Target identification device, target identification system, and target identification method

Abstract

To provide a technology capable of detecting a target moving on a structure moving at a constant speed regardless of the surrounding environment.SOLUTION: A target identification device 10 of the present disclosure includes a processing unit 11 that compares the moving speed of a target located on a plurality of steps 210 that ascends or descends at a constant speed and detected by a millimeter-wave radar 20 using radio waves with a predetermined threshold value, and produces a predetermined output based on the result of the comparison.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to techniques for determining moving targets in a detection area. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a system has been known that determines the moving speed of a target moving on a structure configured to move at a constant speed, and performs a predetermined process based on the result of the determination.

[0003] For example, Patent Document 1 discloses an invention in which a camera is used to capture images of multiple steps on an escalator, and the captured images are analyzed to detect pedestrians moving on the steps. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-127211 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the method disclosed in Patent Document 1, the amount of light received by the camera is reduced depending on the location of the escalator and the lighting around the escalator, making it difficult to detect the movement of a target on the escalator.

[0006] In order to solve the above problem, the present disclosure aims to provide a technology capable of detecting a target moving on a structure moving at a constant speed regardless of the surrounding environment. [Means for solving the problem]

[0007] In order to achieve the above object, the target object determination device, target object determination system, and target object determination method of the present disclosure employ a technique of comparing the moving speed of a target object detected using radio waves with a predetermined threshold value.

[0008] Specifically, the target object determination device of the present disclosure includes a processing unit that compares the movement speed of a target object located on multiple steps that rise or fall at a constant speed and detected by a detection unit using radio waves with a predetermined threshold value, and produces a predetermined output based on the result of the comparison.

[0009] According to this, since the target is detected using radio waves, it is possible to determine the movement of the target to be detected regardless of the environment around the structure.

[0010] The processing unit also performs the predetermined output based on the result of the comparison and the images acquired by an image acquisition unit that acquires images of the plurality of steps.

[0011] According to this, since processing is performed based on the image acquired by the image acquisition unit in addition to the detection result by the detection unit, erroneous processing can be suppressed. In particular, when the movement of a target moving on a metal structure is determined using radar, false images may occur, but erroneous processing can be suppressed even when such false images occur.

[0012] The processing unit also determines whether a predetermined shape exists at the position of the moving target detected by the detection unit in the image acquired by the image acquisition unit.

[0013] This makes it possible to suppress erroneous processing even when a false image occurs.

[0014] In addition, the processing unit calculates the movement speed of the target from the image acquired by the image acquisition unit, compares the movement speed of the target calculated from the image with the predetermined threshold value, and performs the predetermined output based on the result of the comparison.

[0015] According to this, by calculating the moving speed of the target in a complementary manner based on the image acquired by the image acquisition unit, it is possible to suppress erroneous processing.

[0016] The processing unit also performs the predetermined output based on whether or not the target is moving along the moving direction of the plurality of steps.

[0017] This makes it possible to eliminate trajectories caused by false images, detect the movement of the target to be detected, and suppress erroneous processing.

[0018] The target determination system of the present disclosure also includes a detection unit that is disposed above a plurality of steps that ascend or descend at a constant speed and that detects the moving speed of a target moving on the steps using radio waves; an image acquisition unit disposed above the steps and configured to acquire an image of the steps; a processing unit that compares the moving speed of the target detected by the detection unit with a predetermined threshold value and performs a predetermined output based on the result of the comparison and the image acquired by the image acquisition unit; Equipped with.

[0019] According to this, since the target is detected using radio waves, the moving speed of the target to be detected can be determined regardless of the environment around the structure. Furthermore, since the processing is performed based on the detection result by the detection unit as well as the image acquired by the image acquisition unit, erroneous processing can be suppressed. In particular, when the movement of a target moving on a metal structure is determined using radar, false images may occur, but erroneous processing can be suppressed even when such false images occur.

[0020] The device also includes a notification device that notifies the user of the presence of an object moving on the steps in a predetermined manner based on the predetermined output of the processing unit.

[0021] This can alert users of the structure.

[0022] The target determination method of the present disclosure also includes detecting a moving speed of a target moving on steps using radio waves; Acquire an image of the steps; The moving speed of the detected target is compared with a predetermined threshold, and a predetermined output is made based on the result of the comparison and the acquired image.

[0023] According to this, since the target is detected using radio waves, the moving speed of the target to be detected can be determined regardless of the environment around the structure. Furthermore, since the processing is performed based on the detection result by the detection unit as well as the image acquired by the image acquisition unit, erroneous processing can be suppressed. In particular, when the movement of a target moving on a metal structure is determined using radar, false images may occur, but erroneous processing can be suppressed even when such false images occur.

[0024] The above disclosures can be combined as much as possible. [Effects of the Invention]

[0025] According to the present disclosure, since a target is detected using radio waves, it is possible to determine the movement of the target to be detected regardless of the environment around the structure. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a target object determination system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating the arrangement of components of the target object determination system according to an embodiment of the present disclosure. [Figure 3] FIG. 10 is a diagram illustrating a target determination criterion according to an embodiment of the present disclosure. [Figure 4] 10 is a flowchart illustrating a processing flow of a target object determination system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings indicate the same components.

[0028] A target object determination system 100 according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 4. FIG.

[0029] (Configuration of target determination system) 1 is a diagram illustrating the configuration of a target object determination system 100. The target object determination system 100 according to this embodiment includes a target object determination device 10, a millimeter-wave radar 20, a camera 30, an electronic display board 40, and a speaker 50. The target object determination system 100 functions as a system that executes a target object determination method.

[0030] The target determination system 100 determines the moving speed of a target moving on a structure configured to move at a constant speed, and issues a warning by any method when it detects a target moving at a predetermined speed or faster. Here, the structure configured to move at a constant speed is, for example, an escalator with multiple steps that ascend or descend at a constant speed. Targets to be detected include pedestrians (people) moving on the escalator.

[0031] Specifically, the target object determination device 10 of the present disclosure includes a processing unit 11 that compares the moving speed of a target object located on a plurality of steps that ascend or descend at a constant speed and detected by a millimeter-wave radar 20 using radio waves with a predetermined threshold value, and produces a predetermined output based on the result of the comparison.

[0032] The millimeter-wave radar 20 is provided to detect the movement of a target in a predetermined detection area. The predetermined detection area includes multiple steps on an escalator. The millimeter-wave radar 20 is a radio wave detection device that transmits radio waves to the detection area, receives reflected waves of the transmitted radio waves, and acquires the positions and speeds of reflection points of the radio waves within the detection area as reflection point information. The reflection point information acquired by the millimeter-wave radar 20 is sent to the target determination device 10. However, the scope of the present disclosure is not limited to the use of millimeter-wave radar, and a microwave radar may be used instead of the millimeter-wave radar 20. A Doppler radar may also be used. The predetermined detection area of ​​the millimeter-wave radar 20 will be described later. The millimeter-wave radar 20 functions as a "detection unit."

[0033] The camera 30 is provided to identify the type of target in the detection area. In particular, in this embodiment, the camera 30 is provided to identify people in the detection area. The camera 30 is capable of continuously capturing several frames per second. The camera 30 acquires (captures) images of the detection area and sends them as image data to the target object determination device 10. It is desirable that the camera 30 acquires images synchronized with the acquisition timing of the reflection point information from the millimeter-wave radar 20 so as to acquire images of the detection area at the same time as the millimeter-wave radar 20 acquires the reflection point information. Note that the camera 30 may acquire images not only of the detection area but also of areas outside the detection area. The camera 30 may also be a network camera capable of transmitting and receiving image data via a network. The configuration for identifying people is not limited to a camera. The scope of the present disclosure includes any configuration for identifying people. For example, a temperature sensor may be used instead of the camera 30. The camera 30 functions as an "image acquisition unit."

[0034] Here, the time when the millimeter wave radar 20 acquires the reflection point information and the time when the camera 30 acquires the image do not necessarily have to be the same time, and the target object determination system 100 may be configured to allow a slight difference. For example, by allowing a difference of less than one second, it is possible to suppress erroneous processing due to communication delays.

[0035] The target object determination device 10 includes a processing unit 11 and a storage unit 12. The storage unit 12 stores reflection point information from the millimeter wave radar 20, and also stores image data from the camera 30 in association with time.

[0036] The processing unit 11 is provided to process data sent from the millimeter-wave radar 20 and the camera 30 and identify moving targets. The processing unit 11 is configured to determine the distance (position) and moving speed of targets within a detection area from reflection point information acquired by the millimeter-wave radar 20. Specifically, the processing unit 11 plots the reflection points detected by the millimeter-wave radar 20 on a two-dimensional map (2D map) that represents the detection area in two dimensions along the X-axis and Y-axis, or on a three-dimensional map (3D map) that represents the detection area in three dimensions along the X-axis, Y-axis, and Z-axis. The processing unit 11 performs clustering processing on the plots on the 2D map and the 3D map. The clustering processing may be performed using DBSCAN (Density-based spatial clustering of applications with noise).

[0037] When a cluster is generated from reflection points within the detection area, the processing unit 11 regards the generated cluster as a target detected by the millimeter-wave radar 20 and calculates the moving speed of the target from the speed of the cluster. In this embodiment, since a millimeter-wave radar is used, the resolution is improved and the target speed can be calculated with high accuracy. In this embodiment, the processing unit 11 compares the calculated moving speed of the target with a predetermined threshold and performs a predetermined output based on the result of the comparison. Details of the processing of the processing unit 11 based on the reflection point information from the millimeter-wave radar 20 will be described later.

[0038] Furthermore, the processing unit 11 performs predetermined processing based on the image data stored in the storage unit 12. Specifically, the processing unit 11 determines the presence of a person within the detection area based on the image data. The scope of the present disclosure includes various methods for determining the presence of a person. For example, information about the general shape and movement of a person may be stored in the storage unit 12 in advance, and the presence of a person may be determined based on that information.

[0039] Specifically, the processing unit 11 performs a predetermined output based on the result of comparing the moving speed calculated from the reflection point information from the millimeter wave radar 20 with a predetermined threshold value and the image acquired by the camera 30.

[0040] Furthermore, when the processing unit 11 detects the presence of a person within the detection area, it is configured to set coordinates on the image data and calculate the movement speed of the person from the amount of pixel movement per unit time. Furthermore, the processing unit 11 compares the calculated movement speed of the person with a predetermined threshold and performs a predetermined output based on the result of the comparison. Details of the processing of the processing unit 11 based on the image data will be described later.

[0041] The electronic signboard 40 and speaker 50 are configured to warn people (users) who are moving within the detection area at a predetermined speed or above by using text, sound, etc., based on the output from the processing unit 11. However, the warning method in this disclosure is not limited to this, and includes various methods of warning people. The electronic signboard 40 and speaker 50 function as a "notification device."

[0042] (Layout of each component of the target determination system) 2 is a diagram illustrating the arrangement of each component of the target object determination system 100. In this embodiment, the millimeter-wave radar 20 detects the moving speed of a target object in a detection area on an escalator 200 that has multiple steps 210 that ascend or descend at a constant speed, and the camera 30 acquires images of the detection area. The multiple steps 210 are endlessly connected and travel in a circular motion in both directions.

[0043] Specifically, in this embodiment, the area above the multiple steps 210 of the escalator 200 is set as the detection area in order to determine the moving speed of users getting on and off the escalator 200. For this reason, the millimeter-wave radar 20 and the camera 30 are provided on the ceiling 90 above the escalator 200 so as to be able to obtain a bird's-eye view of the area above the multiple steps 210 between the entrances and exits of the escalator 200. However, the millimeter-wave radar 20 and the camera 30 are not limited to being provided on the ceiling 90, and can be placed in any position that allows a bird's-eye view of the multiple steps 210. Note that if one camera 30 cannot capture an image of the area above the multiple steps 210 between the entrances and exits of the escalator 200, multiple cameras 30 may be used to capture the image.

[0044] 2 also shows, as an example, an example in which a plurality of steps 210 travel in a circular motion at a speed V so as to carry users downward. In this case, since users generally turn their eyes and ears downward, in this embodiment, the electronic signboard 40 and speaker 50 are arranged to face the bottom of the escalator 200. However, the arrangement of the electronic signboard 40 and speaker 50 is not limited to this, and they may be arranged on the side of the escalator 200 to alert users who are facing the side of the escalator 200.

[0045] In addition, in order to warn users who are traveling the wrong way up the escalator 200, the electronic signboard 40 and the speaker 50 may be arranged to face the top of the escalator 200. Furthermore, in contrast to Fig. 2, when a plurality of steps 210 travels in a circular motion at a speed V so as to carry users upward, the electronic signboard 40 and the speaker 50 may be arranged to face the top of the escalator 200 in order to warn users who are traveling upward faster than the speed V. Note that, instead of providing the electronic signboard 40 and the speaker 50, the side of the escalator 200 or the handrail may be flashed to warn users.

[0046] (Target judgment criteria) Next, the criteria for alerting users of the escalator 200 in this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining the target determination criteria 60.

[0047] First, in this embodiment, as shown in the cell with reference number 61, when the millimeter-wave radar 20 detects a target moving at a predetermined speed and determines that the target is a person based on image data from the camera 30, the processing unit 11 issues an instruction to the electronic billboard 40 or the speaker 50 to call attention in a predetermined manner. For example, the processing unit 11 may combine time-series image data and reflection point information stored in the storage unit 12 in a predetermined manner, determine a target moving at a predetermined speed from the reflection point information, and then determine whether the target can be determined to be a person in the image data. Specifically, the image data and the reflection point information may be combined by linking the reflection point information to the coordinates of the image data and managing it in the storage unit 12. The instruction from the processing unit 11 to the electronic billboard 40 or the speaker 50 is an example of a "predetermined output."

[0048] Specifically, when the processing unit 11 determines that an object moving at a speed greater than or less than a threshold value, which is the speed V at which the multiple steps 210 of the escalator 200 ascend or descend, is a person, it instructs the electronic signboard 40 and the speaker 50 to warn the user in a predetermined manner. The electronic signboard 40 and the speaker 50 that have received the instruction from the processing unit 11 warn the user in a predetermined manner.

[0049] Here, when a user moves at a speed greater than the threshold V, it is assumed that the user is moving relative to the steps 210 in the same direction as the movement direction of the steps 210. When a user moves at a speed less than the threshold V, it is assumed that the user is moving relative to the steps 210 in the opposite direction to the movement direction of the steps 210. The threshold V is an example of a "predetermined threshold."

[0050] It should be noted that the threshold value V does not necessarily have to be set exactly to the speed at which the steps 210 ascend or descend. Rather, in order to prevent erroneous processing due to small human movements, the threshold value V may be set to a value that is somewhat different from the speed at which the steps 210 ascend or descend. Alternatively, the threshold value may be set as a predetermined speed range, and a configuration may be adopted in which targets moving within that speed range are detected.

[0051] On the other hand, as shown in the cell with reference number 64, if the millimeter wave radar 20 does not detect a target moving at a predetermined speed and the presence of a person cannot be determined based on the image data from the camera 30, the processing unit 11 does not issue instructions to the electronic bulletin board 40 or the speaker 50.

[0052] Furthermore, as shown in the cell with reference number 62, when the millimeter-wave radar 20 detects a target moving at a predetermined speed but the target cannot be determined to be a person based on the image data from the camera 30, the processing unit 11 issues an instruction to the electronic bulletin board 40 or the speaker 50 to call attention in a predetermined manner if it determines that the target is moving along the handrail or lane of the escalator 200. For example, the processing unit 11 may combine the time-series image data and reflection point information stored in the memory unit 12 in a predetermined manner and determine whether the target is moving along the handrail or lane of the escalator 200.

[0053] Furthermore, as shown in the cell with reference number 63, when the millimeter-wave radar 20 does not detect a target moving at a predetermined moving speed, but determines the presence of a person based on image data from the camera 30 and determines from the image data that the person's moving speed is the predetermined moving speed, the processing unit 11 issues an instruction to the electronic bulletin board 40 or the speaker 50 to call attention in a predetermined manner. Here, the threshold value used when calculating the person's moving speed based on the camera image data may be the same as or different from the threshold value used when calculating the target's moving speed from the reflection point information of the millimeter-wave radar 20.

[0054] (Target determination flow) Next, a processing flow by the target object determination system 100 will be described with reference to Fig. 4. Fig. 4 is a flowchart illustrating a processing flow by the target object determination system 100.

[0055] First, in step S1, the processing unit 11 of the target object determination device 10 of the target object determination system 100 determines whether there is a target object moving at a speed greater than or less than the threshold value V, based on the reflection point information acquired by the millimeter-wave radar 20. In this case, the determination may take into account the amount of movement to prevent small movements other than human walking (such as hand movements) from being determined.

[0056] If [Step S1: Yes] If it is determined that there is a target moving at a speed greater than or less than the threshold value V (step S1: Yes), the processing unit 11 determines in step S2 whether the target can be identified as a person on the image data. Specifically, it determines whether there is a person at the coordinates on the image data corresponding to the position where the reflection point information of the moving target is detected.

[0057] When the processing unit 11 determines that the moving object is a person (step S2: Yes), in step S3, the processing unit 11 instructs the electronic signboard 40 or the speaker 50 to warn the user. The electronic signboard 40 or the speaker 50, which has received the instruction from the processing unit 11, warns the user in a predetermined manner. In step S2, the processing unit 11 may refer to the time-series image data and calculate the moving speed of the person from the amount of movement of pixels per unit time based on coordinates set on the image data. In this case, when the moving speed calculated from the reflection point information and the moving speed calculated from the image data match or, if they differ, are within an error range, the processing unit 11 may in step S3 issue an instruction to the electronic signboard 40 or the speaker 50 to warn the user.

[0058] In this way, the processing unit 11 determines whether or not a predetermined shape exists at the position of a moving target detected by the millimeter-wave radar 20 in the image acquired by the camera 30. The predetermined shape may be any shape that can be identified as a person.

[0059] On the other hand, if it cannot be determined whether the moving object is a person (step S2: No), in step S6, the processing unit 11 combines the reflection point information with the image data and determines whether the object is moving along the handrail or lane of the escalator 200 on the image data.

[0060] If it is determined that the target is moving along the handrail or lane of the escalator 200 in the image data (step S6: Yes), the processing unit 11 instructs the electronic bulletin board 40 and the speaker 50 to warn the user in step S3. On the other hand, if it is determined that the target is not moving along the handrail or lane of the escalator 200 in the image data (step S6: No), the processing unit 11 does not instruct the electronic bulletin board 40 and the speaker 50 to warn the user in step S7.

[0061] In this way, the processing unit 11 performs a predetermined output based on whether or not the target is moving along the moving direction of the plurality of steps 210.

[0062] If [Step S1: No] If it is determined that there is no target moving at a speed greater than or less than the threshold value V (step S1: No), the processing unit 11 determines in step S4 whether or not a person is present within the detection area on the image data.

[0063] When it is determined that no person is present within the detection area on the image data (step S4: No), the processing unit 11 does not issue an instruction to alert the user of the electronic bulletin board 40 or the speaker 50 in step S7.

[0064] If it is determined that a person is present in the detection area on the image data (step S4: Yes), the processing unit 11 calculates the movement speed of the person from the coordinates set on the image data. Then, in step S5, the processing unit 11 determines whether the movement speed of the person calculated from the image data is greater than or less than a threshold value V.

[0065] If the moving speed of the person calculated from the image data is greater than or less than the threshold V (step S5: Yes), the processing unit 11 instructs the electronic bulletin board 40 and the speaker 50 to warn the user in step S3. On the other hand, if the moving speed of the person calculated from the image data does not satisfy the condition that it is greater than or less than the threshold V (step S5: No), the processing unit 11 does not instruct the electronic bulletin board 40 and the speaker 50 to warn the user in step S7.

[0066] In this way, the processing unit 11 calculates the moving speed of the target from the image acquired by the camera 30, compares the moving speed with a predetermined threshold, and performs a predetermined output based on the result of the comparison.

[0067] The target object determination system 100 repeats the processes from step S1 to step S7.

[0068] (Effects of the embodiment) According to the target object determination system 100 or the target object determination device 10 described above, by employing the millimeter wave radar 20, it is possible to determine the moving speed of a target object to be detected even in a dark place.

[0069] Furthermore, in this embodiment, in addition to the millimeter-wave radar 20, a camera 30 is employed to identify targets (people). This makes it possible to suppress erroneous processing compared to when using a radar alone. In particular, when using a radar to determine the movement of a target moving on a metal structure, as in this embodiment, false images may occur. However, according to this embodiment, erroneous processing can be suppressed even when such false images occur.

[0070] Furthermore, in this embodiment, it is determined whether the target is moving along the handrail or lane of the escalator 200 on the image data (see step S6 in FIG. 4). This makes it possible to eliminate trajectories due to false images and detect the movement of the target to be detected, thereby suppressing erroneous processing.

[0071] (Other embodiments) In the above embodiment, the target determination system 100 was configured to determine the moving speed of a target moving on an escalator 200 having a plurality of steps 210 that ascend or descend at a constant speed. However, the scope of the present disclosure is not limited thereto, and the technology of the present disclosure can be applied to determining the moving speed of a target moving on various structures configured to move at a constant speed.

[0072] The device of the present invention can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a network. The program of the present disclosure is a program for causing a computer to realize each function of the device according to the present disclosure, and a program for causing a computer to execute each procedure of the method executed by the device according to the present disclosure. [Industrial Applicability]

[0073] The target object determination device, target object determination system, and target object determination method according to the present disclosure can be applied to the information and communications industry. [Explanation of symbols]

[0074] 10:Target identification device 11: Processing section 12: Storage part 20: Millimeter wave radar 30: Camera 40: Electronic bulletin board 50:Speaker 90: Ceiling 100: Target identification system 200: Escalator 210: Multiple steps

Claims

1. a processing unit that compares the moving speed of a target located on a plurality of steps that ascend or descend at a constant speed and detected by the detection unit using radio waves with a predetermined threshold, and that produces a predetermined output based on the result of the comparison; Target identification device.

2. the processing unit performs the predetermined output based on the result of the comparison and the images acquired by an image acquisition unit that acquires images of the plurality of steps. The target object determination device according to claim 1 .

3. the processing unit determines whether a predetermined shape exists at a position of a moving target detected by the detection unit in the image acquired by the image acquisition unit; The target object determination device according to claim 2 .

4. the processing unit calculates a moving speed of the target from the image acquired by the image acquisition unit, compares the moving speed of the target calculated from the image with the predetermined threshold, and performs the predetermined output based on the result of the comparison. The target object determination device according to claim 2 .

5. the processing unit performs the predetermined output based on whether the target is moving along the moving direction of the plurality of steps. The target object determination device according to claim 1 .

6. a detection unit disposed above a plurality of steps that ascend or descend at a constant speed, and that detects the moving speed of a target moving on the steps using radio waves; an image acquisition unit disposed above the steps and configured to acquire an image of the steps; a processing unit that compares the moving speed of the target detected by the detection unit with a predetermined threshold value and performs a predetermined output based on the result of the comparison and the image acquired by the image acquisition unit; A target determination system comprising:

7. a notification device that notifies the presence of an object moving on the steps in a predetermined manner based on the predetermined output of the processing unit; The target object determination system according to claim 6 .

8. The speed of the target moving on the steps is detected using radio waves. Acquire an image of the steps; comparing the movement speed of the detected target with a predetermined threshold value, and performing a predetermined output based on the result of the comparison and the acquired image; Target determination method.

Images