JP3043925B2 - Moving object detection and determination device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object detection / judgment device, and more particularly to a device suitable for detecting an illegal intruder or the like from image data obtained by an imaging device such as a camera.

[0002]

2. Description of the Related Art Conventionally, as a device (image monitoring device, etc.) generally used for detecting a moving object such as an intruder, for example, a camera is installed on a pole or the like and a monitoring area is provided with a depression angle. After performing a predetermined pre-process on the obtained image data, the image data is subjected to a difference process with a background image of the monitoring area stored in advance. Then, the difference image becomes an intruder (moving object), and the moving object is detected. Further, feature amounts (area, shape, etc.) are extracted from the moving object, and image recognition processing is performed based on the feature amount data to determine what the moving object is.

[0003]

By the way, in order to make the above determination accurately, for example, a human needs a size of about 200 pixels. This is an area that is extremely large compared to the minimum required of about 9 pixels (3 × 3) for detecting a moving object, and can be monitored on one screen obtained by imaging with one camera (area where determination can be made). Is relatively narrow.
In addition, the area imaged by the camera spreads in a fan-like manner, and a moving object located far from the camera has a small shape in the imaged image, and the number of pixels required for determination cannot be obtained. Cannot judge. On the other hand, if the camera is too close to the camera, the entire image cannot be captured and accurate determination cannot be performed. Becomes

[0004] Therefore, there is not much problem when the passage / existence area of the intruder is small, for example, at the entrance of a building. However, for example, a relatively wide area such as a factory, a substation, a power station or the like becomes a monitoring range. In such a case, if cameras are installed so as to eliminate the blind spot, a very large number of cameras are required, and the control is complicated and the cost is increased.

On the other hand, in order to reduce the number of cameras to be installed, the cameras are installed on a swivelable camera platform, the cameras are swiveled by a swivel driving device, and the monitoring area is divided temporally to make a determination. Image data can be obtained. However, in this case, since there is a blind spot area in which the camera is not facing (imaging is not performed) in the monitoring area, there is a possibility that detection may be omitted.

SUMMARY OF THE INVENTION The present invention has been made in view of the above background, and has as its object to reduce the number of cameras (imaging devices) to image a wide monitoring area in a state necessary for determination without providing a blind spot. It is an object of the present invention to provide a moving object detection and determination device capable of obtaining data.

[0007]

In order to achieve the above-mentioned object, a moving object detection / judgment device according to the present invention comprises a detecting camera device for detecting a moving object capable of imaging a wide area and an output from the detecting camera device. Based on the detected signal
Based on a determination camera device capable of imaging a narrow range region that is imaged in a sufficient state to determine whether the detected moving object is an object, based on image data captured by the determination camera device, Determination processing means for determining whether or not the moving object is the target object; The detection camera device includes a detection camera body oriented at least in a predetermined direction, a substantially conical reflecting mirror disposed at a predetermined position in front of the detection camera body, and image data captured by the detection camera body. Moving object extracting means for performing predetermined image processing on the moving object in the image data to extract at least positional information of the extracted moving object; The camera device includes a determination camera main body and means for controlling a posture of the determination camera main body.

[0008]

When a moving object enters the monitoring area, the detecting camera device detects the intruding object, obtains the approximate position of the moving object by the position information extracting means, and transmits the position information to the corresponding determining camera device. send. In the determination camera device, the posture and magnification of the determination camera body are determined based on the provided information to capture an image of the moving object, and the captured image data is sent to the determination processing unit. Make a decision.

[0009] By the way, while the judgment camera body is operated to take an image of the moving object, and while performing the predetermined judgment processing, the detecting camera device constantly takes an image of its own monitoring area to check whether there is any new moving object. Detection is taking place. Therefore, there is no blind spot that occurs when the determination camera apparatus zooms up and images a moving object for the conventional determination processing, and no monitoring omission occurs.

Since the detection camera device only needs to determine the presence or absence of a moving object, the size of the imaged moving object can be small, the area that can be monitored by a single camera can be widened, and there is almost no blind spot in all monitoring areas. The number of units required for installation in the area is also reduced. Similarly, the judgment camera device does not always (frequently) operate, and even if there are a plurality of moving objects at the same time, it can perform processing one by one (moving objects that have not been subjected to the judgment processing). Are supplemented by the detection camera device), so that the number of installed cameras can be reduced.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a moving object detection / judgment device according to the present invention will be described below in detail with reference to the accompanying drawings.
FIG. 1 shows a first embodiment of the present invention. As shown in the drawing, a detection camera device 10 for detecting a moving object capable of detecting a wide area, and whether a moving object is a target object is determined based on a detection signal output from the detection camera device 10. Determination camera device 20 capable of turning and capable of imaging a moving object in a zoomed up state
A determination processing unit 30 that performs a determination process based on image data captured by the determination camera device 20, and a determination processing unit 3
It comprises an information processing unit 40 for grasping and managing the status of the moving object on the monitoring area plane based on the judgment result output from 0 and the detection information sent from the detection camera device 10.

Next, each part will be described in detail. The detection camera device 10 has a detection camera 11 installed upward on a pole (not shown), and a conical reflector 12 installed above the detection camera 11. The installation height of the detection camera 11 and the cone angle of the reflecting mirror 12 are set according to the size of the monitoring area of the detection camera 11. The conical reflector 12 has
In the center, the periphery of the pole (camera) installation position is projected, and the closer to the outer periphery, the farther the part is projected. Thereby, the detection camera 11 can obtain a wide monitoring area in the 360-degree direction.

The image data picked up by the detection camera 11 is sent to a moving object extracting section 13, where the moving object existing in the image data is extracted. The specific configuration of the moving object extraction unit 13 is as shown in FIG. That is, in the same way as the normal image processing, the video capturing unit 13a performs predetermined preprocessing and A / D conversion, and the luminance difference processing unit 13b stores the background image (reference video) of the monitoring area stored in the memory 13c in advance. ) And a difference image (moving object) is extracted. The difference image is sent to a binarization unit 13d, binarized by a predetermined threshold value, and further subjected to a labeling process (numbering) for the binarized moving object by a labeling unit 13e. Attached).

The information subjected to the detection and labeling processing of the moving object in this manner is transmitted to the next stage position information extracting unit 1.
4 to extract information such as the position and area of the moving object and the moving direction and speed of the moving object for each label. Here, the position information (particularly the direction) determines the direction in which the image is captured by the determination camera device 20, and the distance L and the area of the position information determine the approximate magnification for lens control in the determination camera device 20. The direction and the moving speed are used to eliminate a time lag from when a moving object is detected by the detection camera device 10 by feedforward control to when an image is actually acquired by the determination camera device 20.

As shown in FIG. 3, the position information is calculated by using the position (center of the reflecting mirror 12) O of the detection camera as a reference (origin) as a coordinate value (x, y). From the coordinate values, the distance L from the detection camera installation position (Xn, Yn) on the surveillance area plane to the moving object I (the distance from the reference on the camera image,
By obtaining the distance in the actual monitoring area in advance and storing it in a table, the distance can be easily obtained by referring to the table. Alternatively, it may be calculated each time from the distance from the reference and the cone angle on the camera image), and the direction θ is calculated.

Then, as shown in FIG.
Since the installation position (Xn, Yn) in the monitoring area is known in advance, the position (Xp, Y) of the moving object I in the monitoring area is obtained by substituting the obtained L and θ into the following equation.
p) can be determined.

Xp = Xn + Lcos θ Yp = Yn + Lsin θ Further, the area information obtained by the detection camera 11 is obtained by counting the number of pixels of the detected moving object. The position information of the moving object in the previous frame is stored, and is obtained from the position information and the current position information. Then, the information thus obtained is transmitted to the corresponding information processing unit 40 through the data transmission unit 15 through wired or wireless communication.

The judgment camera device 20 includes a judgment camera 21
And a camera control unit 22 for controlling the attitude of the determination camera 21. The detection camera 21 is mounted on the basis of the position information of the moving object sent from the detection camera device 10 via the information processing unit 40. The turning angle and the depression angle of the mounted head are determined, and the head is directed in a predetermined direction, and the magnification is determined from the area information.

That is, as shown in FIG. 4, since the position coordinates (Xj, Yj) of the judgment camera 21 are known, the position coordinates (Xp, Yj) of the moving object I are based on the position coordinates (Xj, Yj). Yp), the moving object I is determined in a predetermined size suitable for judgment at substantially the center of the image captured by the judgment camera 21 based on the area, moving speed, and moving direction of the moving object I. Is predictively controlled so as to be imaged.

Further, the judgment processing unit 30 has a moving object extraction unit 31 on the input side thereof, receives image data picked up by the judgment camera 21, and extracts a moving object existing in the image data. ing. This moving object extraction unit 3
As shown in FIG. 5, a specific configuration of the first unit performs predetermined pre-processing and A / D conversion in a video capturing unit 31a in the same manner as in normal image processing, and preliminarily sets in a luminance difference processing unit 31b. Difference processing is performed on the background image (reference video) of the monitoring area stored in the memory 31c to extract a difference image (moving object). The difference image is sent to a binarization unit 31d, binarized by a predetermined threshold value, and a labeling unit 31e performs a labeling process on the binarized moving object. .

The output of the moving object extracting unit 31 is sent to the object determining unit 32 and the position information extracting unit 33. Then, the target object selection unit 32 performs a process of determining whether or not the extracted moving object is a target object by performing feature extraction, and transmits the determination result to the information processing unit 40 via the data transmission unit 34. It has become. It should be noted that various known means can be used for a specific method of this determination processing, and a detailed description thereof will be omitted.

Further, the position information extracting section 33 obtains the position, area, moving direction and speed of the moving object on the screen, similarly to the position information extracting section 14 of the detection camera device 10 described above. ing. When the moving object is not located at the center or is not large enough to make a determination, various types of information are sent to the camera control unit 22 via the data transmission unit 34 to obtain a determinable image. The posture of the judgment camera 21 is re-controlled. That is,
Following control can be performed so that a moving object is imaged at an appropriate size and position based on image data obtained by self-imaging.

Further, the information processing section 40, based on the position information of the moving object obtained from the detection camera device 10 and the judgment information of the moving object obtained from the judgment processing section 30, uses the object mark section 41 to identify both of them. Correspondence is made, an identification mark is added as a result of the determination of the moving object, and the position of the moving object, which is constantly changing, on the plan view is updated by the plan view position updating unit 42, so that a plurality of The situation of the moving object can be grasped. That is, in this example,
For the moving object once subjected to the determination processing, the determination processing is not performed thereafter in principle, and the position information of the moving object is updated by the plan view position updating unit 42 by following the movement trajectory using the detection camera device 10. The number of times of processing is reduced so that the determination processing can be efficiently performed on a moving object existing in the monitoring area. Further, as described above, the predetermined information sent from the detection camera 10 is sent to the determination camera.

Next, the operation of the above embodiment will be described. First, as a premise, as shown in FIG. 6, almost all of the monitoring areas have almost no blind spot (strictly speaking, it is not possible to capture an image immediately below the detection camera 11, but no moving object appears suddenly at such a position. It is assumed that 10N detection camera devices are installed at a predetermined position to capture an image (there is no problem), and that M determination camera devices 20 are also installed at appropriate positions. If a moving object is present in the monitoring area of any one of the detection camera devices 10, the detection object is detected by the detection camera device 10, the approximate position and size of the moving object are obtained, and the moving object can be imaged best. Predetermined information such as the position information is sent to the judgment camera device 20. Then, the determination camera device 20 determines the attitude and magnification of the determination camera 21 based on the provided information, captures an image of the moving object, sends the captured image data to the determination processing unit 30, where the moving object Is determined.

By the way, the detection camera 21 is operated to take an image of the moving object, and during the predetermined judgment processing, the detection camera device 10 constantly takes an image of the inside of the monitoring area.
Since a new moving object is monitored for a new moving object, there is no blind spot that occurs when a moving object is imaged by zooming up as in the related art, and no monitoring omission occurs.

Further, in the detection camera device, since it is only necessary to determine the presence or absence of a moving object, the size of the captured moving object may be small.
The number of units required for installation in all monitoring areas with almost no blind spots is also reduced.

Furthermore, it is rare that a moving object actually exists in the monitoring area. Even if another moving object appears during the turning motion to image the certain moving object, Since the position of the moving object is supplemented by the detection camera device 10, the moving object being processed is first imaged, and then the next moving object is imaged by the judgment camera device 20, and the position of the moving object is Since the determination process may be performed, the number of the determination camera devices 20 to be installed can be reduced. Further, the judgment camera device 20 and the judgment processing unit 3
0 may not be in a one-to-one correspondence, and one determination processing unit may perform processing on image data captured by a plurality of determination camera devices 20.

Next, a description will be given of a case in which a moving object is a vehicle having a large moving speed and a large size as a target, and a human being having a small moving speed and a small size (a plurality of moving objects are simultaneously present in a monitoring area). I do.

First, examples of detection of a moving object are roughly classified into a case where one moving object exists in a monitoring area of one detection camera as shown in FIG. 6 and a case where one moving object exists as shown in FIG.
There are cases where two moving objects (human M and vehicle S) exist in the monitoring area of the same detection camera.

As shown in FIG. 6, the moving objects M and S are present in separate areas of the detection camera device 10 and, in addition, to obtain image data for performing a judgment process on each of the moving objects M and S. In the case where the determination camera device 20 to be used is different, the determination process is performed by performing the parallel processing independently by the respective camera devices 10 and 20 and the determination processing unit 30.

On the other hand, as shown in FIG. 7, when there are a plurality of moving objects M and S in the monitoring area of one detecting camera device 10 (normally, it is determined that the moving objects M and S are used to image both moving objects). In principle, the judgment camera device 20 cannot simultaneously image a plurality of moving objects (for example, the same camera device is used) (for example, a plurality of moving objects of the same type are close to each other and cannot be sufficiently determined in the position image data). In this case, an image is sequentially taken by the determination camera device 20 and the determination process is performed.

At this time, as the order of the determination, for example, the determination is made in descending order of importance, such as “Which is more likely to approach a dangerous area (it is necessary to make an urgent determination)”. Become. Such a determination can be made based on information such as the moving direction, the speed, and the distance to the dangerous area. Note that the determination may be made from an arbitrary moving object, for example, in the order of the label number, without prioritizing according to the importance or the like.

Note that such a situation is not limited to the case where a plurality of moving objects are present in the same monitoring area as shown in FIG. It also applies when equipment must be used.

FIG. 8A shows a second embodiment of the present invention. As shown in the figure, in the present embodiment, the shape of the reflecting mirror 12 'used in the detection camera device is a curved surface whose cone angle gradually decreases from the tip (center side) to the bottom side. did. That is, in the case of the conical reflecting mirror of the first embodiment, a moving object passing near the camera installation position is greatly reflected, and the cone angle is extremely increased so as to extend the radius that can be monitored by one detection camera. , It tends to be difficult to image the vicinity of the installation position of the camera as shown in FIG. This is evident from the relationship between the near-end distance and the far-end distance of the monitorable imaging area with respect to the cone angle shown in FIG. Therefore, in the present example, the area that can be imaged is enlarged by forming the shape as shown in FIG.

With this configuration, the area (monitoring area) that can be monitored by one detection camera can be widened, so that the number of installed cameras can be further reduced. The other configuration and operation are the same as those of the above-described first embodiment, and a description thereof will be omitted.

FIG. 10 shows a third embodiment of the present invention. As shown in the drawing, in this embodiment, unlike the above embodiments, the installation direction of the detection camera is the horizontal direction. That is, in the case where there is an off-limits space A as shown in the figure, the reflecting mirrors 12 ″ a and 12b (in this example, two places) are spaced from the boundary wall H of the off-limits space A at a fixed interval. At this time, the reflecting mirrors 12 ″ aa and b are arranged so as to be opposed to and parallel to the boundary wall surface H on the bottom surface. Then, the detection cameras 11 "a and b are arranged opposite to the distal ends of the reflecting mirrors 12" a and b. further,
The cone angles δ of the reflecting mirrors 12 ″ a and b are set as follows, where ψ is the vertical angle of view of the detection camera 11 ″. That is, an angle is required when imaging the periphery of the bottom surface of the reflecting mirrors 12 ″ a and b from the optical axis of the camera. In this example, as shown by hatching in FIGS. Since the reflection mirrors 12 "a and 12b are adjusted so as to capture the entire image captured by the detection camera 11, the required angle is the vertical angle of view.

Δ = (1/2) (π + ψ) By setting the cone angle in this manner, the detection camera 1
On the boundary between the reflecting mirrors 12 ″ a and b imaged by 1 ″ a and b, a danger alarm issuance that is an extension of the bottom surface of the reflecting mirrors 12 ″ a and b indicated by the symbol K in FIG. Report boundary (boundary wall 11
Image data on a parallel plane with a certain interval).

Therefore, for example, when a moving object (human) M is at a position as shown in FIG. 7A, the screen imaged by the detection camera 11 ″ a at that time is as shown in FIG. Then, as shown by the arrow in FIG. 4A, when the human moves so as to approach the boundary K of the danger warning issuance, the detection camera 1 is detected.
The object M in the image captured at 1 ″ a moves so as to approach the outer peripheral edge of the monitoring area as shown by the arrow in FIG. It is necessary to issue an alarm, etc., or to notify a supervisor.

Therefore, in this example, the detection camera 11 ″
When a moving object is detected in the monitoring area (a) (shown by hatching in FIGS. (B) and (C)), the position information and the like of the moving object are determined in the same manner as in the above-described embodiments. The moving object is imaged by the judgment camera device based on the information, and it is judged whether or not the object needs to issue an alarm or the like in the judgment processing unit. The moving state of the moving object imaged by the detection camera 11 ″ a is monitored, and when the moving object approaches the boundary K, predetermined processing such as an alarm is performed.

By the way, as shown in FIG. 1A, the normally closed space is divided by a plurality of wall surfaces H, so that the detection camera devices 10 ″ a and b are installed in front of the respective wall surfaces as shown in the figure. (In some cases, the judgment camera device can be shared.) Then, for example, the human M shown in FIG. Considering the case where it moves to the side and further bends along the wall H, it is initially imaged by the detection camera 11 "a, but then the extended surface (not the boundary K) of the bottom surface of the reflecting mirror 12" The vehicle crosses and goes out of the outer peripheral edge of the monitoring area of the detection camera 11 ″ a (it is originally an alarm target). However, in such a case, at the same time, the other detection camera 11 ″ b Superintendent The moving object detected by the detection camera 11 ″ b is compared with the location that has entered the area and has exited from the monitoring area of both the detection cameras 11 ″ a and b, and the moving object has been detected. 1
Since it is possible to determine whether or not the moving object has come out of 1 ″ a, it is possible to accurately determine whether or not it is necessary to generate an alarm.

In this embodiment, it is not always necessary to issue an alarm or the like, but the point is that it is only necessary to detect a moving object approaching the boundary K and determine whether or not it is an object. In addition, as the reflecting mirror 12 ″, any of the above-described first and second embodiments can be used.

FIG. 11 shows a fourth embodiment of the present invention. As shown in the drawing, in this example, unlike the above-described embodiments, two sets of detection cameras and reflecting mirrors are provided, and the position of the moving object I in the three-dimensional space can be detected. That is, the first detection camera 11a and the reflecting mirror 12a are installed with the camera facing upward (the optical axis of the camera coincides with the axis of the reflecting mirror) as in the first and second embodiments. On the other hand, the second detection camera 11b is arranged below the first detection camera 11a such that the optical axes coincide. Then, the second reflection mirror 12b is arranged below the second detection camera 11b. Thereby, the first and second detection cameras 11a and 11b and the first and second reflection mirrors 12 are formed.
a and 12b are arranged on the same axis extending vertically from the ground.

Then, assuming that a vertical line extending upward as shown in the drawing is the Z axis and the horizontal direction orthogonal to the Z axis is the X and Y axes, the moving object I can be detected by both detection cameras. If they exist in the monitoring areas 111a and 11b, the directions θ on the X and Y coordinate planes obtained by imaging with both cameras are basically the same. The distance L from the center of the image captured by the camera to the moving object M
1, L2 are associated with the directions φ1, φ2 in which the moving object is located. Therefore, on a plane including the optical axes of the detection cameras 11a and 11b and the position of the moving object M, a triangle is formed from the angles φ1 and φ2 between the extended surfaces of the bottom surfaces of the respective reflecting mirrors 12a and 12b and the position of the moving object M. Moving object I by the method
(Xm, Ym, Zm) can be obtained.

The specific calculation method is as shown in the following equation. The calculation is obtained by a position information extracting unit (not shown) connected to each of the cameras 11a and 11b.

If the detection cameras 11a and 11b and the reflection mirrors 12a and 12b are installed on the camera optical axis as shown in FIG. 11, the camera optical axis does not always need to be installed vertically to the ground. It may be horizontal. That is, in the detection of the three-dimensional position, the installation direction is not limited.

[0046]

(Equation 1) The position coordinate information and the like thus obtained are sent to the determination camera device side (not shown) in the same manner as in each of the above-described embodiments, and the determination camera device captures an image of the moving object based on the information, and performs determination. It is determined whether or not the processing device needs to issue an alarm or the like. In other words, in this example, when the object to be detected moves in the air, or when there is a height difference in the monitoring area and it is necessary to detect a moving object that moves on a hill or the like, its position is accurately specified. Yes, it can be surely complemented by the judgment camera. In addition,
The reflecting mirror used in this example may be shaped as shown in the second embodiment.

[0047]

As described above, in the moving object detection / judgment device according to the present invention, the detection of the moving object is performed based on the image data captured by the detection camera device capable of capturing a wide area. If so, the acquisition of the image data necessary for the determination can be obtained by imaging with the determination camera device, so that the detection camera device can monitor the presence or absence of a new moving object even during the determination process, so that the monitoring omission Will not occur.

Since the detection camera device only needs to judge the presence or absence of a moving object, the moving object that has been imaged can be small, so that the area that can be monitored by one unit is wide, and there is almost no blind spot in all the monitoring areas. The number of units required for installation in the area can be reduced. Further, the judgment camera device does not always operate (frequently), and even if there are a plurality of moving objects at the same time, it can perform processing one by one sequentially (moving objects that have not been subjected to the judgment processing are This is supplemented by the detection camera device), so that the number of installed cameras can be reduced. In particular, a determination camera that performs a turning motion or the like is expensive because it requires a drive mechanism (including control), and thus the reduction in the number of determination camera devices to be installed can reduce the cost of the entire system. .

When the area, the moving direction, the moving speed and the like of the moving object detected by the detecting camera device are extracted, the posture control of the judgment camera body in the judgment camera device is performed. Can be performed more accurately, and image data required for determination can be obtained accurately and at high speed.

Further, when the installation direction of the detection camera body and the like is set to the horizontal direction, it is possible to easily detect the presence or absence of a moving object approaching a predetermined place such as a no-go space.

Further, when two sets of the detection camera body and the reflecting mirror are provided, the position information of the moving object in the three-dimensional space can be obtained. An existing moving object can be accurately detected.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a moving object detection determination device according to the present invention.

FIG. 2 is a diagram showing an internal configuration of a detection camera device.

FIG. 3 is a diagram illustrating an operation of a position information extraction unit of the detection camera device.

FIG. 4 is a diagram illustrating an operation of a position information extraction unit of the detection camera device.

FIG. 5 is a diagram illustrating an internal configuration of a determination processing unit.

FIG. 6 is a diagram illustrating the operation of the present embodiment.

FIG. 7 is a diagram illustrating the operation of the present embodiment.

FIG. 8A is a diagram illustrating a main part of a second embodiment of the moving object detection determination device according to the present invention. (B) is a diagram showing a comparative example.

FIG. 9 is a graph illustrating an operation principle.

FIG. 10A is a diagram illustrating a main part of a third embodiment of the moving object detection determination device according to the present invention. (B) is a diagram illustrating an example of image data captured by the detection camera 11 ″ a. (C) is a diagram illustrating an example of image data captured by the detection camera 11 ″ b.

FIG. 11 is a diagram showing a main part of a fourth embodiment of the moving object detection determination device according to the present invention.

[Explanation of symbols]

10, 10 "a, 10" b Detection camera device 11, 11a, 11b, 11 "a, 11" b Detection camera 12, 12, 12a, 12b, 12 ', 12 "a, 12" b
Reflecting mirror 13 Moving object extraction unit 14 Position information extraction unit 20 Judgment camera device 30 Judgment processing unit 40 Information processing unit

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yoshiaki Yamada 1-4-10 Irifune, Chuo-ku, Tokyo Tokyo Electric Power Company System Research Laboratory (56) References JP-A-61-74469 (JP, A) 63-20971 (JP, A) JP-A-6-203160 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G06T 7/20 G08B 13/196 G08B 25/00 510 H04N 7/18

Claims (7)

(57) [Claims] A detection camera device for detecting a moving object capable of imaging a wide area, and whether or not the detected moving object is an object is determined based on a detection signal output from the detection camera device. A determination camera device capable of imaging a narrow range region imaged in a state sufficient for determination, and based on image data captured by the determination camera device,
A determination processing unit configured to determine whether or not the moving object is the target; and the detection camera device is disposed at a predetermined position in front of the detection camera body facing at least a predetermined direction and the detection camera body. A substantially conical reflecting mirror, and moving object extracting means for performing predetermined image processing on image data captured by the detection camera body and extracting a moving object in the image data,
Position information extracting means for extracting at least position information of the extracted moving object, and the determination camera device has a determination camera body and means for controlling the posture of the determination camera body. A moving object detection and determination device that is a feature. 2. The method according to claim 1, wherein the position information extracting means has a function of calculating an area of the moving object from image data taken by the detection camera body, and in addition to the position information, taking into account the calculated area. The moving object detection determination device according to claim 1, wherein a magnification of the determination camera can be set. 3. The position information extracting means has a function of calculating a moving direction and a moving speed of a moving object from image data picked up by the detection camera body, and in addition to the position information, calculates the calculated movement. The moving object detection determination device according to claim 1, wherein an orientation of the determination camera is determined in consideration of a direction and a moving speed. 4. The moving object detection determination according to claim 1, wherein the detection camera and the reflection mirror constituting the detection camera device are arranged in a vertical direction. apparatus. 5. The detection camera device according to claim 1, wherein the detection camera and the reflector constituting the detection camera device are arranged such that an optical axis of the camera is normal to a monitoring boundary surface. The moving object detection determination device according to any one of claims 1 to 3. 6. The detecting camera device comprises two sets of the detecting camera and the reflecting mirror, and the detecting camera and the reflecting mirror are arranged on the same axis in the camera optical axis direction. A reflecting mirror, a first detecting camera, a second detecting camera, and a second reflecting mirror are arranged, and the position information extracting means further comprises a moving object in a three-dimensional space based on image data obtained from the two detecting cameras. The moving object detection determination device according to any one of claims 1 to 3, wherein an existing position of the moving object is extracted. 7. The moving object detection determination apparatus according to claim 1, wherein the reflecting mirror has a curved tip.