JP2000331279A - Wide area monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wide area monitoring device which can monitor a wide monitoring area formed of plural monitoring areas at once and which prevents the delay of the detection of an event even if the events are simultaneously generated in the plural monitoring areas. SOLUTION: The monitoring device is provided with plural detection units 1 detecting the three-dimensional position and the attribute of a monitoring object in a monitoring area, a map database 9 preserving map data, a display controller 8 setting the eye position and the direction of a three-dimensional monitoring picture, and a display device 7 which generates a three-dimensional map based on the eye position, the eye direction and map data, which are set, generates the models of the detection units 1 and the models of the monitoring object based on monitoring data containing the three-dimensional positions and the monitoring directions of the detection units, which are previously set, and attributes showing the three-dimensional position of the monitoring object and the type of the monitoring object, which are detected by the detection unit 1, and displays a three-dimensional picture obtained by synthesizing them.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for monitoring traffic and operating conditions of a vehicle, a ship, an aircraft or the like over a wide range.

[0002]

2. Description of the Related Art Conventionally, as a method of monitoring traffic conditions using images obtained from a plurality of surveillance cameras, Japanese Patent Laid-Open No. 9-839 has been proposed.
There is a switching method as disclosed in Japanese Patent Publication No. 96-96. In this switching method, images from a plurality of video cameras are time-divisionally input by a switching device to one image processing device, and the input image is subjected to image processing to detect an abnormality such as traffic congestion. In this method, the number of image processing apparatuses can be reduced, so that equipment costs can be reduced.

On the other hand, Japanese Patent Application Laid-Open No. H11-15981 discloses a method of connecting an image processing device to each video input device. In this method, the load on the communication path is reduced by transmitting the image processing result or the integration result obtained by integrating the image processing result to the communication path, and the communication amount is not sharply increased even if the number of video input devices increases. ing.

[0004] Japanese Patent Application Laid-Open No. 10-283589 discloses a method of displaying traffic congestion information obtained from a surveillance camera on a map. In this method, a region divided in advance in a mesh shape is colored in accordance with the degree of road congestion of the region as a background, and a map is superimposed on the background to display which region is congested. It presents traffic conditions.

[0005] In the monitoring of parking lots, Japanese Patent Application No. 9-81 is disclosed.
There is a parking state determination system as disclosed in Japanese Patent No. 886. In this system, sensors and cameras are placed at the entrance and exit of the parking lot, and the number and size are
The camera detects the number data and collates the information to grasp the parking situation.

[0006]

However, in the switching method disclosed in Japanese Patent Application Laid-Open No. 9-83996,
As the number of cameras increases, discovery of events (eg, traffic jams) tends to be delayed. For example, if 100 cameras are displayed and switched for 5 seconds each,
The cycle has 500 seconds. Then, in the worst case, the event will be detected 500 seconds after the event occurs. In addition, when an event occurs, the switching of the cameras is stopped and the camera is fixed to the camera that is capturing the event. Therefore, when events occur at a plurality of locations, they cannot be monitored at the same time.

In the method disclosed in Japanese Patent Application Laid-Open No. H11-15981, the processing result is transmitted on the communication path, so that the communication amount can be suppressed efficiently. Nothing is said about the parts to be presented.

According to the method disclosed in Japanese Patent Application Laid-Open No. 10-283589, it is possible to immediately know the location and the situation of congestion, but there is a problem that it is not possible to grasp the detailed situation of congestion.

The system disclosed in Japanese Patent Application Laid-Open No. Hei 9-81886 merely determines the congestion status of a parking lot such as the total number of vehicles. No consideration is given to vehicles that stop on a taxiway because they cannot reach the vehicle smoothly and that information is presented for parking in a vacant space and the vehicle is guided to a vacant space.

Thus, by displaying the entire monitoring area on one screen, it is possible to monitor a wide monitoring area consisting of a plurality of monitoring areas at once, and events occur simultaneously in a plurality of monitoring areas. Even in such a case, it has been desired to develop a wide-area monitoring device that does not delay the discovery of an event.

In a large parking lot or the like, vehicles are guided to an empty space so that vehicles do not stay on the taxiway without finding the empty space even though the empty space remains. There has been a demand for a wide-area monitoring device capable of performing such operations.

[0012]

According to the present invention, there is provided a wide-area monitoring apparatus comprising: a plurality of detection units for detecting a three-dimensional position and an attribute of one or a plurality of monitoring objects existing in a predetermined monitoring area; A map database that stores map data that is the basis of the three-dimensional map, a display control device that sets a viewpoint position and a line-of-sight direction of the three-dimensional monitoring image for performing display control of the three-dimensional monitoring image, and a display control device. A three-dimensional map is generated based on the set viewpoint position and line-of-sight direction and the map data of the map database, and a predetermined three-dimensional position and monitoring direction of each detection unit, and the tertiary of the monitoring target detected by the detection unit. Based on the monitoring data including the original position and the attribute indicating the type of the monitoring target, a model of the detection unit and a model of the monitoring target are respectively generated,
And a display device for displaying a three-dimensional monitoring image obtained by combining these components. The display device displays the entire monitoring area detected by each detection unit using the three-dimensional monitoring image.

The wide-area monitoring apparatus according to the present invention includes a parking lot database in which parking target data is stored in place of a map database in place of a map object, and a vehicle as a monitoring target.
A guidance device is provided for guiding a vehicle in the parking lot to an empty space in the parking lot designated by the observer based on the three-dimensional monitoring image displayed on the display device.

In the eleventh aspect, among the detection units, the detection unit related to the display corresponding to the change is displayed on a three-dimensional monitoring image based on the viewpoint position and the line of sight changed by the display control device. Detection unit.

In the present invention, a three-dimensional monitoring image showing the entire monitoring area is displayed, and the entire monitoring area is monitored.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram of a wide area monitoring device according to Embodiment 1 of the present invention. In the figure, reference numeral 1 denotes a detection unit, which captures a subject as an image, such as a color or black and white visible camera, an infrared camera,
An image input device 2 for sequentially transmitting the video to an image processing device 3 to be described later, an image processing device 3 for detecting an object from the input image of the image input device 2 and generating monitoring data, and an image processing device And a monitoring data transmitting device 4 for transmitting the monitoring data generated in 3 to a monitoring data receiving device 5 described later. The detection unit 1 is installed at a place where monitoring is actually performed, and the image input device 2 is arranged so as to be able to image a monitoring area.

Reference numeral 5 denotes a monitoring data receiving device 5 for receiving monitoring data from the image processing device 3 of each detection unit 1. A storage device 6 for temporarily recording the received monitoring data for sharing with the display device 7 is provided. Provided inside. The storage device 6 has a shared data area shared with the display device 7, and the received monitoring data is temporarily stored in the shared data area. The monitoring data receiving device 5 can perform parallel processing, can receive monitoring data from a plurality of detection units 1 at the same time, and can store the monitoring data in the storage device 6 at the same time.

Reference numeral 7 denotes a three-dimensional model of a monitoring area (hereinafter referred to as a three-dimensional map) based on a viewpoint position and a line-of-sight direction set by a display control device 8, which will be described later, and map data in a map database, and receives monitoring data. A display device 7 that expresses the monitoring data received by the device 5 in a three-dimensional model, synthesizes them by computer graphics, and generates and displays a three-dimensional monitoring image in which a monitoring target is arranged on a three-dimensional map, It is possible to generate and display a three-dimensional surveillance image that looks at the line of sight from any viewpoint position.

Reference numeral 8 denotes a display control device for controlling the viewpoint position and line-of-sight direction of the three-dimensional monitoring image displayed on the display device 7. The viewpoint position and line-of-sight direction are controlled by a general input device (for example, a keyboard, a mouse, a joystick, Touch panel, etc.). Thereby, the viewpoint position and the line-of-sight direction of the three-dimensional monitoring image can be freely changed.

Reference numeral 9 denotes a map database in which map data for generating a three-dimensional map serving as a background of the three-dimensional monitoring image displayed on the display device 7 is stored.

Reference numeral 10 denotes a monitoring center in which the monitoring data receiving device 5, the storage device 6, the display device 7, the display control device 8 and the map database 9 are arranged. The monitoring data receiving device 5 in the monitoring center 10 and each detecting unit One monitoring data transmission device 4 is connected to the network 11 to form a wide area monitoring device.

Hereinafter, the operation of the first embodiment will be described. The image input device 2 captures an image of the monitoring area, and the video is sequentially sent to the image processing device 3. The image processing device 3 performs image processing on an input image from the image input device 2, and detects a three-dimensional position and an attribute of a monitoring target (for example, a vehicle, a bicycle, a person, an obstacle, etc.) specified in advance. Then, the monitoring data is output to the monitoring data transmission device 4 as monitoring data. Note that this detection method is not particularly limited as long as it can acquire at least the three-dimensional position and attribute of the monitoring target specified in advance.

The three-dimensional position of the object to be monitored is latitude,
The position on the three-dimensional map to be displayed on the display device 7 is specified, such as the expression by longitude, the expression by absolute coordinates based on a specific position, or the expression by relative coordinates from the position where the image input device 2 is installed. Any format is acceptable. In addition, the attribute of the monitoring target is the type of the monitoring target (for example,
If the object to be monitored is a vehicle, it is a large, normal, small, two-wheeled vehicle, etc. and its status (eg, moving, stopped, moving at high speed, etc.), and each monitored object is displayed on a 3D map At this time, the attributes are displayed so that their attributes can be distinguished by shapes, colors, and the like.

When the three-dimensional position and the attribute of the object to be monitored are acquired from the image processing device 3, the three-dimensional position and the attribute and the installation data of the image input device 2 (the three-dimensional position and the (Monitoring direction) and the monitoring data receiving device 5 via the network 11.
Send to.

Upon receiving the monitoring data, the monitoring data receiving device 5 checks the state of the storage device 6 and determines whether or not to write the monitoring data to the storage device 6. Hereinafter, a specific processing flow of the monitoring data receiving device 5 will be described with reference to the drawings.

FIG. 2 is a flowchart showing the operation of the monitoring data receiving device 5. When the monitoring data receiving device 5 receives the monitoring data sent from each detection unit 1 (S1), the state of the storage device 6 (writing of the monitoring data,
The state of the shared variable writeFlag (in the initial state, WRITE) indicating the readout state (which one is being performed) is checked (S2). If it is READ, monitoring data is read out from the display apparatus 7. And returns to the process of step S1. If it is WRITE, it is determined that reading is not being performed, and the monitoring data is written in the shared data area in the storage device 6 shared with the display device 7 (S
3). Then, writeFlag is set to READ (S
4) Return to the process of step S1.

As described above, the monitoring data receiving device 5 discards the monitoring data transmitted from the detection unit 1 without writing to the storage device 6 when the display device 7 is reading the monitoring data from the storage device 6. Conversely, when reading is not being performed, monitoring data can be freely written in the storage device 6 according to the processing speed of the detection unit 1. With this configuration, the transmission and reception of the monitoring data and the display of the three-dimensional monitoring image on the display device 7 can be performed asynchronously, and even if devices having different capabilities coexist, the wide area monitoring of the first embodiment can be performed. The device can operate efficiently.

FIG. 3 is a flowchart showing the flow of processing of the display device. Hereinafter, a specific operation of the display device 7 will be described with reference to the drawings. First, map database 9
Then, the map data is read from (step S11), and the viewpoint position and the line-of-sight direction at the time of displaying the three-dimensional monitoring image are changed to the values set by the display control device 8 (S12). Then, three-dimensional arithmetic processing is performed on the read map data to generate a three-dimensional map viewed from the set viewpoint position and line of sight (S13). For a method of generating a three-dimensional image (here, a three-dimensional map) from such numerical data (here, map data), see “OpenGL Programming Gui.
de ”, Jackie Neide et al., Addison Wesley. Subsequently, it is determined whether the variable writeFlag shared with the monitoring data receiving device 5 is READ or WRITE (S14). If it is READ, monitoring of all the detection units 1 from the shared data area of the storage device 6 is performed. Reads data (S15) and sets writeFlag to WRIT
It is set to E (S16), and the read monitoring data is temporarily stored in the display device 7 (S17).

Then, based on the installation data in the monitoring data, a model of the image input device 2 of each detection unit 1 (for example, in the shape of a monitoring camera) is generated so as to face the three-dimensional position in the monitoring direction. Further, based on the attribute of the monitoring target in the monitoring data, a model (for example, a vehicle or a person having a color-coded shape) distinguished according to the attribute is generated so as to be displayed at its three-dimensional position. (S1
8), the three-dimensional map generated in the processing S13, and the processing S
The respective models of the image input device 2 and the monitoring target generated in 18 are synthesized using computer graphics, and the synthesized image (hereinafter, referred to as a three-dimensional monitoring image) is displayed (S19). In processing S14, writeFlag
Is WRITE, the monitoring data stored in step S17 is read (S20), a model is generated in steps S18 and S19 based on the read monitoring data, and a three-dimensional monitoring image obtained by combining these is generated. Display (S
19) is performed. FIG. 4 shows a display example on a display device, and particularly illustrates a case where the present embodiment is applied to monitoring of a vehicle.

As described above, the display device 7 simultaneously reads the monitoring data from each of the detection units 1, and based on the monitoring data, the map data, and the line-of-sight position and the line-of-sight direction specified by the display control device 8. Generate and display 3D surveillance images.

As a result, the contents of the monitoring data obtained from the plurality of detection units 1 are displayed in a three-dimensional monitoring image in real time, so that the entire monitoring area captured by each image input device 2 can be displayed on one screen. You can see it in
When the monitoring target is moving, the position is sequentially changed and displayed on the three-dimensional monitoring image.
It is possible to monitor the situation of the entire monitoring area, which changes every moment, without overlooking it.

The three-dimensional monitoring image is displayed on the display controller 8.
Display device 7 based on the viewpoint position and line-of-sight direction specified by
Since the change of the viewpoint position and the line of sight direction can be performed interactively by the input device, if there is a monitoring area to be particularly focused on, the viewpoint position is brought closer to the monitoring area. You can see the situation in detail.

As described above, according to the first embodiment, since the entire monitoring area is always displayed on one screen, the monitor can monitor a wide monitoring area including a plurality of monitoring areas at a time. Becomes possible. For this reason, it is possible to avoid a situation where it is not possible to grasp a situation other than the monitored video being watched, as in the case of monitoring by a conventional switching device. In addition, since a wide monitoring area including a plurality of monitoring areas can be monitored at a time, even if some abnormality occurs simultaneously in the monitoring area, both abnormalities can be found immediately.

In addition, since the model of the image input device 2 and the model of the object to be monitored are represented on the three-dimensional monitoring image faithfully to the actual installation state and movement, the precise position and distance relationship between them is intuitive. Can be grasped.

Further, when a plurality of detection units 1 monitor the same monitoring area from different positions, the same monitoring target is detected by different detection units 1.
The display device 7 receives the same three-dimensional position and attribute, but does not perform any special processing to combine the same object into one, and places the monitoring target at the same position in the three-dimensional monitoring image. Since the object model is overwritten and displayed, the process from acquisition to display of the monitored object can be performed in real time.

The display device 7 displays a modeled image instead of displaying the image itself obtained by the image input device 2, thereby protecting the privacy of an individual in the monitoring area. Thus, the monitoring status can be provided to a person other than the monitoring person.

In the first embodiment, an example has been described in which the detection of the three-dimensional position and the attribute of the monitoring target is performed using an image. However, the display device 7 uses the numerical data based on the numerical data. Since an object to be monitored can be displayed, an object other than an image such as a sound wave or an electromagnetic wave may be used, and an object using an image and another object may be mixed. In this case, the display device 7 can display more various information by fusing the detection results obtained by means other than the image.

Further, in the first embodiment, the case where the detection unit 1 includes its own installation data in the monitoring data and transmits it every time has been described as an example. However, the detection unit 1 transmits once only when operating the wide area monitoring apparatus. Alternatively, it may be provided to the display device 7 in advance.

The monitoring data receiving device 5 receives the monitoring data from all the detecting units 1 connected via the network 11, but selects the detecting unit 1 for receiving the monitoring data from among them. You may choose.

Embodiment 2 In the second embodiment, when a certain event (for example, there is a stopped vehicle, a low-speed traveling vehicle, etc.) occurs in the monitoring area, a function is provided for automatically informing a monitoring person of the location and the content thereof. It is.

FIG. 5 is a block diagram of the wide area monitoring apparatus according to the second embodiment of the present invention. The wide area monitoring apparatus according to the first embodiment of FIG. The event detection device 21 receives monitoring data from the monitoring data receiving device 5, analyzes the monitoring data, and
Detects events that have occurred in the monitoring area of, and determines whether the attribute value of the monitored object in the monitoring data indicates an event that was previously defined as abnormal, and the 3D of all monitored objects determined to be abnormal The position and the attribute value are sent to the display control device 8.

Next, the operation of the apparatus shown in FIG. 5 which is different from that of FIG. 1 will be mainly described. Note that the operations of the image input device 2, the image processing device 3, and the monitoring data transmission device 4 are the same as those in the first embodiment, and thus description thereof will be omitted. In FIG.
The monitoring data receiving device 5 stores the monitoring data received from the monitoring data transmitting device 4 in the storage device 6 and sends out the stored monitoring data only to the display device 7. However, in FIG. 7, and is also sent to the event detection device 21 at the same timing as sent to the event detection device 21. Then, the event detection device 21 analyzes all the monitoring data received from each detection unit 1 and transmits to the display control device 8 the three-dimensional positions and attributes of all the monitoring objects indicating a value defined as abnormal in advance. .

Hereinafter, the operation of the display control device 8 will be described in detail with reference to the drawings. FIG. 6 is a flowchart showing a flow of processing of the display control device. When the display control device 8 receives the three-dimensional position and the attribute of the monitoring target (S31),
The number, that is, the number of objects to be monitored is checked (S32). 1
In the case of the number, the viewpoint position and the line-of-sight direction are set so that the monitoring target can be displayed in detail (S33). Here, the viewpoint position and the line-of-sight direction at which the monitoring target can be displayed in detail are different from the case where the entire monitoring area of each detection unit 1 is displayed. This refers to the position and direction in which one monitoring area is shown in detail. However, the position and the direction are such that not only the monitoring area is displayed but also the surrounding monitoring area is displayed. In the following description,
The viewpoint position and line-of-sight direction at which the monitoring target can be displayed in detail are the positions and directions described here.

If a plurality of judgments are made in step S32,
Each attribute is checked, and then, the number of monitoring targets indicating the highest-ranking event among the previously assigned abnormalities is checked (S34). Here, the order of the definition of the abnormality attached in advance is, for example, a stopped vehicle, a low-speed traveling vehicle,
There are high-speed running vehicles, obstacles, etc. If the number is one, the viewpoint position and the line-of-sight direction are set so that the monitored object can be displayed in detail (S33). The viewpoint position and the line-of-sight direction are set so that the object is displayed in detail (S35). If it is determined in step S31 that the three-dimensional position and the attribute of the monitoring target have not been received, that is, if there is no monitoring target in the abnormal event, the setting change of the viewpoint position and the viewing direction is particularly performed here. However, the monitoring area of each detection unit 1 may be set to be displayed in order at a constant interval, for example.

It should be noted that the viewpoint position and the line-of-sight direction that have been automatically set as described above can be modified by the observer using an input device (not shown).

The viewpoint position and line-of-sight direction set as described above are used at the time of processing S12 (change of the viewpoint position and line-of-sight direction) of the display device 7 shown in FIG.

Here, the operation of the display device 7 will be described. The display device 7 of the second embodiment performs the following operation in addition to the operation of the first embodiment. When there is an object to be displayed having an attribute value defined as abnormal in advance, the state indicated by the attribute value near the model of the monitored object (for example, a stopped vehicle, an excessive speed, an obstacle, etc.) is displayed. Display in characters.

FIG. 7 is a diagram showing a display example on the display device, particularly showing an example in a case where there is a stopped vehicle. As shown in the figure, when there is a stopped vehicle, “STOP” is displayed near the model. Then, as described above, the viewpoint position and the line-of-sight direction are automatically changed so as to display the monitored object indicating the abnormal event in detail, and the display device 7
Generates and displays a three-dimensional surveillance image in which the stopped vehicle is shown in detail based on this change. As described above, the content of the abnormal event in the monitoring area of each detection unit 1 is displayed, and the monitoring target indicating the abnormal event is displayed in detail. It is possible to know whether an abnormality has occurred in the place.

Note that the display control device 8 is the event detection device 2
If an abnormality is detected in step 1, the viewpoint position and line-of-sight direction are automatically set so that the monitored object is displayed in detail, but the observer temporarily stops this function and The character indicating the abnormality may be displayed in a state where the entire monitoring area over a wide range is displayed without changing the position and the line of sight. In this case, the observer can grasp the place where the abnormality has occurred in the entire monitoring area, so that the discovery of the event is not delayed or overlooked.

Further, the monitor selects a model of the object to be monitored showing an abnormality or a model of the image input device 2 which detects the model on the screen with an input device (not shown) such as a mouse. By doing so, the viewpoint position and the line-of-sight direction may be instantaneously changed so that the monitoring target indicating the abnormality is displayed in detail.

As described above, according to the second embodiment, even when events previously defined as abnormalities occur simultaneously in a plurality of monitoring areas, those situations are instantaneously displayed on one screen. It is possible to eliminate delays and oversight of event discovery.

Since the place where the event has occurred is automatically displayed in detail, the situation can be accurately grasped.

Further, even when the location where the event occurs is displayed, the status of the surrounding monitoring area can be displayed, so that when the event occurs, the adverse effect that other monitoring areas cannot be monitored can be avoided.

Further, the contents of the abnormal event in the monitoring area of each detection unit 1 are displayed in characters, and the monitored object indicating the abnormal event is displayed in detail. It is possible to accurately detect where an abnormality has occurred.

In the second embodiment, the wide area monitoring device of the first embodiment is provided with the event detection device 21, that is, the configuration is provided with the components of the first embodiment. Almost the same operation and effect as in the first embodiment are obtained.

In the second embodiment, the case where the content of the abnormal event is displayed in characters has been described as an example. However, it is sufficient that the content of the abnormal event can be specified. For example, the color may be changed.

Embodiment 3 In the third embodiment, the monitoring states of a plurality of monitoring areas are simultaneously displayed, and when an event occurs, an input image of the image input device 2 that captures the monitoring area in which the event occurred is three-dimensionally displayed. The present invention relates to a wide-area monitoring device having a function of displaying a monitoring image on the same screen as the monitoring image and providing a monitoring person with detailed information of a monitoring area in which an event has occurred.

FIG. 8 is a block diagram of the wide area monitoring apparatus according to the third embodiment of the present invention. The wide area monitoring apparatus according to the first embodiment of FIG. The video storage device 31 temporarily stores the input image of the image processing device 3 so that the display device 7 can use the input image.

Next, in the wide area monitoring apparatus shown in FIG.
Operations different from those described above will be mainly described. Note that the image input device 2,
The operations of the image processing device 3, the monitoring data receiving device 5, and the event detecting device 21 are the same as those in the second embodiment, and thus the description thereof is omitted. In FIG. 5, when the display control device 8 receives the three-dimensional position and the attribute of the monitoring target indicating the abnormal event from the event detection device 21, the display control device 8 sets the viewpoint position and the line-of-sight direction based on the received data. In FIG. 8, in addition to this processing, one detection unit 1 that captures a monitoring target indicating an event that has been previously defined as abnormal is determined, and an input image is transmitted to the detection unit 1. So send request. Detection unit 1 that has received a transmission request
The monitoring data transmission device 4 transmits an image captured by the image input device 2, that is, an input image including a monitoring target determined to be abnormal to the video storage device 31.

Upon receiving the input image, the video storage device 31 temporarily stores the input image so that the display device 7 can use it. When the display device 7 reads the contents in the video storage device 31, the same exclusive control as when monitoring data is read from the storage device 6 is performed. That is, when the display device 7 is reading the input image, the detection unit 1
Is discarded without being stored even if the input image is transmitted from the.

The display device 7 performs the following operation in addition to the operation described in the second embodiment. The video is read from the video storage device 31, and the read video is displayed on the same screen as the three-dimensional monitoring image. Note that the video stored in the video storage device 31 is an input image of the image input device 2 that is capturing a currently monitored object to be monitored.
By displaying the input image in real time on the same screen as the three-dimensional monitoring image in this way, the state of the monitoring area where the abnormality has occurred is presented in detail. The display device 7 displays the detection area in a rectangular shape so as to be superimposed on the input image in order to further indicate the detection status of the monitoring target. FIG. 9 shows an example of the display screen of the display device.

As described above, according to the third embodiment, the input of the detection unit 1 which detects a monitoring target object indicating an abnormal event while presenting the state of the entire monitoring area over a wide range by a three-dimensional monitoring image. Since the image can be displayed on the same screen as the three-dimensional monitoring image in real time, the monitor can grasp the more detailed situation of the monitoring area where the abnormality has occurred while grasping the whole situation. Further, since this operation is automatically performed, the observer can see the input image of the abnormal part at the same time as the occurrence of the abnormality.

The input image displayed on the display device 7 is fetched from the detection unit 1 via the network 11 only when an abnormality occurs. In other words, the input image is displayed on the network 11 only when an abnormality occurs. Since the data is transmitted, the network 11 can be used effectively without increasing the load on the network 11.

In the third embodiment, the wide area monitoring device of the second embodiment is provided with the event detection device 21, that is, the configuration is provided with the components of the second embodiment. Almost the same actions and effects as in the second embodiment are obtained.

When no abnormality has occurred in all the monitoring areas, the display control device 8 does not transmit the input image transmission request to any of the detection units 1. Although not performed at all, in such a case, for example, a transmission request of the input image may be periodically transmitted to each detection unit 1 and sequentially displayed on the display device 7.

The display control device 8 has been described as transmitting the input image transmission request to one detection unit 1 and displaying the input image on the display device 7. A transmission request may be transmitted to display a plurality of input images simultaneously.

Embodiment 4 In the fourth embodiment, when a certain event occurs, the detection unit 1 displays the information on the operation status of the detection unit 1 that is detecting the event on the same screen as the three-dimensional monitoring image, so that the detection unit 1 normally operates. The present invention relates to a wide area monitoring device capable of determining whether or not it is operating.

FIG. 10 is a block diagram of the wide area monitoring apparatus according to the fourth embodiment of the present invention. The wide area monitoring apparatus according to the third embodiment shown in FIG. The data storage device 41 stores data relating to the operation status of the detection unit 1, here, in particular, data relating to the operation status of the image processing device 3 (hereinafter, operation status data).
Is temporarily stored so that it can be used.

Next, the operation of the apparatus shown in FIG. 10 which is different from that of FIG. 8 will be mainly described. In addition, the image input device 2, the image processing device 3, the monitoring data receiving device 5, the event detecting device 21,
The operation of the video storage device 31 is the same as that of the third embodiment, and a description thereof will be omitted. In FIG. 8, the display control device 8 has requested the detection unit 1 to transmit the input image of the image input device 2. In FIG. 10, however, the display control device 8 also transmits the operation status data of the image processing device 3. Request that Then, the monitoring data transmission device 4 of the detection unit 1 that has received this request acquires the operation status data from the image processing device 3 and transmits it to the data storage device 41.

Here, the operation status data of the image processing apparatus 3 is data generated by the image processing apparatus 3, and specifically, for example, detection of a monitoring target is performed by a background difference (input image and background image). When the image processing is performed by the image processing using the object detection technology called “difference of the

When the data storage device 41 receives the operation status data from the monitoring data transmission device 4, it temporarily stores the data so that the display device 7 can use it. When the operation status data in the data storage device 41 is read by the display device 7, the same exclusive control as when the monitoring data is read from the storage device 6 is performed. That is, when the display device 7 is reading the operation status data, even if the operation status data is transmitted from the detection unit 1, the operation status data is discarded without being accumulated.

The display device 7 performs the following operation in addition to the operation shown in the third embodiment. The operation status data is read from the data storage device 41, and the operation status of the image processing device 3 is displayed based on the read operation status data. The operation status is, specifically, the background image as described above, and displays the operation status of the image processing apparatus 3 by displaying the background image on the same screen as the three-dimensional monitoring image in real time. FIG. 11 shows a display example on the display device. FIG. 11 shows an abnormal background image. When an image other than the background is shown, such as a vehicle being reflected or a shadow remaining, the image processing apparatus 3
Can be determined to be abnormal.

As described above, according to the fourth embodiment, the operation status of the image processing device 3 of the detection unit 1 can be displayed on the same screen while presenting the state of the entire monitoring area over a wide range using a three-dimensional monitoring image. In addition, the monitoring person can also confirm the operation state of each image processing apparatus 3 while grasping the overall state.

In the fourth embodiment, the wide area monitoring apparatus of the third embodiment is provided with the data storage device 41, that is, the configuration is provided with the components of the third embodiment. Almost the same functions and effects as those of the third embodiment can be obtained.

If it is determined from the operation status of the image processing device 3 that an abnormality has occurred, the display control device 8
The operation of the image processing apparatus 3 may be adjusted or reset via the.

The data storage device 41 stores the operation status of the image processing device 3 of the detection unit 1 specified by the display control device 8. May be specified.

Alternatively, the image processing device 3 may detect statistical information (for example, average passing speed, average number of passing vehicles, etc.) of traffic flow, and display the detected information on the display device 7 as an operation status. In this case, for example, the average passing speed is 256 k
When the value becomes m / h or the like, it can be understood that an abnormality has occurred in the image processing apparatus 3. However, it is necessary to set a threshold value for making this determination in advance.

Embodiment 5 FIG. In the fifth embodiment, an abnormal part can be accurately detected, and transmission of useless monitoring data is stopped to reduce communication traffic.

FIG. 12 is a block diagram of the wide area monitoring apparatus according to the fifth embodiment of the present invention. A transmission request or a transmission stop request of monitoring data is transmitted to the detection unit 1 in the display device 7 of FIG. And a display method designating device 51 for designating a display method of the three-dimensional monitoring image.

Next, the operation of the wide area monitoring apparatus of FIG. 12 which is different from that of FIG. 10 will be mainly described. The operations of the image input device 2, the image processing device 3, the monitoring data receiving device 5, the display control device 8, the event detection device 21, and the video storage device 31 are the same as those in the fourth embodiment, and therefore the description thereof is omitted. In FIG. 10, the monitoring data transmission device 4 is the image processing device 3
, The monitoring data is sequentially transmitted to the monitoring data receiving device 5. However, in FIG. 12, the monitoring data is transmitted only when there is a monitoring data transmission request. This transmission request is transmitted by the display method designating device 51, and the display method designating device 51 detects the detection unit displayed in the three-dimensional monitoring image based on the viewpoint position and the line of sight set by the display control device 8. 1, a request for transmission of monitoring data is sent. Conversely, a request to stop transmission of monitoring data is sent to the detection unit 1 that is not displayed in the three-dimensional monitoring image. As a result, monitoring data that is not displayed does not flow on the network 11,
Useless communication traffic can be suppressed.

Hereinafter, the operation of the display method designating device 51 will be described with reference to the drawings. FIG. 13 is a flowchart showing the flow of processing of the display method designating apparatus. The display method specifying device 51 determines whether or not the detection unit 1 is included in the three-dimensional monitoring image based on the viewpoint position and the line-of-sight direction set by the display control device 8, that is, is displayed in the three-dimensional monitoring image. It is determined whether or not the detection unit 1 exists (S4).
1) In some cases, a transmission request for monitoring data is transmitted to the detection unit 1 (S42). Then, it is determined whether or not the monitoring data transmitted from the monitoring data transmitting device 4 based on the transmission request includes an attribute defined as abnormal in advance (S43). It is specified that all the monitoring objects included in the data and the detection unit 1 that detects the monitoring objects are displayed clearly (opaque) when they are displayed on the display device 7 (S44). In this case, all the monitoring targets included in the monitoring data and the detection unit 1 that detects those monitoring targets are specified to be indistinct (increase the transparency), that is, to be transparently displayed (S45).
Detection unit 1 determined not to be included in process S41
, A transmission stop request for monitoring data is transmitted.

The display device 7 displays the monitored object designated to be transparently displayed with increased transparency.
Conversely, the monitoring target specified to be clearly displayed is displayed with reduced transparency. Since the optimal value of the transparency differs depending on the color and shape of the background three-dimensional map, the transparency can be adjusted so that the observer can change it to a value that is easy to monitor. FIG. 14 shows a display example on the display device 7.

As described above, according to the fifth embodiment, since the monitoring status of the detection unit 1 in which no abnormality is detected becomes inconspicuous, the three-dimensional monitoring image becomes complicated even if the number of the detection units 1 increases. In addition, since the monitoring status of the detection unit 1 that is detecting the abnormality is displayed prominently, the location of the abnormality can be accurately detected.

Also, a request to stop transmission of monitoring data is sent to the monitoring data transmission device 4 of the detection unit 1 which is not displayed in the three-dimensional monitoring image, so that the monitoring data is not sent to the network 11. Transmission of useless monitoring data that is not displayed above is stopped, and communication traffic on the network 11 can be reduced.

In the display method designating device 51, when the transmission or stop request of the monitoring data is sent to the detection unit 1, when the inclusion state of the detection unit 1 in the three-dimensional monitoring image is changed (included). May be transmitted only from a state that is included to a state that is not included, or from a state that is not included to a state that is included).

Embodiment 6 FIG. In the sixth embodiment, in a huge parking lot such as a service area or a suburban supermarket, a screen for grasping both a parking situation of a vehicle and a traveling situation of a taxiway is displayed, and even if an empty space remains. Regardless, the present invention relates to a wide-area monitoring device having a function of guiding a vehicle to an empty space so that the vehicle does not stay on the taxiway without finding the empty space.

FIG. 15 is a block diagram of a wide area monitoring apparatus according to Embodiment 6 of the present invention. The wide area monitoring apparatus of Embodiment 4 shown in FIG.
It is provided with a parking lot database 62 in which parking section data is stored instead of the map database. The guidance device 61 has an electronic bulletin board 63 provided at a key point on a guidance path of a parking lot, and has entered the parking lot by posting information on the electronic bulletin board 63 to guide the vehicle to an empty space. This is to guide the vehicle to an empty space.
In addition, a plurality of detection units 1 are installed, and the image input device 2 is arranged so that the entire parking lot can be divided into several areas and monitored without omission.

Next, the operation of the apparatus shown in FIG. 15 which is different from that of FIG. 12 will be mainly described. The operations of the image input device, the monitoring data receiving device 5, and the event detecting device 21 are the same as those in the fourth embodiment, and thus the description thereof is omitted. In the sixth embodiment, the monitoring target is designated as a vehicle.

In FIG. 12, the display device 7 generates a three-dimensional map. However, the display device 7 of FIG. 15 generates a three-dimensional parking lot with the change from the map database 9 to the parking lot database 62. Then, the monitoring target and the model of the image input device 2 based on the monitoring data are displayed in the three-dimensional parking lot. FIG. 16 is a diagram illustrating an example of a three-dimensional parking lot.

Further, the image processing device 3 includes the image input device 2
The image processing is performed on the input image from, and the three-dimensional position and attribute of the monitoring target are detected. However, since the monitoring target is specified to the vehicle, the three-dimensional position of the vehicle is Attribute is detected. Here, the three-dimensional position of the vehicle refers to the latitude,
In a three-dimensional parking lot that is displayed on the display device 7 in a representation using longitude, a representation using absolute coordinates with reference to a specific position, or a representation using relative coordinates from the position where the image input device 2 is installed. Any format that can specify the position may be used. The attributes of the vehicle are the type of the vehicle (large, normal, small, motorcycle, etc.) and its state (for example, moving, stopping, parking, etc.), and each vehicle is displayed on the three-dimensional parking lot. At this time, it is displayed in a format that can be distinguished by its shape, characters, etc.

As described above, the three-dimensional parking lot as shown in FIG. 16 is displayed on the display device 7. When the observer confirms the empty space portion on this display screen, the display control device 8 displays the empty space portion. The part is specified on the screen using, for example, a mouse. Then, the display control device 8
Transmits the route information from the entrance to the empty space to the guidance device 61, and the guidance device 61 transmits information for guiding the vehicle to the empty space based on the route information.
3 FIG. 16 shows that the vehicle at the entrance of the parking lot has an empty space on the second floor by displaying "Park 2F" on the electronic bulletin board 63, and the "Park 202" And an example of guiding the vehicle to park in the empty space by displaying the location of the empty space.

As described above, according to the sixth embodiment, by presenting the state of the huge parking lot or the entire multi-story parking lot,
The location of the empty space can be confirmed, and information to guide the user to the empty space is posted, so that even large parking lots or multi-story parking lots where the empty space cannot be confirmed from each vehicle can be efficiently used. The vehicle can be guided to a vacant space, and vehicles that cannot be parked and cannot be parked on the taxiway despite the vacant space can be eliminated.

Further, in the sixth embodiment, the wide area monitoring device of the fourth embodiment is provided with a guidance device 61 and a parking lot database 62 instead of the map database 9, that is, the configuration of the fourth embodiment. Therefore, the same operation and effect as those of the fourth embodiment can be obtained.

In the sixth embodiment, the guidance device 61
Has been described by way of example by "displaying" information for leading to an empty space on the electronic bulletin board 63, but the invention is not limited to this. For example, a vehicle on a taxiway using a circuit breaker or the like is used. May be controlled and guided. Further, an image of the three-dimensional parking lot which the observer is watching may be directly transmitted to the vehicle provided with the display means to notify the vacant space and the route to that.

Further, in the sixth embodiment, the case where the vehicle is guided to an empty space has been described as an example. However, for example, for a vehicle heading from the parking state to the exit, a guidance route to the exit may be instructed. Good.

In each of the above embodiments, a case where the present invention is applied to monitoring of a vehicle has been described as an example. However, the present invention is not limited to this, and it is of course possible to monitor a ship or an aircraft.

[0097]

As described above, the wide area monitoring apparatus according to the present invention comprises a plurality of detection units for detecting the three-dimensional positions and attributes of one or a plurality of objects to be monitored existing in a predetermined monitoring area. A map database that stores map data that is the basis of the three-dimensional map, a display control device that sets a viewpoint position and a line-of-sight direction of the three-dimensional monitoring image for performing display control of the three-dimensional monitoring image, and a display control device. A three-dimensional map is generated based on the set viewpoint position and line-of-sight direction and the map data of the map database, and a predetermined three-dimensional position and monitoring direction of each detection unit, and the tertiary of the monitoring target detected by the detection unit. Based on the monitoring data including the original position and the attribute indicating the type of the monitoring target, a model of the detection unit and a model of the monitoring target are respectively generated and synthesized. And a display device for displaying the original monitoring image. The display device displays the entire monitoring area detected by each detection unit by the three-dimensional monitoring image. It is possible to monitor a wide monitoring area including the area at a time. As a result, even if some abnormalities occur simultaneously in the monitoring area, both abnormalities can be found immediately.

Further, the wide area monitoring apparatus according to the present invention includes a parking lot database in which parking target data is stored instead of a map database, and a parking target database is stored in place of a map database.
A guidance device for guiding a vehicle in the parking lot to an empty space in the parking lot designated by the observer based on the three-dimensional monitoring image displayed on the display device is provided, so that the vehicle is guided to the empty space. For example, in a huge parking lot or the like, it is possible to eliminate a vehicle in which a vehicle stays on a taxiway without finding an empty space even though an empty space remains.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a wide area monitoring device according to Embodiment 1 of the present invention.

FIG. 2 is a flowchart showing a processing flow of the monitoring data receiving device of FIG. 1;

FIG. 3 is a flowchart showing a processing flow of the display device of FIG. 1;

FIG. 4 is a diagram showing a display example on the display device of FIG. 1;

FIG. 5 is a configuration diagram of a wide area monitoring device according to Embodiment 2 of the present invention.

FIG. 6 is a flowchart showing a flow of processing of the display control device of FIG. 5;

FIG. 7 is a diagram showing a display example on the display device of FIG. 5;

FIG. 8 is a configuration diagram of a wide area monitoring device according to Embodiment 3 of the present invention.

FIG. 9 is a diagram showing a display example on the display device of FIG. 8;

FIG. 10 is a configuration diagram of a wide area monitoring device according to Embodiment 4 of the present invention.

11 is a diagram showing a display example on the display device of FIG. 10;

FIG. 12 is a configuration diagram of a wide area monitoring device according to Embodiment 5 of the present invention.

FIG. 13 is a flowchart showing a flow of processing of the display method designating apparatus of FIG.

FIG. 14 is a display example on the display device of FIG. 12;

FIG. 15 is a configuration diagram of a wide area monitoring device according to Embodiment 6 of the present invention.

FIG. 16 is a diagram showing an example of a three-dimensional parking lot.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 detection unit 2 image input device 3 image processing device 4 monitoring data transmitting device 5 monitoring data receiving device 7 display device 8 display control device 9 map database 11 network 51 display method specifying device 61 guidance device

Claims (15)

[Claims] 1. A plurality of detection units for detecting a three-dimensional position and an attribute of one or a plurality of monitoring objects existing in a predetermined monitoring area, and a map for storing map data as a source of the three-dimensional map. A display control device for setting a viewpoint position and a line-of-sight direction of the three-dimensional monitoring image for performing display control of the three-dimensional monitoring image; and a viewpoint position and a line-of-sight direction set by the display control device and a map database. A three-dimensional map is generated based on the map data, and a predetermined three-dimensional position and monitoring direction of each detection unit, a three-dimensional position of the monitoring target detected by the detection unit, and an attribute indicating the type of the monitoring target are determined. Based on the monitoring data including, to generate a model of the detection unit and a model of the monitoring target, respectively, comprising a display device that displays a three-dimensional monitoring image that combines them, Display, by the three-dimensional monitor image, wide area monitoring device and displaying the entirety of each monitoring area, each detecting unit is detected. 2. The monitoring data attribute further includes a moving state of the monitoring target detected by the detection unit, and an event in a monitoring area of each detection unit is detected from the monitoring data attribute. Is provided with an event detection device that determines whether or not indicates an event that is previously defined as abnormal,
The display control device is configured such that, when the event detection device determines that the event is an abnormal event, the viewpoint position and the line of sight are displayed so that the monitoring area of the detection unit detecting the monitoring target object indicating the event is displayed in detail. The wide area monitoring device according to claim 1, wherein the direction is changed. 3. The wide-area monitoring device according to claim 2, wherein the display device performs a display for specifying the content of the abnormality when displaying the monitoring target object indicating the abnormal event. 4. The display for specifying the content of the abnormality is:
4. The wide-area monitoring device according to claim 3, wherein the monitoring is performed using characters near the model display of the monitoring target. 5. The detection unit includes an image input device that captures an image of each monitoring area, and an image processing device that detects a three-dimensional position and an attribute of a monitoring target from an input image of the image input device. When the event detection device determines that the event is an abnormal event, the display device displays the input image of the image input device capturing the monitoring target having the attribute on the same screen as the three-dimensional monitoring image. 3. The wide area monitoring device according to claim 2, wherein the device is displayed above. 6. The detection unit and a display device are connected via a network, and an input image displayed on the same screen as the three-dimensional monitoring image is an image captured from the detection unit via the network. The wide area monitoring device according to claim 5, wherein 7. The wide area according to claim 1, wherein the display device displays information on an operation state of the detection unit, and enables determination whether the detection unit is operating normally. Monitoring device 8. The display device, comprising: an image input device that captures an image of each monitoring area; and an image processing device that detects a three-dimensional position of a monitoring target from image information of the image input device. 2. The wide area monitoring device according to claim 1, wherein information regarding an operation state of the image processing device is displayed, and it is possible to determine whether the image processing device is operating normally. 9. The detection unit and the display device are connected via a network, and the information on the operation state of the image processing device is information taken in from the detection unit designated by the display control device via the network. 9. The wide area monitoring device according to claim 8, wherein: 10. The wide area monitoring apparatus according to claim 8, wherein information relating to an operation state of the image processing apparatus and a three-dimensional monitoring image are displayed on the same screen. 11. The detection unit and a display device are connected via a network, and when a viewpoint position and a line-of-sight direction are changed by a display control device, of the detection units,
3. The wide area monitoring apparatus according to claim 2, wherein a three-dimensional position and an attribute of the monitoring target are taken in from a detection unit related to the display corresponding to the change via a network. 12. The detection device according to claim 1, wherein when the event detection device detects an event defined in advance as being abnormal, the display unit captures an image of a monitoring target indicating the abnormal event, and the display unit includes: Identification and display of a monitoring target existing in the monitoring area, a detection unit imaging the non-abnormal monitoring target, and a monitoring target existing in the monitoring area of the detection unit on the three-dimensional monitoring image. 3. The wide area monitoring device according to claim 2, wherein 13. The display device according to claim 1, wherein the display unit displays a detection unit imaging the monitoring target object having an attribute indicating an abnormal event and a monitoring target object existing in a monitoring area of the detection unit with reduced transparency. A detection unit that instructs and images a non-abnormal monitoring target, and a display method designation device that instructs to display the monitoring target existing in the monitoring area of the detection unit with increased transparency. The wide area monitoring device according to claim 12, wherein 14. The monitoring object is a vehicle, a parking lot database in which parking section data is stored in place of the map database, and a monitoring person based on a three-dimensional monitoring image displayed on a display device. The wide area monitoring device according to claim 1, further comprising a guidance device for guiding a vehicle in the parking lot to an empty space in the parking lot designated by (1). 15. The vehicle according to claim 14, wherein the guidance device includes one or a plurality of electric bulletin boards, and guides the vehicle by displaying information for leading to an empty space on the electric bulletin board. Wide area monitoring device.