Three-dimensional monitoring apparatus

• US 20030235331A1
• Filed: 03/11/2003
• Published: 12/25/2003
• Est. Priority Date: 03/13/2002
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Iida, Toyoo, Ikenaga, Yorihisa, Takaichi, Ryuichiro, Kawaike, Noboru
• Granted Patent: US 7,263,217 B2
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: F16P 3/142 using image capturing devices
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: G01V 8/10 Detecting, e.g. by using light barriers by reflection from the object G01S17/00
• CPC Class Codes: G08B 13/1968 Interfaces for setting up or customising the system
• CPC Class Codes: G08B 13/19682 Graphic User Interface [GUI] presenting system data to the user, e.g. information on a screen helping a user interacting with an alarm system
• CPC Class Codes: G08B 13/19686 Interfaces masking personal details for privacy, e.g. blurring faces, vehicle license plates

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.

Claims

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.

2. A three-dimensional monitoring apparatus as claimed in claim 1,

wherein the scanning mechanism is an MEMS (micro electro mechanical system) comprising a light reflector and a support member controlled by a torsion rotation through electric induction to support the light reflector turnably.

3. A three-dimensional monitoring apparatus as claimed in claim 1,

wherein the three-dimensional monitoring apparatus comprises an irradiating device as the irradiating means and an imaging device as the imaging means;

and

wherein the position measuring means calculates three-dimensional coordinates for the incoming object into the space based on the principle of triangulation techniques by using known shapes or patterns of the pattern light and displacements acquired from image data captured via the imaging device when there is the incoming object in the space to be monitored and the reference image data captured in advance.

13. A three-dimensional monitoring method for monitoring simultaneously a three-dimensional space to be monitored from a plurality of directions by using a plurality of three-dimensional monitoring apparatuses as claimed in claim 1.

4. 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;

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.

5. A three-dimensional monitoring apparatus as claimed in claim 4, wherein the setting of the types of outputs is performed by voxel (volume pixel) partitioned based on a shape or a pattern of the pattern light.

6. A three-dimensional monitoring apparatus as claimed in claim 4, wherein the specified area images in a state that the incoming object is positioned at a desired position in the space to be monitored and automatically specified by extracting an area where the incoming object exists.

7. 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 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.

8. 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;

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.

9. A three-dimensional monitoring apparatus as claimed in claim 8,

wherein the irradiating means has a scanning mechanism capable of scanning the pattern light within a predetermined area by controlling the direction of irradiating 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.

10. A three-dimensional monitoring apparatus as claimed in claim 8, wherein the three-dimensional monitoring apparatus has a self-diagnosis means for detecting automatically the presence or absence of unusual occurrences of operations of the monitoring apparatus itself based on whether a predictive checked pattern is appeared normally in the image data captured by irradiating directly a part of the light irradiated from the irradiating means on an imaging plane of the imaging means.

11. A three-dimensional monitoring apparatus as claimed in claim 10, wherein the three-dimensional monitoring apparatus has a laser beam source as the irradiating means and defines the checked pattern by flashing timing and scanning timing of the laser beam source.

12. 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;

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.

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.