JP2005045712A - Monitor system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem that the cost reduction of a monitor system is disturbed by increasing the number of radars to be installed when a plurality of scan type human body sensing radars are disposed to envelop the inside of a wharf in the case of monitoring the inside of the wide yard adjacent to the sea like harbor facilities. <P>SOLUTION: A millimeter wave sensor which detects a reflection wave reflected on a human body or on an object is provided to emit transmission beams along with the quay of the wharf, a visual line of an imaging device is disposed so that the transmission beams of the millimeter wave sensor pass inside a field of view, and the imaging device is turned so that the visual line is directed toward the presence of the human body or the object detected by the millimeter wave sensor. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a monitoring system that monitors a harbor facility using an imaging device.

  Conventionally, it is composed of a transmission device and a reception device that wirelessly transmit an image captured by a video camera to the monitor side, and a control device that moves the angle of the video camera 1 in the direction of a person captured by a human body sensing radar. Surveillance systems are known. In this system, it is described that a human body sensing radar that performs sensing in a millimeter wave band that can be used in all weathers detects the presence of a person by scanning the entire region within the scan target area (for example, Patent Document 1).

JP-A-8-106580 (3rd to 4th pages, FIGS. 1 and 2)

  However, in recent years, illegal exports of stolen vehicles set in harbors and smuggling incidents using containers tend to occur frequently, increase, and become malicious, and it is an important issue to prevent them at the waterfront as a countermeasure. ing. In addition, due to the terrorist attacks in the United States, voices calling for enhanced security at ports have increased internationally, and the Maritime Life Safety Convention (SOLAS Convention) has been revised by the International Maritime Organization (IMO). Along with this, the security of port facilities has been called out.

  Since the conventional monitoring system described above is intended for crime prevention monitoring in a narrow office surrounded by walls, it is unsuitable for monitoring a large outdoor site adjacent to the sea such as a port facility. .

  For example, a port facility has a wharf, and it is necessary to detect the presence of an intruder who climbs the wharf of the wharf and enters the wharf from the sea, especially at night. However, in order to detect such an intruder using a conventional monitoring system, a number of human body detection radars are arranged so as to envelope the entire area within the wharf by appropriately connecting predetermined scan target areas of the human body detection radar. It was necessary to do this, and this hindered the price reduction of the monitoring system.

  Also, when the human body detection radar scans the scan area, the intruder enters the pier during one round of the human body detection radar, and even if the intruder is detected, There was a problem that it could not be captured in the camera image.

  This invention was made in order to solve such a subject, and it aims at implement | achieving the system which monitors the inside of a large site adjacent to the sea like a port facility at a lower price.

  A monitoring system according to the present invention is arranged such that a transmission beam is radiated along a quay of a wharf, detects a distance based on a reflected wave reflected by a human body or an object, and transmission of the distance sensor An imaging device supported so that the line of sight can be swung so that the beam passes through the field of view, and a control for turning the imaging device so that the line of sight is directed to the presence direction of the human body or object detected by the distance sensor. Device.

  A millimeter wave sensor is arranged so that a transmission beam is radiated along the quay of the wharf and detects a reflected wave reflected by a human body or an object, and the transmission beam of the millimeter wave sensor passes through the field of view. In addition, an imaging device supported so as to be able to turn the line of sight, and a control device for turning the imaging device so that the line of sight is directed in the presence direction of the human body or the object detected by the millimeter wave sensor. There may be.

  In the present invention, a distance sensor is arranged so that a transmission beam is radiated along a quay of a wharf, and an imaging device is provided so that the line of sight can be pivoted so that the transmission beam of the distance sensor passes through the field of view. Thus, a monitoring system that detects a human body or an object that climbs the wharf of the wharf and enters the wharf can be realized at a lower price.

Embodiment 1 FIG.
FIG. 1 is an external view (perspective view) showing an arrangement configuration of a monitoring system according to Embodiment 1 arranged in a harbor facility. In the port facility shown in the figure, two wharves 1a and 1b are arranged in parallel, and a fence 4 is provided at the base portion 3 of the wharf connected to the land 2. The fence 4 is installed so as to surround the entrances to the piers 1a and 1b in a U-shape, and entrances and exits 5a and 5b leading to the piers 1a and 1b are provided in part of the fence 4, respectively. . The regions 7a and 7b surrounded by the fence 4 in the pier base 3 are connected to the land 2 through the entrance / exit gates 5a and 5b. The piers 1a and 1b may be called jetties.

  The piers 1a and 1b are surrounded by the sea on three sides, and the piers 1a and 1b have a length of about 200 m to 600 m, for example, and a width of about 100 m to 400 m, for example. In order to monitor the area of the vast pier adjacent to the sea in this way, a plurality of surveillance cameras 8a to 8e and surveillance cameras 9a to 9c are appropriately arranged inside and around the piers 1a and 1b. Yes. A plurality of surveillance cameras 10a to 10g are also appropriately arranged around the areas 7a and 7b. The monitoring cameras 10a to 10g constitute a monitoring camera system 40.

  The piers 1a and 1b are provided with containers 11 and warehouses 12a and 12b. The containers 11 are left loaded and left at night, and are transported after being loaded and only in the daytime. There is something to be arranged. Therefore, depending on the position of the surveillance camera installed in the wharf, there is a blind spot that is obstructed by shields such as containers and warehouses and cannot be seen from the surveillance camera. Change.

  On the other hand, since the piers 1a and 1b are surrounded by the sea as described above, it is assumed that the intruder 22 enters the pier from the sea using a ship and climbs the quay quay to land in the pier. Is done. For example, especially at night, a suspicious person enters the sea adjacent to the wharf 1a using a ship. At this time, a small ship is used as a ship, a case where the intruder 22 climbs the quay by using a small ship to berth on the quay and hook a rope (iron pillar), or a medium sized ship as a ship, A case is assumed in which the intruder 22 descends to the quay while lying on the quay. In any case, since the area around the wharf is not surrounded by a wall like the fence 4, the intruder 22 can be detected from the sea unless the entire circumference of the wharf is monitored with a surveillance camera. Extremely difficult. In addition, after landing in the wharf, a plurality of intruders 22 may be dispersed in the wharf, or may be hidden in the shadow of a container or warehouse immediately after landing.

  Therefore, if an image of the intruder 22 landing on the wharf is immediately captured by the surveillance camera, the presence of the intruder is detected from the captured image, and the detected intruder is not tracked, the subsequent intruder 22 quickly The location of the intruder 22 cannot be grasped by the movement.

  Further, the intruder 22 who has entered the wharf breaks the key of the container 11 and the warehouses 12a and 12b, and takes a behavior such as adding a toxic substance to the container 11 and the warehouses 12a and 12b or attaching a bomb. Is assumed. In addition, it is assumed that the intruder 22 enters the anchored ship 21 and takes a behavior such as mixing a poisonous substance or attaching a bomb.

  In the first embodiment, particularly at night, an intrusion monitoring system 50 for detecting an intruder 22 entering the pier from such an intrusion route quickly and reliably and with a smaller number of sensors installed. Configure. When the intruder 22 enters the wharf from the sea side, the intruder 22 must always invade through a line along the quay around the wharf. A line 14c orthogonal to the line 14c exists, and the pier 1b includes parallel lines 14d and 14e and a line 14f orthogonal to the line 14d. Therefore, the intruder 22 can be quickly detected by monitoring with particular focus on these lines and detecting the intruder 22 passing through.

  At this time, the millimeter wave sensor 15a and the millimeter wave sensor 15b are arranged side by side in the vicinity of (in the vicinity of) the line 14a so that the radio wave axis of the transmission beam is along the line 14a of the wharf 1a. Further, the millimeter wave sensor 15d and the millimeter wave sensor 15e are arranged side by side in the vicinity of (in the vicinity of) the line 14b so that the radio wave axis of the transmission beam is along the line 14b. In addition, the millimeter wave sensor 15c is installed near (in the vicinity of) the line 14c so that the radio wave axis of the transmission beam is along the line 14c.

  In addition, the millimeter wave sensor 16a and the millimeter wave sensor 16b are arranged in series at (in the vicinity of) the line 14d so that the radio wave axis of the transmission beam is along the line 14d of the pier 1b. Further, the millimeter wave sensor 16d and the millimeter wave sensor 16e are arranged in series along the line 14e so that the radio wave axis of the transmission beam is along the line 14e. In addition, the millimeter wave sensor 16c is installed near (in the vicinity of) the line 14f so that the radio wave axis of the transmission beam is along the line 14f. Since there are no shielding objects such as the container 11 and the warehouses 12a and 12b along the quay of the wharf, this arrangement reduces the influence of surrounding objects on the transmission beam of the millimeter wave sensor. Can do.

  Here, the millimeter wave sensor is configured using a millimeter wave radar of a millimeter wave band (for example, 76 GHz band) of 20 to 300 GHz. In recent years, millimeter wave radars developed as anti-collision radars mounted on vehicles have sufficient distance resolution to detect the presence of a human body or an object up to about 100 m. For this reason, for example, it is preferable to configure the intrusion monitoring system 50 by arranging the radio wave axes of a plurality of millimeter wave radars in series in the same direction at intervals of 100 m to 120 m (for example, 100 m intervals). Millimeter-wave radar has the characteristics that interference from outside is relatively small, sensing accuracy is good, and signal attenuation due to light, rain, fog, dust, smoke, etc. is small. In particular, seawater may be scattered by waves near the wharf of the wharf, and it is more preferable to use a millimeter wave radar. Further, the millimeter wave radar has higher sensing reliability and higher sensing accuracy than the laser radar. Compared to ultrasonic sensors, the distance resolution is high, and the measurement distance for sensing can be extended.

  The millimeter wave sensor 15 (15a to 15e) and the millimeter wave sensor 16 (16a to 16e) are arranged based on the time during which the transmission beam is reflected by the human body or the object and returns from the position where the transmission beam is installed. Alternatively, the distance L to the position where the presence of the object is detected is measured. The millimeter wave sensors 15 and 16 may measure the Doppler component of the reflected wave from the human body or object and detect the moving speed of the human body or object. In this case, the moving direction of the human body or the object is detected based on the detected moving speed.

The millimeter wave sensors 15 and 16 may be arranged so that two millimeter wave sensors face each other. In this case, two millimeter wave sensors can be arranged at an interval of 100 m to 200 m.
Of course, the millimeter wave sensors 15 and 16 may use scanning millimeter wave radars as long as they emit a beam along the quay rims of the wharfs 1a and 1b. For example, the radio beam axis of the transmission beam is fixed in one specific direction such as a direction parallel to the quay or an oblique direction closer to the quay's inner side of the quay, and the reception beam is set in an angular range of several tens of degrees (eg ± 10 °) A multi-beam millimeter wave radar that scans electronically may be used. In this case, the moving direction of the human body or object can be measured more accurately.

  In addition, when there is no need to consider the influence of seawater scattering and the short interval between sensors, and the distance resolution may be slightly degraded, the distance L to the position where the presence of a human body or object is detected is measured. Therefore, other distance sensors such as a laser radar and an ultrasonic sensor may be used.

Monitoring cameras 8a to 8e and 9a to 9c are arranged in accordance with the arrangement of the millimeter wave sensors.
The monitoring cameras 8a, 8b, and 8e are installed on the upper part of the iron pillar 500 provided at the tip of the wharf 1a. The monitoring camera 8a is arranged so that the transmission beam of the millimeter wave sensor 15b transmitted along the line 14a is in the field of view. The monitoring camera 8b is disposed so that the transmission beam of the millimeter wave sensor 15d transmitted along the line 14b is included in the field of view. The monitoring camera 8e is disposed so that the transmission beam of the millimeter wave sensor 15c transmitted along the line 14c is included in the field of view.

  The monitoring camera 8c is arranged on the roof of the warehouse 12a on the line 14b side so that the transmission beam of the millimeter wave sensor 15e transmitted along the line 14b is in the field of view. The surveillance camera 8d is installed on the upper part of the transfer crane for lifting and hanging the container 11. The monitoring camera 8d is disposed so as to have the transmission beam of the millimeter wave sensor 15e transmitted along the line 14b in the field of view.

The monitoring camera 9a is installed on the line 14d side of the roof of the warehouse 12b, and is arranged to have the millimeter wave sensor 16a and the transmission beam of the millimeter wave sensor 16b in the field of view. The monitoring camera 9b is installed on the line 14e side of the roof of the warehouse 12b, and is arranged to have the millimeter wave sensor 16d and the transmission beam of the millimeter wave sensor 16e in the field of view. The monitoring camera 9c is installed on the line 14f side of the roof of the warehouse 12b, and is arranged so as to have the transmission beam of the millimeter wave sensor 16c in the field of view.
The monitoring cameras 8a to 8e and the monitoring cameras 9a to 9c are arranged so that the camera's line of sight faces the sea so that the face of the intruder ascending the quay can be photographed.

  A light sensor 18 and an optical sensor 19 with an omnidirectional image sensor are provided as appropriate at the connection portion between the piers 1a and 1b and the regions 7a and 7b in the base portion 3 of the pier. The optical sensor 18 and the omnidirectional image sensor-equipped optical sensor 19 are in a state where they are lowered in the daytime and in a state where they are raised at night to detect an intruder passing through the connection portion. Further, the omnidirectional image sensor-equipped optical sensor 19 can capture an image of the entire circumference in the horizontal direction (360 °), and thereby acquires an intruder image.

  Further, in the piers 1a and 1b, an optical sensor 20 with an omnidirectional image sensor is appropriately provided around the warehouses 12a and 12b and around the container 11. For example, the omnidirectional image sensor-equipped optical sensor 20 has four sensors arranged at four corners of the quadrangular shape so as to form a quadrangular shape around a warehouse or a container. As a result, it is possible to cover the blind spot of the monitoring system by eliminating the blind spot around the warehouse and the container.

  The water area monitoring camera 25 captures an image of the water area near the wharf and detects the presence of the ship. The beam sensor composed of the projector 30a and the light receiver 30b detects the intrusion of the ship passing between them. The pier water area monitoring camera 26 captures an image of a ship that has passed through the sea between the pier 1a and the pier 1b and has entered the pier. As a result, it is possible to detect the presence of a ship that enters the wharf and to monitor the water area near the wharf. The water area monitoring camera 25, the wharf water area monitoring camera 26, and the projectors 30 a and 30 b constitute a water area monitoring system 60.

  FIG. 2 is a block diagram showing the configuration of the monitoring system according to the first embodiment. In the figure, the monitoring system according to the first embodiment includes a monitoring camera system 40, an intrusion monitoring system 50, a water area monitoring system 60, an integrated management system 70, an entrance / exit management system 80, and a display system 90. The intrusion monitoring system 50 includes a millimeter wave sensor monitoring system 110 and an optical sensor monitoring system 120. Hereinafter, each component system will be described in detail.

  FIG. 3 is a diagram showing the configuration of the surveillance camera system 40 according to the present invention. In the figure, output images of the monitoring cameras 10a to 10g are input to the intrusion detection sensor 100, and changes in the captured image are extracted, and the presence of an intruder in the image is detected. As a result of detection by the intrusion detection sensor 100, the output image of the monitoring camera is output to the display system 90 via the integrated management system 70. The surveillance cameras 10a to 10g are provided with zoom lenses from a wide angle to a telephoto, and usually acquire a wide-angle image of the intruder on the wide-angle side in order to detect the intruder, and from the acquired image by the intrusion detection sensor 100 In response to detection of an intruder, zooming is performed on the telephoto side to obtain a zoom image of the intruder. At the same time, the intrusion detection sensor 100 performs image tracking of an intruder whose image has been acquired and recognized. This image tracking is performed by automatically tracking the movement of the intruder's image within the image by image processing or manually tracking the image. In the case of automatic tracking, the contour of the intruder's image is made into a template, and the center of gravity position of the moving matching image is automatically tracked by searching for an image that matches the template every predetermined time.

  In the case of manual tracking, a security supervisor who monitors the image tracks the image of the intruder while observing the image of the intruder on a monitor (not shown) or a display screen of the display system 90. When a manual operation is performed via an input unit 810 (described later in FIG. 15) such as a mouse or a keyboard provided in the integrated management system 70, a pointer or cursor displayed on the screen is displayed on the intruder's image. The image of the intruder is tracked by gradually moving to the position.

  The image tracking information of the intruder obtained by this image tracking is transmitted to the information processing device 820 (described later in FIG. 15) of the integrated management system 70. The information processing device 820 calculates the movement path of the intruder based on the received image tracking information of the intruder. For example, the movement position of the intruder image in the acquired image of the monitoring camera 10 is measured, and the movement position is plotted every predetermined time to obtain the locus of the movement path of the intruder. There are various specific methods for obtaining the trajectory of this movement route, but the detailed description thereof is omitted here.

  As the monitoring cameras 10a to 10g, a high-sensitivity camera or an infrared camera is used for nighttime monitoring, and a visible light camera is used for daytime monitoring. As shown in FIG. 1, the monitoring cameras 10a to 10g monitor workers and containers in the wharf during the daytime by monitoring the vicinity of the base portion 3 of the wharf and the inside and outside of the fence 4, and at night time. Monitor suspicious persons and objects. The surveillance cameras 10a to 10g may be rotated by changing the horizontal direction angle (pan) and the vertical direction angle (tilt). In this case, the image tracking may be performed by rotating the monitoring cameras 10a to 10g so that the image of the intruder is positioned within the visual field of the monitoring cameras 10a to 10g.

  In the example of FIG. 1, an example in which the monitoring cameras 10a to 10g are arranged at the base portion 3 of the wharf is shown, but of course, this kind of monitoring camera may be arranged in the wharves 1a and 1b. A monitoring camera may be installed at a high place provided outside the wharf, and the inside of the wharf may be monitored by the monitoring camera. This high installation eliminates blind spots from containers and warehouses.

  FIG. 4 is a diagram showing a configuration of the millimeter wave sensor monitoring system 110 according to the first embodiment. In the figure, the millimeter wave sensor 16c outputs a transmission beam 160 along the wharf (line 14e) of the wharf at a set time or at night. In addition, the millimeter wave sensor 16d is arranged in a direction in which the radiation direction of the radio wave is orthogonal to the millimeter wave sensor 16c, and outputs the transmission beam 161 along the other quay (line 14f) of the wharf orthogonal to the line 14e.

Moreover, the monitoring camera 9b is installed on the roof of the warehouse 12b, and is supported so that turning is possible. The monitoring camera 9b is arranged so that it has the radio wave axis of the transmission beam 160 of the millimeter wave sensor 16c in its turning surface. As a result, the line of sight of the monitoring camera 9b can always be moved along the radio wave axis of the millimeter wave sensor 16c in parallel with the line 14e.
Similarly, the other millimeter wave sensors 15 and 16 and the other monitoring cameras 8 and 9 that are arranged in association with the beam direction and the field of view operate in the same manner, and the description thereof is omitted here.

  FIG. 5 is a diagram illustrating a configuration of the millimeter wave sensor monitoring system 110. In the figure, the millimeter wave sensor monitoring system 110 includes millimeter wave sensors 15 and 16, monitoring cameras 8 and 9, a pan head 600, and an intrusion detection sensor 610 that is a control device.

  Here, the operation will be described with reference to FIGS. Here, the millimeter wave sensor 16c as an example of the millimeter wave sensors 15 and 16, and the surveillance camera 9b as an example of the surveillance cameras 8 and 9 will be described. When the intruder 22 climbs from the wharf of the wharf and lands in the wharf, the intruder 22 passes through the beam 160, so that the millimeter wave sensor 16c detects the presence of the intruder 22. At the same time, the distance L from the millimeter wave sensor 16c to the location of the intruder 22 is output. Information on the distance L (distance information) output from the millimeter wave sensor 16 c is input to the intrusion detection sensor 610. Intrusion detection sensor 610 calculates in advance a turning angle θ of monitoring camera 9b corresponding to distance L output from millimeter wave sensor 16c, and information on the calculated turning angle θ is stored in a database (not shown). Stored.

  The intrusion detection sensor 610 outputs the turning angle θ with reference to the database based on the distance L output from the millimeter wave sensor 610. The turning angle θ output from the intrusion detection sensor 610 is input to the pan head 600, and the pan head 600 has a predetermined turning in which the position of the monitoring camera 9b is defined by the turning angle θ based on the input turning angle θ. It is swiveled to make an angle. As a result, the monitoring camera 9b directs the camera's line of sight in the direction in which the intruder 22 exists based on the distance L to the location of the intruder 22 detected by the millimeter wave sensor 16c.

  In addition, based on the mathematical expression defined by the geometric positional relationship determined by the line of sight of the monitoring camera 9b, the radio wave axis of the millimeter wave sensor 16c, and the camera installation height and the shift in the distance direction from the camera installation position. The relationship between the distance L and the turning angle θ may be set. The pan / tilt head 600 of the surveillance camera 9b is driven to rotate (panning and chill) so as to change the horizontal direction angle (pan) and the vertical direction angle (tilt) so as to obtain a predetermined turning angle. ).

  The intrusion detection sensor 610 outputs a zoom ratio to the monitoring camera 9b with reference to the database based on the distance L output from the millimeter wave sensor 16c. The surveillance camera 9b obtains an image of the intruder 22 after zooming the zoom lens based on the zoom ratio. In the intrusion detection sensor 610, the zoom ratio of the monitoring camera 9b corresponding to the distance L output from the millimeter wave sensor 16c is calculated in advance, and information on the calculated zoom ratio is stored in a database (not shown). Stored. Alternatively, the zoom ratio corresponding to the distance may be calculated, and the size of the angle of view at the location where the intruder 22 is detected may be made constant.

  The acquired image of the monitoring camera 9b is output to the intrusion detection sensor 610 and the integrated management system 70. Intrusion detection sensor 610 compares the acquired image of surveillance camera 9b with a preset feature amount. As a result of the comparison, if there is a correlation between the acquired image and the feature amount, the intrusion detection sensor 610 determines that a human body has been detected, and the determination result is used as the information processing device 820 of the integrated management system 70 (in FIG. 15). (To be described later).

  Here, as the feature amount, for example, a pixel amount range, an image height range, an image color, and the like are set, and an acquired image pixel amount, an image height, an image color, and the like are set. When it is within the range of the feature amount, it is determined that the human body. Further, when an infrared camera is used as the monitoring camera 9b, the luminance range of the image may be used as the feature amount.

  When the intrusion detection sensor 610 determines that a human body has been detected, the detected human body (intruder) is automatically tracked with respect to the monitoring cameras 8 and 9 to track the intruder. For example, the pan / tilt head 600 is driven and controlled, and the zoom ratio of the surveillance cameras 8 and 9 is controlled so that an intruder is always captured in the field of view of the camera image. The image tracking information of the intruder obtained by this image tracking is transmitted to the information processing device 820 (described later in FIG. 15) of the integrated management system 70.

  The information processing device 820 of the integrated management system 70 calculates the movement path of the intruder based on the received image tracking information of the intruder. For example, the intrusion detection sensor 610 measures the movement positions of the monitoring cameras 8 and 9 in the line of sight under the control of the camera platform 600 and the monitoring cameras 8 and 9, plots the movement positions at predetermined time intervals, and The trajectory of the movement route is obtained. There are various specific methods for obtaining the trajectory of this movement route, but the detailed description thereof is omitted here.

  FIGS. 6A and 6B are diagrams illustrating an arrangement configuration of the optical sensor monitoring system 120, and FIG. 7 is a diagram illustrating a configuration of the optical sensor monitoring system 120. In the following description, the optical sensor 18 and the omnidirectional image sensor-equipped optical sensor 19 will be described as examples. However, it goes without saying that the omnidirectional image sensor-equipped optical sensor 20 also operates in the same manner.

  In FIG. 6A, the optical sensor monitoring system 120 includes the above-described liftable optical sensor 18, the omnidirectional image sensor-equipped optical sensor 19, and the fixed optical sensor 17 (17a, 17b, 17c). The As shown in FIG. 6B, the light sensor 18 is provided with a projector 150 and a light receiver 160 on the upper, middle and lower portions of the rod-shaped member. The projector 150 and the light receiver 160 are appropriately arranged so that a rod-shaped member is sandwiched therebetween.

  Further, the adjacent optical sensors 18 are arranged at a predetermined interval so that the projector 150 and the light receiver 160 face each other. As a result, the light beam output from the projector 150 is normally received by the light receiver 160. On the other hand, when the intruder 22 passes between the projector 150 and the light receiver 160, the light beam output from the projector 150 is not received by the light receiver 160. By detecting this state, the intruder 22 Presence can be detected. The omnidirectional image sensor-equipped optical sensor 19 is configured by providing an omnidirectional image sensor 170 on the upper surface of a rod-shaped member that constitutes the optical sensor 18.

  In the optical sensor 17a, the projectors 150 are provided at three locations, ie, the upper portion, the middle portion, and the lower portion, and in the optical sensor 17b, the photodetectors 160 are provided at the three locations, ie, the upper portion, the middle portion, and the lower portion. Unlike the optical sensor 18, the optical sensors 17a and 17b do not move up and down regardless of day or night. In the example shown in FIG. 1, the optical sensors 17a, 17b, and 17c are provided at the corners of the fence. As a result, even if there is an intruder that enters the pier by a route such as arrows K1 and K2 in FIG. Intruders can be detected.

  As shown in FIG. 1, the optical sensor 18 and the omnidirectional image sensor-equipped optical sensor 19 are disposed between the optical sensor 17a and the optical sensor 17b, and the two optical sensors 18 are disposed adjacent to each other. The optical sensors 18 are arranged on both sides of the optical sensor 19 with an omnidirectional image sensor, and the sensors are arranged in a line. Similarly, an optical sensor 18 and an optical sensor 19 with an omnidirectional image sensor are disposed between the optical sensor 17b and the optical sensor 17c. Two optical sensors 18 are disposed adjacent to each other, and light with an omnidirectional image sensor is provided. Optical sensors 18 are arranged on both sides of the sensor 19 and the sensors are arranged in a line.

  In FIG. 7, the optical sensor monitoring system 120 includes an optical sensor 18, an omnidirectional image sensor 170, an intrusion detection sensor 210, and a day / night sensor 200. The day / night sensor 200 has a built-in light receiver, and distinguishes daytime and nighttime based on the amount of light received by the light receiver. The day / night identification result identified by the day / night sensor 200 is output to the optical sensor 18. The optical sensor 18 outputs the received light amount P of the light receiver 160 to the intrusion detection sensor 210. The intrusion detection sensor 210 outputs a signal indicating that an intruder has been detected when the amount of received light P output from the light receiver 160 is a predetermined amount or less.

  The image output from the omnidirectional image sensor 170 is output to the intrusion detection sensor 210. When there is a change in the output image of the omnidirectional image sensor 170, the intrusion detection sensor 210 detects the direction in which the change has occurred. At this time, in the image acquired by the optical sensor 19 with an omnidirectional image sensor, a signal indicating that the presence of an intruder was detected was output from the optical sensor 18 existing in the direction where the image changed. In this case, the intrusion detection sensor 210 determines that an intruder exists and outputs a signal indicating that an intruder exists. This output signal is output to the information processing device 820 of the integrated management system 70. As a result, the approximate location of the intruder (the place where the intruder has passed) is determined. Further, the moving direction of the intruder can also be determined based on the state change of the acquired image of the optical sensor with omnidirectional image sensor 19.

  In this example, the point that the optical sensor 18 and the omnidirectional image sensor-equipped optical sensor 19 are moved up and down according to the detection result of the day / night sensor 200 is described. However, when the predetermined time comes, the optical sensor 18 and the omnidirectional image are detected. Other configurations may be used as long as the optical sensor with sensor 19 is moved up and down.

For example, a timer is installed, and when the rising time T1, which is a predetermined time, is reached, the optical sensor 18 and the optical sensor 19 with an omnidirectional image sensor are raised, and a falling time T2 that is the predetermined time (falling time T2 <rising time) At T1), the optical sensor 18 and the omnidirectional image sensor-equipped optical sensor 19 may be lowered.
Further, the rising time T1 and the falling time T2 do not necessarily have to be at night or during the day, but may rise when necessary to perform monitoring and descend when not necessary to perform monitoring. good.

Alternatively, the monitoring person who monitors the display screen of the display system 90 performs an operation of pressing the operation buttons of the optical sensor 18 and the optical sensor 19 with the omnidirectional image sensor, whereby the optical sensor 18 and the optical sensor with the omnidirectional image sensor are provided. It goes without saying that 19 may be moved up and down.
In addition, the above-described millimeter wave sensor can be set so that the sensor starts to operate at a predetermined time or at night, similarly to the optical sensor 18.

  8A and 8B are schematic views showing the structure of the optical sensor 18. FIG. 8A shows a state where the optical sensor 18 is lowered below the ground, and FIG. 8B shows a state where the optical sensor 18 is raised above the ground. . The optical sensor 18 includes a rod-shaped member 180, a hydraulic cylinder 220 that raises and lowers the rod-shaped member 180, a hydraulic system 230 that supplies oil pressure to the hydraulic cylinder 220, and a day / night sensor 200. When the day / night sensor 200 detects that it is nighttime, it supplies an electrical signal to the hydraulic system 230 to drive the hydraulic system 230. For example, the hydraulic system 230 supplies an oil pressure to the hydraulic cylinder 220 by rotating a built-in hydraulic pump. Along with this, the hydraulic cylinder 220 receives the hydraulic pressure from the piston in the cylinder to raise the rod-shaped member 180, and the projector 150 (light receiver 160) is exposed to the ground. On the other hand, when the day / night sensor 200 detects that it is daytime, it supplies an electrical signal to the hydraulic system 230 to drive the hydraulic system 230. For example, the built-in valve is opened and adjusted so that oil flows out from the hydraulic cylinder 220 to the hydraulic tank, and the oil pressure is lowered. Along with this, the hydraulic cylinder 220 lowers the rod-shaped member 180, and the projector 150 (light receiver 160) falls below the ground.

  The optical sensor monitoring system 120 functions as a trap sensor because the intruder detection optical sensors 18 and 20 (light projector 150 and light receiver 160) and the omnidirectional image sensor 19 that did not exist in the daytime are exposed at night. For example, an intruder who knows the situation in the wharf during the day can reduce the possibility of noticing the presence of the sensor when entering the wharf at night. Demonstrate sufficient effect. In addition, by arranging the optical sensor monitoring system 120 in a plurality of rows at the base of the wharf, the sensor can be used as if it were an electronic portal.

  In addition, the optical sensor 20 is arranged so as to surround the periphery of the warehouse or the container, and a specific material (for example, an article with high valuable value or an article with high risk) is carried into the warehouse or the container for monitoring. Only in the case of strengthening (or a period in which monitoring should be strengthened), by raising the optical sensor, special monitoring can be performed in accordance with the presence or absence of the monitoring target and the monitoring purpose.

  FIG. 9 is a configuration diagram of the water area monitoring system 60 according to the first embodiment. In the figure, the beam sensor 400 outputs a detection result to the detection sensor 710 when detecting a ship entering the pier. The detection sensor 710 drives the pan head 700 based on the detection result of the beam sensor 400. Accordingly, the surveillance camera 26 rotates by changing the horizontal azimuth angle (pan) and the vertical azimuth angle (tilt), and the line-of-sight direction of the surveillance camera 26 is directed to the position where the beam sensor 400 is disposed. At the same time, the monitoring camera 26 zooms so that the ship can take a picture of the full screen in the direction in which the beam sensor 400 is located. The image of the monitoring camera 26 is output to the integrated management system 70. At the same time, since the ship has entered the display system 90, a display to the effect of increasing vigilance is performed. For example, a message such as “Because the ship has entered between the pier 1a and the pier 1b at XX hours and XX minutes” is displayed.

  FIG. 10 is a diagram showing a configuration of the beam sensor 400 according to the first embodiment. A light projector 30a is installed on the wharf 1a, and a light receiver 30b is installed on the wharf 1b on the opposite shore that is separated from the wharf 1a. When the ship 210 passes between the light projector 30a and the light receiver 30b (monitoring line), the amount of light received by the light receiver 30b decreases, and thereby the passage of the ship 210 can be detected. The beam sensor 400 starts to operate at night or after a predetermined time, similarly to the above-described millimeter wave sensor and optical sensor.

  FIG. 11 is a diagram showing the configuration of the entry / exit management system. In the figure, an entrance gate 501 and an exit gate 550 are installed at entrance / exit gates 5a and 5b. In the following description, the entrance / exit gate 5a will be described as an example.

  In the entrance gate 501, an IC card reader 520 is installed above the column 510 at a height (1 m to 1.5 m) that is about the height of a person. An entry permission display unit 530 is provided below the IC card reader 520. The entrance / exit gate 5 is provided with two entrance / exit passages 540 and 541 configured to allow a passerby 220 to enter and exit. One of the entrance / exit passages (entrance / exit passage 540) is provided so as to pass between two entrance gates 501a and 501b installed adjacent to each other, and the other (entrance / exit passage 541) includes an entrance gate 501b and an entrance It is provided so as to pass between the column 515 erected adjacent to the gate 501b.

  On the exit side of the entrance / exit passages 540 and 541, exit gates 550a and 550b and a column 515 are provided upright. Similarly to the entrance gates 501a and 501b, the exit gates 550a and 550b are configured by being provided with an IC card reader 520 and an entry permission display section 530. An intruder detection camera 560 is installed on the exit gate 550 side so as to photograph the passerby 220 entering from the entrance / exit side (entrance side). The passer-by 220 entering the entrance gates 501a and 501b brings the IC card 580 in contact with the IC card reader 520 to determine whether or not the passage is permitted. The passer-by 220 entering the exit gates 550a and 550b is similarly determined to be permitted or not allowed to pass.

  An infrared sensor 570 is provided in the entrance / exit passages 540 and 541. The infrared sensor 570 outputs an infrared light beam that traverses the entrance / exit passages 540 and 541, and detects whether or not the passerby has passed by detecting whether or not the infrared light beam is shielded by passage of the passage. Can be detected.

  FIG. 12 is a block diagram showing the configuration of the entry / exit management system. In the figure, an IC card reader 520 transmits read information acquired by wireless communication with the IC card 580 to the integrated management system 70. In the integrated management system 70, information (IC card information) of the IC card 580 of a passer-by who is allowed to pass is stored in a database 830 (described later in FIG. 15) provided therein. Passengers who are permitted to pass this passage are permitted by, for example, a worker in a port facility or a trader permitted to enter a port facility making a use application in advance. For temporary users such as visitors in the port facility and visitors who need to enter the facility temporarily, an IC card 580 that can be temporarily used is issued by applying for temporary use. When applying for the use of the IC card 580, a face photo of the IC card user is also taken, and information on this face photo is registered in the database 830.

  The read information of the IC card 580 transmitted to the integrated management system 70 is transmitted to the information processing device 820 (to be described later with reference to FIG. 15) of the integrated management system 70, and a coincidence comparison is performed. In the information processing device 820, the match with the IC card information stored in the database 830 of the integrated management system 70 is compared, and it is determined whether or not the passer is permitted to pass. If the traffic is not permitted as a result of the determination, the entry permission display section 530 is illuminated with a cross indicating that the entry is not permitted. In addition, if the vehicle is permitted to pass, the entry permission display unit 530 is illuminated with a circle mark indicating entry permission.

  The infrared sensor 570 detects the presence of the passer-by 220 passing by the side, and sends the detection result to the integrated management system 70. When the IC card reader 520 reads the IC card 580, the integrated management system 70 determines whether or not the passer 220 is an unauthorized entry depending on whether or not the passer 220 is a passer permitted to pass. carry out. As a result of the determination, if the passer 220 is a passer who is permitted to pass when the IC card 580 is read by the IC card reader 520, it is determined that the passer 220 is a normal passer. When the IC card reader 520 reads the IC card 580 and the passer 220 is not a passer who is allowed to pass, the information processing apparatus 820 of the integrated management system 70 indicates that the passer 220 is an illegal passer. It is judged that there is, and a warning sound is emitted from a built-in alarm device or a warning light blinks. At the same time, the integrated management system 7 also displays on the display system 90 that an unauthorized passer-by has entered the entrance. For example, a message such as “An illegal passer enters the first entrance gate at XX hours and XX minutes” is displayed.

  The intruder detection camera 560 captures the face of the passer 220 when the passer 220 passes the infrared sensor 570. At this time, the information processing device 820 of the integrated management system 70 performs a coincidence comparison between the photographed image from the intruder detection camera 560 and the face photograph of the passerby registered in the database 830 as the IC card information of the IC card 580. If the results of the comparison match, it is determined that the person is a normal passerby. If the result of the comparison does not match, it is determined that the passer-by 220 is an illegal passer-by, and a display display (not shown) in the management room adjacent to the entrance / exit gate 5 indicates that there is an abnormality. Display and report to the security administrator that an unauthorized passer has passed. At the same time, the integrated management system 7 also displays on the display system 90 that an unauthorized passer-by has entered the entrance. For example, a message such as “There is a possibility that an unauthorized passer entered the first entrance gate at XX hours and XX minutes” is displayed.

  In addition, the entrance and exit times of the port facilities are regulated, so that the gate facility opens at a predetermined opening time (for example, 8:00 in the morning) and closes at a predetermined closing time (for example, at 5 pm). Is set. By using this, the information processing device 820 of the integrated management system 70 measures whether or not a passer-by who has normally entered the entrance gate 501a or 501b has exited from the exit gate 550a or 550b within a predetermined closing time. To do. If a passerby who has passed through the entrance gates 501a and 501b has not left the exit gates 550a and 550b by a predetermined closing time, it is determined that the passerby has stayed illegally. When a passerby staying in an unauthorized manner is detected, the information processing apparatus 820 of the integrated management system 70 displays a warning message indicating that an unauthorized visitor is present on the display system 90. Also, the integrated management system 70 displays information on the IC card user's face photograph stored in the internal database 830 on the display system 90.

  FIG. 13 is a diagram showing a display example of the display system 90 according to the first embodiment of the present invention. This display example is displayed on a display screen constituting the display system 90. In the figure, a screen 901 is a display image schematically showing a plan view in a harbor facility, and a screen 902 shows a photographed image of the specified surveillance camera. Circle numbers 1, 2 and 3 indicate detected intruders, triangle numbers 1, 2 and 3 indicate guards deployed in the wharf, and square number 1 indicates a ship that has entered the wharf FIG. A screen 902 on the lower right in the figure shows an image of the surveillance camera (8, 9, 10) or the omnidirectional image sensor 170 that detects the intruder. In addition, arrows 910, 911, and 912 in the figure indicate the intruder's intrusion route tracked by the monitoring camera (8, 9, 10). Moreover, the black circle mark in a figure has shown the location of each sensor arrange | positioned in a harbor facility.

  In the display image 901 of the display system 90, display information of circle numbers, triangle numbers, and square numbers is transmitted from the information processing device 820 of the integrated management system 70. In the same display image, arrows 910, 911, and 912 are transmitted from the information processing device 820 of the integrated management system 70, and are based on intruder image tracking information by the monitoring camera (8, 9, 10). It shows the trajectory of the movement path of the intruder generated. Further, the position information of the guard in the display image 901 of the display system 90 is generated from the information processing device 820 of the integrated management system 70 based on the position information transmitted from the portable terminal 950 that the guard keeps. Is. The display system 90 displays the trajectory information of the intruder's movement route and the position information of the guards generated by the integrated management system 70 in the display image 901 on the display. A display image 902 of the display system 90 indicates a captured image that is captured by the monitoring camera (8, 9, 10) or the omnidirectional image sensor 170 and transmitted via the integrated management system 70.

  As described above, the display system 90 can display not only the position where the intruder is detected but also the deployment status of the guards. Thereby, the monitoring person who monitors the display screen of the display system 90 can grasp the position of the guard who is closest to the position where the intruder is detected. Thus, for example, a monitoring person communicates with the wireless device 901 of the portable terminal 950 using the wireless communication device 840 of the integrated management system 70, and for the guard who is closest to the position where the intruder is detected. The location of the intruder can be reported. In the example shown in the figure, only a part of the surveillance camera image is displayed, but it is needless to say that it may be displayed using a plurality of screens.

  FIG. 14 is a diagram illustrating a configuration of a mobile terminal 950 that is always provided by a security guard. As shown in the figure, this portable terminal 950 includes a radio 901 for performing wireless communication with a wireless communication device 840 provided in the integrated management system 70, and GPS reception indicating the location (self-position) of the portable terminal. And a display unit 903 that indicates the position measured by the GPS receiver 902 and the position of the intruder.

  The integrated management system 70 distributes the image of the intruder taken by the monitoring camera (8, 9, 10) to the mobile terminal via the wireless communication device 840. At the same time, the detected position of the intruder is transmitted to the display unit 903. At this time, the self-position measured by the GPS receiver 902 is also displayed on the display unit 903. As a result, the security guard can know where he / she can go to the intruder in the closest position. The self-position measured by the GPS receiver 902 is transmitted to the wireless communication device 840 of the integrated management system 70 through the wireless device 901. The integrated management system 70 transmits the transmitted self-location information to the display system 90. Needless to say, the wireless communication device 840 of the integrated management system 70 is installed near the display system 90.

  The integrated management system 70 can also transmit image information to the wireless device 901 of the portable terminal 950 via the wireless communication device 840. For example, captured images of intruders captured by the monitoring cameras 8, 9, and 10 are distributed to the mobile terminal 950 via the integrated management system 70. Accordingly, the portable terminal 950 can transmit the captured image of the intruder in the screen of the display unit 903.

  FIG. 15 is a diagram showing a system configuration of the integrated management system 70. In the figure, the integrated management system 70 includes an input unit 810, an information processing device 820, a database 830, and a wireless communication device 840.

  The image of the intruder acquired by each sensor system (the monitoring camera system 40, the intrusion monitoring system 50, the water area monitoring system 60) is transmitted to the information processing apparatus 820 as described above. The information processing apparatus 820 accumulates the transmitted intruder image information in the database 830 together with the intruder detection time. These detection times are measured using an internal clock according to the detection of an intruder in each sensor system, and the measurement data at this time is transmitted to the information processing device 820.

  In addition, the image tracking information of the intruder measured by each sensor system is transmitted to the information processing device 820, and the information processing device 820 obtains the movement trajectory information of the intruder by calculation processing as described above. In addition, the information processing device 820 performs a coincidence comparison between the IC card information stored in the database 830 and the IC card information transmitted from the entry / exit management system 80. The database 830 stores IC card information of passers who are allowed to pass as described above. In addition, information on face photographs is also registered in the IC card information.

  The wireless communication device 840 performs wireless communication with the mobile terminal 950 possessed by the security guard. Thereby, the self-position information of the guard transmitted from the guard's portable terminal 950 is acquired. The description of the information processing device 820 is as described above in the description of each sensor system (the monitoring camera system 40, the intrusion monitoring system 50, the water area monitoring system 60), and the portable terminal 950. I won't go into details.

  Next, the outline of the monitoring operation flow of the monitoring system according to the first embodiment will be described with reference to FIG. In the figure, each sensor system 40, 50, 60 starts to operate at night or at a predetermined time (step S100).

  First, in step S101, the beam sensor 400 detects a ship that passes between wharves. If a ship is detected, the monitoring camera 26 is set to a wide angle in step S102, and the line of sight is directed to the monitoring line direction of the beam sensor 400. When there is a state change in this image, the position where the state change is detected is zoomed up to obtain a zoom image of the ship. In step S103, the zoom image is displayed on the display system 90. Further, in step S104, the display system 90 displays that the ship has entered the berth, so that warning is strengthened.

  In step S111, the millimeter wave sensor monitoring system 110 detects an intruder. When an intruder is detected, in step S112, the line of sight of the monitoring cameras 8 and 9 is directed to the position where the intruder is detected by the millimeter wave sensor, and a zoom image of the intruder is obtained. Further, in step S113, image tracking of the intruder whose image has been acquired is executed, and the movement trajectory of the intruder is displayed on the display system 90.

  In step S121, the optical sensor 18 detects an intruder. In step S122, the omnidirectional image sensor 170 identifies the presence area of the intruder. In step S123, the surveillance camera 10 zooms in on the area where the intruder is present, captures the intruder in the image, and executes image tracking. The acquired image and the movement trajectory of the intruder are displayed on the display system 90.

  Furthermore, in step S131, the entrance / exit management system monitors the entrance / exit of the passerby and detects the presence / absence of the passerby's abnormality. If there is an abnormality, it is determined in step S132 that an intruder that the passer is not allowed to pass is passing, and an image of the passer (intruder) is displayed on the display system 90.

  Next, in step S <b> 140, the intruder image information is distributed to the security guard portable terminal 950, and the intruder image is displayed on the display screen of the portable terminal 950.

  Since the first embodiment is configured as described above, the millimeter wave sensor is arranged so that the transmission beam is radiated along the wharf of the wharf so that the transmission beam of the millimeter wave sensor passes through the field of view. In addition, by providing an imaging device supported so that the line of sight can be swiveled, it is possible to reliably detect a human body or an object that climbs the wharf of the wharf and enters the wharf, and reduces the number of sensors, thereby reducing the price. A monitoring system can be realized.

  In addition, by providing the optical sensors 18 and 20 and the omnidirectional image sensor 19, a specific area (a connection portion between the wharf and the land and the periphery of the shielding object) can be monitored at a specific time, and an intruder can be reliably detected. Can be detected. In addition, because it can monitor the surroundings of shields such as warehouses and containers, it eliminates blind spots for monitoring, and does not interfere with the transportation of workers and workers working around the sensor during the day, and prevents intruders at night. It can function as a trap sensor that can be monitored.

  In addition, since it is possible to monitor the ship entering the pier from the sea using the beam sensor 400, when the intrusion of the ship is detected, the number of guards is compensated to strengthen the monitoring system in the pier. Or the number of guards can be increased at a specific pier, so that more secure intruder monitoring can be performed.

  In addition, by installing an entrance / exit management system 80 at a limited entrance / exit in a port facility surrounded by a fence, and managing ID of passers-by entering / exiting the port facility, Unauthorized stayers who have entered or exited but have not exited can be specially monitored. Thereby, more effective monitoring can be realized. Furthermore, it is possible to efficiently monitor entry / exit of unauthorized intruders in the daytime.

  For example, it is possible to detect where a stowaway person who has storked in a ship and invaded the port facility during the day is about to leave the entrance / exit where the entrance / exit management system 80 is installed. At this time, an intruder who has entered the harbor facility at night may be detected by the intrusion monitoring system 50 (particularly, the optical sensor 18) as it moves from the pier toward the entrance at night.

  Furthermore, by transmitting the location of the intruder detected by the monitoring system and the image information of the intruder through the guard's mobile terminal, the information on the intruder can be quickly and reliably transmitted to the guard.

It is a figure which shows the apparatus structure of the monitoring system by Embodiment 1 of this invention. It is a figure which shows the system configuration | structure of the monitoring system by Embodiment 1 of this invention. 1 is a system configuration diagram of a surveillance camera system according to Embodiment 1 of the present invention. FIG. It is an apparatus block diagram of the millimeter wave sensor monitoring system by Embodiment 1 of this invention. 1 is a system configuration diagram of a millimeter wave sensor monitoring system according to Embodiment 1 of the present invention. FIG. It is an apparatus block diagram of the optical sensor monitoring system by Embodiment 1 of this invention. 1 is a system configuration diagram of an optical sensor monitoring system according to Embodiment 1 of the present invention. It is a figure which shows the apparatus structure of the optical sensor by Embodiment 1 of this invention. 1 is a system configuration diagram of a water area monitoring system according to Embodiment 1 of the present invention. It is a figure which shows the apparatus structure of the beam sensor 400 in the water area monitoring system by Embodiment 1 of this invention. It is an apparatus block diagram of the entrance / exit management system by Embodiment 1 of this invention. 1 is a system configuration diagram of an entrance / exit management system according to Embodiment 1 of the present invention. FIG. It is a figure which shows the example of a screen display of the display system by Embodiment 1 of this invention. It is a block diagram of the guard's portable terminal by Embodiment 1 of this invention. 1 is a system configuration diagram of an integrated management system 70 according to Embodiment 1 of the present invention. FIG. It is a monitoring operation | movement flowchart of the monitoring system by Embodiment 1 of this invention.

Explanation of symbols

  1a, 1b Wharf, 2 Lands, 4 Fences, 5a, 5b Entrance / exit gates, 8, 9 Surveillance cameras, 10 Surveillance cameras, 15, 16 Millimeter wave sensors, 18 Optical sensors, 19 Optical sensors with omnidirectional image sensors, 40 Surveillance Camera system, 50 Intrusion monitoring sensor system, 70 Integrated management system, 80 Entrance / exit management system, 90 Display system, 110 Millimeter wave sensor monitoring system, 120 Optical sensor monitoring system, 610 Intrusion detection sensor, 170 Omni-directional image sensor, 400 beam Sensor.

Claims (12)

A distance sensor arranged so that a transmission beam is radiated along the wharf of the wharf, and detecting a distance based on a reflected wave reflected by a human body or an object;
An imaging device supported so as to be able to swivel the line of sight so that the transmission beam of the distance sensor passes through the field of view;
Based on the distance to the human body or object detected by the distance sensor, a control device that turns the imaging device so that the line of sight is directed in the direction of presence of the human body or object,
Monitoring system with. A millimeter wave sensor arranged to radiate a transmission beam along the wharf of the wharf and detecting a reflected wave reflected by a human body or an object;
An imaging device supported so as to be able to swivel the line of sight so that the transmission beam of the millimeter wave sensor passes through the field of view;
A control device for turning the imaging device so that the line of sight is directed in the direction of presence of the human body or object detected by the millimeter wave sensor;
Monitoring system with. The millimeter wave sensor measures the distance information of the detected human body or object,
The monitoring system according to claim 2, wherein the control device turns the imaging device so as to have a position corresponding to the measured distance information in a visual field. The monitoring system according to claim 2, wherein the imaging device performs a turning operation so that a transmission beam of the millimeter wave sensor exists in a turning surface of the imaging device. The monitoring system according to claim 2, wherein the imaging device zooms the zoom lens when the line of sight is directed in the presence direction of the human body or the object detected by the millimeter wave sensor. 6. The monitoring system according to claim 1, wherein a human body is detected based on a feature amount of a captured image of the imaging device. A projector that can be raised and lowered so that it is lowered when not needed and raised when necessary, and is arranged away from the projector, and can be raised and lowered so that it is lowered when necessary and raised when necessary The monitoring system according to claim 1, further comprising an optical sensor including a light receiver that receives transmission light from the projector. An omnidirectional image sensor having a wide-angle or omnidirectional field of view and having an imaging unit in which the optical sensor is disposed in the field of view, which can be moved up and down so as to be lowered when necessary and lifted when necessary The monitoring system according to claim 7, further comprising: The optical sensor is provided on a side surface of a rod-shaped member, and the rod-shaped member descends to a height equal to or lower than the ground level when necessary, and rises to a height at which a human body can be detected when not needed. The monitoring system according to claim 7 or 8. The monitoring system according to claim 7 or 8, wherein the optical sensor is provided on the base side of the wharf and a plurality of sensors are arranged in a row. 9. The monitoring system according to claim 7, wherein the optical sensor is arranged around a shield that forms a blind spot from another monitoring camera. The wharf is surrounded by a fence in the area connected to the land, the fence is provided with an entrance / exit gate, and the entrance / exit gate is provided with an entrance / exit management device for managing entry / exit inside / outside the fence. The monitoring system according to any one of claims 1 to 11.

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