5 is not present in the image 24, the abnormality determination means 6 outputs a safety signal to the control means 7 and enters the opening / closing operation of step 109. If the operation is not completed in step 110, the process returns to step 103 to input an image. If the operation is completed, the operation of the opening / closing means 1 is completed in step 111, the illumination means 14 is turned off, and other unnecessary power supplies are turned off.

On the other hand, the human body 25 is the dangerous area 2 in the image 24.
If it exists outside 8, the bit for recognizing the dangerous state is set by the second abnormality judgment of the abnormality judgment means 6, and the control means 7 is operated by the control means 7 in step 113.
The deceleration opening / closing operation of is started. After that, the process returns to step 103 to input an image.

However, in this state, when the abnormality determining means 6 determines that the position of the human body 25 exists in the dangerous area 28 as shown in FIG. 4, an abnormality is output to the control means 7 in step 112, The operation of the opening / closing means 1 is stopped. Next, it is checked in step 115 whether or not the abnormal state continues, and if the abnormal state is resolved, the process returns to step 103 to input an image. However, if the abnormal state has not been resolved, the notification means 8 notifies the security company, for example, in step 116.

Further, here, until the notification is given by the notifying means 8, it is divided into a normal state, a dangerous state and an abnormal state,
In the dangerous state, the deceleration control is performed, the opening / closing operation is stopped only in the abnormal state, and when the abnormalities occur continuously, the notifying means 8 notifies.

In the explanation of the above-mentioned operation, the automatic start by the timer means 13 and the illuminating means 14 are interlocked with each other, but this gives the lowest illuminance and is always illuminating the underground shopping area. By the way, lighting means 1
It is possible to perform the opening / closing operation even if 4 is not operated. Further, the operation of the timer means 13 is not always necessary when operating by remote control.

As the moving body detecting means 4, the difference between the background image memory section 15 and the current image memory section 16 is calculated by the difference means 18, and the difference image is binarized by the binarizing means 22. Detects moving objects. This makes it possible to detect a moving body when there is no change in illuminance near the moving body.

However, the illuminance may not always be constant. In order to solve this, in one embodiment of the present invention, the background image is stored in the background image memory unit 15 from the signal obtained from the image input unit 2, and the current image is displayed from the signal obtained from the image input unit 2. The image stored in the image memory unit 16 and the image before the current image of the signal obtained from the image input unit 2 are stored in the previous image memory unit 17. Then, the difference calculation between the background image memory unit 15 and the current image memory unit 16 is performed by the difference means 18, and the change portion is detected from the outputs of the background image memory unit 15, the previous image memory unit 17, and the current image memory unit 16. It is detected by the means 20.

Then, the background rewriting means 21 rewrites the luminance or the color of the pixel at the same location in the current image memory section from the output of the change detecting means 20. As a result, even if the background changes due to a change in illuminance or the like, it is corrected with an instantaneous value.

[0026]

As described above, the structure of the automatic opening / closing device of the present invention has the following effects. (1) It enables so-called unmanned operation that automatically operates when the set time is reached. (2) Further, since the lighting is turned on only when necessary by the timer means, energy saving operation can be performed. (3) By providing the illumination means, it is not affected by changes in the surrounding brightness, and therefore the control reliability is improved.

[Brief description of drawings]

FIG. 1 is a block diagram of an automatic opening / closing device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the entire apparatus.

FIG. 3 is an input image diagram when the device is in a normal state

FIG. 4 is an input image diagram when the device is in an abnormal state.

FIG. 5 is a flowchart of the device.

FIG. 6 is a block diagram of a conventional automatic opening / closing device.

FIG. 7 is a block diagram of motion detection of the device.

FIG. 8 is a schematic diagram showing a moving body extraction method of the same device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Opening / closing means 2 Image input means 4 Moving body detecting means 5 Moving body recognizing means 6 Abnormality determining means 7 Control means 8 Notification means 13 Timer means 14 Lighting means

Claims (2)

[Claims] 1. An opening / closing means, an image inputting means for picking up an image of the vicinity of the opening / closing means, an illuminating means for illuminating an image pickup area picked up by the image inputting means, and an operation signal for the opening / closing means and the illuminating means. Timer means, moving body detecting means for detecting a moving body in the image input by the image inputting means, moving body recognizing means for recognizing the state of the moving body detected by the moving body detecting means, and moving body recognized by the moving body recognizing means. An automatic opening / closing device comprising: abnormality determining means for determining the abnormal state of 1. and control means for controlling the opening / closing means by the output of the abnormality determining means and the timer means. 2. The automatic switchgear according to claim 1, wherein when the output of the abnormality determining means is in an abnormal state for a predetermined time or more, the notifying means notifies the abnormality.