Motion detection method, program, motion detection device, and motion detection system

Abstract

The present invention provides a motion detection method, program, apparatus, and system for easily setting a detection area for detecting moving objects and for detecting moving objects. [Solution] The motion detection method includes: an identification step (S32) in which an image captured by a camera is acquired and a predetermined area of ​​a predetermined color is identified in the image; a setting step (S33, S35) in which the predetermined area identified in the identification step or an area of ​​the image other than the aforementioned area is set as a detection area for detecting motion, and if the predetermined area no longer exists in the image after the detection area has been set, the set detection area is maintained; and a detection step (S39) in which motion is detected in the detection area set in the setting step. Furthermore, the method includes a determination step in which it is determined whether or not the motion detected in the detection step is a person, and a processing step in which predetermined processing is performed when it is determined in the determination step that the motion is a person.

Description

Technical Field

[0001] The present invention relates to a moving object detection method, a program, a moving object detection device, and a moving object detection system.

Background Art

[0002] Conventionally, a moving object detection method and the like for detecting a moving object are known. As an example of a moving object detection method and the like, for example, Patent Document 1 discloses a vehicle detection device that sets a detection area for each lane within a shooting range by an imaging device and detects in which of a plurality of detection areas a moving object exists.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in a captured image, in order to set a detection area for detecting a moving object, it is necessary to operate a mouse to specify the detection area or input coordinates to specify the detection area, and it is desired to easily set the detection area. Therefore, an object of the present invention is to provide a moving object detection method and the like that can easily set a detection area for detecting a moving object and perform moving object detection.

Means for Solving the Problems

[0005] A motion detection method according to one aspect of the present invention is a motion detection method performed by a motion detection device, comprising: an identification step of acquiring an image captured by a camera and identifying a predetermined area of ​​a predetermined color in the image; a setting step of setting the predetermined area identified by the identification step, or an area of ​​the image other than the predetermined area identified by the identification step, as a detection area for detecting motion, and maintaining the set detection area if the predetermined area no longer exists in the image after the detection area has been set; a detection step of detecting motion in the detection area set by the setting step; a determination step of determining whether the motion detected by the detection step is a person; and a processing step of performing a predetermined process if the determination step determines that the motion is a person. Furthermore, a program according to one aspect of the present invention is a program that causes a computer to execute the following steps: an identification step of acquiring an image captured by a camera and identifying a predetermined area of ​​a predetermined color in the image; a setting step of setting the predetermined area identified by the identification step, or an area of ​​the image other than the predetermined area identified by the identification step, as a detection area for detecting moving objects, and maintaining the set detection area if the predetermined area no longer exists in the image after the detection area has been set; a detection step of detecting the moving object in the detection area set by the setting step; a determination step of determining whether the moving object detected by the detection step is a person; and a processing step of performing a predetermined process if the determination step determines that the moving object is a person.

[0006] Furthermore, a motion detection device according to one aspect of the present invention includes a camera, a identification unit that acquires an image captured by the camera and identifies a predetermined area of ​​a predetermined color in the image, a setting unit that sets the predetermined area identified by the identification unit, or an area of ​​the image other than the predetermined area identified by the identification unit, as a detection area for detecting motion, and maintains the set detection area if the predetermined area no longer exists in the image after the detection area has been set, a detection unit that detects motion in the detection area set by the setting unit, a determination unit that determines whether the motion detected by the detection unit is a person, and a processing unit that performs predetermined processing when the determination unit determines that the motion is a person.

[0007] Furthermore, a motion detection system according to one aspect of the present invention includes a camera, an identification unit that acquires an image captured by the camera and identifies a predetermined area of ​​a predetermined color in the image, a setting unit that sets the predetermined area identified by the identification unit, or an area of ​​the image other than the predetermined area identified by the identification unit, as a detection area for detecting motion, and maintains the set detection area if the predetermined area no longer exists in the image after the detection area has been set, a detection unit that detects motion in the detection area set by the setting unit, a determination unit that determines whether the motion detected by the detection unit is a person, and a processing unit that performs predetermined processing when the determination unit determines that the motion is a person. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a motion detection method that allows for easy setting of a detection area for detecting moving objects and for performing motion detection. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing a motion detection device, etc., according to an embodiment of the present invention. [Figure 2]Figure 1 is a block diagram showing the functional configuration of the motion detection device. [Figure 3] Figure 1 is a flowchart showing an example of how the motion detection device detects motion. [Figure 4] This is the first explanatory diagram to explain the operation shown in Figure 3. [Figure 5] This is a second explanatory diagram to illustrate the operation shown in Figure 3. [Figure 6] Figure 1 is a flowchart showing an example of the operation in which the motion detection device performs predetermined processing. [Figure 7] This is the first explanatory diagram for illustrating the operation shown in Figure 6. [Figure 8] This is a second explanatory diagram to illustrate the operation shown in Figure 6. [Figure 9] Figure 1 shows another example of the operation in which the motion detection device performs a predetermined process. This flowchart illustrates that operation. [Figure 10] This is the first explanatory diagram for explaining the operation shown in Figure 9. [Figure 11] This is a second explanatory diagram to illustrate the operation shown in Figure 9. [Figure 12] This is a schematic diagram showing an example of an image captured by a camera. [Figure 13] This is a schematic diagram illustrating another example of an image captured by a camera. [Figure 14] This is a schematic diagram illustrating yet another example of an image captured by a camera. [Figure 15] This flowchart shows an example of the operation in which a region designation device performs a predetermined process. [Figure 16] Figure 1 is a flowchart showing another example of how the motion detection device detects motion. [Figure 17] Figure 1 is a flowchart showing yet another example of the operation in which the motion detection device performs a predetermined process. [Figure 18] Figure 1 is a flowchart showing yet another example of the operation in which the motion detection device performs a predetermined process. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a schematic diagram showing a moving object detection device 10 and the like according to an embodiment of the present invention. First, the moving object detection device 10 and the like will be described with reference to FIG. 1.

[0011] The moving object detection device 10 is a device that detects moving objects. As shown in FIG. 1, in the present embodiment, the moving object detection device 10 acquires an image captured by the camera 1 and detects a moving object based on the image. The moving object detection device 10 performs a predetermined process based on the detection result. For example, the moving object detection device 10 controls the transport device 2 based on the detection result. Further, when the moving object detection device 10 detects a moving object, it notifies the user terminal 3.

[0012] The camera 1 is disposed at a position where it can photograph the belt conveyor 4. In the present embodiment, the camera 1 is disposed above the belt conveyor 4 and photographs the belt conveyor 4 by photographing the lower side. Note that the arrangement position of the camera 1 is not limited to this, and it may be arranged so as to photograph a place where it is desired to detect a moving object.

[0013] The transport device 2 is a device that transports the article 5 to the belt conveyor 4. The article 5 transported to the belt conveyor 4 by the transport device 2 is transported by the belt conveyor 4. The user terminal 3 is the terminal of the user of the moving object detection device 10. For example, the user terminal 3 is a smartphone, a tablet terminal, a personal computer, or the like. FIG. 2 is a block diagram showing the functional configuration of the moving object detection device 10 of FIG. 1. Next, the functional configuration of the moving object detection device 10 will be described with reference to FIG. 2.

[0014] As shown in Figure 2, the motion detection device 10 comprises a specification unit 11, a setting unit 12, a detection unit 13, a processing unit 14, and a storage unit 15. For example, the specification unit 11, the setting unit 12, the detection unit 13, and the processing unit 14 are composed of a processor and a communication module, etc., and the storage unit 15 is composed of memory, etc. The specification unit 11, the setting unit 12, the detection unit 13, the processing unit 14, and the storage unit 15 may be provided in a single housing or distributed across multiple housings.

[0015] The identification unit 11 acquires an image captured by the camera 1 and identifies a predetermined area in the image that satisfies predetermined conditions. The image may be a still image or a moving image. The identification unit 11 acquires the image directly or indirectly from the camera 1 by wireless communication or wired communication, etc.

[0016] The predetermined conditions are set in advance by the user or the like and stored in the memory unit 15. For example, the predetermined condition is that the color is predetermined. In this case, the identification unit 11 identifies the region of the predetermined color as the predetermined region in the image captured by the camera 1. Specifically, the predetermined color is a primary color, etc. For example, primary colors are red, green, or blue. The identification unit 11 identifies the color based on the RGB color space or HSV space, etc. Note that the predetermined color does not have to be a primary color and may be a color other than red, green, and blue.

[0017] The setting unit 12 sets a predetermined area identified by the identification unit 11, or an area of ​​the image captured by the camera 1 other than the predetermined area identified by the identification unit 11, as a detection area for detecting motion. Whether to set a predetermined area or an area other than the predetermined area as the detection area is set in advance by the user, and the setting unit 12 sets the detection area according to the setting by the user, etc. This setting by the user, etc. is stored in the storage unit 15. For example, the identification unit 11 masks (covers) the identified predetermined area, and the setting unit 12 sets the masked (covered) area or an area other than the masked (covered) area as the detection area.

[0018] After the detection area is set by the setting unit 12, the detection area does not need to satisfy any predetermined conditions. For example, if the predetermined condition is that the area is blue, by covering the area where motion detection is to be performed with a blue cloth or the like, the area including that area in the image captured by the camera 1 is identified as a predetermined area that satisfies the predetermined condition and is set as the detection area. Even if the blue cloth or the like is removed after the detection area has been set, the setting of the detection area is maintained, so motion detection can be performed at that location even after the blue cloth or the like has been removed.

[0019] The detection unit 13 detects moving objects in the detection area set by the setting unit 12. For example, the detection unit 13 uses the inter-frame difference method to detect moving objects. Specifically, the detection unit 13 detects moving objects in the detection area from the difference between a series of consecutive still images (image frames) in a moving image captured by the camera 1. The detection unit 13 may also use the background difference method to detect moving objects, or it may use both the inter-frame difference method and the background difference method to detect moving objects, or it may use any other method to detect moving objects.

[0020] Furthermore, the detection unit 13 may detect moving objects not only using video information but also using uniquely identifiable audio information. For example, it may be the sound of a bell (ambient sound) attached to the rotating shaft of a motor (not shown) that operates the belt conveyor 4, or a buzzer sound. It may also be specific instructional audio information spoken by a person. Specific instructional audio information could be the sound being made, such as "This sound, this sound!", or it could be the human voice itself.

[0021] The processing unit 14 performs predetermined processing based on the detection result of the detection unit 13. For example, the predetermined processing when the detection unit 13 detects a moving object is to notify the user terminal 3, and the processing unit 14 notifies the user terminal 3 when the detection unit 13 detects a moving object. For example, the processing unit 14 notifies the user terminal 3 via a calling application or chat application. Also, the predetermined processing when the detection unit 13 no longer detects a moving object is to transport the item 5 to the belt conveyor 4 using the transport device 2, and the processing unit 14 transports the item 5 to the belt conveyor 4 using the transport device 2 when the detection unit 13 no longer detects a moving object. The processing unit 14 controls the transport device 2 by transmitting a control signal to the transport device 2 via wireless communication or wired communication. Note that the predetermined processing is not limited to these, and may be any processing that executes various programs. For example, the predetermined processing may be the processing that stops the belt conveyor 4 when the detection unit 13 detects a moving object.

[0022] For example, the processing unit 14 may rotate the conveyor belt 4 if there is a change based on the detection result of the detection unit 13. Alternatively, the processing unit 14 may use the detection unit 13 to detect whether or not an item 5 coming from the front is moving, and start rotating the conveyor belt 4 based on the detection result. Data management may be achieved by ID management and tracking using the camera 1, or it may be managed by requests from the user terminal 3. The processing unit 14 can also notify the user terminal 3 of the motion detection information, acquire information on the item 5 managed by the user terminal 3, and control the transport device 2 based on the information on the item 5. This allows the motion detection device 10 or the system itself according to the embodiment of the disclosed technology to determine the status of the item 5. By providing such a processing unit at the edge terminal, the amount of information and signal lines transmitted to the processing unit can be significantly reduced compared to transmitting unnecessary information about the item 5 (such as information that the item 5 is moving or stopped somewhere other than the transport device 2) to the processing unit. Therefore, even if a human intervenes for emergency processing or the layout is changed, the motion detection device 10 will detect and process the change itself, making it possible to transport the object without changing or adjusting other user terminals. The memory unit 15 stores various types of information. Specifically, as described above, the memory unit 15 stores predetermined conditions and the like.

[0023] Figure 3 is a flowchart illustrating an example of the motion detection device 10 in Figure 1 performing motion detection. Figure 4 is the first explanatory diagram for illustrating the operation in Figure 3. Figure 5 is the second explanatory diagram for illustrating the operation in Figure 3. An example of the motion detection device 10 performing motion detection will be explained with reference to Figures 3 through 5.

[0024] As shown in Figure 3, the identification unit 11 acquires an image captured by the camera 1 (step S1), and identifies a predetermined region in the acquired image that satisfies predetermined conditions (step S2).

[0025] The setting unit 12 sets a predetermined area identified by the identification unit 11, or an area of ​​the image captured by the camera 1 other than the predetermined area identified by the identification unit 11, as a detection area for detecting moving objects (step S3). The detection unit 13 detects a moving object in the detection area (step S4).

[0026] For example, as shown in Figure 4, the identification unit 11 acquires an image 1a captured by the camera 1. Here, a planar member 6 is placed over the conveyor belt 4, and image 1a shows the conveyor belt 4 covered with the planar member 6. Here, the predetermined condition is that it is blue, and the planar member 6 is a blue cloth. Therefore, the identification unit 11 identifies the area where the planar member 6 is located in the acquired image 1a (see the dotted area in Figure 4) as a predetermined area and masks (covers) the predetermined area. Note that the planar member 6 does not have to be a sheet-like member such as cloth, but may be a plate-like member such as a board material. Masking (covering) refers to specifying an area by covering it when identifying an area that has a specific color or pattern.

[0027] As shown in Figure 5, the setting unit 12 sets a predetermined area identified by the identification unit 11 as the detection area R (see the thick line in Figure 5). The detection unit 13 detects moving objects in the detection area R. Here, when the detection unit 13 detects moving objects, the planar member 6 is removed.

[0028] Figure 6 is a flowchart showing an example of the operation in which the motion detection device 10 in Figure 1 performs a predetermined process. Figure 7 is a first explanatory diagram for illustrating the operation in Figure 6. Figure 8 is a second explanatory diagram for illustrating the operation in Figure 6. An example of the operation in which the motion detection device 10 performs a predetermined process will be explained with reference to Figures 6 through 8. As shown in Figure 6, the processing unit 14 determines whether or not the detection unit 13 has detected a moving object (step S11). If the detection unit 13 has not detected a moving object (No in step S11), the processing unit 14 determines again whether the detection unit 13 has detected a moving object (step S11). When the detection unit 13 detects a moving object (Yes in step S11), the processing unit 14 performs a predetermined process by notifying the user terminal 3 (step S12).

[0029] For example, the detection unit 13 detects the object 5 as a moving object if the camera 1 captures image 1c shown in Figure 8 immediately following image 1b shown in Figure 7. The processing unit 14 notifies the user terminal 3 that the detection unit 13 has detected a moving object.

[0030] Figure 9 is a flowchart illustrating another example of the operation in which the motion detection device 10 in Figure 1 performs a predetermined process. Figure 10 is the first explanatory diagram for illustrating the operation in Figure 9. Figure 11 is the second explanatory diagram for illustrating the operation in Figure 9. Referring to Figures 9 through 11, another example of the operation in which the motion detection device 10 performs a predetermined process will be described. As shown in Figure 9, the processing unit 14 determines whether or not the detection unit 13 has detected a moving object (step S21).

[0031] If the detection unit 13 detects a moving object (Yes in step S21), the processing unit 14 determines again whether the detection unit 13 is detecting a moving object (step S21). If the detection unit 13 no longer detects a moving object (No in step S21), the processing unit 14 transports the item 5 as a predetermined process (step S22).

[0032] For example, if the camera 1 captures image 1e shown in Figure 11 immediately after image 1d shown in Figure 10, the detection unit 13 will stop detecting a moving object. The processing unit 14, knowing that the detection unit 13 has stopped detecting a moving object, will use the conveying device 2 to transport the item 5 to the belt conveyor 4.

[0033] The motion detection device 10 allows for easy setting of the detection area without the need to specify the detection area by operating a mouse or inputting coordinates. Furthermore, since the motion detection device 10 can detect motion using the camera 1 without using photoelectric sensors or the like, it can suppress cost increases, reduce the complexity of installation work, make it easy to introduce, and facilitate motion detection at any desired location.

[0034] As described above, the motion detection device 10 according to the embodiment of the present invention includes: an identification unit 11 that acquires an image captured by a camera 1 and identifies a predetermined area in the image that satisfies predetermined conditions; a setting unit 12 that sets the predetermined area identified by the identification unit 11, or an area in the image other than the predetermined area identified by the identification unit 11, as a detection area for detecting motion; and a detection unit 13 that detects motion in the detection area.

[0035] According to this method, by ensuring that the areas where motion detection is desired or not desired are met and photographed with camera 1, the detection area can be set, making it easy to set the detection area for motion detection and perform motion detection. Furthermore, the motion detection device 10 according to an embodiment of the present invention further includes a processing unit 14 that performs predetermined processing based on the detection result of the detection unit 13. According to this, predetermined processing can be performed when the detection unit 13 detects a moving object, or when the detection unit 13 stops detecting a moving object, etc. Furthermore, in the motion detection device 10 according to an embodiment of the present invention, the predetermined process is the process of notifying the user terminal 3. According to this, the detection unit 13 can notify the user terminal 3 when it detects a moving object, or when it stops detecting a moving object. Furthermore, in the motion detection device 10 according to an embodiment of the present invention, the predetermined condition is that the color is predetermined.

[0036] According to this method, by coloring the area where motion detection is desired or where motion detection is not desired with a predetermined color and photographing it with camera 1, the detection area can be set, making it even easier to set the detection area for motion detection and perform motion detection. Furthermore, in the motion detection device 10 according to an embodiment of the present invention, the predetermined color is a primary color.

[0037] According to this method, by setting the area where motion detection is desired or not desired to be desired to primary color and photographing it with camera 1, the detection area can be set, making it even easier to set the detection area for motion detection and perform motion detection. Furthermore, in the motion detection device 10 according to the embodiment of the present invention, the primary color is red, green, or blue.

[0038] According to this method, by marking areas where motion detection is desired or not desired in red, green, or blue, and capturing them with camera 1, the detection area can be set. This makes it even easier to set the detection area for motion detection and perform motion detection. Furthermore, in the motion detection device 10 according to an embodiment of the present invention, the detection unit 13 detects motion using the interframe difference method. According to this method, motion detection can be easily performed using the interframe difference method. Furthermore, in the motion detection device 10 according to an embodiment of the present invention, the camera 1 is positioned to capture images of the belt conveyor 4. According to this, the belt conveyor 4 or a location other than the belt conveyor 4 can be easily set as the detection area.

[0039] Furthermore, the motion detection method according to the embodiment of the present invention is a motion detection method performed by a motion detection device 10, and comprises: an identification step (step S2) in which an image captured by a camera 1 is acquired and a predetermined area that satisfies predetermined conditions in the image is identified; a setting step (step S3) in which the predetermined area identified in the identification step, or an area of ​​the image other than the predetermined area identified in the identification step, is set as a detection area for detecting motion; and a detection step (step S4) in which motion is detected in the detection area. According to this, it will have the same effects as the motion detection device 10 described above. Furthermore, the program according to the embodiment of the present invention is a program that causes a computer to execute the motion detection method described above. According to this, it will have the same effects as the motion detection device 10 described above.

[0040] Although one or more embodiments of motion detection devices, etc., have been described above based on these embodiments, the present invention is not limited to these embodiments. Various modifications to these embodiments that can be conceived by those skilled in the art may also be included within the scope of the present invention, as long as they do not depart from the spirit of the present invention.

[0041] In the embodiments described above, the case where the predetermined condition is a predetermined color was explained, but it is not limited to this. For example, the predetermined condition may be being surrounded by a predetermined color. In this case, the identification unit 11 identifies the area surrounded by the predetermined color in the image captured by the camera 1 as the predetermined area.

[0042] For example, as shown in Figure 12, when the identification unit 11 acquires an image 1f captured by the camera 1, it identifies the area enclosed by the linear member 7 of a predetermined color (see the dotted area in Figure 12) in the image 1f as a predetermined area. In this way, by enclosing the area where motion detection is desired or where motion detection is not desired with the linear member 7 of a predetermined color and capturing it with the camera 1, the detection area can be set, making it even easier to set the detection area for motion detection and perform motion detection. For example, the linear member 7 is a long, thin member such as a string of a predetermined color.

[0043] Furthermore, as shown in Figure 13, for example, when the identification unit 11 acquires an image 1g captured by the camera 1, it identifies a region in the image 1g surrounded by multiple dot-shaped members 8 of a predetermined color (see the dot portion in Figure 13) as a predetermined region. In this way, by surrounding the area where motion detection is desired or where motion detection is not desired with multiple dot-shaped members 8 of a predetermined color and capturing the image with the camera 1, a detection region can be set, making it even easier to set a detection region for motion detection and perform motion detection. For example, the dot-shaped members 8 are circular or polygonal members of a predetermined color.

[0044] Furthermore, in the embodiment described above, the case in which the identification unit 11 identifies a predetermined area that satisfies predetermined conditions was explained, but for example, the identification unit 11 may also identify a portion that satisfies conditions different from the predetermined conditions. For example, if the predetermined condition is that the color is predetermined, the different condition is that the color is different from the predetermined color. Specifically, if the predetermined condition is that the color is blue, the different condition is that the color is red. In this case, the setting unit 12 sets the portion that satisfies the different condition as the portion to be used for detection by the detection unit 13. The processing unit 14 performs predetermined processing when the detection unit 13 detects that the moving body has reached the portion that satisfies the different condition.

[0045] For example, as shown in Figure 14, the setting unit 12 sets a detection area R in the image 1h captured by the camera 1, and sets a portion identified by the identification unit 11 as a portion that satisfies conditions different from predetermined conditions as portion P. For example, the detection area R is the area where the blue cloth was placed, and portion P is the portion where the red string or the like was placed on the blue cloth. The detection unit 13 detects whether or not the moving object has reached portion P in the detection area R. If the detection unit 13 detects that the moving object has reached portion P, the processing unit 14 may, as a predetermined process, transport the item 5 to the belt conveyor 4 using the transport device 2, or stop the belt conveyor 4, etc.

[0046] Furthermore, the present invention may be implemented as a motion detection method executed by a computer, such as a motion detection device. Alternatively, the present invention may be implemented as a program for causing a computer to execute a motion detection method. Furthermore, the present invention may be implemented as a computer-readable, non-temporary recording medium on which such a program is stored.

[0047] In the above embodiment, the camera 1 is positioned above the belt conveyor 4 and photographs the belt conveyor 4 by photographing the area below it. However, the camera 1 may also be built into the device 10.

[0048] In the above embodiment, the conveying device 2 is a device that conveys articles 5 to the belt conveyor 4, but the conveying device 2 and the belt conveyor 4 may be the same device (an integrated device). Alternatively, the conveying device 2 may be a separate device that acts as a control unit for controlling the belt conveyor 4.

[0049] In the above embodiment, the following was done. Data transfer is managed by ID management and tracking using camera 1, and when access is received from the node side, the data is passed to the data server. Alternatively, a transfer completion flag is sent to the server when the transfer is complete at each node, the server receives the data, and the nodes send input / output signals to each device. This simplifies wiring work, allows edge processing with camera 1, and even if an intermediate CV fails, it can be relocated by sacrificing another system (in this case, a node), eliminating the need for a PLC. Furthermore, if a human intervenes for emergency processing, etc., and the human is detected as a moving object, the item 5 may be prevented from being transported to the belt conveyor 4 without requiring manual operation. In this case, a motion detection device 10 can be built into the node. That is, the server is an example of a "user terminal 3" in the disclosed technology. However, the following is also possible. For example, data transfer may be managed by ID management and tracking using camera 1 which takes wide-angle shots, or it may be tracked using multiple cameras. Alternatively, if data tracking is managed by a server or other device, a transfer completion flag may be sent from the processing unit 14 to the server, and the server may perform data tracking. Performing the decision-making and processing of motion detection at the node level makes it easy to shift from a conventional centralized system to a terminal-based system in transport control. This also leads to reduced wiring for signal connections during installation, shorter construction periods, risk diversification, and smooth transport control even in emergencies, during layout changes, or when objects are added with human intervention.

[0050] In the above embodiment, the motion detection device 10 acquires an image captured by the camera 1 and detects motion based on the image. The motion detection device 10 performs predetermined processing based on the detection result. For example, the motion detection device 10 controls the transport device 2 based on the detection result. In addition, although the motion detection device 10 notifies the user terminal 3 when it detects motion, this can be modified as appropriate within the scope of the invention. For example, the system may further include another personal computer, another processor, another server, another central brain, or another transport device (including the next transport device and the previous transport device). The system may also be constructed by combining these. (Area specification method)

[0051] The information processing method, specifically the region designation method, is a computer-based region designation method comprising: an identification step of acquiring an image captured by a camera and identifying a predetermined region in the image that satisfies predetermined conditions; and a setting step of setting the predetermined region identified in the identification step, or a region in the image other than the predetermined region identified in the identification step, as a region designation. This significantly reduces the time required for region designation and facilitates the automation of region designation. Specifically, in this method, the setting unit 912 sets a masked region or a region other than the masked region as a region designation. "Setting as a region designation" means clearly defining a specific range or area and setting it to perform a specific operation or processing within that range. For example, the control unit (setting unit) performs processing such as object detection in the specific range or area "set as a region designation". (Area specification device)

[0052] The information processing device, specifically the area designation device 910, comprises a designation unit 911, a setting unit 912, a detection unit 913, a processing unit 914, and a storage unit 915. The area designation device 910 has almost the same configuration as the motion detection device 10, but differs in the following respects. The specific unit 911 has the same configuration as the specific unit 11.

[0053] The setting unit 912 sets a predetermined area identified by the identification unit 911, or an area of ​​the image captured by the camera 1 other than the predetermined area identified by the identification unit 911, as an area designation. Whether to set a predetermined area or an area other than the predetermined area as an area designation is set in advance by the user, and the setting unit 912 sets the area designation according to the setting by the user, etc. This setting by the user, etc. is stored in the storage unit 915. For example, the identification unit 911 masks the identified predetermined area, and the setting unit 912 sets the masked area or an area other than the masked area as an area designation.

[0054] After the area designation is set by the setting unit 912, it is not necessary to satisfy any predetermined conditions. For example, if the predetermined condition is that the area be blue, by covering the range or area to be designated as an area designation with a blue cloth or the like, the area including that location in the image captured by the camera 1 will be identified as a predetermined area that satisfies the predetermined condition and set as an area designation. Even if the blue cloth or the like is removed after the area designation has been set, the area designation setting will be maintained. (flowchart)

[0055] Figure 15 is a flowchart showing an example of the operation in which the area designation device 910 performs a predetermined process. Next, an example of the operation in which the area designation device 910 performs a predetermined process will be described with reference to Figure 15.

[0056] As shown in Figure 15, the identification unit 911 acquires an image captured by the camera 1 (step S21) and identifies a predetermined area in the acquired image that satisfies predetermined conditions (step S22). The setting unit 912 sets the predetermined area identified by the identification unit 911, or an area in the image captured by the camera 1 other than the predetermined area identified by the identification unit 911, as the area designation (step S23). This allows for easy and quick area designation without the need for mouse operations or coordinate input.

[0057] Figure 16 is a flowchart showing another example of how the motion detection device 10 in Figure 1 performs motion detection. Next, another example of how the motion detection device 10 performs motion detection will be described with reference to Figure 16.

[0058] The operation shown in Figure 16 differs from the operation shown in Figure 3 mainly in that the detection area is reset if the predetermined area is displaced after the detection area has been set. The following explanation will focus on the differences from the operation shown in Figure 3.

[0059] Herein, in this specification, "displacement" is a concept that includes not only a change in the position of an object, but also a change in the shape of an object. For example, "displacement" includes not only cases where the position of a given color region moves, but also cases where the size or shape of a given color region expands, contracts, or deforms.

[0060] As shown in Figure 16, the identification unit 11 acquires an image captured by the camera 1 (step S31) and identifies a predetermined area of ​​a predetermined color in the acquired image (step S32). For example, the predetermined area may be an area covered with a mat of a predetermined color, an area to which a sheet of a predetermined color is attached, or an area painted with a predetermined color.

[0061] The setting unit 12 sets a predetermined area identified by the identification unit 11, or an area of ​​the image captured by the camera 1 other than the predetermined area identified by the identification unit 11, as a detection area for detecting moving objects (step S33). For example, the setting unit 12 generates coordinate information indicating the set detection area.

[0062] After setting the detection area, the setting unit 12 determines whether or not a predetermined area exists in the image captured by the camera 1 (step S34). The camera 1 captures images in real time, and the setting unit 12 acquires images in real time. For example, if a user removes a mat of a predetermined color, a sheet of a predetermined color, or paint of a predetermined color, the predetermined area will no longer exist in the image captured by the camera 1.

[0063] If the setting unit 12 does not have a predetermined area in the image captured by the camera 1 (No in step S34), it maintains the set detection area (step S35). For example, since the setting unit 12 generates coordinate information indicating the set detection area, it can maintain the detection area even after the predetermined area no longer exists.

[0064] The setting unit 12 determines whether a predetermined area has been displaced relative to the set detection area (step S36) if a predetermined area exists in the image captured by the camera 1 (Yes in step S34). For example, the predetermined area may be displaced relative to the set detection area if the user moves a mat of a predetermined color, moves a sheet of a predetermined color, or expands the area of ​​paint of a predetermined color. The setting unit 12 maintains the set detection area (step S35) if the predetermined area has not been displaced relative to the set detection area (No in step S36).

[0065] If a predetermined area is displaced relative to the set detection area (Yes in step S36), the setting unit 12 releases the set detection area (step S37) and sets a new detection area (step S38). For example, if a user moves a mat of a predetermined color, the setting unit 12 releases the set detection area and sets the area where the mat is placed after the move as the detection area. Similarly, if a user moves a sheet of a predetermined color, the setting unit 12 releases the set detection area and sets the area where the sheet is placed after the move as the detection area. Furthermore, if a user expands, shrinks, or changes the shape of a painted area of ​​a predetermined color, the setting unit 12 releases the set detection area and sets the area of ​​the painted area of ​​the predetermined color after the shape change as the detection area. The detection unit 13 detects motion in the detection area set by the setting unit 12 (step S39).

[0066] Figure 17 is a flowchart showing yet another example of the operation in which the motion detection device 10 in Figure 1 performs a predetermined process. Next, with reference to Figure 17, yet another example of the operation in which the motion detection device 10 performs a predetermined process will be described. The motion detection device 10 sets the detection area by the operation shown in Figure 16, etc., and then performs the operation shown in Figure 17.

[0067] In this scenario, camera 1 is positioned to photograph bedding placed in a facility where medical equipment is installed. For example, the facility could be a medical facility or a nursing care facility. The bedding is used by the facility's users for sleeping and includes beds or mattresses. The facility's users could be patients or infants. For example, the user can set the bedding as the detection area by setting its color to a predetermined color.

[0068] As shown in Figure 17, the processing unit 14 determines whether or not the detection unit 13 has detected a moving object (step S41). If the detection unit 13 has not detected a moving object (No in step S41), the processing unit 14 determines again whether or not the detection unit 13 has detected a moving object (step S41).

[0069] If the detection unit 13 detects a moving object (Yes in step S41), the processing unit 14 determines whether the detected moving object is a person or not (step S42). For example, the processing unit 14 compares the shape of a typical person with the shape of a moving object captured in the image taken by the camera 1 to determine whether the detected moving object is a person or not. If the detected moving object is not a person (No in step S42), the processing unit 14 terminates the process.

[0070] If the detected moving object is a person (Yes in step S42), the processing unit 14 determines whether or not it can recognize the face of the moving object (step S43). For example, the user inputs or obtains face information indicating the face of the user using the bedding from an external source to the motion detection device 10. Based on the input or obtained face information, the processing unit 14 determines whether or not it can recognize the user's face in the moving object captured by the camera 1. Note that the face information referred to here does not necessarily need to be stored in a storage means such as the memory unit 15, and may be obtained or read from an external source each time. Furthermore, identification of a specific user is not essential, and predetermined actions can be performed if the moving object is determined to be a person. If the processing unit 14 can recognize the face of a moving object (Yes in step S43), it performs a predetermined process (step S45). Examples of predetermined processes in step S45 include recording health data and notifying staff.

[0071] If the processing unit 14 cannot recognize the face of the moving body (No in step S43), it performs a predetermined process (step S44). Here, the processing unit 14 performs at least one of the following predetermined processes: notifying facility staff, controlling medical equipment, and recording the health data of the moving body. For example, the processing unit 14 notifies facility staff by sounding a buzzer or sending a notification to staff members' mobile terminals. The processing unit 14 also controls medical equipment by starting up medical equipment that is stopped, stopping medical equipment that is running, or changing the operating status of medical equipment that is running. Furthermore, since the user's health data is measured by the medical equipment, the processing unit 14 records the health data of the moving body by recording the health data measured by the medical equipment in a predetermined memory or the like.

[0072] Figure 18 is a flowchart showing yet another example of the operation in which the motion detection device 10 in Figure 1 performs a predetermined process. Next, with reference to Figure 18, yet another example of the operation in which the motion detection device 10 performs a predetermined process will be described. The motion detection device 10 sets the detection area by the operation shown in Figure 16, etc., and then performs the operation shown in Figure 18.

[0073] In this specification, “machinery” refers to a broad concept that includes collaborative robots, construction machinery, construction equipment, drones, AGVs, humanoid robots, and other devices that operate autonomously or remotely. Specifically, “machinery” includes collaborative robots and AGVs that perform transport, assembly, and processing on factory production lines, heavy machinery used at construction sites and work sites, and drones that move through the air.

[0074] Furthermore, in this specification, "work site" is not limited to construction sites or engineering sites, but refers to any place where any work, operation by workers or machinery takes place. Examples include factories, warehouses, logistics centers, and outdoor work sites.

[0075] Here, camera 1 is positioned to photograph the work site where the machine defined above is located. For example, the machine is a mobile machine, such as a construction machine, collaborative robot, AGV, drone, or humanoid robot. For example, the user may set areas in the work site where they do not want people and machines to enter as detection areas by covering those areas with a sheet of a predetermined color or painting them with a predetermined color.

[0076] As shown in Figure 18, the processing unit 14 determines whether or not the detection unit 13 has detected a moving object (step S51). If the detection unit 13 has not detected a moving object (No in step S51), the processing unit 14 determines again whether or not the detection unit 13 has detected a moving object (step S51).

[0077] If the detection unit 13 detects a moving object (Yes in step S51), the processing unit 14 determines whether the detected moving object is a person or not (step S52). The processing unit 14 determines whether the detected moving object is a person or not in the same manner as in step S42 described above.

[0078] If the detected moving object is a person (Yes in step S52), the processing unit 14 issues an alarm (step S53). For example, the processing unit 14 may issue an alarm by displaying predetermined information on the display or by emitting a predetermined sound from the speaker.

[0079] If the detected moving object is not a person (No in step S52), the processing unit 14 determines whether the detected moving object is a machine or not (step S54). For example, the user inputs or obtains visual information indicating the appearance of a machine to the motion detection device 10 from an external source. Based on the input or obtained visual information, the processing unit 14 determines whether the moving object captured in the image taken by the camera 1 is a machine or not. Note that this visual information does not necessarily need to be stored in a storage means such as the storage unit 15, and may be obtained or read from an external source each time. If the detected moving object is not a machine (No in step S54), the processing unit 14 terminates the process.

[0080] If the detected moving object is a machine (Yes in step S54), the processing unit 14 performs a predetermined process to control the machine (step S55). For example, as machine control, the processing unit 14 may stop an operating machine or move the machine out of the detection area.

[0081] As described above, the motion detection method according to this embodiment is a motion detection method performed by a motion detection device 10, and comprises: acquiring an image captured by a camera 1 (step S31); a identification step (step S32) identifying a predetermined area of ​​a predetermined color in the image; setting the predetermined area identified in the identification step, or an area of ​​the image other than the predetermined area identified in the identification step, as a detection area for detecting motion (step S33); a setting step (step S35) maintaining the set detection area if the predetermined area no longer exists in the image after the detection area has been set; a detection step (step S39) for detecting motion in the detection area set in the setting step; a determination step (step S42) for determining whether the motion detected in the detection step is a person; and a processing step (step S44) for performing predetermined processing when the determination step determines that the motion is a person.

[0082] According to this method, by setting the area where motion detection is desired or where motion detection is not desired to be fulfilled with a predetermined color and capturing it with camera 1, a detection area can be set. Furthermore, if the predetermined area no longer exists in the image after the detection area has been set, the set detection area can be maintained, making it easy to set a detection area for motion detection and perform motion detection.

[0083] Furthermore, in the motion detection method according to this embodiment, the camera 1 is positioned to photograph bedding placed in a facility where medical equipment is installed. In the determination step, if it is determined that the motion detected in the detection step is a person, it is determined whether or not the face of the motion can be recognized (step S43). In the processing step, if it is determined in the determination step that the motion is a person but the face of the motion cannot be recognized, at least one of the following predetermined processes is performed: notifying the facility staff, controlling the medical equipment, and recording the health data of the motion (step S44).

[0084] According to this, if the face of a moving object cannot be recognized, at least one of the following can be performed: notify facility staff, control medical equipment, and record the health data of the moving object.

[0085] Furthermore, in the motion detection method according to this embodiment, the camera 1 is positioned to photograph the work site where the machine is located. In the determination step, if it is determined that the motion detected in the detection step is not a person, it is determined whether or not the motion detected in the detection step is a machine (step S54). In the processing step, if it is determined in the determination step that the motion is a person, an alarm is issued as a predetermined process (step S53). If it is determined in the determination step that the motion is a machine, the machine is controlled (step S55). According to this, an alarm can be issued if a person enters the detection area, and the machine can be controlled if it enters the detection area.

[0086] Furthermore, in the motion detection method according to this embodiment, in the setting step, if a predetermined area in the image is displaced after the detection area has been set, the set detection area is released (step S37), and the predetermined area after the displacement, or an area in the image other than the predetermined area after the displacement, is set as the detection area (step S38). According to this, the position of the detection area can be easily changed.

[0087] Furthermore, the detection of the color region is not limited to the HSV color space; other color spaces such as the UV color space or Lab color space may also be used. The method for recording and managing mask coordinates and detected region information is not limited to INI files; implementations using JSON format or database systems can also be employed.

[0088] Furthermore, in another embodiment of the present invention, an authentication function may be added to ensure the security of area designation. For example, when performing the detection area setting operation, a password can be included in the QR code (registered trademark), and the setting operation can be authenticated by reading the QR code (registered trademark). In this case, even if a person without authorization holds up the setting QR code (registered trademark), the detection area cannot be set.

[0089] Specifically, in a configuration where multiple cameras are installed, one of the cameras can also function as a reader to read the configuration QR code (registered trademark). The motion detection device 10 verifies the password contained in the QR code (registered trademark) read by the camera, and only accepts the detection area configuration operation if it is confirmed that the user has legitimate authority.

[0090] By adding such authentication functionality, it is possible to prevent unauthorized setting or modification of detection areas and improve the overall security of the system. Note that this is merely one example of an embodiment of the present invention and is not an essential component. In addition to QR codes (registered trademark), various other authentication methods such as IC cards, biometric authentication, and password entry can be applied.

[0091] The above embodiment shows an example of setting the detection area by setting the color of the bedding itself to a predetermined color, but the present invention is not limited to this. In other embodiments, for example, the user can set the bedding as a detection area by attaching tape of a predetermined color to the bedding, laying down a color mat of a predetermined color, or painting the bedding a predetermined color. In this way, there is an advantage in that the detection area can be easily set by adding a predetermined color to existing bedding afterward.

[0092] Furthermore, similar methods can be applied not only to medical and nursing care facilities, but also to various environments such as ordinary homes, offices, factories, and warehouses. For example, by placing a mat of a specific color in a particular area of ​​an office, that area can be designated as a monitoring target.

[0093] The concept of specifying a region using a specific color in this invention is not limited to planar region specification using a 2D camera. For example, this technology can be applied when using multiple cameras, or when using sensors capable of 3D measurement such as infrared sensors, LiDAR sensors, or RGB-D sensors. Specifically, by placing a specific material or marker detectable by the sensor in the target region and annotating that region in 3D, the 3D coordinates of the specific region can be recognized and recorded. This makes it possible to achieve not only planar region specification but also motion detection in three-dimensional space.

[0094] One example of annotating 3D coordinates is when an autonomous robot moving within a smart building needs to determine the position of buttons on an elevator control panel. In this case, tape of a specific color or material is applied to the button area, and this area is recorded in 3D space. This tape or other marker can be removed after recording, and even after removal, the robot can still recognize and operate the control panel using the 3D coordinate information. This demonstrates that the advantage of the present invention, which is that permanent functionality can be achieved with only temporary markings, can also be effectively utilized in 3D space. (Motion detection system)

[0095] Furthermore, the motion detection device 10 described above can also be implemented as a motion detection system composed of multiple devices working together. In this case, the functions of the identification unit 11, the setting unit 12, the detection unit 13, the processing unit 14, and the storage unit 15 can be distributed across multiple devices connected via a network. For example, the camera 1, the identification unit 11, and the detection unit 13 can be placed on-site as edge devices, while the setting unit 12 and the processing unit 14 can be placed on a cloud server. Such a system configuration enables the distribution of processing load, improved efficiency of real-time processing, and integrated management through data aggregation from multiple sites. Moreover, future expandability is ensured, making it easy to add, for example, artificial intelligence-based decision-making functions or to link with other factory systems. By constructing it as a motion detection system, there is the advantage of ensuring more flexible operation and scalability compared to implementing it as a single device. (Aspect) [Aspect 1] An identification unit that acquires an image captured by a camera and identifies a predetermined area in the image that satisfies predetermined conditions, A setting unit sets the predetermined region identified by the identification unit, or a region of the image other than the predetermined region identified by the identification unit, as a detection region for detecting moving objects. The system includes a detection unit that detects the moving object in the aforementioned detection area. Motion detection device. [Aspect 2] The system further includes a processing unit that performs predetermined processing based on the detection result of the detection unit. The motion detection device described in Embodiment 1. [Aspect 3] The aforementioned predetermined process is the process of notifying the user's terminal of the motion detection device. The motion detection device described in Embodiment 2. [Aspect 4] The aforementioned predetermined condition is that the color is predetermined. A motion detection device according to any one of embodiments 1 to 3. [Aspect 5] The aforementioned predetermined color is a primary color. The motion detection device described in Embodiment 4. [Aspect 6] The primary color is red, green, or blue. A motion detection device as described in Embodiment 5. [Aspect 7] The detection unit detects the moving object using the interframe difference method. A motion detection device according to any one of embodiments 1 to 3. [Aspect 8] The camera is positioned in a location that allows it to photograph the conveyor belt. A motion detection device according to any one of embodiments 1 to 3. [Aspect 9] A motion detection method performed by a motion detection device, A selection step involves acquiring an image captured by a camera and identifying a predetermined region in the image that satisfies predetermined conditions, A setting step in which the predetermined region identified in the specified step, or a region of the image other than the predetermined region identified in the specified step, is set as a detection region for detecting motion, The system includes a detection step of detecting the moving object in the aforementioned detection area. Motion detection method. [Aspect 10] An identification unit that acquires an image captured by a camera and identifies a predetermined area in the image that satisfies predetermined conditions, A setting unit sets the predetermined region identified by the identification unit, or a region of the image other than the predetermined region identified by the identification unit, as a detection region for detecting moving objects. The system includes a detection unit that detects the moving object in the aforementioned detection area. Motion detection system. [Aspect 11] It is a program, A program for causing a computer to execute the motion detection method described in Embodiment 9. [Aspect 12] A method of information processing performed by a computer, A selection step involves acquiring an image captured by a camera and identifying a predetermined region in the image that satisfies predetermined conditions, The system includes a setting step of setting the predetermined region identified in the specified step, or a region of the image other than the predetermined region identified in the specified step, as a region designation. Information processing methods. [Aspect 13] It is a program, A program for causing a computer to execute the information processing method described in Embodiment 12. [Explanation of symbols]

[0096] 1 Camera Image 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h 2. Conveying device 3. User terminals 4 Belt conveyor 5 Goods 6-sided member 7 Linear members 8-point member 10 Motion detection device 11 Specific section 12. Settings section 13 Detection unit 14 Processing Unit 15 Storage section P part R detection region

Claims

1. A motion detection method performed by a motion detection device, A selection step involves acquiring an image captured by a camera and identifying a predetermined area of ​​a predetermined color in the image, A setting step which involves setting the predetermined region identified by the specified step, or a region of the image other than the predetermined region identified by the specified step, as a detection region for detecting moving objects, and maintaining the set detection region if the predetermined region no longer exists in the image after the detection region has been set. A detection step in which the moving body is detected in the detection area set by the setting step, A determination step to determine whether the moving object detected by the above detection step is a person, The process includes a processing step that performs a predetermined process if the determination step determines that the moving object is a person. Motion detection method.

2. The aforementioned camera is positioned to photograph bedding placed in a facility where medical equipment is installed. In the determination step, if it is determined that the moving object detected in the detection step is a person, it is determined whether or not the face of the moving object can be recognized. In the processing step, if the determination step determines that the moving object is a person, and it is determined that the face of the moving object cannot be recognized, then at least one of the following predetermined processes is performed: notifying the facility staff, controlling the medical equipment, and recording the health data of the moving object. The motion detection method according to claim 1.

3. The aforementioned camera is positioned to capture images of the work site where the machinery is located. In the determination step, if it is determined that the moving object detected in the detection step is not a person, it is determined whether or not the moving object detected in the detection step is a machine. In the processing step, if the determination step determines that the moving object is a person, an alarm is issued as a predetermined process, and if the determination step determines that the moving object is a machine, the machine is controlled. The motion detection method according to claim 1.

4. In the setting step, if the predetermined area in the image is displaced after the detection area has been set, the set detection area is released, and the predetermined area after the displacement, or an area in the image other than the predetermined area after the displacement, is set as the detection area. A motion detection method according to any one of claims 1 to 3.

5. On the computer, A selection step involves acquiring an image captured by a camera and identifying a predetermined area of ​​a predetermined color in the image, A setting step which involves setting the predetermined region identified by the specified step, or a region of the image other than the predetermined region identified by the specified step, as a detection region for detecting moving objects, and maintaining the set detection region if the predetermined region no longer exists in the image after the detection region has been set. A detection step in which the moving body is detected in the detection area set by the setting step, A determination step to determine whether the moving object detected by the above detection step is a person, A processing step which performs predetermined processing when the determination step determines that the moving object is a person, A program to execute.

6. Camera and, An identification unit that acquires an image captured by the aforementioned camera and identifies a predetermined area of ​​a predetermined color in the aforementioned image, A setting unit sets the predetermined region identified by the identifying unit, or a region of the image other than the predetermined region identified by the identifying unit, as a detection region for detecting moving objects, and maintains the set detection region when the predetermined region no longer exists in the image after the detection region has been set. A detection unit that detects the moving body in the detection area set by the setting unit, A determination unit that determines whether the moving object detected by the detection unit is a person, A processing unit that performs predetermined processing when the determination unit determines that the moving object is a person, A motion detection device equipped with the following features.

7. Camera and, An identification unit that acquires an image captured by the aforementioned camera and identifies a predetermined area of ​​a predetermined color in the aforementioned image, A setting unit sets the predetermined region identified by the identifying unit, or a region of the image other than the predetermined region identified by the identifying unit, as a detection region for detecting moving objects, and maintains the set detection region when the predetermined region no longer exists in the image after the detection region has been set. A detection unit that detects the moving body in the detection area set by the setting unit, A determination unit that determines whether the moving object detected by the detection unit is a person, A processing unit that performs predetermined processing when the determination unit determines that the moving object is a person, A motion detection system equipped with the following features.

Images