CN1937766A - Surveillance camera apparatus and surveillance camera system - Google Patents
Surveillance camera apparatus and surveillance camera system Download PDFInfo
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- CN1937766A CN1937766A CN 200610138814 CN200610138814A CN1937766A CN 1937766 A CN1937766 A CN 1937766A CN 200610138814 CN200610138814 CN 200610138814 CN 200610138814 A CN200610138814 A CN 200610138814A CN 1937766 A CN1937766 A CN 1937766A
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Abstract
Provided is a surveillance camera apparatus with a wide-angle camera and a telephotographic camera supported by a foundation. A wide-angle camera is fixed to direct an optical axis in a fixed direction. A telephotographic camera can be inclined in panning and tilting directions to change an aiming direction of its optical axis. An image signal from the wide-angle camera is evaluated. When an image of a moving object is identified in a frame captured by the wide-angle camera, directivity information corresponding to a position of the moving object is calculated based on a relative position to the center of the frame. In accordance with the directivity information, posture of the telephotographic camera is controlled to aim its optical axis at the moving object. Thereafter, the posture of the telephotographic camera is controlled continuously to place the image of the moving object in the center of the frame captured by the telephotographic camera. The telephotographic camera captures the moving object while tracking it.
Description
Technical field
The present invention relates to a kind of monitoring camera device and monitoring camera system, it is by the multiple video camera of comprehensive utilization, and can clearly take on a large scale becomes the movable body of monitored object picture in the monitor area.
Background technology
Usually,, require it to have large-scale monitor area, and the shooting distance that becomes monitored object can reach thousands of rice to tens of kms to being used to perform garrison duty the monitoring camera device in littoral area, area, border.In addition, on roads such as Ordinary Rd or highway, in the monitoring application, wish to cover at least tens of shooting distances to hundreds of meters degree.To this monitoring camera device, identification is considered as the movable body of monitored object and the function of tracing and monitoring to need it to have as early as possible.In the past, for reaching the employed monitoring camera device of this purpose, owing to a video camera to the left and right or move up and down and scan large-scale monitor area and take, therefore for transition effect or mobile object, not talkative had a sufficient reliability.
And, also have monitor area to be divided into a plurality of zones and multiple cameras to be assigned to each subregion and the mode of taking, but will accurately discern the video camera that movable body at a distance just need have the long-focus pick-up lens.Therefore and the angle of visual field of this video camera must be narrow and small, will cover the quantity that large-scale monitor area must increase separation region, and each zone all needs video camera, thereby significantly increase cost, and this will cause the maximization of device integral body.
On the other hand, employed strick precaution is with in the monitoring camera device in a ring of Security Countermeasures, as described in Japanese documentation 1,2, disclose with fixed wide-angle imaging machine with the Zoom camera that the electrodynamic type stand can change the shooting optical axis direction freely and make up, continue to take the device of monitored object thing after the particular monitored object with Zoom camera.
[patent documentation 1] Japan Patent discloses flat 9-55930 communique
The open 2004-15516 communique of [patent documentation 2] Japan Patent
Japanese documentation 1 described monitoring camera device, be to take whole monitor area with the wide-angle imaging machine that fixedly installs always, and its image shown with display, when the operator on the display picture by the specific region on the mouse assigned picture, the shooting optical axis of Zoom camera is made a video recording and carry out high power just towards its appointed area.In addition, Japanese documentation 2 described monitoring camera devices, in the time of based on the movable body in the usefulness wide-angle imaging machine shot image data identification camera picture, constantly calculate the position coordinates of movable body, and the shooting optical axis that makes Zoom camera carries out the shooting of autotrack mode simultaneously towards the direction corresponding to the position coordinates of being calculated.
And the described monitoring camera device of these Japanese documentations, be monitor rush in around the building and the purpose of a suspect's movable body of etc.ing in the building used, as long as so the wide-angle imaging machine to recognize the several meters movable bodies to the shooting distance scope of tens of meters degree just enough.Thus, can take movable body image in the photographed images of wide-angle imaging machine with a certain size, therefore can specify by manual operation as device as described in the Japanese documentation 1, perhaps can obtain the trace information of Zoom camera based on the photographed images of wide-angle imaging machine as device as described in the Japanese documentation 2.
Yet, monitor when being purpose when monitor area is as object on a large scale with littoral area and area, border etc. or on the road of Ordinary Rd or highway, the situation that distance till the movable body that becomes monitored object reaches more than hundreds of rice is also a lot, and its image becomes minimum some picture on the display picture of wide-angle imaging machine.Therefore as Japanese documentation 1 described device, with the image of visual identification movable body unusual difficulty just, and switch to Zoom camera and also need manual operation, so existence can not be carried out operatorless shortcoming.In addition, though Japanese documentation 2 described devices possess the function of automatic tracing moved body, but after the image recognition movable body of wide-angle imaging machine, also the photographed images according to the wide-angle imaging machine obtains trace information, therefore monitor area such as littoral area or area, border etc. are on a large scale the time, even become the photographed images acquisition trace information of the wide-angle imaging machine of minimal point picture according to the image of movable body, also there is certain problem in its reliability, and is difficult to control exactly the shooting optical axis of the narrow and small zoom lens of the angle of visual field.And follow the tracks of in case interruption just begins to follow the tracks of very difficulty once more, thereby can not be monitored effect fully.
Summary of the invention
The present invention does in view of above-mentioned background, it is a kind of that its purpose is to provide, when identify with the wide-angle imaging machine catch become the movable body of monitored object in the monitor area on a large scale the time, it is caught with the high video camera of looking in the distance of shooting multiplying power, and can be exactly from motion tracking and monitoring camera device of proceeding to take and monitoring camera system.
In order to achieve the above object, monitoring camera device of the present invention comprises: the wide-angle imaging machine, and will convert picture signal to by the optical image that wide-angle lens obtains and export, and the optical axis of will making a video recording is fixed towards certain orientation; The video camera of looking in the distance will convert picture signal to and export by the optical image that telephoto lens obtains, and will rotate on a rotation axis at least and supported freely and make the shooting inclined light shaft; The directional information arithmetic unit, based on above-mentioned picture signal from the wide-angle imaging machine, identification movable body image in its image pickup scope, and calculate with image pickup scope in the corresponding directional information in above-mentioned movable body picture position; The camera pose control device based on above-mentioned directional information, according to the mode of the shooting optical axis that makes the video camera of looking in the distance towards the movable body of taking with the wide-angle imaging machine, is that the video camera of looking in the distance is rotated at the center with above-mentioned rotation axis; With the trace information arithmetic unit, based on the picture signal of exporting from the video camera of looking in the distance successively, calculating the look in the distance trace information of shooting optical axis of video camera of guiding, make and catch the movable body image at the center of its image pickup scope, and, calculate after the above-mentioned trace information, replace above-mentioned directional information by this trace information, control above-mentioned camera pose control device in real time, and proceed the shooting of movable body with the video camera of looking in the distance.
In addition, the present invention can implement in the mode of many different each other wide-angle imaging machines of combination shot scope, even and telephoto lens have anamorphosis function and also can implement effectively.
And, as described wide-angle imaging machine, adopt multiple fixed point to take video camera, this also is favourable mode to implementing the present invention, it is different mutually that this multiple fixed point is taken camera focus distance, focal length is long more focus more at a distance and image pickup scope separately about equally.These fixed points are taken the camera distance that video cameras are focused into regulation respectively, but since focusing position adjacent each other, separately the nearside depth of field and the distally depth of field are overlapped, thus focal shooting is carried out in the roughly whole zone that can spread all over camera distance.In addition, fixed point is taken video camera and is made of the multiple cameras module, described multiple cameras module is configured to that the angle of visual field and focal length equate, the shooting optical axis towards mutual difference, and the zoning after taking the image pickup scope that to fix a point to take video camera respectively roughly equal portions are cut apart by these camara modules, thereby can amplify and clearly take the image of the movable body that becomes monitored object.
And the video camera of will looking in the distance also is a favourable execution mode with each camera pose control device and with many form.And, assemble the invention of many playscripts with stage directions monitoring camera device monitoring camera system also of great use, at this moment, make the captured scope of the wide-angle imaging machine of each monitoring camera device different each other, and mutually share from resulting directional information of surveillance camera and trace information separately, thereby the shooting that interrelates action is for good.And when constructing this monitoring camera system, if separated geographically position is provided with and uses each monitoring camera device, and making the image pickup scope that becomes monitored object separately different each other, the shooting optical axis that belongs to the wide-angle imaging machine of monitoring camera device respectively is parallel to each other also passable.
If the photographic images according to the wide-angle imaging machine identifies the movable body that becomes monitored object, then the look in the distance posture of video camera of control makes the shooting optical axis towards its movable body, and movable body is caught at the dolly-out, dolly-back center of coverage of camera of being visible.Afterwards, the look in the distance posture of video camera of FEEDBACK CONTROL, making is visible, and the dolly-out, dolly-back image pickup scope center of camera obtains the image of movable body, thus pursuit movement body and proceed to take exactly.When the lens of video camera of looking in the distance have anamorphosis function, become doubly according to the big I of the movable body image in each image pickup scope, and can be with suitable big or small taking moving body.
But if make the angle of visual field of wide-angle imaging machine excessive for enlarging wide-angle imaging machine image pickup scope, the image of shooting just diminishes, therefore distinguish the scope that becomes the shooting object, and a wide-angle imaging machine is respectively distributed in each zone, this also is a kind of favourable execution mode.And, focal length is different mutually, focal length is long is more focused into remote multiple fixed point shooting video camera more as above-mentioned wide-angle imaging machine if adopt, then can be when occurring becoming monitored object and get movable body with each fixed point take video camera with roughly the same must be as the image of multiplying power taking moving body, so not only easy recognition image, and on monitor picture, observe easily.If it is overlapped to make each fixed point take the depth of field in nearside of video camera, distally,, also be effective trying to achieve correctly that the video camera of looking in the distance gets aspect the pointing direction then no matter how camera distance can take clearly taking moving body of video camera with any fixed point.
And, also can be corresponding during for a plurality of movable body of identification in the image pickup scope of wide-angle imaging machine, it also is resultful adopting a plurality of video cameras of looking in the distance, and at this moment, can follow the tracks of a plurality of movable bodies respectively and continue and take.And monitoring camera device by the many playscript with stage directions inventions of assembling, and share separately directional information and trace information, monitor motion body from different directions, and when movable body is mobile outside the monitor area of a monitoring camera device, also can catches it and carry out track up with other monitoring camera device continuation.
Description of drawings
Fig. 1 is the skeleton diagram of expression monitoring camera device of the present invention;
Fig. 2 is the calcspar of the summary of the electric structure of expression;
Fig. 3 is the flow chart of the basic handling of expression monitoring camera device;
Fig. 4 is the key diagram of the example of the image that obtains with monitoring camera device of expression;
Fig. 5 is the skeleton diagram of expression other execution modes of the present invention;
Fig. 6 is the skeleton diagram of expression other execution mode of the present invention;
Fig. 7 is the skeleton diagram of expression another execution mode of the present invention;
Fig. 8 is the outside drawing of expression another embodiment of the invention.
Fig. 9 is the shooting form concept figure in the expression execution mode shown in Figure 8.
Figure 10 is a skeleton diagram of representing the example of monitoring camera system of the present invention.
Among the figure: the 2-pedestal; 3-wide-angle imaging machine; The 5-video camera of looking in the distance; 6-electrodynamic type stand; 21,22-movable body identification treatment circuit; 24-orientation angle computing circuit; 27-trace information computing circuit; 40,41-wide-angle imaging machine; 45, the 46-video camera of looking in the distance; The 49-first wide-angle imaging machine; The 50-second wide-angle imaging machine;
Embodiment
Adopt its structure of monitoring camera device of the present invention to be, roughly represent, for example, on the pedestal 2 of the protruding end that is installed on cape, the wide-angle imaging machine 3 and the video camera 5 of looking in the distance are set as Fig. 1.The shooting optical axis 3a of wide-angle imaging machine 3 immobilizes towards certain orientation, and look in the distance video camera 5 by and pedestal 2 between the electrodynamic type stand (posture control device) 6 that is provided with movably supported, and its shooting optical axis 5a to the left and right (panning) direction and about (tilt) direction tilt.
The monitor area of this monitoring camera device is that the angle of visual field θ by wide-angle imaging machine 3 decides.In addition, the angle of video camera 5 left and right sides cycles of looking in the distance is that 5a is the center with the reference position parallel with the shooting optical axis 3a of wide-angle imaging machine 3 with the shooting optical axis, covers the scope of the angle of visual field θ of wide-angle imaging machine 3 at least.Certainly, also can further enlarge this left and right sides cycle angle.The angle of visual field δ of video camera 5 of looking in the distance is fully narrow and small with respect to the shooting angle of visual field θ of wide-angle imaging machine 3, for example, the angle of visual field θ of wide-angle imaging machine 3 is scaled about 80 ° (focal length 25mm) with 135 film camera, is about 6 ° (focal length 400mm) during the shooting angle of visual field δ low range of the video camera 5 of looking in the distance.
The video camera 5 of looking in the distance need not doubly (variable magnification) function of indispensable change, but as described later, the video camera 5 of looking in the distance in the present embodiment has two grades of anamorphosis functions of height, and angle of visual field δ is about 2.5 ° (focal length 1000mm) when switching to high magnification.Usually the angle of visual field is to be decided by the catercorner length of the camera picture on the knot image planes and the focal length of lens, but at this, for convenience of explanation, describes as the angle of visual field on the horizontal direction.
Summary is represented among Fig. 2 of structure of above-mentioned monitoring camera device, wide-angle imaging machine 3 is to take with CCD type on the knot image planes that are configured in wide-angle lens 3b or CMOS type imageing sensor 8, and the video camera 5 of looking in the distance is to take with the identical imageing sensor 9 on the knot image planes that are configured in telephoto lens 5b.Complicated for fear of drawing omitted the diagram of the exposure adjusting devices such as aperture of assembling in each lens system.These wide-angle lenses 3b and telephoto lens 5b can be respectively single-focusing basically, but only for telephoto lens 5b, also can make it have anamorphosis function or zoom (zoom) function.Here in the illustrated execution mode, wide-angle lens 3b is single focus, and the anamorphosis function that has two-stage among the telephoto lens 5b.
From the image pickup signal of imageing sensor 8,9 outputs, the A/D converter 11,12 by having the preamplifier function carries out digital translation respectively, and is input to imaging signal processing circuit 14,15.Imaging signal processing circuit 14,15 carries out well-known image processing to input signal respectively, and the picture signal of digitized each picture of conduct, is input to successively in the bus (Bus line) 16.When writing down these animated image data, can carry out being input in the bus 16 after the suitable data compression process with 14,15 pairs of image informations of image processing circuit.These picture signals are recorded as the animated image data by wide-angle image rec device 17, the image rec device 18 of looking in the distance.At record during these animated image data, also can be used as in the picture signal of the in addition suitable data compression process of image processing circuit 14,15 and be provided on the bus 16.
From the picture signal of each picture of each imaging signal processing circuit 14,15, be input to again in the movable body identification treatment circuit 21,22.The picture signal of each picture that movable body identification treatment circuit 21,22 is input to one by one more successively also discerns whether movable body is arranged in the picture.Picture signal is during from wide-angle imaging machine 3, because shooting optical axis 3a fixes, therefore if enter movable body in the picture, the movable body image is just mobile in picture.Orientation angle computing circuit 24 works as the directional information arithmetic unit, it identifies the movable body image by movable body identification treatment circuit 22, according to the position coordinates of the movable body image in the camera picture, the computing movable body to shooting optical axis 3a to which direction, with the information of much angle deviatings.Owing to the sensing orientation of the shooting optical axis 3a that knows wide-angle imaging machine 3 in advance and the focal length of wide-angle lens 3b, therefore as long as know the movable body image taken departure degree to the picture center, just can easily obtain movable body to the optical axis 3a that makes a video recording to which direction, with the information of much angle deviatings.
Servo-driver 25 drives the posture that electrodynamic type stand 6 is controlled the video camera 5 of looking in the distance.Wide-angle imaging machine 3 is arranged on the common pedestal 2 with the video camera 5 of looking in the distance and its relative position relation is known, therefore, by being input to servo-driver 25 from the directional information of orientation angle computing circuit 24, can make the shooting optical axis 5a of the video camera 5 of looking in the distance point to movable body.Usually the movable body image accounts for certain area in camera picture, therefore makes shooting optical axis 5a point to the center of gravity of movable body image and be controlled to be good.And from electrodynamic type stand 6 usually through buses to the look in the distance pose information of video camera 5 of system control device 26 feedbacks, i.e. expression shooting optical axis 5a to shooting optical axis 3a to which side to, with the information of much angle deviatings.
Picture signal from the video camera 5 of looking in the distance also is input in a side the movable body identification treatment circuit 22.This movable body identification treatment circuit 22, identical with the opposing party's movable body identification treatment circuit 21, whether identification is looked in the distance has the image that moves at any time in the camera picture of video camera 5.Trace information computing circuit 27, situation in response to movable body identification treatment circuit 22 identification movable body images begins to handle, and the picture signal of each picture is compared computing successively, the mobile vector of computing movable body image, the computing information of this mobile vector that offsets again.This information is equivalent to according to the center of gravity unanimity of the movable body image information in the pointing direction of the mode revisal shooting optical axis 5a at the center of the camera picture of the video camera 5 of looking in the distance, and uses as the trace information of the video camera 5 of looking in the distance.
Become times driver 28 and be the usefulness of the multiplying power of switching telephoto lens 5b, and by moving from the instruction of system control device 26.System control device 26 comprises above-mentioned processing, carries out the sequential control of this monitoring camera device integral body, and its sequential program is stored in the ram region of memory 32 with the various initial setting information that positional information is set that comprise monitoring camera device.And when carrying out sequential program, the ram region of memory 32 uses as the working region of storage ephemeral data, marking class.Timing circuit 33 carries out clock pulse branch week and produces date and time information.This date and time information be in the animated image data that write down with the wide-angle image rec device 17 or the image rec device 18 of looking in the distance the overlapping record date and constantly used during data.
Sending and receiving information circuit 34 and modulation/demodulation circuit 35, but answer its this surveillance camera of required remote operation, or the position of being arranged to leave the image of having taken also can be observed, and receive timing electric wave always, also can be used in the clocking information that correction obtains from timing circuit 33 from Wave timepiece.Still video memory 36 is not only applicable to write down the animated image that is write down with the wide-angle image rec device 17 or the image rec device 18 of looking in the distance, and is used in the record when especially needing rest image yet.The pixel that increases imageing sensor 8,9 on the record distinct image is favourable, but requiring high speed processing and animated image in the animated image can only be when having compressed the image record of processing, and just utilizing this still video memory 36 is good with suitable interval record rest image.Input operation part 38 is used in operation inputs such as the initial setting of this monitoring camera device, various variations of parameter.
Below, to above-mentioned monitoring camera device to monitor littoral area, for example to monitor that approaching suspicious boat is that the situation of purpose when using describes.The wide-angle imaging machine is taken always in the common monitored state, and by the picture signal from imaging signal processing circuit 14, start-up operation body identification treatment circuit 21.Calculate from time average from the reverberation on sea and can regard constant as, and follow the variation of the picture signal of Changes in weather etc., the variation that can be used as camera picture integral body is discerned, therefore do not carry out the identification of movable body image under this state, do not carry out image record yet by wide-angle image rec device 17.In addition, by in input operation part 38, setting in advance, even under this situation, also be in due course with compartment record animated image.
Shown in Fig. 4 (A),, just be used as 21 identifications of movable body image passive movement body identification treatment circuit at it if suspicious boat occurs from the island shadow.In response to this identification signal, system control device 26 sends recording instruction to wide-angle image rec device 17, and ST1 as described in Figure 3 is with the record of wide-angle imaging machine 3 beginning photographed images.Simultaneously, orientation angle computing circuit 24 is according to the position of the movable body image in the camera picture of wide-angle imaging machine 3, obtain movable body to the shooting optical axis 3a (center of camera picture) of wide-angle imaging machine 3 to which direction, with the information of much angle deviatings.
Be provided with in the stage of this monitoring camera device, the azimuth of the height of known wide-angle imaging machine 3 and shooting optical axis 3a, these information are transfused to and are written to the regulation zone of memory 32 from input operation part 38 in advance, therefore about the horizontal direction of camera picture, corresponding to the movable body image to the left and right that side, with much angle deviatings, but the azimuth of computing movable body.The azimuth of obtaining thus overlaps by the document image of wide-angle image rec device 17 records and gives record.Fig. 4 (A) is an example of this document image of expression, in the document image, the overlapping number information that records specific this monitoring camera device, be expressed as the video camera information " No.003-W " of the reflection of wide-angle imaging machine 3, the azimuth " 1922430 " of current point in time movable body (azimuth when expression is 0 ° with the north side, 192 ° 24 ' 30 "), date Hour Minute Second " 2005.08.07.15.26.08 " (15: 26: 8 on the 7th August in 2005).
For shooting optical axis 3a, the offset direction of movable body not only has horizontal direction, vertical direction is also arranged, but 24 computings of orientation angle computing circuit are to offset direction and deflecting angle (ST2) between level and vertical both direction shooting optical axis 3a and the movable body, and its result is exported as directional information.System control device 26 provides drive signal according to this directional information to servo-driver 25, its result, and electrodynamic type stand 6 starts, and controls the posture of the video camera 5 of looking in the distance, and makes shooting optical axis 5a orientation movements body (ST3).Wide-angle imaging machine 3 and the relative position relation of looking in the distance between the video camera 5 are known, and electrodynamic type stand 6 is not only to horizontal direction (left and right directions), also can change shooting optical axis 5a to vertical direction (above-below direction), therefore by as the above-mentioned directional information of obtaining, can make the shooting optical axis 5a of the video camera 5 of looking in the distance point to movable body exactly.Then, control the posture of the video camera 5 of looking in the distance, make shooting optical axis 5a point to movable body, then begin shooting (ST4) by the video camera 5 of looking in the distance.
Be input to movable body identification treatment circuit 22 from the picture signal of the video camera 5 of looking in the distance, and identification looks in the distance whether there is the movable body image in the picture of video camera 5.If identify the movable body image, then shared according to its movable body image pixel judges whether the size of the movable body image in the camera picture is being stipulated more than the level (ST5), if then carry out the multiplying power switching of telephoto lens 5b less than the regulation level.Fig. 4 (B) is the example of the document image before the switch magnification, the document image after Fig. 4 (C) expression switch magnification.In these document images, with identical by the document image of wide-angle imaging machine 3, the azimuth of the number information of overlapping record particular monitored camera system, the movable body of current point in time, each information of date Hour Minute Second.And, in the number information additional have expression look in the distance video camera 5 be with the low range shooting or with the information of " TI " " T2 " of high magnification shooting.
The image record of video camera 5 if begin to look in the distance, trace information computing circuit 27 compares the image of union from video camera 5 resulting each picture of looking in the distance successively, and the computing trace information makes the center of gravity of movable body image consistent with the center of the camera picture of the video camera 5 of looking in the distance successively.The trace information of computing is provided in the servo-driver 25 in real time, and electrodynamic type stand 6 is fed control thus, makes movable body image be to look in the distance middle heart in the camera picture of video camera 5 continue motion picture recording (ST6～ST7) always.This motion picture recording is as long as will continue in the scope of the angle of visual field θ that suspicious boat is caught at wide-angle imaging machine 3.Video camera 5 carries out from motion tracking based on the movable body image in its camera picture owing to look in the distance, therefore, if make the movable range of electrodynamic type stand 6 surpass wide-angle imaging machine 3 angle of visual field θ boundary and enlarge, just can further make the video camera 5 of looking in the distance from motion tracking and continue motion picture recording.
Like this, proceed in the process of motion picture recording with the video camera 5 of looking in the distance, if suspicious boat moves to a distant place, or when being close to closely, then the movable body image in the camera picture is just too small or excessive, and is difficult to discern definitely with movable body identification treatment circuit 22 center of gravity of movable body image.If can not be, judge in ST8 then whether the set condition of multiplying power of the video camera 5 of looking in the distance is definite from motion tracking (ST7).Then, when the too small but low range of movable body image is set, or the excessive but high magnification of movable body image changes to it after suitable multiplying power respectively when setting, and turns back to ST6 and proceeds same processing.
And, dolly-out, dolly-back camera 5 from motion tracking and during proceeding motion picture recording owing to be visible, the shooting and the motion picture recording of wide-angle imaging machine 3 are being proceeded, and therefore can monitor the interior movable body picture position of camera picture of wide-angle imaging machine 3 one by one.So write down its position data is good, and replaces the processing of ST9, with reference to this position data, reads the pointing direction and the orientation angle of the video camera 5 of looking in the distance, and can move on to the processing of ST3.In addition, also can constitute the used telephoto lens 5b of the video camera 5 of looking in the distance, and become the size that doubly makes the movable body image gradually and in camera picture, keeps necessarily and carry out motion picture recording with zoom lens.
According to above-mentioned monitoring camera device, made a video recording with the big wide-angle imaging machine of the angle of visual field in large-scale monitored object zone, in its camera picture, capture when becoming the movable body of monitored object image, begin to carry out motion picture recording by the wide-angle imaging machine, and according to view data from wide-angle imaging machine 3, computing the look in the distance pointing direction and the orientation angle of video camera 5, and the video camera 5 of will looking in the distance is towards the movable body that becomes monitored object, afterwards by view data from the video camera 5 of looking in the distance, the automatic tracing moved body action picture record of going forward side by side.Therefore, the mode of the video camera tracking of looking in the distance is compared, in case, can significantly improve precision from motion tracking with after the video camera 5 seizure movable bodies of looking in the distance with only relying on view data from the wide-angle imaging machine.Simultaneously, also carry out record one by one from the view data of wide-angle imaging machine 3, therefore, even interrupting from motion tracking of the video camera 5 of looking in the distance also can easily begin to make a video recording from motion tracking once more.
Fig. 5 is the figure of expression other execution modes of the present invention, and this monitoring camera device is to be combined by 40,41 and video cameras 5 of looking in the distance of two wide-angle imaging machines.Wide- angle imaging machine 40,41 is fixed on the common pedestal 2, and each make a video recording optical axis 40a, 41a have only departed from certain angle.The angle of visual field θ 1 of each wide- angle imaging machine 40,41 is equal, and makes the angle between shooting optical axis 40a, the 41a be slightly less than θ 1, like this, and by also the monitored object zone being expanded to θ 2 (≈ 2 θ 1) with two wide-angle imaging machines 40,41.This situation with the identical monitored object zone of making a video recording with a wide-angle imaging machine is compared, because each the angle of visual field of wide-angle imaging machine of can diminishing, so the picture size of monitored object thing becomes big, thereby is easy to discern the movable body in the camera picture.
With wide- angle imaging machine 40,41 make a video recording during, for example, if in the camera picture of wide-angle imaging machine 40, identify the movable body image, when then beginning to carry out motion picture recording with wide-angle imaging machine 40, identical with above-mentioned execution mode, computing the look in the distance pointing direction and the angle thereof of video camera 5 (angle of visual field δ), by electrodynamic type stand 6, the shooting optical axis 5a of the video camera 5 of looking in the distance is towards its direction.Carry out equally based on motion picture recording afterwards from motion tracking by the video camera 5 of looking in the distance.If move on movable body right side in figure and discern the movable body image in the camera picture of wide-angle imaging machine 41, then with wide-angle imaging machine 41 beginning motion picture recordings.Because the movable range of the left and right directions of electrodynamic type stand 6 is θ more than 2, the video camera 5 of therefore looking in the distance is then proceeded motion picture recording with the movable body picture catching at the center of camera picture and from motion tracking.
In the execution mode of Fig. 6, be to constitute monitoring camera device by a wide-angle imaging machine 3 and the Liang Tai video camera 44,45 of looking in the distance.Wide-angle imaging machine 3 is fixed on the pedestal 2, and shooting optical axis 3a is towards certain orientation.The video camera 44,45 of looking in the distance, by for pedestal 2 respectively to the left and right direction, on transfer to 46,47 supports of movable electrodynamic type stand, and the orientation angle of the left and right directions of shooting optical axis 44a, 45a can be changed arbitrarily by the angle of visual field θ of wide-angle imaging machine 3.
If in the camera picture of wide-angle imaging machine 3, capture the first movable body image, by the processing in movable body identification treatment circuit 21 and the orientation angle computing circuit 24, the computing one side pointing direction of video camera 44 of looking in the distance, and make the direction of the shooting optical axis 44a orientation movements body of the video camera 44 of looking in the distance.The video camera 44 of looking in the distance is caught the mode of its movable body image according to the center in camera picture, and the limit begins to carry out motion picture recording from the motion tracking limit.When in the camera picture of wide-angle imaging machine 3, capturing the second movable body image, through same treatment, the computing pointing direction of video camera 45 of looking in the distance, and the shooting optical axis 45a that makes the video camera 45 of looking in the distance is towards its movable body direction.Afterwards, the video camera 45 of looking in the distance is also caught the movable body image at the center of camera picture, and beginning is carried out motion picture recording from motion tracking.Thus, even when occurring two movable bodies that become monitored object simultaneously, also can continue to monitor its each movable body.Certainly, the quantity that increases the video camera of looking in the distance can increase the quantity of the object that can monitor simultaneously.
Fig. 7 represents the execution mode by two wide-angle imaging machines and the video camera assembling of looking in the distance.Fix the first wide-angle imaging machine 49 and the second wide-angle imaging machine 50 on pedestal 2, each make a video recording optical axis 49a, 50a are towards same pointing direction.The angle of visual field θ 4 of angle of visual field θ 3 to the second wide-angle imaging machines 50 of the first wide-angle imaging machine 49 is big, and the multiplying power of therefore making a video recording is that the second wide-angle imaging machine 50 is greater than the first wide-angle imaging machine 49.The video camera 5 of looking in the distance with angle of visual field δ is supported on the pedestal 2 by electrodynamic type stand 6, and can be with shooting optical axis 5a direction and above-below direction inclination to the left and right.
The action of always making a video recording of first and second wide-angle imaging machine 49,50, identical with above-mentioned execution mode, when identifying the movable body image that enters in each camera picture, the action of beginning motion picture recording.Because θ 3＞θ 4, therefore the image pickup scope of the first wide-angle imaging machine 49 is big and favourable, but the movable body that becomes monitored object is when appearing at a distant place, and the movable body size of images in the camera picture just diminishes.In contrast, although the second wide-angle imaging machine, 50 its image pickup scopes narrow down, the advantage that can catch the movable body image with big size is arranged.If identify the movable body image with any wide-angle imaging machine, the computing pointing direction and the angle of video camera 5 of looking in the distance then, based on this, the shooting optical axis 5a of the video camera 5 of looking in the distance is towards its direction.Begin shooting with the video camera 5 of looking in the distance afterwards, carry out from motion tracking in the same manner with above-mentioned execution mode and proceed motion picture recording.In addition, in first, second wide-angle imaging machine 49,50, a side that can identify the movable body image carries out motion picture recording, but also can identify in the movable body image at any wide-angle imaging machine, begins motion picture recording by the opposing party's wide-angle imaging machine.
With the wide-angle imaging machine of many different angles of visual field when same pointing direction uses, particularly each wide-angle imaging facility has the exploring power higher than general common camera, and under the situation about using, respectively the best shooting distance of each wide-angle imaging machine is arranged to not be all each other good corresponding to the angle of visual field in fixed focus position.For example, set the focus of the first the narrowest wide-angle imaging machine of the angle of visual field, make its depth of field comprise the shooting distance of 0～2km, set the focus of the second wide-angle imaging machine of angle of visual field broad then, make its depth of field comprise the shooting distance of 2～5km, set the focus of the 3rd the wideest wide-angle imaging machine of the angle of visual field at last, make its depth of field comprise the shooting distance of 5～10km, thus can be in wideer shooting distance scope the image of shooting clear.And for the distant view that focal point settings wide-angle imaging machine farthest also can't clear shooting, can use the angle of visual field narrow but can be with the video camera of looking in the distance of object amplifying camera, make its in a manner described auto-tracking shooting get final product.
Another other execution modes of the present invention are described.In this embodiment, as the wide-angle imaging machine that adopts in the above-mentioned execution mode, adopted the camera head of multiple fixed point being taken camera chain, these fixed points are taken the corresponding limited respectively camera distance in focal position of video camera.In Fig. 8, same with above-mentioned execution mode, on pedestal 2,, also be fixed with video camera framework 55 except supporting the video camera 5 of looking in the distance via electrodynamic type stand 6.The three kinds of fixed points of having packed in video camera framework 55 are taken video camera, i.e. first video camera 56, second video camera 57, the 3rd video camera 58.As shown in the figure, first video camera 56 is made of a camara module, and second video camera 57 is made of two camara module 57a and 57b, and the 3rd video camera 58 is made of three camara module 58a, 58b and 58c.
In Fig. 9, the form of the shooting of above-mentioned first～the 3rd video camera 56～58 of representation of concept.It is L1 that first video camera 56 is focused into camera distance, and based on the shooting angle of visual field θ a image pickup scope S1 is made a video recording.And the aperture diaphragm of and standard the shortest based on focal length, thereby the depth of field is D1.It is L2 that second video camera 57 that is made of two camara module 57a and 57b is focused into camera distance, and based on the angle of visual field θ b that makes a video recording as a whole image pickup scope S2 is made a video recording.Camara module 57a and 57b are the video cameras with identical optical specification, and focal length equates, and shooting angle of visual field θ bn is also identical.
Camara module 57a and 57b, can take the mode that the image pickup scope S1 of first video camera 56 is divided into two parts cut zone based on separately shooting angle of visual field θ bn, come to determine the shooting optical axis towards, thus, second video camera, 57 integral body become shooting angle of visual field θ b.The focal length of camara module 57a and 57b is longer than the focal length of first video camera 56, and to be focused into camera distance respectively be L2, as second video camera, 57 integral body image pickup scope S2 is made a video recording.At this moment, the measured aperture diaphragm depth of field is D2, and the distal part of the depth of field D1 of its nearside depth of field and first video camera 56 is overlapping.In addition, middle body at image pickup scope S2, the image pickup scope part separately of camara module 57a and 57b overlaps, but by carrying out correcting process when each photographed images is synthesized a picture, shows thereby can carry out the suitable monitoring image that second video camera uses.
It is L3 that the 3rd video camera that is made of camara module 58a～58c is focused into camera distance, and based on the shooting angle of visual field θ c of integral body image pickup scope S3 is made a video recording.Camara module 58a～58c all has common optical specification, and focal length, shooting angle of visual field θ cn separately are identical.These camara modules 58a～58c, according to the mode of taking respectively with the cut zone of the image pickup scope S2 trisection of second video camera 57, set separately shooting optical axis towards, focal length is longer than second video camera 57.Measured aperture diaphragm, the depth of field of camara module 58a～58c are D3, and the rear side depth of field of its front side depth of field and second video camera 57 is overlapped.In addition, the image pickup scope separately of camara module 58a～58c overlaps in the image pickup scope S3 of the 3rd video camera 58 an integral body part, but by when each photographed images is synthesized a picture, carrying out correcting process, show thereby can carry out the suitable monitoring image that the 3rd video camera uses.
As mentioned above, determine the angle of visual field θ b of second video camera 57 according to the mode of the image pickup scope S1 that covers first video camera 56, and determine the angle of visual field θ c of the 3rd video camera 58 according to the mode of the image pickup scope S2 that covers second video camera 57, so when specific movable body enters in the image pickup scope of any video camera, can make a video recording to this object with at least two video cameras, most of situation can be made a video recording to it with three video cameras always.In addition, owing to make the depth of field of first～the 3rd video camera overlapped, so only otherwise become under the dark like that environment of open diaphragm, just can be at least carry out the shooting of focus under in shape with two video cameras at aperture diaphragm.
And, because the picture multiplying power of general object is the relation of " focal length/object distance ", so set if between the focal length of first～the 3rd video camera 56～58 and camera distance L1～L3 separately, become certain mode with above-mentioned relation, the picture size of the object when then taking the object that has entered image pickup scope S1 with first video camera 56 with camera distance L1, the picture size of the object when taking the object that has entered image pickup scope S2 with second video camera 57 with camera distance L2, the picture size of the object when taking the object that has entered image pickup scope S3 with second video camera 58 with camera distance L3 respectively about equally, thereby can be on monitor picture simply identification become the object image of monitored object.
Like this, in the camera picture of first～the 3rd video camera 56～58, catch when becoming the movable body image of monitored object, can the shooting optical axis 5a of the video camera 5 of looking in the distance of angle of visual field δ be pointed to this movable body based on its position coordinates equally with previous execution mode, can carry out the tracing observation of movable body later on by the video camera 5 of looking in the distance.In addition, under the situation of the execution mode of Fig. 8 and Fig. 9 explanation, it is effective that the camera distance L1～L3 of first～the 3rd video camera sets as limited camera distance.For example, this monitoring camera device is being arranged on main crosspoint, and to monitor being under the purpose situation about using to cross over its depth direction through the straight line road in this crosspoint, the focal length of first～the 3rd video camera for example is made as 50mm, 100mm, 200mm, separately camera distance L1, L2, L3 is made as 50m, 100m, 200m.Then, if become the vehicle of monitored object in advance with the appointments such as tone in the monitor picture, then continue to monitor the appearance of designated vehicle that on described straight line road, travels via the crosspoint or the designated vehicle that enters from linear road road direction crosspoint to a distant place, and follow the tracks of shooting, thereby also can obtain the image of driver and number slip by the video camera of looking in the distance.
In addition, for picture size at the object of making a video recording with the size of appropriateness, as mentioned above, camera distance L1, L2, the L3 of first video camera 56 that uses as three kinds of fixed point shooting video cameras, second video camera 57, the 3rd video camera 58, quilt stage respectively is set at limited camera distance, but if object is when being in than camera distance L3 farther place, the problem that can't avoid this picture size to diminish then.At this moment, effectively use information that the video camera 5 of looking in the distance can obtain object for well, but further improve its function aspect preferably make the video camera 5 of looking in the distance have zoom function, can be with suitable picture size shooting object on monitor picture.
Figure 10 represents to make up the example that 2 covers use the surveillance of monitoring camera device of the present invention.First monitoring camera device 61 is identical with monitoring camera device structure shown in Figure 1 with second monitoring camera device 62, comprises the wide-angle imaging machine 3 and the video camera 5 of looking in the distance respectively.The shooting optical axis 3a of each wide-angle imaging machine 3, its pointing direction difference, the zone of monitored object is also different.First monitoring camera device 61 and second monitoring camera device 62 carry out work respectively alone, the pointing direction of video camera 5 of looking in the distance is to decide according to the directional information from corresponding wide-angle imaging machine 3, just carries out motion picture recording from motion tracking and to the image of the movable body that becomes monitored object afterwards.
In the accompanying drawing example, for the angle of visual field θ of wide-angle imaging machine 3, each angle between the optical axis 3a of making a video recording is set to little, and therefore overlapping can appear in two monitored object zones, but this is not necessary.First monitoring camera device 61 and second monitoring camera device 62 connect each other with wireless mode by the breath circuit 34 (Fig. 2) of send out collecting mail, and share the directional information and the trace information of the picture signal computing of sending according to wide-angle imaging machine 3 and the video camera 5 of looking in the distance mutually.But also share mutually the longitude, latitude of the installation site of first, second monitoring camera device 61,62, highly, and the initial setting information such as azimuth of the shooting optical axis 3a of wide-angle imaging machine 3.
According to above-mentioned monitoring camera system, can realize the interlock of first monitoring camera device 61 and second monitoring camera device 62, in the time can not carrying out from motion tracking with first monitoring camera device 61, second monitoring camera device 62 can be according to the position from the movable body of the trace information of first monitoring camera device 61 prediction becoming monitored object, thereby can proceed to follow the tracks of with second monitoring camera device 62.Also get in touch respectively if the 3rd, the 4th monitoring camera device is installed again, then can monitor wider scope with wired or wireless mode.Certainly, the monitoring camera device as constituting this monitoring camera system can use the monitoring camera device at Fig. 5～execution mode shown in Figure 9.
So far, illustrated embodiment describes the present invention with reference to the accompanying drawings, as long as the angle of visual field of the wide-angle imaging machine or the video camera of looking in the distance is different relatively, convert with 135 film camera, preferably use the angle of visual field practical at the video camera of looking in the distance below 30 ° at the wide-angle imaging machine more than 90 ° and the angle of visual field.In addition, also can make the wide-angle imaging facility that anamorphosis function (angle of visual field changeable) is arranged, thereby can change the angle of visual field at regular intervals and take.And, one or more sets monitoring camera devices are arranged on the geographical position on the separated position, and can control from the control room to instruct, also the direction indication of the shooting optical axis of wide-angle imaging machine, the movable range that drives the electrodynamic type stand of the video camera of looking in the distance can be changed with remote control mode.At this moment, will be sent to the control room, monitor by the watch-dog that is installed in the control room is parallel from the picture signal of the wide-angle imaging machine and the video camera of looking in the distance.
In addition, under the situation of the described execution mode of Fig. 1～Fig. 7, as long as the focal length of the wide-angle imaging machine and the video camera lens separately of looking in the distance is transferred to infinity, just can take without barrier, but for example, if and, then can clearly take in-plant scenery with the employed Contrast Detection type of general digital camera autofocus.And imageing sensor 8,9, use can be responded to the device of infrared spectral range, can eliminate filter with infrared ray daytime thus and take, and then takes off infrared ray elimination filter night and takes, thereby also can continue night to monitor.And the present invention not only can be used for the defence supervision of littoral area and border area, can also be installed in for example area, mountain area, and is in order to the early detection victim etc., very effective.
Claims (7)
1. monitoring camera device is characterized in that:
Comprise: the wide-angle imaging machine, will convert picture signal to by the optical image that wide-angle lens obtains and export, and the optical axis of will making a video recording is fixed towards certain orientation;
The video camera of looking in the distance will convert picture signal to and export by the optical image that telephoto lens obtains, and will rotate on a rotation axis at least and supported freely and make the shooting inclined light shaft;
The directional information arithmetic unit, based on above-mentioned picture signal from the wide-angle imaging machine, identification movable body image in its image pickup scope, and calculate with image pickup scope in the corresponding directional information in above-mentioned movable body picture position;
The camera pose control device based on above-mentioned directional information, according to the mode of the shooting optical axis that makes the video camera of looking in the distance towards the movable body of taking with the wide-angle imaging machine, is that the video camera of looking in the distance is rotated at the center with above-mentioned rotation axis; With
The trace information arithmetic unit from the picture signal of the video camera output of looking in the distance, being calculated the look in the distance trace information of shooting optical axis of video camera of guiding based on successively, and make and catch the movable body image at the center of its image pickup scope,
And, calculate after the above-mentioned trace information, replace above-mentioned directional information by this trace information, control above-mentioned camera pose control device in real time, and proceed the shooting of movable body with the video camera of looking in the distance.
2. want 1 to ask described monitoring camera device according to right, it is characterized in that:
Above-mentioned telephoto lens can become doubly.
3. monitoring camera device according to claim 1 and 2 is characterized in that:
Many above-mentioned wide-angle imaging machines are set, and these wide-angle imaging machine angles of visual field equate and the image pickup scope difference.
4. monitoring camera device according to claim 1 and 2 is characterized in that:
Described wide-angle imaging machine is taken video camera by multiple fixed point and is constituted, described multiple fixed point is taken camera focus distance difference mutually, focal length is long more focus more at a distance and image pickup scope separately about equally, and these fixed points are taken video camera, focusing position adjacent each other, the nearside depth of field and the distally depth of field are overlapped.
5. monitoring camera device according to claim 4 is characterized in that:
Described fixed point take video camera any has made up the multiple cameras module and has constituted at least, described multiple cameras module is configured to that the angle of visual field and focal length equate, the shooting optical axis towards mutual difference, and these camara modules are taken with described image pickup scope the zoning after roughly equal portions are cut apart respectively.
6. according to any described monitoring camera device in the claim 1 to 5, it is characterized in that:
Above-mentioned video camera and the above-mentioned camera pose control device of looking in the distance together is provided with many, when taking a plurality of movable body image by 1 or many wide-angle imaging machines, calculate a plurality of directional informations by above-mentioned directional information arithmetic unit, each directional information is input to above-mentioned multiple cameras posture control device separately.
7. monitoring camera system is characterized in that:
With any described monitoring camera device in many claims 1 to 6, be arranged to make the shooting optical axis of each wide-angle imaging machine different each other, and between these monitoring camera devices, share above-mentioned directional information and trace information.
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| JP2005271873 | 2005-09-20 | ||
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