JP2001078169A - Method and device for monitoring abnormality - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormality monitoring method in which processing from abnormality detection in a passage to the release of an abnormality state is executed in a short time with a simple, small and compact structure by identifying the existence of an abnormality, transmitting obtained abnormality detecting data to a control chamber, moving a mobile body to an abnormality part and tracking the abnormality state. SOLUTION: An image processing part 13 processes a picked-up image and identifies the existence of the abnormality such as the existence of an abnormality object or the part of abnormality occurrence from the picked-up image. When the abnormality state is detected, the mobile body travels on a rail, follows the abnormality object or the like, picks-up its image by an image pickup means 11, processes the image with the image processing part 13 and transmits abnormality detecting data to the control chamber 5 via a repeater 4 and a network 3. Then alarm for the abnormality state in the passage is issued and a warning or a threat is executed as necessary. When the abnormality object exists, it is caught and removed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of monitoring an abnormality in a tunnel-like passage such as a subway track by moving a moving body equipped with an image pickup means such as a camera in a tunnel-like passage and detecting an abnormality in the passage. And its device.

[0002]

2. Description of the Related Art In a tunnel-like passage such as a subway track or the like, a serious accident is induced if an abnormal situation such as an unusual object is left or a depressed bulge occurs in the passage. For this reason, the invention of Japanese Patent Application Laid-Open No. H10-105225 has been proposed as an abnormality monitoring means for preventing occurrence of such an abnormal situation.

In such an invention, the ITV camera 1,
A mobile monitoring device 3 equipped with various sensors such as a microphone 2 has a traveling rail 5 fixed to a support 7 installed on existing equipment by a traveling mechanism 4 via a rail holder 6.
The fixed type monitoring device 9 has various sensors such as an ITV camera 9a and a pan head mechanism 9b, is attached to a support 10 installed in existing equipment, and the control panel 15 is a mobile type. It comprises a monitoring device control system 11, a fixed monitoring and control system 12, a monitoring system host 13 and an automatic recognition system 14, whereby a mobile monitoring device and a fixed monitoring device are installed in the right place at the right rate. A wide area monitoring system can be obtained.

[0004]

In the prior art, a fixed monitoring device and a mobile monitoring device are combined to form a single monitoring system, and the fixed monitoring device captures an abnormal situation in a passage, and When an abnormality is discovered, the mobile monitoring device is moved to the site where the abnormality has occurred, and detailed abnormality detection is performed.

For this reason, in the prior art, since the detection of the abnormal state, the detailed detection of the abnormal state, and the elimination of the abnormal state are performed by separate apparatuses, the apparatus becomes large and the structure is complicated. Become. In addition, in the related art, both the fixed monitoring device and the mobile monitoring device only include a camera that captures an image of a passage,
Since the captured image is sent to the control room outside the aisle, it takes time until an abnormal condition such as an alarm is detected or an abnormal condition is cleared after the abnormal condition is detected, and the abnormal condition cannot be cleared quickly. have.

SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, the present invention has a simple, compact and compact structure, and is capable of performing an abnormality monitoring method and an abnormality monitoring apparatus in a short time from detection of an abnormality in a passage to release of an abnormal state. The purpose is to provide.

[0007]

SUMMARY OF THE INVENTION In view of the above-mentioned problems in the prior art, the present invention provides an image pickup device for an image pickup device such as a camera mounted on a moving body moving in a passage such as a tunnel. In the abnormality monitoring method for detecting an abnormal situation such as the presence of an abnormal object in the passage, the imaging is performed by the imaging unit while moving the moving body, and image processing is performed on the moving body based on an imaging screen. To identify the presence or absence of an abnormality, and when it is in an abnormal state, detect the details of the abnormal location, the status of the abnormal object, etc., transmit the abnormality detection data obtained thereby to the control room, and The present invention proposes an abnormality monitoring method characterized by moving a body toward an abnormal location and tracking an abnormal state.

Further, in addition to the invention, when an abnormality is detected by the abnormality detection on the moving body, an abnormal state such as removal of an abnormal object is released. Is a preferred form.

According to a fourth aspect of the present invention, there is provided an apparatus for carrying out the first and third aspects of the present invention, wherein a moving body moving in a passage such as a tunnel, and an image of the passage mounted on the moving body. An imaging unit such as a camera that performs an image processing, and detects an abnormal state such as the presence of an abnormal object in the passage from an image captured by the imaging unit. An image processing unit for detecting an abnormal state by performing the above operation, a transmitting unit for transmitting an abnormal state detection signal from the image processing unit to the control room, and receiving power to mounting elements such as the imaging unit and the image processing unit. A power receiving unit is mounted on the moving body, and an abnormality detection signal from the transmitting unit is transmitted to the control room via transmission means.

[0010] According to the invention, there is provided a moving body equipped with an image pickup means, an image processing section for processing an image picked up by the image pickup section, and a transmission section for sending an abnormal state detection signal subjected to the image processing to the control room side. By moving the image in the tunnel-like passage, the imaging screen by the imaging means is subjected to image processing on the moving body, and the details of the abnormal state such as the state of the abnormal object and the state of the place where the abnormality occurs are detected, and the abnormal state is detected. A detection signal is sent to the control room, and a control unit in the control room issues a command for canceling an abnormality such as a warning transmission or a warning transmission.

When an abnormal state is detected by the image processing, the moving body is moved toward the abnormal part, tracks the abnormal object, etc., picks up the image by the image pickup means and performs the image processing to detect the abnormal state. The signal is transmitted to the control room as a signal, and at the same time, processing such as transmission of an alarm and capture of an abnormal object is performed.

Therefore, according to the invention, on the moving body, the imaging in the passage by the imaging means and the detailed detection of the abnormal state by the image processing of the image taken by the imaging means are performed in parallel with the movement of the moving body. Since the tracking of the abnormal state is performed on the moving body, the moving from the detection of the abnormality to the execution of the tracking and the cancellation of the abnormal state can be performed while moving the moving body. From the detection and detection of an abnormality to the cancellation of an abnormality can be performed much more quickly than in the prior art.

[0013] Further, since the moving body is configured to perform the processes from imaging of the passage to image processing and transmission of abnormal state detection data, the fixed monitoring device and the mobile monitoring device are separately provided as in the prior art. Simpler structure than equipped one,
A compact device is obtained.

According to a second aspect of the present invention, in the abnormality monitoring method of the first aspect, a relay provided along the path with the abnormality detection data after the image processing on the moving body and the relay are provided. The data is sent to the control room via a connected network.

According to a fifth aspect of the present invention, there is provided an apparatus for carrying out the second aspect of the present invention. In the abnormality monitoring apparatus according to the fourth aspect, a plurality of the transmission means are provided along the path. It is characterized by comprising a repeater for wirelessly receiving the abnormality detection signal from the transmission unit and transmitting the abnormality detection signal to the control room via the network.

According to this invention, the abnormal state detection signal from the abnormal state detecting means on the moving body is transmitted to the control room via the repeater provided at regular intervals in the network provided in the longitudinal direction of the passage. Therefore, the abnormal state detection signal can be transmitted to the control room with high accuracy at any moving position of the moving body.

According to a sixth aspect of the present invention, in the abnormality monitoring device according to the fourth aspect, the moving body equipped with the abnormality detecting means including the imaging means, the image processing section, and the transmitting section is configured in a tunnel shape. The passage is provided so as to be able to travel along a rail extending at least one of a lower surface, an upper surface, and a side surface of the passage.

According to a sixth aspect of the present invention, as in the eighth aspect, the rail is laid on an upper surface or a side surface of the tunnel-like passage, and the movable body is suspended on the rail or runs on the rail. Preferably, it is provided as possible.

According to this invention, the moving body can be moved along the lower surface, the upper surface, or the side surface of the upper passage in the tunnel, so that zoom imaging can be performed in all spaces or the passage surface in the passage, and abnormal state detection can be performed. The accuracy is improved.

According to a seventh aspect of the present invention, in the abnormality monitoring device according to the sixth aspect, transmission of an abnormality detection signal from the abnormality detection means and supply of power to the abnormality detection means are performed via the rail. It is characterized in that it is performed between the control room.

According to this invention, the transmission of the abnormal state detection signal from the mobile unit and the power supply to the mobile unit can be performed in a multiplex manner via the rails. And the electrical system is greatly simplified.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to an embodiment shown in the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not merely intended to limit the scope of the present invention, but are merely illustrative examples unless otherwise specified. Absent.

FIG. 1 is an overall configuration diagram of an abnormality monitoring device in a tunnel-like passage according to an embodiment of the present invention, FIG. 2 is a block diagram showing a configuration of the abnormality monitoring device according to the above embodiment, and FIG. FIG. 4 is a front view showing the arrangement of the moving body in the above embodiment, FIG. 5 is a structural diagram showing a modification of the arrangement of the moving body, and FIG. 6 is a diagram of the camera for the abnormality monitoring apparatus. It is a structural diagram showing a modification.

In FIG. 1, reference numeral 1 denotes a moving body which travels on rails 6 laid in a tunnel-like passage 100 via wheels 101. Reference numeral 2 denotes an image pickup unit mounted on the moving body 1 and includes a camera, an image sensor, and the like. Reference numeral 5 denotes a control room in which the rails 6 are retracted, and control equipment or elements connected to the rails 6 and a network 3 described later are housed therein.

Reference numeral 3 denotes a network, which extends along the longitudinal direction of the passage 100, and to which a repeater 4 is connected at regular intervals. The network 3 is provided with illuminating devices 7 for illuminating the inside of the tunnel-shaped passage 100 at regular intervals. Then, an abnormality detection signal transmitted from a transmitter 14 (see FIG. 2) of the abnormality detection device 200 including the imaging means 2 mounted on the moving body 1 is received by the repeater 4 and transmitted through the network 3 to the control unit. It is to be placed in room 5.

In the block diagram shown in FIG. 2, the control room 5 includes an input / output interface 52, a controller 53 for controlling and calculating based on an abnormality detection signal transmitted from the abnormality detection device 200, and the controller 53. And an alarm 54 for issuing an alarm in response to a command from the power supply. Further, the abnormality detection device 200 includes a power receiving unit 1 for receiving power from the power supply 51, a power supply 16 in the abnormality detection device 200, an imaging unit 11 including a lens 111 and an image sensor 112, and the imaging unit 11.
Processing device 1 that performs image processing on an image captured by a camera
3, an abnormal data storage unit 15 for storing abnormal data detected by the image processing device 13, an illuminating device 18 mounted on the moving body 1, a light emitting device 19 that is illuminated by the illuminating device 18, and the image processing device. Abnormality detection signal 1 from 13
02 is transmitted from the transmitter 14 to the repeater 4 wirelessly.

In the tunnel-shaped passage abnormality monitoring apparatus having the above-described structure, as shown in FIG. 1, the moving body travels on the rail 6 laid along the longitudinal direction in the passage 100 from the control room 5. The image capturing means 11 such as a camera and an image sensor mounted on the moving body 1
The upper part or the inside of the passage 100 is imaged.

As shown in FIG. 1, the imaging means 11
Since the direction can be changed in the front-rear direction (Z arrow direction), the rotation direction (Y arrow direction), and the up-down direction (S arrow direction), it is possible to take images of the entire passage 100.

Next, the operation of the abnormality monitoring device will be described with reference to FIGS. The image in the passage 100 captured by the image capturing unit 11 is input to the image processing unit 13.
The image processing unit 13 performs image processing on the captured image, and identifies the presence of an abnormal object, the presence or absence of an abnormality such as a location where an abnormality has occurred, from the captured image (step (1)). Next, the image processing unit 13 performs detailed detection of the location of the abnormality, the state of the abnormal object, and the like from the captured image data, and sends the abnormal state detection data to the abnormal data storage unit 15 to store the data. This is recorded in the unit 15 (step (2)).

The abnormal state detection signal 102 obtained by the image processing unit 13 is transmitted from the transmitter 14 to the repeater 4 by radio (step (3)). In the repeater 4, the abnormal state detection signal 102 from the transmitter 14 is captured by the antenna 43 and received by the receiver 42. The received abnormal state detection signal 102 is transmitted from the interface 41 to the network 3 and further enters the interface 52 of the control room 5 from the network 3 (step (6)).

The abnormal state detection signal 102 enters the controller 53 via the interface 52. In the controller 53, the abnormal state detection signal 1
02, the abnormal state detected (existence of an abnormal object, abnormal place, etc.) is analyzed, and based on the result, an alarm is issued,
It sends commands for further tracking of abnormal situations. The alarm transmission command from the controller 53 is sent to the alarm 54, and the alarm 54 issues an alarm.

On the other hand, when an abnormal state is detected as described above, the moving body 1 further travels on the rail 6, tracks an abnormal object or the like, and images it by the imaging means 11, Then, the image processing unit 13 performs image processing, and transmits abnormal state detection data to the control room 5 via the repeater 4 and the network 3 (step (4)). Then, an alarm for the abnormal state in the passage 100 is transmitted, and if necessary, a warning or a threat, or, if the object is an abnormal object, capture or removal is performed.

The power from the power supply 51 provided in the control room 5 is supplied to the power receiving unit 17 of the mobile unit 1 as induction power through the power line 61. This electric power is
, And is supplied as the power source 16 of the moving body 1. The power from the power supply 16 is supplied to the image processing unit 13 and the imaging unit 11.

FIG. 4 shows an embodiment of the mounting mode of the moving body 1 in the tunnel-shaped passage 100. The first
In the embodiment, the moving body 1 runs on a rail 6 laid on the ground 101 along the longitudinal direction of the passage 100, similarly to the example shown in FIG.

The image pickup means 11 is swung up and down (in the direction of the arrow X), pivots around the support (in the direction of the arrow Z), and its height is variable (in the direction of the arrow S).
The entire interior can be imaged. In this case, by extending the imaging means 11 upward (in the direction of arrow S),
Zoom imaging of the upper part and the central part space of the passage 100 becomes possible.

In this embodiment, as in the first embodiment, the image pickup means 11 can rotate or reciprocate in three directions of X, Z and S. In this embodiment, by extending the imaging means 11 downward (in the direction of arrow S), zoom imaging of the lower part and the central space of the passage 100 becomes possible.

Further, in the third embodiment, the moving body 1 is erected or suspended along a rail 81 laid along the longitudinal direction of the passage 100 on the side surface 102 of the passage 100. It is possible to run. Also in this embodiment, the imaging means 11 can be turned or reciprocated in three directions of X, Z and S directions. In this embodiment, by extending the imaging means 11 in the lateral direction (in the direction of the arrow S), it is possible to perform zoom imaging of the space on the opposite side and the central part of the passage 100.

FIG. 5 is a modification of the third embodiment shown in FIG. 4. FIG. 5A shows a case where a rail 81a is bent upward and a moving body is placed on the rail 81a. FIG. 5B shows an example in which a zoom image of the lower space can be obtained by bending the rail 81b downward and suspending the movable body 1 on the rail 81b. This is an example.

FIG. 6 shows a modification of the image pickup means 11, in which three cameras are arranged and combined so that the direction of the lens 11a is enlarged in three directions. In this case, the imaging range is enlarged, and an abnormal state can be detected in a wide range in the passage 100.

[0040]

As described above, according to the present invention, on a moving body, image sensing in a passage by an imaging means and detailed detection of an abnormal state by image processing of the captured image can be performed by moving the moving body. It can be performed in parallel, and the state of the abnormality is tracked on the moving body, so that the moving from the detection of the abnormality to the execution of the tracking and the cancellation of the abnormal state is performed while moving the moving body. Thus, the process from the detection and detection of an abnormality to the release of the abnormality can be performed much more quickly than in the related art.

Further, since the moving body is configured to perform the processes from imaging of the passage to image processing and transmission of abnormal state detection data, the fixed monitoring device and the mobile monitoring device are separated from each other as in the prior art. As a result, a compact device having a simpler structure than that of the device provided in the above is obtained.

Further, according to the present invention, an abnormal state detection signal from a moving body is transmitted to a control room via a repeater provided at a constant interval in a network provided in a longitudinal direction of the passage. Since the transmission is performed, the abnormal state detection signal can be transmitted to the control room with high accuracy and easily at any moving position of the moving body.

According to the sixth or eighth aspect, the moving body can be moved along the lower surface, upper surface, or side surface of the tunnel-like passage, so that zoom imaging in all spaces or passage surfaces in the passage can be performed. It becomes possible, and the accuracy of finding an abnormal state is improved.

Further, according to the present invention, the transmission of the abnormal state detection signal from the moving body and the supply of power to the moving body can be performed via the rail in a multiplex manner.
No special power supply line such as electric wiring is required, and the electric system is extremely simplified.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an abnormality monitoring device in a tunnel-like passage according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of an abnormality monitoring device according to the embodiment.

FIG. 3 is an operation flowchart of the abnormality monitoring device according to the embodiment.

FIG. 4 is a front view showing an arrangement of moving objects in the embodiment.

FIG. 5 is a structural diagram showing a modification of the arrangement of the moving object.

FIG. 6 is a structural diagram showing a modification of the camera for an abnormality monitoring device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving body 3 Network 4 Repeater 5 Control room 6 Rail 7 Illumination device 11 Imaging means 13 Image processing unit 14 Transmitter 17 Power receiving unit 51 Power supply 53 Controller 54 Alarm device 81, 81a, 81b, 82 Rail 100 Passage 101 Ground 102 Side 103 Top

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Keiichi Mimi, Inventor 2-1-1, Shinhama, Arai-machi, Takasago City, Hyogo Prefecture Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Ryota Hiura 2-chome, Araimachi, Takasago City, Hyogo Prefecture No. 1-1 F term in Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. 5C054 AA01 AA05 BA01 CA04 CC02 CD03 CE02 CF01 CF08 CG01 CH01 DA07 DA08 EA01 EA03 EA05 FA09 FF06 GD01 HA18 HA29

Claims (8)

[Claims] 1. An abnormality monitoring method for detecting an abnormal state such as the presence of an abnormal object in a passage by taking an image of the passage by an imaging means such as a camera mounted on a moving body moving in a passage such as a tunnel. Performing imaging of the passage by the imaging means while moving the moving body, performing image processing on the moving body based on the captured image, identifying the presence or absence of abnormality, and when in an abnormal state,
Detect abnormal points, details of abnormal object conditions, etc., transmit the abnormal detection data obtained thereby to the control room, and move the moving body toward the abnormal point to track the abnormal state. Characteristic abnormality monitoring method. 2. The abnormality monitoring method according to claim 1, wherein
An abnormality monitoring method, wherein abnormality detection data after image processing on the moving object is sent to the control room via a relay provided along the path and a network to which the relay is connected. 3. The abnormality monitoring method according to claim 1, wherein
When an abnormality is detected by the abnormality detection on the moving body, subsequently, an abnormal state is released by issuing an alarm, removing an abnormal object, and the like. 4. A moving body moving in a passage such as a tunnel,
An abnormality monitoring device including an imaging unit such as a camera mounted on the moving body for imaging the passage, and detecting an abnormal state such as the presence of an abnormal object in the passage from an image captured by the imaging unit. An image processing unit that performs image processing on a captured image from the imaging unit to detect an abnormal state, a transmission unit that transmits an abnormal state detection signal from the image processing unit to a control room, the imaging unit, and image processing. And a power receiving unit for receiving power to a mounting element such as a unit mounted on the moving body, and configured to transmit an abnormality detection signal from the transmitting unit to the control room via transmission means. An abnormality monitoring device characterized by the following. 5. The abnormality monitoring device according to claim 4,
An abnormality monitor, wherein the transmission means comprises a plurality of repeaters provided along the passage to wirelessly receive an abnormality detection signal from the transmission unit and transmit the signal to the control room via the network. apparatus. 6. The abnormality monitoring device according to claim 4,
The moving body equipped with the abnormality detecting means including the imaging means, the image processing section, and the transmitting section is moved along a rail extending at least one of a lower surface, an upper surface, and a side surface of the tunnel-shaped passage. An abnormality monitoring device characterized by being provided so as to be able to run. 7. The abnormality monitoring device according to claim 6, wherein
An abnormality monitoring device, wherein transmission of an abnormality detection signal from the abnormality detection unit and supply of electric power to the abnormality detection unit are performed between the control room and the control room via the rail. 8. The abnormality monitoring device according to claim 6, wherein
An abnormality monitoring device, wherein the rail is laid on an upper surface or a side surface of the tunnel-like passage, and the moving body is suspended from the rail or mounted on the rail so as to be able to travel.