Three-dimensional monitoring apparatus
First Claim
1. A three-dimensional monitoring apparatus, comprising:
- an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored; and
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring means;
wherein the irradiating means has a scanning mechanism capable of scanning the pattern light in a predetermined area by controlling a direction of irradiation of the pattern light; and
wherein the imaging means captures image data corresponding to a combined projection of a plurality of instant projection patterns irradiated to the space to be monitored at a predetermined direction and timing through a scanning of the pattern light in the space to be monitored by the scanning mechanism.
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Abstract
To provide a three-dimensional monitoring apparatus capable of detecting with high accuracy an incoming of an object into a predetermined three-dimensional space by using pattern light as a detecting carrier. A three-dimensional monitoring apparatus comprising (1) an irradiating device for irradiating predetermined pattern light to three-dimensional space S to be monitored, (2) an imaging device for imaging a projection pattern projected by irradiating of the pattern light on an incoming object M and on a screen 5 in the space S to capture image data and (3) a measuring device to measure a position of the object M based on the comparison between a monitoring image captured by the imaging device when there is the object M in the space S and a reference image captured by the imaging device when there is no object M in the space S.
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Citations
14 Claims
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1. A three-dimensional monitoring apparatus, comprising:
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an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored; and
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring means;
wherein the irradiating means has a scanning mechanism capable of scanning the pattern light in a predetermined area by controlling a direction of irradiation of the pattern light; and
wherein the imaging means captures image data corresponding to a combined projection of a plurality of instant projection patterns irradiated to the space to be monitored at a predetermined direction and timing through a scanning of the pattern light in the space to be monitored by the scanning mechanism. - View Dependent Claims (2, 3, 13)
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4. A three-dimensional monitoring apparatus, comprising:
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an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored;
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring means; and
a means for specifying area selected freely as a specified area through a user'"'"'s operation from the space to be monitored divided into a plurality of areas virtually in advance and for performing a setting of types of outputs selected freely through the user'"'"'s operation from a plurality of types of operations prepared in advance by specified area;
wherein the position measuring means acquires specified information on the area with the presence of the incoming object as the position information on the incoming object; and
wherein the decision-output means outputs device control signal based on the types of outputs set to a specified area via the position measuring means. - View Dependent Claims (5, 6)
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7. A three-dimensional monitoring apparatus, comprising:
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an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored;
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring means; and
a means for specifying area selected freely as a specified area through a user'"'"'s operation from the space to be monitored divided into a plurality of areas virtually in advance and for performing a setting of types of outputs selected freely through the user'"'"'s operation from a plurality of types of operations prepared in advance by specified area;
wherein the position measuring means measures a moving state of the incoming object based on time-series changes of a plurality of monitoring image data acquired sequentially; and
wherein the decision-output means specifies predictive arrival area of the incoming objects based on a measurement result by the position measuring means and outputs a device control signal based on the predictive arrival area and the types of outputs determined in the predictive area.
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8. A three-dimensional monitoring apparatus, comprising:
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an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored;
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring; and
a self-diagnosis means for confirming appropriately whether the projection pattern based on the pattern light irradiated via the irradiating means is matched with a predictive projection pattern and for ensuring normal operations of each configuration means when the matching is confirmed. - View Dependent Claims (9, 10, 11)
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12. A three-dimensional monitoring apparatus, comprising;
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an irradiating means for irradiating predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for acquiring position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored;
a decision-output means for outputting a device control signal based on the position information calculated by the position measuring means;
wherein the imaging means and the irradiating means are positioned and placed in a manner that an angle which a virtual line combining the imaging means and the irradiating means forms with a horizontal plane becomes approximately 45°
, so that position information on the incoming object is measured by a parallax.
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14. A three-dimensional monitoring system including a three-dimensional monitoring apparatus and equipment to be controlled;
- wherein the monitoring apparatus comprises;
an irradiating means for irradiating a predetermined pattern light to a three-dimensional space to be monitored;
an imaging means for imaging a projection pattern projected by irradiating the pattern light on a surface of an incoming object existing in the space to be monitored and on a surface of a predetermined body composing of a background of the space to be monitored to capture image data;
a position measuring means for calculating position information on the incoming object into the space to be monitored based on the comparison between the image data captured via the imaging means when there is the incoming object into the space to be monitored and reference image data corresponding to the image data captured via the imaging means when there is no incoming object into the space to be monitored; and
an output means for outputting a control signal to the equipment based on the calculated position information.
- wherein the monitoring apparatus comprises;
Specification