JP4630137B2 - Object monitoring system, object monitoring method, and object monitoring program - Google Patents

Description

  The present invention relates to an object monitoring system, an object monitoring method, and an object monitoring program, and more particularly, an object monitoring that monitors changes in an object using an image obtained by imaging a construction object such as a face and a slope. The present invention relates to a system, an object monitoring method, and an object monitoring program.

  Construction objects such as tunnel faces, slopes, or buildings being demolished may cause enormous damage if they collapse, so there is a risk of collapse by constantly monitoring the condition of the object In such cases, it is necessary to take appropriate measures such as taking countermeasures or evacuating personnel.

  Conventionally, as a method for monitoring a tunnel face (tunnel collapse prediction method), for example, Patent Document 1 is disclosed. According to such a method for monitoring a tunnel face, the tip of a steel bar is fixed in the ground of the face, an underground displacement target is attached to the exposed end of the steel bar, and a surface displacement target is attached to the surface of the face, and laser The displacement speed of the face ground is measured by measuring the difference in the amount of movement between the underground displacement target and the surface displacement target with a displacement measuring instrument.

As another method for monitoring a tunnel face (tunnel face displacement warning method), for example, Patent Document 2 is disclosed. According to such a method, each displacement amount at a plurality of observation points set on the tunnel face is measured by laser ranging, and whether or not a sign indicating occurrence of a danger such as a collapse of a natural ground appears based on the displacement amount. By determining, a warning is issued to the worker in response to the determination result.
Japanese Patent Laid-Open No. 9-287948 (paragraphs 0007 to 0014, FIG. 1) Japanese Patent Laid-Open No. 2001-194112 (paragraphs 0023 to 0027, FIG. 1)

  However, the conventional method for monitoring a tunnel face has a problem in that it requires labor and cost since a steel face is installed by drilling a face (ground) that is an object to be monitored.

  Moreover, since the conventional method for monitoring a tunnel face uses a laser measuring device, it is necessary to point the laser measuring device to the observation point one by one, which is troublesome. For this reason, when the monitoring range becomes large, the measurement work takes time, which increases work time and delays determination. In addition, in order to automate the monitoring work, a large-scale automatic control device for the laser measuring instrument is required, resulting in an increase in cost.

  The present invention has been made to solve such a problem. An object monitoring system, an object monitoring method, and an object monitoring system capable of easily monitoring a change in an object to be monitored using an image obtained by imaging a monitoring range. It is an object to provide an object monitoring program.

An object monitoring system according to the present invention includes a plurality of markers installed within a monitoring range of a monitoring target, an imaging device that images the monitoring range at predetermined time intervals, and image data captured by the imaging device. An object monitoring system comprising: an image processing device to be processed; and an output device that outputs a processing result by the image processing device, wherein the image processing device is configured to use the reference image data captured by the imaging device to A reference marker extracting unit for extracting a marker; a reference distance calculating unit for calculating a reference distance between the markers extracted from the reference image data; and extracting each marker from the current image data captured by the imaging device A current marker extraction unit, a current distance calculation unit that calculates a current distance between the markers extracted from the current image data, and a base between the markers. A distance change amount calculation unit for calculating a change amount of the distance between the markers from the difference between the distance and the current distance; and at least one of the change amounts of the distance between the markers is equal to or greater than a threshold A distance change amount determination unit that transmits a predetermined signal to the apparatus; a reference line segment image extraction unit that extracts an image on a line segment connecting the markers from the reference image data as a reference line segment image; and the current image A current line segment image extracting unit that extracts an image on a line segment connecting the markers from data as a current line segment image, and comparing the reference line segment image and the current line segment image to detect a difference point And a difference point detecting unit .

The object monitoring method according to the present invention is an object monitoring method using the above-described object monitoring system, and images the monitoring range by the imaging device to generate reference image data serving as a monitoring standard. A reference image capturing step, a reference marker extraction step for extracting the markers from the reference image data by the reference marker extraction unit, and a space between the markers extracted from the reference image data by the reference distance calculation unit. A reference distance calculating step for calculating a reference distance, a current image capturing step for capturing the monitoring range by the image capturing device to generate current image data to be compared, and the current marker extracting unit from the current image data The current marker extraction step for extracting each marker and the current distance calculation unit A current distance calculating step for calculating a current distance between the extracted markers, and a distance change amount calculation unit based on a difference between a reference distance between the markers and the current distance by the distance change amount calculation unit. The distance at which a predetermined signal is transmitted to the output device when at least one of the distance changes between the markers is greater than or equal to a threshold by the distance change amount calculating step for calculating A change amount determining step, a reference line segment image extracting step of extracting an image on a line segment connecting the markers from the reference image data as a reference line segment image, and a line connecting the markers from the current image data A current line segment image extracting step for extracting the image above the segment as a current line segment image; and a difference point detecting step for comparing the reference line segment image and the current line segment image to detect a difference point. Tsu and up, characterized in that it comprises a.

  According to this configuration, first, the monitoring range is imaged at a predetermined time interval by the imaging device. Here, for convenience of explanation, among the image data captured by the image capturing apparatus, image data serving as a reference for monitoring is defined as reference image data, and an image captured after the reference image data is defined as current image data. It is defined as

  Next, in the image processing apparatus, the reference marker extraction unit extracts an image of the marker installed in the monitoring range from the reference image data. A number is preferably assigned to each extracted marker.

  Next, the distance between the markers extracted from the reference image data (hereinafter referred to as “reference distance”) is calculated by the reference distance calculation unit. The reference distance between the markers is preferably stored in association with the markers at both ends, for example, in a data storage device connected to the image processing device.

  Next, an image of a marker installed in the monitoring range is extracted from the current image data by the current marker extraction unit. It is preferable to assign a number corresponding to the marker number extracted from the reference image data to each extracted marker.

  Next, the distance between the markers extracted from the current image data (hereinafter referred to as “current distance”) is calculated by the current distance calculation unit. The current distance between the markers is preferably stored in the data storage device in association with the markers at both ends.

  Next, the distance change amount calculation unit calculates the change amount of the distance between the markers from the difference between the reference distance between the markers and the current distance.

The distance change amount determination unit transmits a predetermined signal to the output device when at least one of the change amounts of the distance between the markers is equal to or greater than a threshold value. Further, the reference line segment image extraction unit extracts an image on the line segment connecting the markers from the reference image data as a reference line segment image. Further, the current line segment image extraction unit extracts an image on the line segment connecting the markers from the current image data as a current line segment image. Then, the difference point detection unit compares the reference line segment image and the current line segment image, and detects the difference between the two.
That is, according to this configuration, it is possible to detect a change in the monitoring target using an image obtained by imaging the monitoring range, and to output a predetermined signal to the output device according to the amount of change in the distance between the markers. Moreover, according to this structure, the change occurrence location of the monitoring target object can be specified.

  Here, the marker may be any part as long as it can be distinguished from other parts on the surface of the object, may be a characteristic point of the object itself, may be attached to the surface of the object later, It may be colored. For example, a color or shape that can be easily distinguished from the target (target plate, etc.), a reflector such as a reflective sheet for a road sign or a prism, or a light emitter of a specific color (light bulb) LED, etc.) can be used. In addition, when coloring, it is preferable to use a color that can be easily distinguished from the object such as red, blue, and green.

  Moreover, it is preferable to use a digital camera or the like provided with a CCD image pickup device that can capture an image as electronic data. Moreover, it is preferable to set suitably about the time interval which images an imaging range according to the condition of the field.

  The output device may be any output method such as video and audio as long as the processing result can be transmitted to humans. For example, a display, a printer, or an alarm device is preferably used as the output device.

  As the data storage device, a known storage device can be used as appropriate. For example, a memory device such as a RAM, a magnetic recording medium such as a flexible disk, an optical recording medium such as a CD or a DVD, a hard disk device, or the like is used. Is preferred.

  A known image processing method can be used as a method for extracting a marker from the reference image data. For example, the marker can be extracted by filtering the reference image data based on a specific color, luminance, brightness, and the like.

  The distance between the markers is preferably calculated based on the area centroid point (centroid) of the extracted image of each marker, for example. In addition, the distance (interval) on image data can be used for the distance between each marker instead of an actual distance.

  Further, as a method of associating the marker extracted from the reference image data with the marker extracted from the current image data, for example, the coordinates of the two may be compared and the closest coordinates may be associated with each other. The correspondence may be determined based on the color or shape of the image, or the correspondence may be determined by combining these methods.

  Further, as the predetermined signal transmitted to the output device, for example, an alarm issuing signal for causing the alarm device to generate an alarm or a signal including a processing result displayed on the display is preferable. Further, the threshold value may be set in stages, and the signal may be set in accordance with each stage.

  Further, the image processing device includes a reference coordinate calculation unit that calculates a reference coordinate of each marker extracted from the reference image data, and a current coordinate that calculates a current coordinate of each marker extracted from the current image data A calculation unit; a coordinate displacement amount calculation unit that calculates a displacement amount of each marker from a difference between the reference coordinates and the current coordinate; and a predetermined displacement in the output device when the displacement amount of each marker is equal to or greater than a threshold value. And a coordinate displacement amount determination unit that transmits the above signal.

  According to such a configuration, the reference coordinates of each marker extracted from the reference image data are calculated by the reference coordinate calculation unit, and the current coordinates of each marker extracted from the current image data are calculated by the current coordinate extraction unit. The displacement amount of each marker is calculated from the difference between the current coordinate and the current coordinate, and when the displacement amount of each marker is greater than or equal to a threshold value, the coordinate displacement amount determination unit outputs a predetermined signal to the output device. Sent. Therefore, for example, even if the distance between the markers does not change due to the displacement of the entire monitoring object (or the entire monitoring range), a change in the monitoring object is detected based on the displacement of the coordinates of each marker. The signal can be transmitted to the output device.

  The coordinates of each marker are preferably calculated, for example, by determining the area centroid (centroid) of the extracted image of each marker. In addition, the coordinate of each marker can use the coordinate on image data instead of an actual coordinate.

  In the object monitoring system according to the present invention, it is preferable that at least one of the plurality of markers is installed at a fixed point.

  According to such a configuration, even when the monitoring object and the imaging apparatus move (displace) together, at least one of the plurality of markers is installed at the fixed point. Based on the change in the distance to the object or the change in the coordinates of the fixed point, a change in the monitoring object can be detected and a signal can be transmitted to the output device.

  The object monitoring system according to the present invention includes a plurality of the imaging devices that respectively capture different monitoring ranges, and one monitoring range has an overlapping portion with another monitoring range, and the overlapping portion includes It is preferable that at least one of the markers is included.

  According to this configuration, since the plurality of imaging devices that respectively capture different monitoring ranges are provided, a wider range can be monitored. In addition, one monitoring range has an overlapping portion with another monitoring range, and the overlapping portion includes at least one of the markers. Therefore, monitoring can be performed while associating different monitoring ranges. Therefore, it is possible to eliminate a gap between the monitoring ranges and prevent monitoring omission. Further, by providing the above-described stationary marker in one monitoring range, the marker in the other monitoring range can be associated with the stationary marker. Therefore, even when the other monitoring range (monitoring object) and the imaging apparatus are displaced together, the displacement can be detected.

The object monitoring program according to the present invention is imaged by an imaging device that images the monitoring range in order to monitor the monitoring target based on image data obtained by imaging the monitoring range of the monitoring target. Reference marker extraction means for extracting a plurality of markers installed in the monitoring range from the reference image data, reference distance calculation means for calculating a reference distance between the markers extracted by the reference marker extraction means, Current marker extraction means for extracting each marker from current image data captured by the imaging device, current distance calculation means for calculating a current distance between the markers extracted by the current marker extraction means, and between the markers Distance change amount calculating means for calculating a change amount of the distance between the markers from the difference between the reference distance and the current distance; If at least one of the amount of change in distance between the mosquito is not less than the threshold, the distance variation determining means for transmitting a predetermined signal to the output device, the image from the reference image data on a line segment connecting between the respective markers As a reference line segment image, a reference line segment image extraction unit, a current line segment image extraction unit for extracting an image on a line segment connecting the markers from the current image data as a current line segment image, the reference line segment It is characterized by functioning as a difference point detection means for detecting a difference point by comparing an image with the current line segment image .

  According to such a program, the image processing apparatus according to the object monitoring system can be easily configured using a computer.

Further, the object monitoring system according to the present invention, respectively imaging a plurality of markers that are placed in a plurality of monitoring range, the different monitoring ranges ones of said plurality of monitoring range at predetermined time intervals of the monitored object a plurality of imaging devices, in the object monitoring system including an image processing device for processing the captured image data, and an output device for outputting the result of processing by the image processing apparatus by the image pickup device, wherein the plurality of monitoring Among the ranges, one monitoring range has an overlapping portion with another monitoring range, and the overlapping portion includes at least one of the markers, and the plurality of the plurality of markers installed in the other monitoring range are included. At least one of the marker is placed on the fixed point, the image processing apparatus includes a reference marker extraction unit for extracting the respective marker from the reference image data imaged by the imaging device, wherein A reference coordinate calculation unit that calculates reference coordinates of each marker extracted from quasi-image data, a current marker extraction unit that extracts each marker from current image data captured by the imaging device, and the current image data A current coordinate calculator that calculates the current coordinates of each of the extracted markers, a coordinate displacement calculator that calculates a displacement of each marker from the difference between the reference coordinates and the current coordinates, and the coordinates of each marker A coordinate displacement amount determination unit that transmits a predetermined signal to the output device when at least one of the displacement amounts is greater than or equal to a threshold value , and the image processing device is installed in the one monitoring range A plurality of markers installed in the one monitoring range, detected via the markers installed in the overlapping range, when the displacement amount of the coordinates of the plurality of markers is less than the threshold value. And whether or not the one monitoring range and the imaging device that images the one monitoring range have changed together from a positional relationship between the first monitoring range and the marker placed at a fixed point in the other monitoring range. A predetermined signal is transmitted to the output device when it is detected that the one monitoring range and the imaging device that images the one monitoring range have changed together .

The object monitoring method according to the present invention is an object monitoring method using the above-described object monitoring system, and images the monitoring range by the imaging device to generate reference image data serving as a monitoring standard. A reference image capturing step, a reference marker extraction step for extracting each marker from the reference image data by the reference marker extraction unit, and a reference coordinate calculation unit for calculating a reference coordinate of each marker extracted from the reference image data A reference coordinate calculation step that is calculated by: a current image capturing step that captures the monitoring range by the image capturing device to generate current image data to be compared; and each marker from the current image data by the current marker extraction unit A current marker extracting step for extracting a current position of each marker extracted from the current image data A current coordinate calculation step for calculating the current coordinate calculation unit, a coordinate displacement amount calculation step for calculating a displacement amount of each marker from the difference between the reference coordinate and the current coordinate by the coordinate displacement amount calculation unit, A coordinate displacement amount determining step for transmitting a predetermined signal to the output device when at least one of the coordinate displacement amounts of the markers is greater than or equal to a threshold by the coordinate displacement amount determining unit; and the one monitoring range. A plurality of markers installed in the one monitoring range detected via the markers installed in the overlapping range when the displacement amount of the coordinates of the plurality of markers installed in is less than the threshold Whether or not the one monitoring range and the imaging device that images the one monitoring range fluctuate together from the positional relationship with the marker placed at a fixed point in another monitoring range Includes a step of detecting the in the case where the imaging apparatus for imaging a monitoring range of the said first monitoring range one is detected to be varied with a step of transmitting a predetermined signal to the output device, the It is characterized by the following.

  According to this configuration, first, the monitoring range is imaged at a predetermined time interval by the imaging device.

  Next, in the image processing apparatus, the reference marker extraction unit extracts an image of the marker installed in the monitoring range from the reference image data. A number is preferably assigned to each extracted marker.

  Next, the reference coordinate calculation unit calculates the reference coordinates of each marker extracted from the reference image data. The reference coordinates of each marker are preferably stored in the data storage device in association with each marker.

  Next, an image of a marker installed in the monitoring range is extracted from the current image data by the current marker extraction unit. It is preferable to assign a number corresponding to the marker number extracted from the reference image data to each extracted marker.

  Next, the current coordinate calculation unit calculates the current coordinates of each marker extracted from the current image data. The current coordinates of each marker are preferably stored in the data storage device in association with each marker.

  Next, a displacement amount of each marker is calculated from a difference between the reference coordinates and the current coordinates by a coordinate displacement amount calculation unit.

When at least one of the coordinate displacement amounts of the markers is equal to or greater than a threshold value, the coordinate displacement amount determination unit transmits a predetermined signal to the output device.
That is, according to such a configuration, the displacement of the marker placed on the monitoring object is detected using an image obtained by imaging the monitoring range, and a predetermined signal is output to the output device according to the displacement amount of the coordinate of each marker. Can do. It should be noted that among the displacement amounts of each marker, the number of markers to be transmitted when the signal exceeds the threshold may be set as appropriate according to the situation at the site, and may be one or plural.
Moreover, according to this structure, since the said some imaging device which images each different monitoring range is provided, a wider range can be monitored. In addition, one monitoring range has an overlapping portion with another monitoring range, and the overlapping portion includes at least one of the markers. Therefore, monitoring can be performed while associating different monitoring ranges. Therefore, it is possible to eliminate a gap between the monitoring ranges and prevent monitoring omission. In addition, by providing the above-described stationary marker in the other monitoring range, the marker in one monitoring range and the stationary marker can be associated with each other. Therefore, even when one monitoring range (monitoring object) and the imaging apparatus are displaced together, the displacement can be detected.

The object monitoring program according to the present invention includes a computer for monitoring the monitoring object based on image data obtained by imaging the monitoring area of the monitoring object in the object monitoring system. The reference marker extraction means for extracting a plurality of markers set in the monitoring range, and the reference coordinates of each marker extracted by the reference marker extraction means are calculated from the reference image data imaged by the imaging device for imaging Reference coordinate calculation means, current marker extraction means for extracting each marker from current image data in the monitoring range imaged by the imaging device, and current coordinates of each marker extracted by the current marker extraction means Current coordinate calculation means, the amount of displacement of each marker from the difference between the reference coordinate between each marker and the current coordinate Coordinate displacement amount calculation means for calculating, wherein when at least one of the displacement amount of each marker is equal to or greater than the threshold, the coordinate displacement amount determination means for transmitting a predetermined signal to the output device, installed in a monitoring range of the one A plurality of markers installed in the one monitoring range and the other monitoring ranges detected via the markers installed in the overlapping range when displacement amounts of coordinates of the plurality of markers are less than the threshold value Means for detecting whether or not the one monitoring range and an imaging device for imaging the one monitoring range have changed together from a positional relationship with the marker placed at a fixed point in And a means for transmitting a predetermined signal to the output device when it is detected that the image pickup device for picking up the image of the one monitoring range fluctuates together .

  According to such a program, the image processing apparatus according to the object monitoring system can be easily configured using a computer.

  According to the present invention, it is possible to provide an object monitoring system, an object monitoring method, and an object monitoring program capable of easily monitoring a change in a monitoring object using an image obtained by imaging a monitoring range. For this reason, it is not necessary to use a laser measuring instrument, the automation of the monitoring work is facilitated, and the cost can be suppressed.

  The best mode for carrying out the present invention will be described in detail with reference to the drawings. In the description, the same elements are denoted by the same reference numerals, and redundant description is omitted.

[First Embodiment]
(Configuration of the object monitoring system 1)
FIG. 1 is a perspective view showing a configuration of an object monitoring system according to the first embodiment. FIG. 2 is a block diagram illustrating a main configuration of the object monitoring system according to the first embodiment.
The object monitoring system 1 according to the first embodiment is a system that captures an image of the face K of the tunnel T that is the object to be monitored, detects a change in the face K based on the image, and issues an alarm or the like.
As shown in FIG. 1, the object monitoring system 1 according to the first embodiment includes a plurality of markers 2 installed on the face K of the tunnel T, and an imaging device 3 that images an imaging range A including the markers 2. The image processing device 4 that processes the image captured by the imaging device 3, the output device 5 that outputs the processing result of the image processing device 4, and the image processing device 4 are connected to store the image and the processing result. The data storage device 6 and the input device 7 for inputting commands and the like to the image processing device 4 are configured.

(Marker 2)
The marker 2 is a mark serving as a reference for monitoring provided on the surface of the face K. In this embodiment, it is provided by applying a paint (for example, a green paint) of a color that can be distinguished from the natural color of the face K to the face K.
In addition, the marker 2 is not restricted to such a coating material, For example, you may install a target board, a reflecting plate, an LED lamp etc. in a natural ground.

  As shown in FIG. 1, a plurality of markers 2 are installed in the imaging range A of the imaging device 3. Thereby, the distance between the markers 2 can be measured. The installation interval of the marker 2 is appropriately adjusted according to the state of the face K. For example, if there is an easily displaceable part such as a fault or crack in the ground of the face K, many markers 2 may be arranged in the vicinity thereof.

(Imaging device 3)
The imaging device 3 is a device that captures an image of the face K, and includes, for example, a digital camera. The imaging device 3 is configured to capture the face K at predetermined time intervals. Specifically, it is preferable to configure with a timer function or to capture images at a predetermined timing in accordance with a command from the image processing device 4. Thereby, the imaging device 3 can capture the reference image serving as a monitoring reference and the current image serving as the monitoring target.
The imaging device 3 is connected to the image processing device 4, and the captured image is transmitted to the image processing device 4 as reference image data or current image data.

(Image processing apparatus 4)
The image processing device 4 is a device that processes an image picked up by the image pickup device 3 and detects a change in the face K. The image processing device 4 is configured by a computer including a predetermined program, for example.
As shown in FIG. 2, the image processing apparatus 4 includes a reference marker extraction unit 401 that extracts the marker 2 from the reference image data, a reference coordinate calculation unit 402 that calculates the reference coordinates of the extracted marker 2, and the calculated reference A reference distance calculation unit 403 that calculates a reference distance between the markers 2 based on the coordinates, a current marker extraction unit 404 that extracts the marker 2 from the current image data, and a current coordinate that calculates the current coordinates of the extracted marker 2 A calculation unit 405; a current distance calculation unit 406 that calculates a current distance between each marker 2 based on the current coordinates; a distance change amount calculation unit 407 that calculates a distance change amount based on the reference distance and the current distance; A distance change amount determination unit 408 that determines a change in the monitoring target based on a change amount of the distance between the markers 2 and a reference line segment that extracts a reference line segment image between the markers 2 from the reference image data An extraction unit 409, a current line segment image extraction unit 410 that extracts a current line segment image between each marker 2 from the current image data, and a difference point detection that detects a difference between the reference line segment image and the current line segment image Part 411.
The function of each functional block of the image processing means will be described in detail in the flow of the object monitoring method described later.

  As shown in FIG. 1, the image processing device 4 is connected to a data storage device 6, and the reference image data and current image data captured by the imaging device 3, processed images processed by the image processing device 4, and processing Data can be stored in the data storage device 6.

(Output device 5)
The output device 5 is a device that outputs, for example, an alarm or an image according to the processing result of the image processing device 4. In the present embodiment, the output device 5 includes a display 501 and an alarm device 502 as shown in FIG. Yes.

(Data storage device 6)
The data storage device 6 is a device that stores images picked up by the image pickup device 3 and images and data processed by the image processing device 4, and includes, for example, a memory device such as a RAM or a hard disk device.
As shown in FIG. 2, the data storage device 6 stores an image storage unit 601 that stores data related to an image, a coordinate storage unit 602 that stores data related to the coordinates of each marker, and data related to a distance between the markers. A distance storage unit 603. Each storage unit will be described in detail later.

(Input device 7)
The input device 7 is a device for inputting a predetermined command to the image processing device 4, and is composed of, for example, a keyboard and a mouse. An operator of the object monitoring system 1 can input a command from the input device 7 to the image processing device 4 in accordance with an instruction on a screen displayed on the display 501.

(Object monitoring method using the object monitoring system 1)
Next, an object monitoring method using the object monitoring system 1 will be described.
FIG. 3 is a flowchart of the object monitoring method using the object monitoring system according to the first embodiment. FIG. 4 is a diagram schematically showing the flow of processing of the reference image data. FIG. 5 is a diagram schematically showing the contents of the data storage unit, where (a) shows the coordinate storage unit and (b) shows the distance storage unit. FIG. 6 is a diagram schematically showing the flow of processing of current image data. FIG. 7 is a diagram for explaining line segment image extraction and difference point detection.
Hereinafter, it will be described in detail with reference to FIGS.

(Advance preparation)
As a preliminary preparation, as shown in FIG. 1, a plurality of markers 2 are installed on the face K of the tunnel T, and an imaging device 3 is installed so that all the markers 2 are within the imaging range A. And it sets so that the imaging range A may be imaged at a predetermined time interval. In this embodiment, the interval is 5 minutes.

(Reference Image Imaging Step S1)
When the object monitoring system 1 is executed, first, the imaging range A is imaged by the imaging device 3, and reference image data G1 (see FIG. 4A) is generated. In the reference image data G1, as shown in FIG. 4A, the face K and the marker 2 are imaged.
The captured reference image data G1 is transmitted to the reference marker extraction unit 401 of the image processing device 4 and is stored in the image storage unit 601 of the data storage device 6.

(Reference marker extraction step S2)
When the reference image data G1 is transmitted to the reference marker extraction unit 401, the reference marker extraction unit 401 filters the reference image data G1, for example, and extracts the marker 2 from the reference image data G1.

  Specifically, for example, when the marker 2 is a paint (for example, green) applied to the face K, information regarding the color of the marker 2 is input to the image processing device 4 via the input device 7. Then, the reference marker extraction unit 401 extracts only pixels having a green color from the reference image data G1 based on the information regarding the color, and generates reference marker extracted image data G2 (see FIG. 4B). That is, the reference marker extracted image data G2 is data binarized for each marker 2 and other portions. In addition, the reference marker extraction unit 401 assigns a number n (No. 1 to 6) to each group of extracted pixels, that is, the image of the marker 2 (see FIG. 4C). In this embodiment, the number n is assigned in order from the smallest X coordinate, and when the X coordinate is the same, the smallest Y coordinate is prioritized.

(Reference coordinate calculation step S3)
When the reference marker extraction image data G2 is generated, the reference coordinate calculation unit 402 calculates the reference coordinates of each marker 2 based on the reference marker extraction image data G2.

Specifically, as shown in FIG. 4D, the reference coordinate calculation unit 402 sets the center of area of the image of each marker 2 of the reference marker extracted image data G2 with the lower left corner of the image as coordinates (0, 0). Calculate the point (centroid). The area centroid point (X _n , Y _n ) of each marker 2 is calculated by the following calculation formula.
X _n = S _Yn / A _n
Y _n = S _Xn / A _n
Here, X _n is the n-th X-coordinate of the centroid point of the marker 2, Y _n is the Y coordinate of the n-th centroid point of the marker 2, A _n is the area of the n-th marker 2, S _Yn is n The cross-sectional primary moment about the Y-axis of the second marker 2, and S _Xn is the cross-sectional primary moment of the n-th marker 2 about the X-axis.
As shown in FIG. 5A, the calculated reference coordinates of each marker 2 are stored in the reference coordinate storage table T ₁ of the coordinate storage unit 602 in association with the number n of each marker 2 and the imaging time.

In the present embodiment, the area centroid (centroid) of the imaged marker 2 is obtained and used as the coordinates (X _n , Y _n ) of the marker 2. However, the present invention is not limited to this, and other methods are possible. The coordinates of the marker 2 may be determined by
Details of other methods will be described later.

(Reference distance calculation step S4)
The reference distance calculation unit 403 calculates the distance between the markers 2 based on the calculated reference coordinates. At this time, as shown in FIG. 4E, the reference distance calculation unit 403 defines line segments A to I connecting the markers 2 and stores the line segments A to I in the line storage unit 603. Store in the table T ₄ (see FIG. 5B). In the present embodiment, the number of line segments is reduced by defining the line segments so that the line segments do not intersect with each other, and the calculation efficiency is improved.

Then, the reference distance calculation unit 403 calculates the length of the line segments A to I, that is, the reference distance between the markers 2 at both ends, based on the reference coordinates of the markers 2 at both ends of the line segment.
Specifically, the length L _A to _I of each line segment is calculated by the following equation.
L _A = [(X ₂ −X ₁ ) ² + (Y ₂ −Y ₁ ) ² ] ^0.5
L _B = [(X ₃ −X ₁ ) ² + (Y ₃ −Y ₁ ) ² ] ^0.5
...
L _I = [(X ₆ −X ₅ ) ² + (Y ₆ −Y ₅ ) ² ] ^0.5
The calculated reference distance is associated with each line segment A to I and stored in the reference distance storage table T ₅ of the distance storage unit 603 as shown in FIG.

(Reference line segment image extraction step S5)
The reference line segment image extraction unit 409 extracts, as reference line segment image data, an image of a portion overlapping the line segments A to I defined in the reference distance calculation step S4 from the reference image data G1. Specifically, as shown in FIG. 7A, data of pixels within a predetermined width range is extracted along each line segment A to I.
The extracted data is stored in the image storage unit 601 as a reference line segment image in association with each line segment A to I.

(Current image capturing step S6)
When a predetermined time (5 minutes in the present embodiment) elapses after the reference image is captured, the imaging device 3 captures the imaging range A (see FIG. 1), and the current image data G3 (see FIG. 6 (a)). Generated. In the current image data G3, as shown in FIG. 4B, the face K and the marker 2 are imaged. In addition, when the crack C arises in the face K, the crack C will also be imaged.
The captured current image data G3 is transmitted to the current marker extraction unit 404 of the image processing device 4 and stored in the image storage unit 601 of the data storage device 6.

(Current marker extraction step S7)
When the current image data G3 is transmitted to the current marker extraction unit 404, the current marker extraction unit 404 extracts the image of the marker 2 by filtering the current image data G3, for example, to obtain the current marker extraction image data G4 (FIG. 6). (B) is generated. In addition, since the specific extraction method of the marker 2 overlaps with description of reference | standard marker extraction step S2, it abbreviate | omits.

  Here, as shown in FIG. 6C, the current marker extraction unit 404 corresponds to the number n assigned in the reference marker extraction step S2 with respect to the image of each marker 2 extracted from the current image data G3. Assign the number n. Specifically, if the interval between the markers is made sufficiently larger than the assumed displacement amount of each marker 2 (such as a management reference value), the number n is assigned based on the same reference as the reference marker extraction unit 401. A number n corresponding to the number n assigned in the reference marker extraction step S2 can be assigned to each marker 2.

(Current coordinate calculation step S8)
When the current marker extracted image data G4 is generated, the current coordinate calculation unit 405 calculates the current coordinates of each marker 2 based on the current marker extracted image data G4. Specifically, as in the reference coordinate calculation step S3, the coordinates (X _n ′, Y _n ′), (X _n ″, Y _n ″) of the area centroid of each marker 2 in the current marker extracted image data G4. ),... The calculated coordinates are stored as current coordinates in the current coordinate storage table T ₂ of the coordinate storage unit 602 in association with the number of each marker 2 and the imaging time, as shown in FIG.
In the present embodiment, the current coordinate storage table T ₂ are, the plurality of currently stored sequentially configured to be able to coordinate, not limited to this, the current image data G3 are the current coordinates are captured calculated Each time it is done, it may be overwritten and updated.

(Current distance calculation step S9)
The current distance calculation unit 406 calculates the current distance between the markers 2, that is, the lengths L _A to _I ′ and L _A to _I ″ of the line segments _A to _I based on the current coordinates. Is stored in the current distance storage table T ₆ of the distance storage unit 603 as shown in FIG.

(Current line segment image extraction step S10)
The current line segment image extraction unit 410 extracts, as current line segment image data, an image of a portion overlapping the line segments A to I from the current image data G3. Specifically, as shown in FIG. 7A, data of pixels within a predetermined width range is extracted along each line segment A to I.
The extracted data is stored in the image storage unit 601 as a current line segment image in association with each line segment A to I.

(Distance change calculation step S11)
The distance change amount calculation unit 407 calculates a change amount of the distance between the markers 2 (hereinafter referred to as “distance change amount”) based on the reference distance and the current distance stored in the distance storage unit 603. The calculated distance change amount is stored in the distance change amount storage table T ₇ of the distance storage unit 603.

(Distance change amount determination step S12)
The distance change amount determination unit 408 determines whether or not the object has changed based on the change amount of the distance between the markers 2 calculated in the distance change amount calculation step S11. Specifically, the distance change amount determination unit 408 determines whether or not at least one of the change amounts of the distance between the markers 2 is equal to or greater than a preset threshold value using the following determination formula.
Distance change amount = | Current distance-Reference distance | ≥ Threshold Here, the threshold is set as appropriate based on the safety standards for various constructions, the condition of grounds (objects), the importance of construction, and past construction experience. It is good to do.

  If the distance change amount is less than the threshold value, the process returns to step S6 and the monitoring operation (S6 to S12) is repeated.

(Line Segment Image Difference Detection Step S13)
On the other hand, if the distance change amount is equal to or greater than the threshold, the difference detection unit 411 detects the difference by comparing the reference line segment image with the current line segment image.
For example, as shown in FIG. 7C, the current line segment image P _E ″ whose distance change amount is equal to or greater than the threshold value and the reference line segment image P _E corresponding thereto are read, and sequentially from one end. Compare the two images (pixel values) In general, since the portion where the crack C occurs is a dark line image, the pixel values of the reference line segment image and the current line segment image are different. The different point Q is detected, and such a comparison is performed for all current line segment images in which the distance change amount is equal to or greater than the threshold value.

(Difference display step S14)
The difference point detection unit 411 transmits a signal including information regarding the detected image of the difference point Q and the distance d from the end to the display 501. The display 501 displays an image of the detected difference Q and the distance d from the end. Thereby, the operator can grasp | ascertain the state and position of the difference Q. At this time, it is possible to grasp in which direction the crack C has occurred by connecting the difference points Q detected from the line segment images.

(Alarm device operation step S15)
Further, the distance change amount determination unit 408 transmits an alarm issue signal to the alarm device 502 when it is determined that the distance change amount is equal to or greater than a predetermined threshold. As a result, an alarm is issued from the alarm device 502, and predetermined measures such as evacuation of workers are taken.

Thus, according to the object monitoring system 1 according to the first embodiment, a change in the object can be detected using an image obtained by imaging the object.
Moreover, according to the target object monitoring system 1 according to the first embodiment, it is possible to specify the change point of the target object using the line segment image. That is, according to the object monitoring system according to the first embodiment, the change point of the object can be specified without comparing the entire image by simply comparing a part of the reference image and a part of the current image.

  In the first embodiment, the image processing apparatus 4 is configured to include the reference line segment image extraction unit 409, the current line segment image extraction unit 410, and the difference point detection unit 411. May be omitted. Even in such a configuration, it is possible to detect a change in the object based on the amount of change in the distance between the markers 2.

[Second Embodiment]
(Configuration of the object monitoring system 10)
FIG. 8 is a block diagram illustrating a main configuration of the object monitoring system according to the second embodiment.
The object monitoring system 10 according to the second embodiment includes a coordinate displacement amount calculation unit in place of the reference line segment image extraction unit 409, the current line segment image extraction unit 410, and the difference point detection unit 411 (see FIG. 2). The point provided with 412 and the coordinate displacement amount determination part 413 differs from the target object monitoring system 1 which concerns on 1st Embodiment.

Coordinate displacement amount calculation unit 412, the reference coordinates (X _n, Y _n) of each marker 2 calculated by the reference coordinate calculating section 402 and the current coordinates of each marker 2 calculated by the current coordinate calculation unit 405 (X _n ', Y _n ') and the coordinate displacement amount of each marker 2 is calculated.
The coordinate displacement amount H _n of each marker 2 is calculated by the following equation.
H _n = ^{_{[(X n -X n ') 2}} + (Y n -Y n') 2 ] ^0.5

The calculated coordinate displacement amount of each marker 2 is associated with each marker 2 and stored in the coordinate displacement amount storage table T ₃ (see FIG. 5A) of the coordinate storage unit 602.

The coordinate displacement amount determination unit 413 determines whether or not at least one of the coordinate displacement amounts Hn calculated by the coordinate displacement amount calculation unit 412 is _equal to or greater than a preset threshold value (threshold value of coordinate displacement amount). To do.

When the coordinate displacement amount Hn is _equal to or greater than the threshold value, the coordinate displacement amount determination unit 413 displays, for example, the number of the marker 2 whose coordinate displacement amount Hn is _equal to or greater than the threshold value on the display 501 or warns the warning signal. Or is transmitted to the device 502.

  That is, for example, when the entire imaging range A is displaced, the distance between the markers 2 does not change, and thus the distance change amount determination unit 408 cannot detect the change of the face K that is the object. By combining the coordinate displacement amount calculation unit 412 and the coordinate displacement amount determination unit 413, even if the entire imaging range A is displaced, the change in the face K is changed based on the displacement amount of the coordinates of each marker 2. Detect and issue alarms.

(Object Monitoring Method Using Object Monitoring System 10)
Next, an object monitoring method using the object monitoring system 10 will be described.
FIG. 9 is a flowchart of the object monitoring method using the object monitoring system according to the second embodiment.
Here, steps S101 to S110 shown in FIG. 9 are the same as steps S1 to S4, steps S6 to S9 and steps S11 and S12 of the object management method shown in FIG. .
Hereinafter, steps S111 to S114 will be described.

(Coordinate displacement calculation step S111)
When the amount of change in the distance between the markers 2 is less than the threshold value in the distance change amount determination step S110 (step S110, NO), the coordinate displacement amount calculation unit 412 is based on the reference coordinates and the current coordinates of each marker 2. Thus, the displacement amount of the coordinates of each marker 2 is calculated.

(Coordinate displacement amount determination step S112)
Next, the coordinate displacement amount determination unit 413 determines whether or not the coordinate displacement amount of each marker 2 calculated by the coordinate displacement amount calculation unit 412 is equal to or greater than a preset threshold value (coordinate displacement amount threshold value). Determine.

  And when the displacement amount of the coordinate of each marker 2 is less than the preset threshold value (step S112, NO), it returns to step S105 and repeats monitoring work.

(Displacement point display step S113)
On the other hand, when the displacement amount of the coordinates of each marker 2 is equal to or greater than a preset threshold value (YES in step S112), the coordinate displacement amount determination unit 413 determines that the marker 2 whose coordinate displacement amount is equal to or greater than the threshold value. The coordinates (or image) are displayed on the display 501.
That is, the displacement of the face K is detected by the coordinate displacement amount determination unit 413.

(Alarm device operation step S14)
Then, the coordinate displacement amount determination unit 413 transmits an alarm issue signal to the alarm device 502. As a result, an alarm is issued from the alarm device 502, and predetermined measures such as evacuation of workers are taken.
Even when the distance change amount between the markers 2 is greater than or equal to a threshold value (distance change amount threshold value) (step S110, YES), the distance change amount determination unit 408 also alerts the alarm device 502. A warning signal is transmitted and an alarm is issued.

  Thus, according to the object monitoring system 10 and the object monitoring method according to the second embodiment, even when the object such as the face K fluctuates (displaces) as a whole, the fluctuation can be detected. .

[Third Embodiment]
FIG. 10 is a diagram illustrating a configuration of an object monitoring system according to the third embodiment.
As shown in FIG. 10, the object monitoring system 20 according to the third embodiment is obtained by adding a stationary marker FM to the configuration of the object monitoring system 10 according to the second embodiment.
In the object monitoring system according to the second embodiment, if the installation location of the working face K and the imaging device 3 fluctuates together, the relative change amount between the working face K and the imaging device 3 becomes 0. It is not possible to detect fluctuations. In the third embodiment, in preparation for such a case, by installing the marker 2 at the fixed point and providing the fixed marker FM in the imaging range A, the variation of the face K can be detected even in the above case. To do.

The stationary marker FM is a marker having the same characteristics (for example, color) as the other markers 2 and is installed at a stationary point in the tunnel T. Therefore, the immovable marker FM does not change.
Here, it is preferable to install the fixed point in a portion unrelated to the fluctuation of the monitoring target (the face K in the present embodiment).

FIG. 11 is an image of the marker 2 imaged and extracted by the object monitoring system according to the third embodiment, where (a) is a reference time and (b) is an image during monitoring.
First, when the imaging range A is imaged by the imaging device 3, the seven markers 2 are imaged in a positional relationship as shown in FIG. Such an image is analyzed by the image processing device 4 to calculate the coordinates of each marker 2 and the distance between the markers 2. The method for extracting the marker 2 and calculating the coordinates and distance are the same as in the second embodiment, and a detailed description thereof will be omitted.

  Next, when the face K and the installation location of the imaging device 3 fluctuate together until a predetermined time elapses, as shown in FIG. 11B, the marker 2 other than the immobile marker FM and the imaging range A The relative positional relationship between and does not change. However, since the stationary marker FM is installed at a stationary point, only the stationary marker FM is shifted in the imaging range A and is captured in the current image data.

  The change in the distance between the immovable marker FM and the other marker 2 and the displacement of the coordinates of the immovable marker FM are the distance change amount calculating unit 407, the distance change amount determining unit 408, the coordinate displacement amount calculating unit 412 and the coordinate displacement amount. It can be detected by the determination unit 413 (see FIG. 8). Therefore, according to the object monitoring system 20, even when the face K and the installation location of the imaging device 3 change together, the change of the face K can be detected.

[Fourth Embodiment]
FIG. 12 is a diagram illustrating a schematic configuration of an object monitoring system according to the fourth embodiment.
The object monitoring system 30 according to the fourth embodiment is configured to monitor the two imaging ranges A ₁ and A ₂ using the two imaging devices 3A and 3B. It is different from the form.

Object monitoring system 30, two imaging devices 3A, equipped with a 3B, the imaging range A ₁ is imaged by the imaging device 3A, the imaging range A ₂ is adapted to be imaged by the imaging device 3B.
Note that the image processing device 4, the output device 5, the data storage device 6, and the input device 7 are the same as those in the third embodiment described above, and a detailed description thereof will be omitted.

As shown in FIG. 12, eleven markers 2 are installed in the imaging ranges A ₁ and A ₂ , and one of them (No. 11) is an immovable marker FM installed at a fixed point. Yes. Further, the imaging range A ₁ and the imaging range A ₂ are partially overlapped. 5 and no. Six markers 2 are installed.

According to such a configuration, since the stationary marker FM are located within the imaging range A _1, although not reflected in the image captured by the imaging device 3B, No. 5 and no. The relationship between the stationary marker FM and the marker 2 in the imaging range A ₂ can be detected via the six markers 2. Therefore, it is possible to detect that the imaging device 3 and the imaging range A have fluctuated together without installing the immovable marker FM for each imaging range.

  The best mode for carrying out the present invention has been described in detail with reference to the drawings. However, the present invention is not limited to the embodiment, and may be appropriately changed without departing from the gist of the present invention. Is possible.

  In each of the above embodiments, the object monitoring system is applied to the monitoring of the face K of the tunnel T. However, the present invention is not limited to this, for example, monitoring of a slope with a risk of collapsing, or a building being demolished It goes without saying that it can also be applied to monitoring of the above.

  In each of the above embodiments, the green paint is applied to the object as the marker 2, but the present invention is not limited to this. For example, a target plate, a reflector, and a light emitter such as a light bulb are installed. May be. In such a case, it is preferable to extract the marker 2 based on the luminance of the pixel value, for example, instead of extracting the marker 2 based on the color.

  Further, in order to clearly image the monitoring object, an illumination device may be provided in the object monitoring system.

Further, in the object monitoring system 10 according to the second embodiment, a change in the object is detected based on the amount of change in the distance between the extracted markers 2, and the coordinates of each marker 2 are supplementarily. However, the present invention is not limited to this. From the beginning, it is configured to detect the variation of the object based on the displacement of the coordinates of each marker 2. May be.
That is, in the configuration of the object monitoring system 10 illustrated in FIG. 8, the reference distance calculation unit 403, the current distance calculation unit 406, the distance change amount calculation unit 407, and the distance change amount determination unit 408 may be omitted.

  According to this configuration, the coordinate displacement amount calculation unit 412 uses the reference coordinates of each marker 2 calculated by the reference coordinate calculation unit 402 and the current coordinates of each marker 2 calculated by the current coordinate calculation unit 405. The displacement amount of the coordinate of the marker 2 is calculated, and the variation of the object is determined (detected) by the coordinate displacement amount determination unit 413. Furthermore, you may combine this structure and immovable marker FM (refer FIG. 10).

In the first embodiment, the coordinates of the marker 2 are the area centroid points, but the present invention is not limited to this, and the points obtained by the following method may be used as the coordinates of the marker 2.
For example, as shown in FIG. 13 (a), the X coordinate maximum value X for the image of each marker 2 captured in the reference marker extracted image data G2 or the current marker extracted image data G4 (see FIGS. 4 and 6). _It is also possible to extract _max and minimum value X _min and the maximum value Y _max and minimum value Y _min of the Y coordinate and use the intermediate point as the coordinate (X _n , Y _n ) of the marker 2.
The calculation formula in this case is as follows.
Xn = ( _Xmin + _Xmax ) / 2
Yn = ( _Ymin + _Ymax ) / 2

As another method, as shown in FIGS. 13B and 13C, the marker 2 imaged in the reference marker extracted image data G2 or the current marker extracted image data G4 (see FIGS. 4 and 6) is used. The number of constituent dots D _n is counted, a horizontal line L _H and a vertical line L _V that divide the number of dots D _n in half in the horizontal direction and the vertical direction are obtained, and the X coordinate and Y coordinate of the line are obtained. A method of setting the coordinates (X _n , Y _n ) of the marker 2 is conceivable.
Note that these methods are merely examples, and it goes without saying that the method of obtaining the coordinates of the marker 2 is not limited to these methods.

  The series of processes in the above-described image processing apparatus can be executed by hardware, but can also be executed by software. When a series of processing is executed by software, various functions can be executed by installing a computer in which the program constituting the software is installed in dedicated hardware, or by installing various programs. It can be realized by a possible general-purpose personal computer. The program can be installed via a network or a recording medium.

It is the perspective view which showed the structure of the target object monitoring system which concerns on 1st Embodiment. It is the block diagram which showed the main structures of the target object monitoring system which concerns on 1st Embodiment. It is a flowchart of the object monitoring method using the object monitoring system concerning a 1st embodiment. It is the figure which showed typically the flow of the process of reference | standard image data. It is the figure which showed the content of the data storage part typically, (a) shows a coordinate storage part, (b) shows a distance storage part. It is the figure which showed typically the flow of the process of image data now. It is a figure for demonstrating extraction of a line segment image, and the detection of a difference point. It is the block diagram which showed the main structures of the target object monitoring system which concerns on 2nd Embodiment. It is a flowchart of the target object monitoring method using the target object monitoring system which concerns on 2nd Embodiment. It is the figure which showed the structure of the target object monitoring system which concerns on 3rd Embodiment. It is the image of the marker 2 imaged and extracted by the target object monitoring system which concerns on 3rd Embodiment, (a) is a reference time, (b) is an image at the time of monitoring. It is drawing which showed schematic structure of the target object monitoring system which concerns on 4th Embodiment. It is drawing for demonstrating the calculation method of the coordinate of a marker.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Object monitoring system 2 Marker 3 Imaging device (imaging means)
4 Image processing device (image processing means)
401 Reference marker extraction unit (reference marker extraction means)
402 Reference coordinate calculation unit (reference coordinate calculation means)
403 Reference distance calculation unit (reference distance calculation means)
404 Current marker extraction unit (current marker extraction means)
405 Current coordinate calculation unit (current coordinate calculation means)
406 Current distance calculation unit (current distance calculation means)
407 Distance change amount calculation unit (distance change amount calculation means)
408 Distance change amount determination unit (distance change amount determination means)
409 Reference line segment image extraction unit (reference line image extraction means)
410 Current line segment image extraction unit (current line segment image extraction means)
411 Difference detection unit (difference detection means)
5 Output device (output means)
6 Data storage device (data storage means)
7 Input device A Imaging range K Face T Tunnel

Claims (9)

A plurality of markers installed within the monitoring range of the monitored object;
An imaging device for imaging the monitoring range at predetermined time intervals;
An image processing device for processing image data picked up by the image pickup device;
An object monitoring system comprising: an output device that outputs a processing result by the image processing device;
The image processing apparatus includes:
A reference marker extraction unit for extracting each marker from reference image data imaged by the imaging device;
A reference distance calculation unit for calculating a reference distance between the markers extracted from the reference image data;
A current marker extraction unit for extracting each marker from current image data imaged by the imaging device;
A current distance calculation unit for calculating a current distance between the markers extracted from the current image data;
A distance change amount calculation unit that calculates a change amount of the distance between the markers from the difference between the reference distance between the markers and the current distance;
A distance change amount determination unit that transmits a predetermined signal to the output device when at least one of the change amounts of the distance between the markers is equal to or greater than a threshold;
A reference line segment image extraction unit for extracting an image on a line segment connecting the markers from the reference image data as a reference line segment image;
A current line segment image extraction unit that extracts an image on a line segment connecting the markers from the current image data as a current line segment image;
An object monitoring system comprising: a difference point detection unit that detects a difference point by comparing the reference line segment image and the current line segment image . The image processing apparatus includes:
A reference coordinate calculation unit that calculates reference coordinates of each marker extracted from the reference image data;
A current coordinate calculation unit for calculating the current coordinates of each marker extracted from the current image data;
A coordinate displacement amount calculation unit for calculating a displacement amount of each marker from the difference between the reference coordinates and the current coordinates;
Object monitoring system according to claim 1, characterized in that the when the displacement amount of each of the markers is greater than or equal to the threshold, and a coordinate displacement amount determination unit that transmits a predetermined signal to the output device. Object monitoring system according to claim 1 or claim 2, characterized in that placing at least one of the plurality of markers in a fixed point. A plurality of the imaging devices that respectively capture different monitoring ranges,
One monitoring range has an overlap with other monitoring ranges,
The object monitoring system according to any one of claims 1 to 3 , wherein the overlapping portion includes at least one of the markers. A plurality of markers installed within a plurality of monitoring ranges of the monitored object;
A plurality of imaging devices for imaging respectively the different monitoring ranges ones of said plurality of monitoring range at predetermined time intervals,
An image processing device for processing image data picked up by the image pickup device;
An object monitoring system comprising: an output device that outputs a processing result by the image processing device;
Among the plurality of monitoring ranges, one monitoring range has an overlapping portion with another monitoring range,
The overlapping portion includes at least one of the markers,
At least one of the plurality of markers installed in the other monitoring range is installed at a fixed point,
The image processing apparatus includes:
A reference marker extraction unit for extracting each marker from reference image data imaged by the imaging device;
A reference coordinate calculation unit that calculates reference coordinates of each marker extracted from the reference image data;
A current marker extraction unit for extracting each marker from current image data imaged by the imaging device;
A current coordinate calculation unit for calculating the current coordinates of each marker extracted from the current image data;
A coordinate displacement amount calculation unit for calculating a displacement amount of each marker from the difference between the reference coordinates and the current coordinates;
A coordinate displacement amount determination unit that transmits a predetermined signal to the output device when at least one of the displacement amounts of the coordinates of each marker is a threshold value or more, and
Furthermore, the image processing apparatus includes:
When the displacement amount of the coordinates of a plurality of markers installed in the one monitoring range is less than the threshold value, it is detected through the marker installed in the overlapping range, and is installed in the one monitoring range. Whether or not the one monitoring range and the imaging device that images the one monitoring range fluctuate together from the positional relationship between a plurality of markers and the marker placed at a fixed point in the other monitoring range. Detect
An object monitoring system , wherein a predetermined signal is transmitted to the output device when it is detected that the one monitoring range and an imaging device that images the one monitoring range have changed together . An object monitoring method using the object monitoring system according to claim 1,
A reference image imaging step of imaging the monitoring range by the imaging device and generating reference image data serving as a criterion for monitoring;
A reference marker extraction step of extracting each marker from the reference image data by the reference marker extraction unit;
A reference distance calculation step of calculating a reference distance between the markers extracted from the reference image data by the reference distance calculation unit;
A current image capturing step of capturing the monitoring range by the imaging device and generating current image data to be compared;
A current marker extraction step of extracting each marker from the current image data by the current marker extraction unit;
A current distance calculating step of calculating a current distance between the markers extracted from the current image data by the current distance calculating unit;
A distance change amount calculating step of calculating a change amount of a distance between the markers from a difference between a reference distance between the markers and a current distance by the distance change amount calculating unit;
A distance change determination step of transmitting a predetermined signal to the output device when at least one of the changes in the distance between the markers is greater than or equal to a threshold by the distance change determination unit;
A reference line segment image extracting step for extracting an image on a line segment connecting the markers from the reference image data as a reference line segment image;
A current line segment image extracting step for extracting an image on a line segment connecting the markers from the current image data as a current line segment image;
A difference point detection step of comparing the reference line segment image and the current line segment image to detect a difference point;
An object monitoring method comprising: An object monitoring method using the object monitoring system according to claim 5 ,
A reference image imaging step of imaging the monitoring range by the imaging device and generating reference image data serving as a criterion for monitoring;
A reference marker extraction step of extracting each marker from the reference image data by the reference marker extraction unit;
A reference coordinate calculation step of calculating a reference coordinate of each marker extracted from the reference image data by the reference coordinate calculation unit;
A current image capturing step of capturing the monitoring range by the imaging device and generating current image data to be compared;
A current marker extraction step of extracting each marker from the current image data by the current marker extraction unit;
A current coordinate calculation step of calculating a current coordinate of each marker extracted from the current image data by the current coordinate calculation unit;
A coordinate displacement amount calculating step of calculating a displacement amount of each marker from the difference between the reference coordinate and the current coordinate by the coordinate displacement amount calculating unit;
A coordinate displacement determination step for transmitting a predetermined signal to the output device when at least one of the displacements of the coordinates of each marker is greater than or equal to a threshold by the coordinate displacement determination unit;
When the displacement amount of the coordinates of a plurality of markers installed in the one monitoring range is less than the threshold value, it is detected through the marker installed in the overlapping range, and is installed in the one monitoring range. Whether or not the one monitoring range and the imaging device that images the one monitoring range fluctuate together from the positional relationship between a plurality of markers and the marker placed at a fixed point in the other monitoring range. Detecting step;
A step of transmitting a predetermined signal to the output device when it is detected that the one monitoring range and an imaging device that captures the one monitoring range have changed together. To monitor objects. In order to monitor the monitoring object based on image data obtained by imaging the monitoring range of the monitoring object, a computer is provided.
Reference marker extraction means for extracting a plurality of markers installed in the monitoring range from reference image data imaged by an imaging device that images the monitoring range;
Reference distance calculation means for calculating a reference distance between the markers extracted by the reference marker extraction means;
Current marker extracting means for extracting each marker from current image data captured by the imaging device;
A current distance calculating means for calculating a current distance between the markers extracted by the current marker extracting means;
A distance change amount calculating means for calculating a change amount of a distance between the markers from a difference between a reference distance between the markers and a current distance;
A distance change amount determination means for transmitting a predetermined signal to the output device when at least one of the distance change amounts between the markers is equal to or greater than a threshold;
Reference line segment image extraction means for extracting an image on a line segment connecting the markers from the reference image data as a reference line segment image;
Current line segment image extracting means for extracting an image on a line segment connecting the markers from the current image data as a current line segment image;
A difference point detecting means for detecting a difference point by comparing the reference line segment image and the current line segment image;
Object monitoring program to function as 6. The object monitoring system according to claim 5, wherein a computer is used to monitor the monitoring object based on image data obtained by imaging a monitoring range of the monitoring object.
Reference marker extraction means for extracting a plurality of markers installed in the monitoring range from reference image data imaged by an imaging device that images the monitoring range;
Reference coordinate calculation means for calculating reference coordinates of each marker extracted by the reference marker extraction means;
Current marker extraction means for extracting each marker from current image data of the monitoring range imaged by the imaging device;
Current coordinate calculation means for calculating the current coordinates of each marker extracted by the current marker extraction means;
Coordinate displacement amount calculating means for calculating the displacement amount of each marker from the difference between the reference coordinate between each marker and the current coordinate;
A coordinate displacement amount determining means for transmitting a predetermined signal to the output device when at least one of the displacement amounts of each marker is equal to or greater than a threshold;
When the displacement amount of the coordinates of a plurality of markers installed in the one monitoring range is less than the threshold value, it is detected through the marker installed in the overlapping range, and is installed in the one monitoring range. Whether or not the one monitoring range and the imaging device that images the one monitoring range fluctuate together from the positional relationship between a plurality of markers and the marker placed at a fixed point in the other monitoring range. Means to detect,
Means for transmitting a predetermined signal to the output device when it is detected that the one monitoring range and an imaging device that images the one monitoring range have changed together;
Object monitoring program to function as

Images