WO2018069354A2 - Interaction de flux d'objet stéréométrique - Google Patents

Interaction de flux d'objet stéréométrique Download PDF

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Publication number
WO2018069354A2
WO2018069354A2 PCT/EP2017/075865 EP2017075865W WO2018069354A2 WO 2018069354 A2 WO2018069354 A2 WO 2018069354A2 EP 2017075865 W EP2017075865 W EP 2017075865W WO 2018069354 A2 WO2018069354 A2 WO 2018069354A2
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WO
WIPO (PCT)
Prior art keywords
opening
information
closing body
flow interaction
infrared
Prior art date
Application number
PCT/EP2017/075865
Other languages
German (de)
English (en)
Other versions
WO2018069354A3 (fr
Inventor
Lukas BOLLIGER
Christoph Schlott
Daniel Nef
Urs Hunziker
Original Assignee
Bircher Reglomat Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bircher Reglomat Ag filed Critical Bircher Reglomat Ag
Priority to EP17794900.5A priority Critical patent/EP3526727A2/fr
Publication of WO2018069354A2 publication Critical patent/WO2018069354A2/fr
Publication of WO2018069354A3 publication Critical patent/WO2018069354A3/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects

Definitions

  • the invention relates to a device and a control method and an arrangement.
  • Light grid allows the three-dimensional recognition. Here it is
  • Light grid structured light a need for three-dimensional sensor technology, since only one camera is used and the system without
  • the monitoring of objects can be simple and
  • TOF time-of-flight
  • height-limited parking garage can be performed.
  • many of these systems are not tamper-proof.
  • Device for object flow interaction that is, for observing and / or influencing a flow or a movement of one or more objects in an interaction or monitoring volume) with respect to an object (in particular three-dimensional surface)
  • the device an image pickup device, the established is, at least two images of the object from at least two different perspectives
  • stereometric recognition device which is for the detection of object flow interaction information based on the at least two recorded images and by means of stereometry
  • a method of object flow interaction with respect to an object wherein in the method at least two images of the object are taken from at least two different perspectives, and the
  • an arrangement that has an access structure with an opening to be passed through an object, at least one closure body for selectively at least partially opening or at least partially closing the opening and a device with the features described above for controlling a Covering characteristic of the opening by the at least one Closing body based on the object flow interaction information concerned.
  • stereometry is understood to mean an image evaluation method in three-dimensional space in which three-dimensional object information is derived by means of space-geometric methods
  • Corresponding measures of stereometry can be the calculation of the surface and / or the lateral surface and / or the volume of the object or parts thereof.
  • the term "object” is understood in particular to mean any physical structure, in particular a movable or moving structure, whose trajectory or behavior is to be detected Examples of such an object are a person, a vehicle, a product (for Example as part of a flow control in industrial production), a machine or a machine part.
  • Cross characteristic in particular be understood how large an uncovered by the at least one closure body opening area for
  • Allowing the object to pass is which shape has such an opening area and / or for which time interval such an opening area remains open.
  • object-adaptive can in particular be understood as meaning a criterion for configuring the opening of a passage (in particular only) so far or so that an object can pass through the opening
  • closing body can be understood to mean, in particular, a physical barrier which can be composed of one or more components in order to close off a partial area or the entire opening rigid door, a rigid gate, a roller door, a roller shutter, etc., which are horizontal and / or vertical
  • movable, foldable, foldable and / or can be formed or rolled out.
  • Three-dimensional sensor system for object flow interaction (which term can be understood as a generic term for measures for object flow control, object flow control and / or object flow monitoring) created in which the 3D sensor system on stereometric models (for example
  • Device or this system may have at least one camera with at least one camera optics or at least two cameras.
  • the 3D system (for example, for a 3D triangulation), in contrast to conventional time-of-flight systems and grid pattern scanners without emitting directional and / or position-relevant radiation work (thus purely passive, with optional non-specific basic lighting through a
  • Manipulation-susceptible transit time measurements of electromagnetic waves take place. Camera images from at least two different perspectives can be used for the stereometric method. The acquisition of multiple images of the object from different directions and the joint evaluation of these images by methods of stereometry allows tamper-proof and with little effort information about to obtain the object as the basis for an object flow control, object flow control or object flow monitoring.
  • sensor used in the context of the present application relates in particular to optical sensor systems in the
  • Sensor wavelength range of 100 nm to 20 pm which can be referred to as extended visual spectrum. It is particularly preferred for the sensor system to operate in the wavelength range from 100 nm to 10 ⁇ m.
  • the object flow interaction may be
  • Object flow monitoring information Under object flow control is here in particular understood that a trajectory and / or a
  • Object flow control is understood in particular to mean that the trajectory and / or the speed profile of the object is controlled. Under an object flow monitoring is accordingly understood in particular that a monitoring of the trajectory and / or the velocity profile of the object is performed.
  • the respective information can therefore be in particular a location information and / or an orientation information and / or a
  • the recognizer for recognizing the object by triangulation using three-dimensional Be set up photogrammetry may consider stereometric models that are preferably based on triangulation by three-dimensional photogrammetry.
  • the image recording device can have at least one camera with a camera optics multiplying a detection path or a plurality of cameras.
  • a "camera optics multiplying a detection path” can be understood to mean, in particular, a number of optical paths, each of which directs a subarea of an object or other spatial area to be imaged to a common camera (see Figure 2)
  • multiple cameras and / or at least one movable camera may be used to acquire stereometric information can also be realized with a pinhole camera without optics.
  • the device may be configured to perform the object flow interaction without sending directional and / or
  • the device may further comprise a
  • Infrared-emitting pulsed electromagnetic radiation source which is adapted to illuminate the object with at least one infrared pulse.
  • the emission of the infrared radiation can be non-specific with regard to direction and position and can therefore be simple, tamper-proof and difficult to recognize for a user.
  • the image recording device can as be formed infrared-sensitive image pickup device to at least partially during the lighting with the at least one infrared pulse to record the at least two images of the object to be monitored. in the
  • electromagnetic radiation having wavelengths of more than 800 nm, more particularly more than 1 pm, still more particularly between 800 nm and 1 mm.
  • Cameras with sensitivity to infrared radiation which can be implemented according to exemplary embodiments of the invention can be used in the low-frequency infrared range for body heat sensors as well as in the
  • the image recording device can be set up to record the images in a wavelength range between 100 nm and 20 ⁇ m.
  • the image recording device can thus operate optionally in the near ultraviolet, in the visible region or in the infrared region.
  • the device may include a
  • the system can retrieve the determined information (for example zone occupied, escape route,
  • Motion alarm object sizes and object vectors, identification information of recognized tags, etc.
  • a distributed sensor network can be created with which even more complex rooms can be reliably monitored.
  • Image recording device via a communication network, in particular web-based and / or cloud-based, be coupled communicatively.
  • a communication network in particular web-based and / or cloud-based, be coupled communicatively.
  • Several cameras of the device can thus be connected via a communication network to a sensor system. It is preferred that this
  • Communication network is web-based. It is particularly preferred if the sensor system is cloud-based. By means of such communication, image recording periods and inactivity periods between the individual cameras can be harmonized or synchronized, for example as a function of a movement trajectory of an object. This allows for low energy consumption and yet seamless movement of an object
  • the communication network may be communicably coupled to another communication network of a plurality of other cameras and / or another recognizer for capturing images of another object or another object region of the same object, information about the object and about the other object or the other Combine object area combinatorial. So it can at least two sensor systems or devices with the above
  • interconnected features such that they can detect combinatorial events via at least two mutually independent or interconnected spatial sensor areas (for example, to monitor two of different
  • the at least two sensor systems are installed on different sides of an opening to be passed.
  • the two systems or devices can have a common
  • the device may include a
  • Prediction facility which can be used to predict future
  • Position information and / or future movement information regarding the object is set up.
  • the 3D sensor system can also make forecasts of object details.
  • Predictable future parameters may be, in particular, a velocity vector, a movement pattern and / or a hidden volume. It may be particularly preferred that these Predictions are used to control at least one closing body of an opening to be passed.
  • the apparatus can extrapolate into the future based on this information and make predictions about the probable statics or Kinemathek at a future date. This allows it to be targeted at an early stage
  • the predicting means may be for
  • the image recording device can have at least one camera with a photosensitivity of greater than 800 ISO.
  • the recognition device can be set up from the images recorded by means of the image recording device
  • the device may include a
  • An event triggering device which is set up to trigger at least one predetermined event based on the information concerning the object flow interaction.
  • the at least one predetermined event can
  • a border for example as part of the counting of vehicles entering or leaving a parking garage or of persons crossing a barrier
  • the object adaptive control of a coverage characteristic of an opening to be passed from the object by at least one closure body (for example at an entrance to a building);
  • identifying an object behavior for example, recognizing gestures of a person, for example in the form of waving, if a human wants to trigger a coverage characteristic associated with the gesture
  • identifying the object in particular as a basis for a content of a communication message to be transmitted to the object (for example identifying a vehicle or a person in order to specifically deliver it to the object) and / or as the basis for triggering an alarm (for example identifying a suspicious vehicle based on it
  • the stereometric recognizer may be configured to recognize at least one predetermined gesture of a human being as an object on at least one of the captured images and to trigger a predetermined event in response to the detected gesture. For example, access to a building can only be granted to a human being as an object who makes an appropriate gesture at the entrance. In this way, the triggering of a specific event can be made dependent on the knowledge of a gesture simply and intuitively as well as tamper-proof.
  • the image recording device can be camouflaged optically by means of a camouflage device.
  • a surface area of the camera not required for the detection process can be laminated with a covering body. It is also possible to use a privacy screen, with which the view from the object towards the camera is made more difficult.
  • Imaging device be set up within at least one
  • the device may further comprise a control device (which may be used, for example, as
  • Processor may be arranged), which is used to control the
  • Radiation source and the image pickup device may be configured such that at least one pulse illumination period of the radiation source and at least one activity period of the image pickup device for
  • Imaging is synchronized (i.e., timed to each other or
  • control means for coordinately controlling the radiation source and the image pickup device such as
  • Non-illumination period i.e., a period in which the radiation source emits no infrared radiation, for example, one or more periods between infrared pulses
  • at least one inactivity period or non-recording period of the image pickup device ie, a period in which the image pickup device is not ready to receive a Picture is, for example, is switched off
  • the image pickup device can be switched active, which is made possible by the temporary illumination of the object and its recognizability on one or more recorded images with high quality.
  • Periods between pulses can be switched inactive, is not only the operation of the infrared radiation source, but also the operation of the
  • Image recording device with low energy consumption possible.
  • the device may include a
  • Radiation source when recording the at least one image at least temporarily shut down when a given image quality criterion for example, a target contrast
  • a given image quality criterion for example, a target contrast
  • this can be switched off during the day for energy savings or with very clear contours (this can be referred to as cyclical operation).
  • the device may include a
  • Radiation source for receiving the at least one image only turn on when a power supply readiness of a temporary energy storage has been detected for supplying the radiation source with energy.
  • a temporary energy store may be, for example, a rechargeable battery or a capacitor that is volatile
  • the radiation source can be set up to emit infrared light in a wavelength range between 700 nm and 100 ⁇ m, in particular in a wavelength range between 800 nm and 30 ⁇ m, more particularly approximately 10 ⁇ m. It has been found that particularly precise image capturing is possible in this wavelength range. These include in particular those indicative of body heat
  • Wavelength range (especially 7 pm to 14 pm) and are thus to
  • Whitening the scene can independently by means of a Radiation pulse source in the range of 10 pm and a sensor information regarding the heat capacity / heat dissipation of the irradiated objects in a room volume are recorded and evaluated.
  • a Radiation pulse source in the range of 10 pm
  • a sensor information regarding the heat capacity / heat dissipation of the irradiated objects in a room volume are recorded and evaluated.
  • the apparatus may further for controlling a coverage characteristic of one of the monitored object
  • control device can be set up
  • the infrared pulse-related monitoring system can thus be advantageously used for access control through gates or doors.
  • control device may be configured to control the coverage characteristic based on geometric object data and / or at least one additional situation characteristic.
  • geometric object data can be understood in particular to be information regarding the size and / or shape of one or more objects which are to pass through the opening completely or partially free from the closing body For example, if a vehicle of constant shape and size is to pass through the opening
  • geometrical object data can also be dynamic, for example if a person is to pass through the opening as an object, which constantly changes its outer contour while walking.
  • Object data may also include the position or trajectory of an object and / or when passing through the opening.
  • additional situation characteristic may in particular be used as a criterion for setting the partial area of the opening which remains uncovered by the at least one closure body
  • Such an additional situation characteristic may according to one embodiment of the
  • Object type to be dependent on the opening to pass Object type to be dependent on the opening to pass.
  • Movement speed, etc. carried out an adjustment of the coverage characteristic.
  • a property of the scenario passing completely outside the object of passing the object through the aperture for setting the coverage characteristic For example, a temperature, a season, a weather, a
  • a system for setting a Covering characteristic of an opening provided by one or more closing body in which not only shape, size or position is taken into account in the form of geometric object data of the passing object or, but in addition the setting of
  • Covering characteristic of the current situation or the current scenario when passing the object through the opening exposed to an adjustable degree is included in a corresponding control of the at least one closing body.
  • the geometric object data may include geometric object dimensions (in particular a shape and / or a size of the object) and / or position data indicative of a position of the object (for example a position of the object at a detection time and / or an expected or predicted position of the object upon reaching the opening) or consist thereof.
  • the geometric object data may relate to the intrinsic geometric properties of the object as well as its extrinsic geometric properties relative to the opening and / or the at least one closure body. Such information may be previously known and / or by a
  • Shape and / or size of the Objects form a lower limit for the dimensioning of a passage surface, which is to be observed when passing the object through the opening at least.
  • Situational characteristics are independent of the geometric object data and be indicative of a situation when passing the object through the opening.
  • the additional situation characteristic compared to the geometrical object data just contribute a complementary information, which can therefore also enhance the precision and validity of the control of the at least one closure body.
  • it may be at least one additional situation characteristic
  • the controlled coverage characteristic may comprise at least one of a group consisting of a passing area of the opening kept open in an opening state for allowing the object to pass from the at least one closing body, and one
  • Opening width and / Opening time can be passed for this purpose also to a heating and / or cooling system (for example, to provide a warm air curtain).
  • Closing body still remains partially covered.
  • Embodiments of the invention just a continuous transition between a fully open and a fully closed configuration of the opening possible, with each intermediate stage (that is, each partial
  • Degree of coverage can be adjusted as needed.
  • Closing body remains free as far as one through the geometric
  • the additional opening may be a multi-opening and / or a longer opening relative to the base opening.
  • a multi-opening is understood to mean, in particular, a buffer surface which is actually not required for passing the object for geometrical reasons, but for the reasons described above for
  • a longer opening is understood in particular to mean a buffer time which may not be necessary for passing the object due to its kinematics, but from the above
  • Avoiding a person's discomfort can be additionally provided. These increased and / or longer openings may also affect a person as a driver of a vehicle (for example, give the driver the assurance that a gate for a passage is sufficiently wide open).
  • the access structure may be selected from a group consisting of a building, a lane of a lane, a room, a machine, a vehicle, a stockpile, a garage, and a hangar.
  • Other access structures are of course also possible.
  • the at least one closing body may be selected from a group consisting of at least one
  • pivotable controllable closing body at least one
  • longitudinally movable controllable closing body and at least one rollable controllable closing body. Also foldable closure body or the like can be used.
  • the at least one closing body may be selected from a group consisting of at least one horizontally movable closing body and at least one vertically movable closing body. Also obliquely movable closing body are possible.
  • FIG. 1 shows an apparatus for object flow interaction with respect to an object according to an exemplary embodiment of the invention.
  • FIG. 2 shows a portion of an object flow interaction apparatus with respect to an object according to an exemplary embodiment of the invention.
  • FIG. 3 shows an arrangement with a device for monitoring an object and for correspondingly controlling closure bodies according to an exemplary embodiment of the invention.
  • FIG. 4 shows a sensor network of devices capable of communicating with each other for combinatorial monitoring of different areas of an object according to an exemplary embodiment of the invention.
  • the sensor technology is mainly based on measurement principles of TOF (Time-of-Flight).
  • TOF Time-of-Flight
  • Still other conventional sensor systems perform a situation analysis by means of a transmitted light grid matrix. These systems can all be easily detected by an unauthorized person, since the measuring principles are based on the special characteristics of the system
  • the use of passive high-sensitivity cameras makes it possible to recognize the
  • Emission pattern can be greatly reduced or made impossible.
  • a pinhole or a miniature lens system since highly sensitive cameras can often compensate for lack of or low light intensity of the lens (s)
  • a conventional high-intensity lens system as camouflage device
  • exemplary embodiment of the invention are camouflaged such that the recognizability for a disturber or unauthorized is at least greatly reduced.
  • This small opening size is also of great advantage for the susceptibility to interference.
  • suitable mechanical protection measures can be used to achieve both
  • Pollution resistance for example, by beading effects around the camera's very small viewing hole, a macroscopic self-cleaning function can be realized
  • a macroscopic self-cleaning function can be realized
  • Object speed is possible by analyzing changes over several object detection sequences.
  • Such a 3D sensor system of a device according to an exemplary embodiment of the invention can directly obtain the acquired base object information for tasks related to object flow interaction
  • Embodiment of the invention is based on the observation of multiple images, which are recorded (in particular at least almost) simultaneously, a manipulation by superimposition of foreign images in front of the camera is very difficult possible.
  • a high image recording frequency can thus be used.
  • Results include, for example, the prediction of object behavior due to additional properties such as size, velocity vector,
  • Embodiments of the invention for a motion pattern analysis may also be exemplary
  • Embodiments are recognized. Further, motion vector analysis for object discrimination is possible (for example, using predefined expert rules such as "a human is rarely faster than 10 km / h.") In particular, object tagging may also be performed based on a selected property (e.g., a person tracking size in a zone).
  • a selected property e.g., a person tracking size in a zone
  • sensor systems according to exemplary embodiments of the invention may be used on both sides of a passage, in particular with a connection to peripheral systems (for example, higher-level analysis system, building management system, cloud systems, Internet of Things, big data analysis, etc.).
  • peripheral systems for example, higher-level analysis system, building management system, cloud systems, Internet of Things, big data analysis, etc.
  • a combinatorial interpretation of two sensor systems can take place, for example with the inclusion of previously known knowledge of their locations (and in particular the resulting results
  • FIG. 1 shows an apparatus 100 for object flow interaction with respect to an object 102 according to an exemplary embodiment of the invention.
  • an infrared illumination-modulated three-dimensional object sensor is made possible. The scenario in which the
  • the environment may be a door 91 in a building through which a corridor 93 passes.
  • the device 100 may sensory monitor whether and which persons as objects 102 are moving through the aisle 93.
  • the device 100 has an infrared-emitting pulsed electromagnetic radiation source 116, which may be configured as an array of infrared LEDs.
  • the radiation source 116 is set up to illuminate the object 102 to be monitored with at least one infrared pulse, while this is imaged by an image recording device 72.
  • a pulsed infrared radiation source 116 or infrared flash system therefore, a device for emitting short pulse-like infrared emissions to the flash-like illumination of the observed scene can be used.
  • the radiation source 116 may be configured to emit infrared light having a wavelength of approximately 1 pm.
  • Viewing directions of a plurality of passive cameras 19 as image recording device 72 captured images can be evaluated by the device 100.
  • the result of this evaluation forms the basis for a decision as to whether an object 102 is granted access to a building.
  • the infrared-sensitive image recording device 72 of the device 100 here therefore has the two cameras 19 designed as infrared cameras, between which the radiation source 116 is arranged.
  • the image capturing device 72 is set up within respectively limited time intervals during periods of time Illuminate the object 102 with the infrared pulses to record multiple images of the monitored object 102. In other periods between the pulses, the infrared-sensitive image pickup device 72 can be temporarily switched off in order to save energy.
  • a microprocessor-based or microprocessor-based controller 74 serves to control the radiation source 116, the image capture device 72, and other entities of the device 100.
  • the controller 74 may include more than one microprocessor, for example, multiple microprocessors, auxiliary auxiliary electronics, etc.
  • the controller 74 performs its control in such a way that pulse illumination periods of the radiation source 116 and activity periods of the image recording device 72 for image recording are synchronized or at least partially coincide. Accordingly, illumination-free interpulse periods of the radiation source 116 and periods of inactivity of the image recording device 72 for image recording can be synchronized or at least partially coincide.
  • the image recording device 72 has two cameras 19 in order to compile steric image information about the object 102.
  • the cameras 19 can also be equipped with low-light miniaturized lenses (which is advantageous in terms of camouflage), with a very high
  • Photosensitivity of the cameras 19 of greater than 800 ISO, for example of 1600 ISO, allows the recording of images. As a result, a low light intensity of lenses used can be compensated by the high camera sensitivity.
  • a recognizer 17 which receives the captured image data from the cameras 19, is configured to recognize the object 102 based on the images taken from multiple perspectives with respect to the object 102.
  • the plurality of recorded images can be analyzed with image processing methods to obtain information (for example, shape, Size, type, identity), etc. via the object 102 to extract.
  • the stereometric recognizer 17 may, for example, for recognizing or spatially characterizing the object 102 by means of triangulation
  • the recognition device 17 is designed to match the different and recorded from different directions images (which have been taken, for example, at different illumination intensities with infrared light) against each other, the images are associated with different emission intensities of infrared pulses. Such a comparison makes it possible to determine additional image information.
  • the device 100 of FIG. 1 is for object flow interaction with respect to the object 102.
  • the image capture device 72 of the device is configured to capture at least two images of the object 102 from at least two different perspectives.
  • Recognizer 17 is for detecting the object flow interaction
  • At least one three-dimensional image of the object 102 as a basis for the recognition of the object flow interaction
  • the device 100 is set up, the object flow interaction without emitting directional and / or position-specific radiation
  • Infrared radiation from the radiation source 116 can optionally be provided to better illuminate the scenario of Figure 1 for the cameras 19.
  • a (preferably wireless or alternatively wired) communicable communication device 80 of the device 100 is for communicating the object flow interaction related information to a Communication partner device 78 is formed, which can evaluate, use and / or further processed the information transmitted and, if necessary, can return information to the communication device 80.
  • the device 100 according to FIG. 1 also has a prediction device 29, which is set up to predict movement information relating to the object 102. For example, if the position of the object 102 is known at different times, it may
  • Prediction means 29 by extrapolation a prediction about the probable location of the object 102 at a future time to be made.
  • the prediction can be based on physical laws (such as Newton's axioms) and / or based on
  • Motion profiles of similar objects 102 in the relevant environment in the past may be stored in a database 35 to which the predictor 29 has access.
  • Predictor 29 is also for transmitting the predicted
  • Recognition device 17 can thus not only the recorded images
  • the device 100 may further include a
  • Event triggering device 32 which is set up based on the information concerning the object flow interaction at least one to trigger a predetermined event.
  • the triggered event can be made dependent on the result of the analysis process.
  • Event trigger 32 may be connected to another
  • Communication interface 37 may be equipped with the event can be triggered by transmitting a corresponding communication message to a recipient, not shown in Figure 1.
  • Communication interfaces 37, 80 may also be considered common
  • the image recording device 72 can be completely or partially camouflaged by means of a camouflage device 31. Such concealment of existence and / or
  • Positioning the cameras 19 may make it impossible or impossible for unauthorized persons to disturb or increase the operation of the device 100
  • a surface area of the cameras 72 can be covered leaving a through-hole so as not to make the provision of the cameras 19 to the outside appear. It is also possible, as shown in FIG. 1, to implement mirror films or other mirror bodies as camouflage devices 31, with which the view from the object 102 to the cameras 19 is made difficult or impossible, whereas the detection capability of the cameras 19 irrespective of such a mirror film or film another mirror body remains undisturbed maintained.
  • the 3D sensor system that can be implemented with the device 100 according to FIG. 1 is used in the immediate vicinity of an opening system of a passage, which can be provided in the region of the door 91 adjacent to the passage 93.
  • an opening system of a passage which can be provided in the region of the door 91 adjacent to the passage 93.
  • one or more of the following functions can be generated by means of the event triggering device 32: - not opening a passage for the object 102 if the other side of the passage is not clear
  • Triggering an alarm when the object 102 occupies an unauthorized zone for example escape routes, security zone behind gate, traffic light control
  • Opening width of closing devices by determining an optimal opening width (plus, if applicable, a safety margin) and opening time based on object volume (number, speed, direction of objects, such as vehicles or persons, per time) and environmental conditions.
  • an apparatus 100 may be used 3D sensor in the vicinity of an opening system or passage (see, for example, door 91 or Figure 3) or at a specific focus point can be used. According to such an embodiment, by way of
  • Vehicles as objects 102 may also be analyzed (eg, drive-in and drive-through detection); In the context of autonomous vehicles as objects 102 (for example, automatic transport vehicles in the production environment), potential collision or stagnation points can also be detected determined and by taking countermeasures a collision or a jam can be prevented.
  • autonomous vehicles as objects 102 for example, automatic transport vehicles in the production environment
  • potential collision or stagnation points can also be detected determined and by taking countermeasures a collision or a jam can be prevented.
  • Such an attribute may, for example, be detected by the at least one camera 19 of the device 100
  • Authorization object for example, a QR code, a barcode, an RFID tag, a badge, a serial number, a recognized gesture.
  • Waiting rooms This can be for both objects 102 in the form of persons, passenger-owned vehicles, autonomous vehicles or transported objects 102 (for example goods on conveyor belt, luggage, etc.).
  • an apparatus 100 is used to control parking spaces and / or to optimize the flow of traffic. In doing so, one or more of the following may occur through the object flow interaction
  • Manipulation security of the 3D sensor in the form of at least one camera 19 can be achieved: - Freedom of function of a room for a specific object 102 (for example, a boss car park, which is accessible only to the boss, lift controls and
  • a space can be reserved for pre-registered or known objects 102 (for example, in a car park for a bus with overhang, with appropriate pre-registration in an open area, an appropriate space can be reserved, whereby identification by means of the at least one camera 19 of FIG 3D sensing of device 100 may be accomplished (eg, by printing a reservation confirmation with QR code that may be placed on a windshield of a vehicle as object 102, for example).
  • identification by means of the at least one camera 19 of FIG 3D sensing of device 100 may be accomplished (eg, by printing a reservation confirmation with QR code that may be placed on a windshield of a vehicle as object 102, for example).
  • a line of a vehicle as object 102 depending on the size of the vehicle to a suitable parking place, for example, based on vehicle size and / or vehicle priority (for example, tenants preference over identification system), with a corresponding identification as
  • Control of advertising based on the identity of an identified and detected object 102 (in particular via a vehicle classification and / or a vehicle identification)
  • Control of object flows i. a movement of objects 102, by adjusting the flow width (for example, by braking too fast objects 102, capacity increase at high traffic and / or
  • object 102 is a truck or has a bar code on the windshield to gain access through a gate - Route block control (eg, a next section can only be made accessible if it is free) when passing critical objects 102 (e.g., cash or people with valuables, visits from guests of honor, anti-terrorist functions, in-and-out functions (e.g. Airport or goods on conveyor belts in industrial production or logistics), isolation of dangerous objects (people with detected conspicuousness, burning goods, etc.) - Automatic detection of misplaced objects 102 (especially vehicles parked incorrectly or too long)
  • critical objects 102 e.g., cash or people with valuables, visits from guests of honor, anti-terrorist functions, in-and-out functions (e.g. Airport or goods on conveyor belts in industrial production or logistics), isolation of dangerous objects (people with detected conspicuousness, burning goods, etc.)
  • misplaced objects 102 especially vehicles parked incorrectly or too long
  • an apparatus 100 can be used to control material flows.
  • One or more of the following functions can be realized by means of object flow interaction:
  • Safety Cartography Detection of how large containers are positioned as objects 102 (which containers may be labelable, for example “radioactive”, “highly toxic”, “explosive”, etc.) in a warehouse;
  • a device 100 can be used to implement security functions.
  • One or more of the following special functions can be realized by the object flow interaction (whereby a high degree of manipulation security of the 3D sensor can advantageously be achieved): Detection of trucks or other large vehicles as objects 102 in the context of an anti-terror function (in particular also warning during detection of conspicuous behavioral patterns (for example, conspicuous lane, conspicuous
  • Detection of abandoned objects 102 or suspicious objects 102 for example baggage at the airport or train station in the context of security applications.
  • a tracking of a depositor of a dropped object 102 or an automatic Alert be triggered when an object 102 splits (for example, when a person from the suitcase away).
  • an alert or alarm can be triggered when objects 102 penetrate into a volume to be kept free
  • Embodiment of the invention will have more than two cameras 19 in
  • an object determination can then be carried out by means of photogrammetric algorithms over a plurality of cameras 19.
  • these multiple cameras 19 be formed self-organizing and / or self-learning by means of a Schwarmtuben mechanism.
  • the cameras 19 may communicate with each other via the Internet (for example, by means of a cloud architecture, an Internet of Things architecture, etc.). By means of such devices 100, large volumes can also be monitored.
  • two high-sensitivity cameras 19 are mounted at a defined distance so that they are equipped for camouflage with a miniaturized lens system as a camouflage device 31.
  • the low light intensity of corresponding objectives of the cameras 19 resulting from the miniaturization can be explained by a very high sensitivity of the cameras
  • Cameras 19 are compensated.
  • the recognition device 17 or an additional monitoring device can detect asymmetries between the two cameras 19 and so on
  • ATMs or the like determine, since attachments for skimming can be reliably detected by the 3D sensor.
  • the 3D sensor system is implemented as a stereometric (for example with photogrammetric evaluation) sensor system with a camera 19, but two lens systems (see FIG. 2). This keeps the apparatus required
  • Forming the device 100 is particularly small.
  • Obstructions directly behind a passage are signaled in advance or predicted in a passage area expected critical traffic (for example, remained objects 102, standing vehicles with
  • this mechanism can also count objects 102 (for example humans by identifying the mean height of the object 102 in the motion vector and counting, sorting or tracking based thereon) of energy-saving sensor systems is also a combinability with a decentralized
  • Arithmetic unit possible.
  • the evaluation of the camera images (or image sequences) can be done decentralized (in particular a combinatorial projection via multiple sensors can be very
  • the architecture described allows a small Energy use and use of resources for sensor technology.
  • the energy supply can be made easier by means of environmentally friendly energy.
  • a very good energy and ecological balance can be achieved.
  • a two-sided or all-sided detection of objects 102 and their movements in the context of a focus zone can be implemented.
  • parameter interpretation of the moving objects 102 not only the type of the object 102 can be recognized, but also
  • object-dependent advertising can be switched and an advertising effectiveness can be verified (for example, by recognizing a gender of a person, object tracking on their height, number recognition in vehicles) or by the same
  • Trailer trains also the detection of potentially dangerous objects 102 is possible (such as stones on the road, abandoned suitcases at the airport, baffles on a runway, etc.).
  • potentially dangerous objects 102 such as stones on the road, abandoned suitcases at the airport, baffles on a runway, etc.
  • a device 100 can initiate appropriate countermeasures upon detection of a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard) upon detection of a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example, extension of spikes, a bollard, an armored door, activating a hazard (for example
  • Additional information for example, object interpretation,
  • the sensitivity of the cameras 19 of the image pickup device 72 then embodied as infrared cameras is limited to the range of body heat sensors (i.e., to a wavelength range around 10 pm, for example between 7 pm and 14 pm).
  • the radiation source 116 used for these mechanisms may, for example, be laser-based.
  • a CO2 laser in the typical emission range around 10 pm an entire scene can simultaneously (for example using an optical diffuser) by means of a heat pulse
  • FIG. 1 shows the temporal (time t) synchronization of
  • Pulsing operation of the radiation source 116 (see pulse intensity P) with the
  • Activity cycle of the image pickup device 72 (in periods of activity of the camera (s), the detection capability D is different from zero).
  • As detail 99 illustrates, time intervals of emission of infrared pulses and
  • FIG. 2 shows part of a device 100 according to an exemplary embodiment of the invention.
  • the three-dimensional sensor system of the device 100 is implemented as a stereometric (for example, with photogrammetric evaluation) sensor system of the image recording device 72 with a camera 19 and two lens systems.
  • FIG. 2 thus shows an embodiment in which the device 100 is provided only with a camera 19 with a camera optics doubling a detection path.
  • the electronic effort for forming the corresponding device 100 can thereby be kept very low.
  • a first detection path of the image pickup device 72 has a
  • a second detection path of the image recording device 72 has a (in particular fully reflecting) second deflection mirror 77, a second filter 79 and a second lens 81.
  • two partial regions of the object 102 (shown schematically) to be monitored can be detected simultaneously by means of one and the same camera 19.
  • the two images recorded temporally (filter 73, 79 may be formed as a controllable light switch, that is, for a recording can
  • Recording (especially only) filter 79 can be enabled) and / or locally (the beam paths of both lens systems can be directed to different areas of the photosensitive zone of the camera 19) are resolved differently.
  • FIG. 3 shows an arrangement 150 with a device 100 for monitoring an object 102 and for the resulting control of closure bodies 106 according to an exemplary embodiment of the invention.
  • the device 100 according to FIG. 3 can have any of the components that are described with reference to FIG. 1 or FIG. 2
  • the access structure 152 is a building in the embodiment shown.
  • the object 102 may be a human desiring to enter the building by passing through the opening 104.
  • the object 102 may be, for example, an automobile intended to pass through the opening 104 to enter the vehicle
  • Access structure 152 into drive A plurality of occluders 106 are provided for selective, partial or complete opening or closing of the opening 104.
  • occluders 106 are provided for selective, partial or complete opening or closing of the opening 104.
  • two horizontally movable sliding doors and a vertically movable roller shutter as
  • Closing 106 provided.
  • the closure bodies 106 may be individually moved by means of a motor 160 (or other drive means) which, under control of a control means 74, may move each one of the closure bodies 106 to a defined position.
  • the device 100 is thus for controlling or regulating the
  • Closing 106 formed. Depending on the extent to which the closing bodies 106 close the opening 104, a passing area is limited by the closing body 106 and the opening 104, through which the object 102 penetrates into the interior of the Access structure 152 can get. According to the described
  • this passage surface is in terms of space and time depending on objective structural object properties or
  • geometric object data i. Shape, size and position of the object 102, set.
  • the passage area becomes dependent on situational
  • the device 100 may be wholly or partially computer-implemented.
  • One component of device 100 is one formed, for example, as one or more processors
  • Control device 74 which controls the coverage characteristic in the manner described below.
  • the controller 74 is arranged to provide the coverage characteristic object adaptive, i. Depending on characteristics or properties of the object 102 (for example, detectable by means of
  • Recognizer 17 to control and thereby both geometric object data and one or more additional situation characteristics to
  • the controller 74 may access a database 35 by way of read and / or write access in which image data, geometric object measures, situation characteristics, learned data, peculiarities of a culture, etc. may be stored.
  • Database 35 can be used, for example, as an electronic mass storage
  • control device 74 for controlling the coverage characteristic (spatially and / or temporally) based on the geometric object data and the at least one additional situation characteristic may be configured such that, as a further criterion, energy transfer between an exterior of the opening 104 and an interior of the opening 104 is kept as low as possible during an opening for allowing the object 102 to pass.
  • An efficient and secure management of the transfer of objects 102 between an interior and an exterior of the access structure 152 through the opening 104 can thereby be connected to an energy-efficient mode of operation.
  • the control device 74 for controlling the coverage characteristic may be arranged such that during a
  • the opening 104 of the at least one closing body 106 still remains partially covered.
  • the passage opening can only be opened as far as it is in view of the geometric object dimensions and the situation characteristic (a) under
  • the geometric object data characterize a shape and / or a size as well as a position of the object 102 and can be determined by means of the recognition device 17.
  • the passage surface is sufficiently large in space to allow the object 102 to pass through the passage surface, without passing to the closure bodies 106 or a limitation of the opening 104 through the building (or another access structure 152) ) to initiate.
  • the passage area may be kept open over a sufficiently long period of time to ensure, depending on a current or maximum speed (for example, previously known or ascertained), that the object 102 will access the access structure 152 within the opening period
  • Photoelectric sensors or the like can be used for this purpose.
  • a currently prevailing temperature Tl within the opening 104 i.e., inside the access structure 152
  • a currently prevailing temperature T2 outside the opening 104 ie, in FIG Outdoors.
  • a culture circle at an installation location of the device 100 can be taken into account.
  • information relating to an installation location of the device 100 can be communicated to the control device 74.
  • Local, country-specific or cultural peculiarities with regard to the subjective perception of human objects 102 when entering an access structure 152 can thereby be taken into account in the setting of the
  • an identity of the object 102 can also be taken into account.
  • a human object 102 subjective sensations of a human being can be taken into account, for example when passing through a passing area requires a safety margin to enter the access structure 152 without discomfort.
  • the passage area can only be selected to be insignificantly larger than a cross-sectional area of the object. The same applies to the setting of an opening time of the passage surface, which in the case of a human object 102, taking into account human sensations, should generally be set longer than in the case of an objective object 102.
  • the passing area or passing time can be set smaller than if the human object 102 is wearing summer clothing.
  • a speed of the object 102 can enter into the control as an additional situation characteristic. This can in particular influence the passing time, i. an opening time of
  • Passier Materials have, as a faster object 102, the access structure 152 through the opening 104 pass faster or can pass through than a slower object 102. On the other hand, it may be appropriate to choose a larger object with a faster object 102 than a larger
  • the device 100 may include a user interface 112 for customizing at least a portion of the additional performance characteristics.
  • a user interface 112 may include an input device (For example, a keyboard, a touch screen, a mouse or a joystick) can be entered on the situation characteristics (for example, an installation location of the arrangement 150) and the control device 74 can be transmitted as a basis for controlling the coverage characteristic.
  • the user interface 112 may include an output device via which (for example, control) information can be made accessible to an operator of the device 100.
  • the apparatus 100 may further perform stereometric object recognition, which may be formed in accordance with FIG. 1 and / or FIG. 2, and configured to recognize and three-dimensionally characterize an object 102 in a surrounding area of the opening 104 and determine the geometric object data.
  • this function is realized by the two infrared cameras 19 as image recording devices 72, which are mounted here on both sides of the two horizontally movable closing bodies 106 in order to capture a space area in front of the opening 104 as completely as possible.
  • at least one pulsed illumination source is provided as the radiation source 116, which emit infrared pulses in the exemplary embodiment shown. With these infrared pulses, in combination with the infrared cameras 19, the object 102 in the entrance area of the opening 104 can be energy-efficient (due to the non-permanent, but only pulsed
  • the image data acquired by the infrared cameras is supplied to the controller 74 and the recognizer 17 as a basis for acquiring the geometric object data of an object 102 and, if necessary, identifying the object type (eg, human, automobile, etc.) for precisely controlling the coverage characteristic.
  • the object type eg, human, automobile, etc.
  • the device 100 may also include a collision detection device 120, which is capable of detecting an impending collision of the object 102 the access structure 152 is established around the opening 104 and is further configured to detect an imminent collision
  • the collision detection device 120 may also be supplied with data derived from the recognizer 17. In particular, the collision detection device 120 can calculate an expected trajectory of the object 102 from corresponding position and / or velocity data and this with a trajectory of the object
  • Countermeasures are taken to avoid such a collision. For example, an alarm may be issued upon detection of an imminent collision. Alternatively or additionally, a control of
  • Closing body 106 are adapted so that the collision is prevented. Also, contact with the object 102 (eg, an automatically controlled motor vehicle) may be received via a communication link to allow the object 102 to adjust its movement to prevent the impending collision.
  • the object 102 eg, an automatically controlled motor vehicle
  • a reduction or even an optimization of the energy consumption is created by an intelligent gate control.
  • a human as an example of an object 102, moves when
  • the width and / or the height of the passing of the Versch Anlagenisson stresses 106 Passier Chemistry the opening 104 should be kept low or minimized in terms of energy consumption reduction or optimization. This applies in a corresponding manner for the opening time of such a passage surface.
  • the device 100 according to FIG. 3 meets these two needs
  • Figure 4 shows a sensor network 27 of (in the example shown two) communicably coupled devices 100 having the above-described features for combinatorially monitoring different regions 102 ⁇ 102 "of an object 102 according to one example
  • Embodiment of the invention it is also possible for the communicated coupled devices 100 to monitor different objects 102.
  • the areas 102 ⁇ 102 "shown in FIG. 4 can be used for
  • Example be different areas of a parking garage or a vehicle.
  • Each of a plurality of cameras 19 of the image recording device 72 of a respective device 100 are connected to one another and to the recognition device 17 assigned to them via a communication network 25, as shown in FIG communicatively coupled.
  • This communication can take place, for example, via the public Internet, an intranet or a mobile radio network.
  • the communication network 25 may be communicably coupled to a plurality of other cameras 19 and / or another recognizer 17 of another apparatus 100 for analyzing another object 102 or other area 102 ⁇ 102 "of a common object 102.
  • FIG Distributed sensor network it is possible to merge information about the object 102 or over the different areas 102 ⁇ 102 "of the object 102 combinatorial.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

L'invention concerne un dispositif (100) pour l'interaction de flux d'objet par rapport à un objet (102), le dispositif (100) comprenant un dispositif de prise de vues (72) conçu pour prendre au moins deux images de l'objet (102) à partir d'au moins deux perspectives différentes, et un dispositif d'identification stéréométrique (17) conçu pour identifier une information concernant l'interaction de flux d'objet sur la base des au moins deux images enregistrées et par stéréométrie.
PCT/EP2017/075865 2016-10-11 2017-10-10 Interaction de flux d'objet stéréométrique WO2018069354A2 (fr)

Priority Applications (1)

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EP17794900.5A EP3526727A2 (fr) 2016-10-11 2017-10-10 Interaction de flux d'objet stéréométrique

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DE102016119348.8A DE102016119348A1 (de) 2016-10-11 2016-10-11 Stereometrische Objektflussinteraktion
DE102016119348.8 2016-10-11

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SG11202104133TA (en) * 2018-12-21 2021-05-28 Inventio Ag Access control system with sliding door with a gesture control function
DE102020105827A1 (de) * 2020-03-04 2021-09-09 Seuster Kg Verfahren und Vorrichtung zum Warenmanagement
AT526658B1 (de) * 2022-12-22 2024-06-15 Innova Patent Gmbh Umlaufseilbahn und Verfahren zum Betreiben einer Umlaufseilbahn

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AU2003221893A1 (en) * 2002-04-08 2003-10-27 Newton Security Inc. Tailgating and reverse entry detection, alarm, recording and prevention using machine vision
JP4267996B2 (ja) * 2003-09-17 2009-05-27 Ｔｈｋ株式会社 自動扉装置
US20120169880A1 (en) * 2010-12-31 2012-07-05 Schneider Electric Buildings Llc Method and system for video-based gesture recognition to assist in access control
DE102012103163A1 (de) * 2012-04-12 2013-10-17 Steinel Gmbh Vorrichtung zur Steuerung eines Gebäudeaggregats
US10466359B2 (en) * 2013-01-01 2019-11-05 Inuitive Ltd. Method and system for light patterning and imaging

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WO2018069354A3 (fr) 2018-06-21
EP3526727A2 (fr) 2019-08-21

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