JP2003256805A - Monitoring device, monitoring method, monitoring program, and computer readable recording medium with its program recorded - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To follow-up a moving object without predicting the position of the object. <P>SOLUTION: A monitoring device comprises a camera head for outputting photographed pictures, and divides a monitoring area into a plurality of background areas, and photographs each background area to obtain a plurality of background pictures. Any one of the plurality of background areas is photographed so that a processed picture can be obtained, and the region of an object which does not exist at the time of obtaining the background picture is obtained based on the processed picture and the corresponding background picture (S91). In accordance with the transition of the area of the object from the background area corresponding to the processed picture to the adjacent background area (S93; NO), the adjacent background area is photographed (S95). <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device, a monitoring method, a monitoring program, and a computer-readable recording medium having the monitoring program recorded therein, and more particularly to a monitoring device for finding and tracking an object invading an area to be monitored. The present invention relates to a monitoring method, a monitoring program, and a computer-readable recording medium recording the monitoring program.

[0002]

2. Description of the Related Art Conventionally, a monitoring device for finding an object (including a person) invading an area to be monitored is known. A conventional monitoring device detects (discovers) an object that has entered the monitoring area by processing an image obtained by photographing the area to be monitored. In this type of monitoring device, a process of finding an intruding object and a tracking process of shooting while changing the shooting direction of the camera so that the found object fits within the shooting area are performed. Background image difference processing is known as a technique for detecting an object from a captured image.

In the background image difference processing, the background area is specified in advance, and the background image does not exist in the background image from the difference between the background image obtained by previously photographing the background area and the processed image obtained by photographing the current background area. The area is detected as a change area.

[0004]

When an object position is detected by background image difference processing and an attempt is made to track the object, the object position at the next position is detected unless a background image corresponding to the position of the object is acquired in advance. Can not. It is necessary to acquire background images in various directions in advance when trying to detect,
The storage capacity of the background image becomes enormous.

For this reason, conventionally, a method of time-difference tracking has been adopted in which shooting is repeated, the area of a moving object is detected by the difference (time difference) between two consecutive shot images, and the area is tracked. In this time difference tracking, since it is not necessary to store the background image in advance, it is not necessary to store a huge amount of background image. However, in tracking by time difference,
When the object stops, there is a problem that the difference cannot be obtained and the position of the object cannot be detected.

The present invention has been made to solve the above-mentioned problems, and one of the objects of the present invention is to provide a monitoring apparatus, a monitoring method, and a monitoring method capable of background image difference tracking with a reduced storage capacity of background images. It is an object of the present invention to provide a monitoring program and a computer-readable recording medium having the monitoring program recorded therein.

[0007]

According to one aspect of the present invention in order to achieve the above-mentioned object, a monitoring device has an image pickup means for outputting a photographed image and a predetermined monitoring area in a plurality of background areas. A first angle-of-view control unit that changes the angle of view of the image-capturing unit to divide each of the background regions and acquire a plurality of background images; a storage unit that stores the plurality of acquired background images; Of the background area of the object that does not exist at the time of acquiring the background image based on the acquired processed image and the corresponding background image. The change area acquisition means for acquiring and the second angle of view for changing the angle of view of the image pickup means for photographing the adjacent background area when the area of the object moves from the background area corresponding to the processed image to the adjacent background area. With control means .

According to the present invention, the predetermined monitoring area is divided into a plurality of background areas, and each background area is photographed to obtain a plurality of background images, so that the background area is efficiently set.
Therefore, it is possible to reduce the capacity for storing the background image obtained by photographing the background area. As a result, it is possible to provide a monitoring device capable of tracking a background image difference with a reduced storage capacity of the background image.

Preferably, each of the plurality of background areas is
The existence allowable area is surrounded by the overlapping area, the existence allowable area is in contact with the existence allowable area of the adjacent background area without overlapping, and the second view angle control means sets the background of which the object area corresponds to the processed image. When it is in the overlapping region of the regions, the angle of view of the image pickup means is changed to photograph the background region including the region of the object in the existence permissible region.

According to the present invention, each of the plurality of background regions has the existence permissible region surrounded by the overlapping region, and the existence permissible region is in contact with the existence permissible region of the adjacent background region without overlapping, so that the acquisition is performed. When tracking the captured object area, the angle of view of the image capturing unit is determined so as to capture the background area including the object area in the existence permissible area. Therefore, the object can be easily tracked. Further, the background area to be changed next can be determined at the stage when the object area exists in the processed image.

According to another aspect of the present invention, a monitoring method is a monitoring method executed by a monitoring device having an image pickup means for outputting a photographed image, wherein a predetermined monitoring area is set to a plurality of background areas. One of the plurality of background areas, the step of dividing and shooting each background area to change the angle of view of the image pickup means to acquire a plurality of background images, the step of storing the plurality of acquired background images, A step of capturing one background area to acquire a processed image; a step of acquiring an area of an object that did not exist at the time of acquiring the background image based on the acquired processed image and the corresponding background image; When the background area corresponding to the processed image is moved to the adjacent background area, the step of changing the angle of view of the image pickup means for photographing the background area adjacent to the background area is included.

According to the present invention, the predetermined monitoring area is divided into a plurality of background areas, and each background area is photographed to obtain a plurality of background images, so that the background area is efficiently set.
Therefore, it is possible to reduce the capacity for storing the background image obtained by photographing the background area. As a result, it is possible to provide a monitoring device capable of tracking a background image difference with a reduced storage capacity of the background image.

According to still another aspect of the present invention, the monitoring program is a monitoring program executed by a monitoring device having an image pickup means for outputting a photographed image, wherein a predetermined monitoring area is provided in a plurality of background areas. Of the plurality of background regions, each of the background regions being photographed and each of the background regions is photographed to change the angle of view of the image pickup means to obtain a plurality of background images; Capturing one of the background areas to acquire a processed image; acquiring an area of an object that did not exist at the time of acquiring the background image based on the acquired processed image and the corresponding background image; When the background area corresponding to the processed image moves to the adjacent background area, the step of changing the angle of view of the image pickup means to capture the background area adjacent to the background area is performed. To be executed by the data.

According to the present invention, the predetermined monitoring area is divided into a plurality of background areas, and each background area is photographed to obtain a plurality of background images, so that the background area is efficiently set.
Therefore, it is possible to reduce the capacity for storing the background image obtained by photographing the background area. As a result, it is possible to provide a monitoring program capable of tracking a background image difference with a reduced storage capacity of the background image, and a computer-readable recording medium recording the monitoring program.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same parts and components are designated by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

FIG. 1 is a diagram showing a schematic configuration of a monitoring device in one of the embodiments of the present invention. With reference to FIG. 1, the monitoring device 100 includes a camera head 120 and a control box 101. The camera head 120 includes a charge-coupled device (CCD) that captures a photographable range and outputs an image, a pan / tilt drive mechanism 121 for changing the photographing direction of the camera horizontally and vertically, and a photographing magnification. Drive mechanism 122 for adjusting
And a lens 123.

The control box 101 is a central processing unit (CPU) for controlling the entire monitoring device 100.
102, an image input unit 103 for capturing an image output from the CCD of the camera head 120, an image processing unit 105 for processing the captured image, and a captured image or image processing unit 105. An image recording unit 104 for storing the processed image, and a PTZ for controlling the pan / tilt drive mechanism 121 and the zoom drive mechanism 122 of the camera head 102 according to an instruction from the CPU 102.
(Pan-Tilt-Zoom) control unit 106, timer 108 that has a clock built therein to provide time information to CPU 102, and communicates with an external information communication terminal or personal computer via a local area network (LAN) 130. And an external storage device 10 for reading a program or data recorded in the recording medium 140 or writing necessary data in the recording medium 140.
9 and 9 are included.

The CPU 102 executes a monitoring process which will be described later by executing a program stored inside beforehand.

The image input section 103 includes a camera head 120.
The image output by the CCD is received and transmitted to the image storage unit 104.

In the image recording unit 104, the image input unit 103
It is possible to record a moving image to be received or a still image. The image recording unit 104 is a ring buffer. When recording a moving image input by the image input unit 103, the image recording unit 104 displays images from a current image received by the image input unit 103 up to a time that is a predetermined period back. It is possible to record. The image recording unit 104 also records a background image, which will be described later.

The PTZ control unit 106 controls the pan / tilt drive mechanism 121 and the zoom drive mechanism 122 of the camera head 120 in accordance with an instruction from the CPU 102, so that the direction in which the image is taken by the lens 123 and the lens 12 are taken.
The photographing magnification of 3 is changed. The angle of view of the camera head 120 is determined by the shooting direction of the lens 123 and the shooting magnification of the lens 123. Therefore, the PTZ control unit 1
06 controls the angle of view of the camera head 120.

The storage device 109 reads a program or data recorded in a computer-readable recording medium 140 according to an instruction from the CPU 102, and the monitoring device 1
For 00, necessary information such as a set value set by a remote operation described later is written.

As the computer-readable recording medium 140, a magnetic tape, a cassette tape, a magnetic disk,
Optical disc (CD-ROM / MO / MD / DVD, etc.),
It is a medium that fixedly carries a program, such as an IC card (including a memory card), an optical card, a mask ROM, an EPROM, an EEPROM, and a semiconductor memory such as a flash memory. Further, the recording medium 140 may be a recording medium that fluidly carries the program so that the program may be downloaded from a network.

The program mentioned here means the CPU 102.
Is a concept that includes not only a program that can be directly executed by, but also a program in a source program format, a compressed program, an encrypted program, and the like.

The external communication unit 107 is connected to the LAN 130. Therefore, the personal computer (PC) 131 connected to the LAN 130 and the CPU 102 can communicate with each other. This allows PC131
The user of can operate the camera head 120 remotely. In addition, the user of the PC 131 can remotely operate the camera head 120 to operate the camera head 12
The image taken at 0 can be viewed on the display of the PC 131. Furthermore, the setting information required when the monitoring device 100 performs the monitoring operation can be input from the PC 131. The setting value thus set is stored in the storage device 109.

In place of the PC 131, the monitoring device 1 is similarly connected from the PC 133, the mobile phone or the PDA 134 connected via the LAN 130 and the Internet 132.
00 can be operated remotely.

Although the example in which the external communication unit 107 is connected to the LAN 130 is shown, the external communication unit 107 may be connected to a general public line via a modem. In this case, the monitoring device 100 can be remotely operated from another PC connected to the general public line.

The external communication section 107 is adapted to perform an authentication process using a user ID and a password in order to limit the users who use the monitoring apparatus 100. This allows
Only a person who has the authority to remotely operate the monitoring device 100 can remotely operate the monitoring device 100.

Next, the monitoring device 10 according to the present embodiment.
The remote operation performed at 0 will be described with reference to FIGS. 2, 3, 4, and 5. FIG. 2 is a flowchart showing the flow of remote operation processing executed by monitoring device 100 according to the present embodiment. FIG. 3 is a flowchart showing a flow of setting processing executed by the monitoring device according to the present embodiment. FIG. 4 is a diagram showing an example of a remote control screen output by the monitoring device 100. FIG. 5 shows the monitoring device 10.
It is a figure which shows an example of the mode setting screen which 0 outputs. Here, a case where the monitoring apparatus 100 is remotely operated using the PC 131 connected to the LAN 130 will be described as an example.

Referring to FIG. 2, the remote control process is executed when an interrupt occurs when a remote control command is received (step S01). When the remote control command is received, an interrupt occurs and the process proceeds to step S02. If the remote control command is not received, no interrupt is generated and the remote control process is not executed. The remote control command is received by the external communication unit 107. Here, a PC connected to the external communication unit 107 via the LAN 130.
A case where a remote control command is transmitted from 131 will be described. PC 131 and external communication unit 107 are LAN
Connected via 130. The monitoring apparatus 100 may be a web server, and a server client system may be used in which the PC 131 is a client that starts browser software.

In step S02, it is determined whether the process currently being executed by the monitoring device 100 is the discovery process, the gaze process, or the tracking process. If any of the finding process, the gaze process, and the tracking process is performed, the process returns to step S01, and if not, the process proceeds to step S03.

As a result, even if the remote control command is received, if the monitoring device 100 is performing any one of the discovery process, the gaze process, and the tracking process, the process based on the remote control command is executed. However, the processing currently being performed is continuously performed. Therefore, if any of the discovery process, the gaze process, or the tracking process is executed, even if the remote operation command is received, the discovery process,
Since neither the gaze process nor the tracking process is stopped, the discovery process, the gaze process, or the tracking process can be executed to the end. As a result, when a change such as an intruder's invasion occurs in the monitoring area, it is possible to reliably detect, gaze, and track the intruder.

It should be noted that if any one of the discovery process, the gaze process, and the tracking process is executed when the remote operation command is received, the process based on the remote operation command is not executed. The reception of the remote control command may be rejected during the execution of the processing or the tracking processing.

In step S03, the monitoring device 100
The remote control screen 200 shown in FIG. 4 is transmitted to the PC 131. Referring to FIG. 4, remote control screen 200 is a web page, which is received and viewed by the browser software of PC 131. Referring to FIG. 4, remote control screen 20
Reference numeral 0 indicates an area 201 for displaying an image captured and output by the CCD of the camera head 120, and a monitor area edit button 202 for calling a screen for editing the monitor area.
And the pan / tilt drive mechanism 12 of the camera head 120
1 includes buttons 203A, 203B, 204A, 204B for transmitting a remote control command, and buttons 205A, 205B for transmitting a remote control command for controlling the zoom drive mechanism 122.

The pan buttons 203A and 203B are transmission buttons for determining the shooting direction of the camera head 120 as the horizontal direction. By pointing the pan button 203A with a pointer such as a mouse, a remote control command is transmitted to the monitoring device 100, and the PTZ control unit 106 pans / pans.
The tilt drive mechanism 121 is controlled, and the photographing direction of the lens 123 moves to the left. Also, the pan button 203B
The remote control command is transmitted to the monitoring device 100 by pointing the mouse with a pointer such as a mouse, and the PTZ control unit 1
The pan / tilt drive mechanism 121 is controlled by 06,
The shooting direction of the lens 123 moves to the right.

The tilt buttons 204A and 204B are buttons for moving the lens 123 of the camera head 120 in the vertical direction. By pointing the tilt button 204A with a pointer such as a mouse, a remote control command is transmitted to the monitoring apparatus 100, the PTZ control unit 106 controls the zoom drive mechanism 122, and the shooting direction of the lens 123 moves upward. Similarly, by pointing the tilt button 204B with a pointer such as a mouse, a remote control command is transmitted to the monitoring device 100, and the PTZ
The control unit 106 controls the zoom drive mechanism 122,
The shooting direction of the lens 123 moves downward.

The zoom buttons 205A and 205B are buttons for changing the photographing magnification of the lens 123. When the zoom button 205A is pointed by a pointer such as a mouse, a remote control command is transmitted to the monitoring device 100, and P
The zoom drive mechanism 122 is controlled by the TZ control unit 106, and the photographing magnification of the lens 123 is reduced. Further, when the zoom button 205B is pointed by a pointer such as a mouse, a remote control command is transmitted to the monitoring device 100,
The PTZ control unit 106 controls the zoom drive mechanism 122 to increase the photographing magnification of the lens 123.

In step S03, the remote control screen 200
Is transmitted to the PC 131, it is determined whether or not a setting command is input. The setting command is input by the monitoring apparatus 100 when the monitoring area edit button 202 on the remote control screen 200 is instructed. If the setting command is input, the process proceeds to step S10, and if not, the process proceeds to step S04.

In step S10, a setting process is executed (step S10). When the setting process ends, the remote operation process ends.

In the case of proceeding to step S04, since the remote control command is a command for changing the angle of view of the camera head 120, the angle of view of the camera head 120 is controlled. The command for changing the angle of view is a command for changing pan / tilt / zoom. When the monitoring apparatus 100 receives a remote control command for pan, tilt, and zoom from the PC 131, the PTZ control unit 106 causes the pan / tilt drive mechanism 121 and the zoom drive mechanism 12 to operate.
2 is controlled to change the shooting direction and the shooting magnification of the lens 123.

As a result, the angle of view of the camera head 120 is changed. Then, the CCD of the camera head 120 shoots a shooting area determined by the changed angle of view (step S05), and the shot camera image is set as the area 201 of the remote control screen 200 and is transmitted to the PC 131 ( Step S06).

Thereafter, it is continuously determined whether or not the pan, tilt, and zoom remote control commands have been received (step S07). When the pan, tilt, and zoom remote control commands (PTZ command) have been received, Returns to step S04 and returns to step S4 and step S5 described above.
And the process of step S06 is repeatedly executed. Bread,
If the tilt / zoom remote control command (PTZ command) is not received, it is determined whether or not a predetermined time has elapsed without receiving the pan / tilt / zoom remote control command. Returns to step S07. Therefore, the control waits until a predetermined time elapses without receiving the pan, tilt, and zoom remote control commands. On the other hand, if the pan, tilt, and zoom control commands have not been received and the predetermined time has elapsed (YES in step S09), the processing ends.

On the other hand, in step S08, it is determined whether or not an end command is received. If the end command is received, the process is ended, and if not, PT
Since it is a Z command, the process returns to step S04.

As described above, in the remote operation process, when the setting process is completed (after step S10), the end command is input (YES in step S08), or when the command is not input for a predetermined time ( If the answer is YES in step S09, the remote operation process ends. Since the remote operation process is started by an interrupt, when the remote operation process is completed, the angle of view of the camera head 120 is returned to the angle of view of the monitoring area at the time of the interrupt, and the monitoring operation is restored.

In this way, the user of the PC 131
While looking at the image displayed in the area 201, the pan button 20
3A, 203B, tilt buttons 204A, 204B and zoom buttons 205A, 205B are used to set the angle of view (pan / tilt / zoom).
The user of the PC 131 can see the photographed image in any direction he or she wants to see.

Details of the setting process executed in step S10 will be described below with reference to FIGS. In the setting process, first, the monitoring area edit screen shown in FIG.
It is displayed on the remote control screen shown in FIG. 4 or in an area different from the remote control screen 200.

The monitoring area edit screen 210, referring to FIG. 5A, shows a new monitoring area setting button 211, a monitoring area setting change button 212, and a monitoring area deletion button 213.
And a return button 214.

The new monitoring area setting button 211 is a button designated when a new monitoring area is set. When the new monitoring area setting button 211 is instructed with a mouse or the like,
A new monitoring area setting screen 220 shown in FIG. 5B is displayed.

The monitoring area setting change button 212 is a button designated when changing the set value set for the already set monitoring area. Monitoring area delete button 21
A button 3 is designated when deleting a set value set for the already set monitoring area. The process of changing the monitoring area setting and deleting the monitoring area is a process of changing or deleting the data set for the monitoring area specified by inputting the name of the monitoring area. It will not be described in detail here.

Referring to FIG. 5B, the new monitoring area setting screen 220 has an angle of view setting button 221, a name setting button 222, a discovery method setting button 223, a tracking method setting button 224, a patrol method setting button 225, A recording notification setting button 226 and a return button 227 are included.

The view angle setting button 221 is a button for calling the view angle setting screen 230 shown in FIG. 5 (C). The name setting button 222 is a button for calling the name setting screen 240 shown in FIG. The discovery method setting button 223 is used for the discovery method setting screen 250 shown in FIG.
Is a button for calling. Tracking method setting button 22
4 is a button for calling the tracking method setting screen 260 shown in FIG. The patrol method setting button 225 is
This is a button for calling the patrol method setting screen 270 shown in FIG. The record notification setting button 226 is shown in FIG.
This is a button for calling the recording notification setting screen 280 shown in (H). When the return button 226 is pointed by a pointer such as a mouse, the monitor area edit screen 2 shown in FIG.
10 is displayed.

Referring to FIG. 5C, the view angle setting screen 23
0 includes an area 231 for displaying an area name, an area 232 for displaying a message, an OK button 233, and a return button 234. In the area 231 displaying the area name, the name given to the monitoring area is displayed. If the monitoring area has not been named yet, it will not be displayed in the name either. The name given to the monitoring area is the name given to the shooting area (monitoring area) that is determined by the angle of view set in step S01, and is set by being input by the user on the name setting screen 240 described below. .

In the area 232, a message "Set current angle of view as monitoring area?" Is displayed. This is a message asking whether or not to set the shooting area defined by the image displayed in the area 201 on the remote control screen 200 as the monitoring area. In this state, remote control screen 2
00 pan button 203A, 203B, tilt button 204A, 204B and zoom button 205A, 20
5B can be operated to change the monitoring area. When the desired monitoring area is displayed in the area 201, the OK button 233 of the angle-of-view setting screen 230 is designated by a mouse or the like to determine the shooting area determined by the current angle of view as the monitoring area (step S11). .

By designating the return button 234 with a mouse or the like, the new monitoring area setting screen 2 shown in FIG. 5B is displayed.
20 is displayed.

Referring to FIG. 5D, the name setting screen 24
In 0, an area 241 showing the name of the monitoring area and an area 242 displaying a message of "please set a name"
An area 243 for inputting the name of the monitoring area, an OK button 244, and a return button 245. In the area 241, the name given to the monitoring area which is the current processing target is displayed. If no name has been assigned to the monitoring area, nothing is displayed. In this way, when the monitoring area is not yet named, a message "Please set a name" is displayed in the area 242. If the name has already been given, the name is displayed in the area 241, and a message such as "Do you want to change the name?" Is displayed in the area 242.

In the area 243, the name given to the monitoring area set on the view angle setting screen 230 is input. The user can give a name to the monitoring area by inputting a desired name here. When the OK button 244 is designated by a mouse or the like, the name input to the area 243 is set as the name of the monitoring area (step S12). When the return button 245 is designated by a mouse or the like, FIG.
The new monitoring area setting screen 220 shown in is displayed.

Referring to FIG. 5E, the discovery method setting screen 250 has an area 251 for displaying the name of the monitoring area.
And an area 25 for selecting color extraction image processing as a discovery method.
2 and an area 253 for selecting the time difference image processing
And an area 254 for selecting the background difference image processing,
A save button 255 and a return button 256 are included.

In the area 251, the name given to the monitoring area currently being processed is displayed. Area 252
Is a button for displaying color extraction and for selecting color extraction image processing. When the area 252 is pointed by a mouse or the like, the check box displayed on the left side of the area 252 is highlighted to indicate that the color extraction image processing is selected as the finding method. Similarly, "time difference" is displayed in the area 253, and is a button for selecting time difference image processing. When the area 253 is pointed by a mouse or the like, the time difference image processing is selected as the discovery method, and the check box next to it is highlighted to indicate that the time difference image processing is selected as the discovery method.

In the area 254, "background difference" is displayed and is a button for selecting background difference image processing.
When the area 254 is pointed by a mouse or the like, the background difference image processing is selected as the discovery method, and the check box beside it is highlighted to indicate that the background difference image processing is selected as the discovery method.

At least one of the color extraction image processing, the time difference image processing, and the background difference image processing can be selected as the discovery method setting, and a plurality of selection methods may be selected. For example, color extraction image processing and background difference image processing can be selected. When the save button 255 is designated by a mouse or the like, the discovery method designated in the areas 252, 253, 254 is set (step S13).

Referring to FIG. 5F, tracking method setting screen 260 has area 261 for displaying the name of the monitoring area and area 26 for selecting color extraction image processing as the tracking method.
2, an area 263 for selecting time difference image processing as a tracking method, an area 264 for selecting background difference image processing as a tracking method, an area 265 for not selecting a tracking method, a save button 266, and a return button. And a button 267.

In the area 261, the name given to the monitoring area currently being processed is displayed.

In the area 262, the characters "color extraction" are displayed. When the area 262 is pointed by a mouse or the like, the color extraction image processing is selected as the tracking method, and the left check box is highlighted to indicate that the color extraction processing is selected as the tracking method.

In the area 263, "time difference" is displayed. When the area 263 is clicked with a mouse or the like, the time difference image is selected as the tracking method, and the left check box is highlighted to indicate that the time difference image processing is selected as the tracking method.

In the area 264, the characters "background difference" are displayed. When the area 264 is designated with a mouse or the like, the background difference image processing is selected as the tracking method, and the left check box is highlighted to indicate that the background difference image processing is selected as the tracking method.

In the area 265, "no tracking" is displayed. When the area 265 is designated with a mouse or the like, no image processing is selected as the tracking method, and the check box is highlighted. In this case, if any of the tracking methods is selected, they are all cancelled.

When the save button 266 is pointed by a mouse or the like, the tracking method specified in the areas 262, 263, 264, 265 is set in association with the monitoring area corresponding to the name displayed in the area 261 ( Step S14).

On the other hand, when the return button 267 is designated with a mouse or the like, the new monitoring area setting screen 2 shown in FIG. 5B is displayed.
20 is displayed.

Referring to FIG. 5G, the traveling method setting screen 270 has an area 271 for displaying the name of the monitoring area.
And an area 272 for inputting the time to specify
And an area 273 for inputting an interval time,
An area 274 for inputting the order of the tour, an area 275 for sequentially displaying the names of the monitoring areas set for the tour, a save button 276, and a return button 27.
Including 7 and.

The patrol method setting screen 270 is a screen for setting a patrol method for each monitoring area. The patrol method includes a time designation mode for monitoring at a predetermined time,
It includes an interval mode for monitoring at predetermined time intervals and a sequence mode for sequentially monitoring a plurality of predetermined monitoring areas.

In the area 271 of the patrol method setting screen 270, the name of the monitoring area that is the current setting processing target is displayed.

By designating the area 272 with a mouse or the like, the time designation mode is set as a patrol method, and the time to be monitored can be input. Then, the check box on the left side of the area 272 is highlighted to indicate that the time designation mode is set. With this setting, the area 27
The patrol method is set such that the monitoring area with the name displayed in 1 is monitored at the time input in the area 272.

When the area 273 is designated by a mouse or the like, an interval mode is set as a patrol method and a predetermined time interval can be input. Then, the check box on the left side of the area 273 is highlighted so that the interval mode is set. With this setting, the area 2
The patrol method is set so that the monitoring area with the name displayed in 71 is monitored at the time intervals input in the area 273.

When the area 274 is designated by a mouse or the like, the sequence mode is set as the patrol method, and the area 274 is set.
You can enter the order in. In the area 275, the names of the monitoring areas set in the sequence mode are displayed in the order in which they are set. Then, the check box on the left side of the area 274 is highlighted so that the sequence mode is set. By this setting, the patrol method is set so that the monitoring area having the name displayed in the area 271 is monitored in the order input in the area 274.

When the save button 276 is designated by a mouse or the like, the patrol method designated in the areas 272, 273, 274 is set in association with the monitoring area corresponding to the name displayed in the area 271 (step S15). ).

On the other hand, when the return button 277 is designated by a mouse or the like, the new monitoring area setting screen 2 shown in FIG. 5B is displayed.
20 is displayed.

It is sufficient to set at least one patrol method for one monitoring area, and a plurality of patrol methods may be set. For example, 2 of monitoring by the time designation mode and monitoring by the interval mode
One can be set. In this case, the monitoring area is monitored at a predetermined time interval and also at a designated time.

Referring to FIG. 5H, the recording notification setting screen 280 has an area 281 for displaying the name of the monitoring area and buttons 282A, 282 for setting whether or not to perform detailed photographing.
82B and a button 283A for setting whether to notify or not.
283B, a save button 284, and a return button 285 are included.

The area 281 displays the name of the monitoring area that is being dealt with. Button 282A, 282
B is a button for setting whether or not to photograph the object in detail when the object is found in the monitoring area. When the button 282A is selected, it is set to perform detailed shooting, and when the button 282B is specified, it is set to not perform detailed shooting (step S16).

Buttons 283A and 283B are buttons for setting whether or not to notify when an object is found in the monitoring area. When the button 283A is designated, it is set to notify and the button 283A is set.
If B is set, the mode not to notify is set (step S16).

The angle of view, name, discovery method, tracking method, patrol method, recording mode and notification mode of the monitoring area set in steps S11 to S16 are stored in the storage device 109 in association with each other (step S17). ).

In this way, the P connected to the LAN 130 is
By remotely operating the monitoring device 100 from C131, the setting contents of the monitoring device 100 can be set. In the present embodiment, the mode setting is PC
Although the setting is performed by remote control from 131, the setting may be performed by directly inputting from an input device such as a keyboard included in the monitoring device 100.

FIG. 6 is a diagram for explaining the relationship between the image-capable range of the monitoring apparatus 100 and the monitoring area. With reference to FIG. 6, a photographable range 300 indicates a range that can be photographed by the camera head 120 when the monitoring device 100 is installed in a room. In addition, the photographable range 300 is
The camera head 120 of the monitoring device 100 drives the pan / tilt drive mechanism 121 and the lens drive mechanism 122 to the maximum extent, and the CCD included in the lens 123 can capture an image.

In FIG. 6, two monitoring areas 201A and 201A are provided.
1B is shown. The monitoring area 201A is an area including the window 150. Therefore, when there is a person trying to enter through the window 150, the person who has entered the monitoring area 201A is included. The monitoring area 201B is
The area is set to include the door 151. Therefore, if there is an intruder through the door 151, the monitoring area 20
It will be included in 1B. Therefore, the monitoring area 20
In 1B, an intruder from the door 151 into the room can be monitored.

FIG. 7 shows a monitoring device 1 according to this embodiment.
10 is a flowchart showing a flow of a monitoring process executed at 00. With reference to FIG. 7, in the monitoring device 100, first,
When the power is turned on (step S20), the storage device 10
The setting mode stored in 9 is read (step S2).
1). The setting mode is a mode set by the remote operation processing shown in FIGS. 2 and 3.

Then, in step S22, the camera numerical value of the camera head 120 is set to an initial value,
A background image for tracking and a background image of a traveling point are photographed.

Here, the tracking background image is an image used in the tracking method of the background difference image processing. The tracking background image is an image obtained by previously dividing a range that can be captured by the camera head 120 into a plurality of background areas and capturing an image for each of the plurality of divided background areas. In addition, the background image of the traveling point refers to an image obtained by photographing the monitoring area when background image difference processing is set as the method of finding the monitoring area. The tracking background image and the background image of the traveling point are used later as images that serve as a reference in the discovery processing and the tracking processing.

In the next step S23, a cyclic order setting process is executed. The patrol order is a process of determining a monitoring area to be monitored next when a plurality of monitoring areas are set. This will be described in detail later. By executing the process of step S23, the monitoring area to be processed is determined, and then the process proceeds to step S28.

In step S28, it is determined whether or not the patrol set time has elapsed for the monitoring area to be processed. If it has elapsed, the process proceeds to step S24, and if not, the process proceeds to step S29. The patrol set time is the time allotted for executing the discovery processing (step S29 and step S30) on the monitoring area that is the processing target. This patrol set time is preset and stored in the storage device 109.

In step S29, the finding operation is performed by the finding method set for the monitoring area. There were three detection methods, color extraction image processing, time difference image processing, and background difference image processing. For the monitoring area, the discovery method is set on the discovery method setting screen 250 shown in FIG. 5 (E). The monitoring apparatus 100 selects the discovery method set for the monitoring area from three discovery methods of color extraction image processing, time difference image processing, and background difference image processing. A discovery operation is performed using the selected discovery method. When a plurality of discovery methods are set, each discovery method is sequentially selected and the discovery operation is sequentially performed. In the finding operation, a changing area that changes in the monitoring area is detected. The change area means an area of a specific color in the color extraction image processing, an area of a moving object in the time difference image processing, and an area different from the background image in the background difference image processing.

In step S30, it is determined whether or not a change area is detected (discovered) as a result of the finding operation performed in step S29. If it is detected, step S3 is performed.
If not, the process proceeds to step S28.
Therefore, the discovery operation is performed during the patrol set time.

In step S31, the pan / tilt drive mechanism 121 is driven so that the center of the discovery area found in step S29 becomes the center of the photographing area of the camera.
Then, it is determined whether or not detailed shooting is performed (step S).
32). If detailed shooting is set, the process proceeds to step S38, and if not, the process proceeds to step S33.

In step S33, the PTZ control unit 106
Controls the zoom drive mechanism 122 to change the zoom amount so that the lens is at the wide-angle end. This is to make it easier to capture a moving object within the shooting area by making the shooting area as wide as possible.

In step S34, the moving image from the determination of the monitoring area in step 23 to the present, or the moving image from the oldest image of the monitoring area recorded in the image recording unit 104 to the present is stored in the storage device. It is stored in 109.

Then, in the next step S35, it is determined whether or not to notify. Whether or not to notify is based on the data set on the recording notification setting screen 280. The notification when detailed shooting is not performed is limited to text only.

In step S36, character information is notified. The notification here is, for example, a process of transmitting the fact that there is an intruder via the external communication unit 109 by e-mail or the like. An electronic mail may be transmitted from the external communication unit 107 to a mobile phone owned by the user. This allows the user to receive an email
You can know that there was an intruder while you were out.

Then, in the next step S37, it is determined whether or not to perform tracking. Whether or not to perform tracking is determined based on the value set on the tracking method setting screen 260 by the user's remote operation. If the tracking is not set, the process proceeds to step S24. If not, the process proceeds to step S43. In step S43, the set tracking process is selected and the tracking process is executed. There are three tracking methods: color extraction image processing, time difference image processing, and background difference image processing. For the monitoring area,
The tracking method is set on the tracking method setting screen 260 shown in FIG. In the monitoring device 100, color extraction image processing,
The tracking method set for the monitoring area is selected from the three discovery methods of the time difference image processing and the background difference image processing. Then, the tracking process is executed using the selected tracking method.

On the other hand, if it is determined in step S32 that the detailed shooting is to be performed, the process proceeds to step S38, and zooming is performed so that the discovery area has a predetermined ratio in the shot image. This zoom is performed by the PTZ control unit 106 by the zoom drive mechanism 122.
Is controlled. The predetermined ratio of the discovery area in the captured image for determining the zoom magnification is
It is stored in the storage device 109 in advance.

Then, in step S39, step 2
The moving image from the determination of the monitoring area in 3 to the present, or the moving image from the oldest image of the monitoring area recorded in the image recording unit 104 to the present is stored in the storage device 109.

In the next step S40, a still image is captured and the captured still image is stored in the storage device 109 in order to photograph the discovery area in detail. Here, in addition to the moving image stored in step S39, the still image is stored in step S40 because the moving image and the still image have different resolutions and the still image has a higher resolution than the moving image. This is because the image can be recorded in more detail than the moving image.

Next, it is determined whether or not to notify the user of the still image captured in detail (step S41). If it is determined that the detailed shooting notification is to be sent, the process proceeds to step S42, and if not, the process proceeds to step S24. This determination is made based on the data set on the recording notification setting screen 280. Recording notification setting screen 28 in FIG. 4 (H)
In 0, it is set to notify the detailed shooting when the user specifies the button 283A by remote control.
It was set not to notify detailed shooting when 3B is designated.

In step S42, the still image captured and saved in step S40 is attached to an electronic mail or the like and transmitted from the external communication unit 107 to the user. This allows
By looking at the received electronic mail and the still image attached to the electronic mail, the user can see that there is an intruder and an image of the intruder.

In step S24 to step S27, when any of the finding process performed in steps S28 to S30, the gaze process performed in steps S31 to S42, and the tracking process performed in step S43 is completed. First, it is determined whether or not the background difference image processing is set as the method of finding the monitoring area that is the current processing target. If background difference image processing is set, the process proceeds to step S25, and if not, the process proceeds to step S26.

In step S25, the PTZ control unit 160 controls the pan / scan so that the monitoring area to be processed becomes the photographing area.
The tilt drive mechanism 121 and the zoom drive mechanism 122 are controlled. Then, the monitoring area to be processed is photographed and stored in the image recording unit 104 as a background image. By thus updating the background image as needed, it is possible to reduce the influence of environmental changes.

Next, in step S26, it is determined whether or not the background difference tracking image update time has elapsed. If it is determined that the time has passed, the process proceeds to step S27, and if not, the process proceeds to step S23. The background difference tracking image update time is a preset time for updating the background image used when the background difference image processing is selected as the tracking method. This is to make the background image the latest image possible when the background difference image processing is used in the tracking operation.

In step S27, the background image for tracking is updated. The PTZ control unit 106 controls the pan / tilt drive mechanism 121 and the zoom drive mechanism 122 to sequentially capture background images.

FIG. 8 is a flow chart showing the flow of the cyclic order setting process executed in step S23 of FIG.
Referring to FIG. 8, first, in the traveling order setting process, it is determined whether or not the alarm setting time has passed (step S5).
1). The alarm set time means a specified time when the time specifying mode is set as the patrol method. The designated time is set by the user by remote control as shown in FIG.
This is the time input in the area 272 of the traveling method setting screen 270 of (G).

If it is determined that the alarm set time has passed, the process proceeds to step S54, and if not, the process proceeds to step S52. In step S54, the alarm setting point is set as the next traveling point. The alarm setting point is a monitoring area in which the time designation mode is set as the patrol method. The alarm set point is then subject to monitoring.

In step S52, it is determined whether the interval setting time has passed. If it is determined that the interval set time has passed, the process proceeds to step S55, and if not, the process proceeds to step S53. The interval set time means a set time interval when the interval mode is set as the patrol method. The interval time can be set as shown in FIG.
Is the time interval input in the area 273 of the traveling method setting screen 270.

In step S55, the interval setting point is set as the next traveling point. The interval setting point is a monitoring area in which the interval mode is set as the patrol method and the interval setting time has elapsed. The interval set point is then subject to monitoring.

In step S53, it is determined whether or not there is a sequence set point. If it is determined that there is a sequence setting point, the process proceeds to step S56, and if not, the process proceeds to step S51. The sequence set point is a monitoring area in which the sequence mode is set as the cyclic method and the next order is set. The order in the sequence mode is the order input by the user in the area 274 of the cyclic method setting screen 270 of FIG.

In step S56, the sequence set point is set as the next cyclic point (the monitoring area to be processed next).

FIG. 9 is a flow chart showing the flow of the tracking process executed in step S43 of FIG. With reference to FIG. 9, in the tracking processing, first, it is determined whether or not the tracking time has ended (step S61). The tracking time refers to the time during which the tracking process is continued, and is preset by the user and stored in the storage device 109. If the tracking time has elapsed, the process proceeds to step S67, and if not, the process proceeds to step S62.

In step S62, the tracking operation is executed. The tracking operation is a process of finding a moving object, predicting the moving direction of the object, and moving the shooting range of the camera. The moving object is detected as a change area in the image.

In step S63, the camera head 120
After the tracking operation is executed, the moving image of the image captured by the CCD is stored in the storage device 109 (step S63).

In the next step S64, it is determined whether or not the change area (target) is lost. Since the finding operation finds the area of the moving object by detecting the changed area in the image, it is determined that the area of the moving object is lost when the changed area cannot be detected in the image. . If it is lost, the process proceeds to step S65, and if not, the process proceeds to step S61.

In step S65, it is determined whether the tracking method is color extraction image processing or time difference image processing. If yes, the process proceeds to step S66, and if not, step S67. Proceed to.

In step S66, the tracking method is changed to the background difference image processing and the tracking processing is continued. For example, when the tracking method is executed by color extraction image processing in which the skin color is set as a specific color, an intruder is detected when a person invades the surveillance area with his face facing the camera. When the intruder notices the camera and looks back, the face is not photographed and the hair is photographed. In this case, the skin color disappears from the image, and the skin color area cannot be extracted even if the intruder is in the monitoring area.

Further, in the case of the time difference image processing, the object can be tracked when it is moving in the direction intersecting the optical axis of the lens 123, but it is moving in the direction parallel to the optical axis of the lens 123. When the object is moving, for example, when the object moves in a direction away from or toward the lens 123, it is difficult to detect the object because the variation in the change region is small. Similarly, when the object is stationary, it cannot be detected even though the object exists in the monitoring area.

On the other hand, in the case of the background subtraction image processing, since the image taken before the object enters and the image taken after the object enter are compared, the intruder can be reliably extracted. Therefore, when the object found in the color extraction image processing or the time difference image processing is lost, the moving object can be reliably tracked by performing the tracking operation using the background difference image processing.

Further, in step S67, step S
The moving image for a certain period of time before the processing shifts to 67 is stored in the storage device 109. As the moving image for this fixed time, for example, all the past images recorded in the image recording unit 104 may be recorded. In this way, by recording the moving image of a certain time before, it is possible to record an image of the monitoring area until the target is lost. Therefore, it is possible to record in which direction the monitoring area is moved.

Next, the time difference tracking process will be described.
The time difference tracking process is a tracking process executed by a tracking method using time difference image processing.

FIG. 10 is a diagram for explaining an example of processing for extracting a change area in the time difference image processing. In the time difference image processing, the photographing area is photographed at different times 3
Change areas are detected from two images. Referring to FIG.
The change region is extracted using three images, which are the current image 310, the image 311 captured before the current image 310, and the image 312 captured earlier than the image 311.

The image 310 includes a region 313 showing a moving object. However, the region 313 in which the moving object is represented cannot be extracted from the image 310. The image 311 includes a region 314 in which the moving object is represented in the image 310. Area 313 and Area 3
Although the same object is shown in 14, the positions are different in the images 310 and 311 because the time when the image was taken is different. The difference image 320 is obtained by taking the difference between the image 310 and the image 311. The difference image 320 includes a region 313 and a region 314. Difference image 3
An area 313 in 20 is an area in which a moving object is represented, and exists in a position at the time when the image 310 is captured. A region 314 in the difference image 320 is a region in which a moving object is represented, and is present at the position when the image 311 was captured. A difference image 321 between the image 310 and the image 312 is obtained. The difference image 321 includes a region 313 and a region 315. A region 313 in the difference image 321 is a region in which a moving object is represented,
The image 310 exists at the position at the time when the image was captured.
The area 315 in the difference image 321 is an area in which a moving object is represented, and is present at the position when the image 312 was captured.

Next, the image 330 is obtained by taking the logical product of the difference image 320 and the difference image 321. As a result, the image 330 includes only the region 313 representing the moving object at the time when the image 310 was captured.

As described above, using the three images of the current image 310, the image 311 at a time point earlier than the present time, and the image 312 at a time point earlier than the image 311, the image 3
A change region 313 in which a moving object is represented from 10
Can be asked.

FIG. 11 is a flow chart showing the flow of the time difference tracking process executed by the monitoring device of this embodiment. Referring to FIG. 11, in the time difference tracking process, first, the first image is captured. Then, the second image is captured when 1/15 seconds have elapsed since the image was captured in step S71. Further, step S7
The image obtained when 1/15 second has elapsed from 2 is captured as the third image (step S73).

In the next step S74, the change area is extracted by performing the differential image processing shown in FIG. 9 described above.

In step S75, it is determined that the change area is found when the change area is extracted. If found, the process proceeds to step S76, and if not, the process proceeds to step S73, and the next image is sequentially captured.

In step S76, the barycentric position of the changing area is obtained, and it is judged whether or not the obtained barycentric position is outside the existence permissible area (step S77). If it is outside the existence permissible area, the process proceeds to step S78, and if not, the process proceeds to step S73.

The existence permissible area is a predetermined area near the center of the photographing range. If the camera is out of the existence permissible area, it is necessary to move the camera, and therefore the movement amount for moving the camera is calculated (step S7).
8).

Then, it is judged whether or not the camera can be moved by the calculated movement amount (step S79). If the camera can be moved, the process proceeds to step S80. If not, the process proceeds to step S81.

In step S80, the PZT control unit 106
Controls the pan / tilt drive mechanism 121 to move the shooting direction of the camera.

On the other hand, in step S81, since the camera cannot move, the error status is notified to the CPU 102. Then, the process ends.

The color extraction / tracking process is a process executed by a tracking method using the color extraction image process. The color extraction tracking process is step S71 of the time difference tracking process shown in FIG.
In S74, instead of extracting the change area using the three images, an area including a predetermined specific color is extracted from the captured image, and the extracted specific color area is set as the change area. And Since the other processes are the same as the time difference tracking process shown in FIG. 11, the description thereof will not be repeated here.

Next, the background difference tracking process will be described. The background difference tracking process is a process executed by a tracking method using the background difference image process. FIG. 12 is a diagram for explaining a background image used in the background difference tracking process executed by the monitoring device according to the present embodiment. FIG. 12A is a diagram showing the background region and the allowable existence range, and FIG. 12B is a diagram showing the relationship between the background region and the image capturing range of the camera.

With reference to FIG. 12A, the background area 301
Indicates a range that can be photographed by the camera head 120 at one time. The background area 301 includes an existence permission area 302.
The existence permissible area 302 is an area predetermined with respect to the background area 301.

Referring to FIG. 12B, a plurality of background areas are arranged in the image-capable range 300 of the camera so as to overlap with the adjacent background areas. Further, the existence permissible area included in the background area is in contact with the existence permissible area of the adjacent background area without overlapping. For example, although the background area 301A and the background area 301B overlap each other at the hatched portion, the existence permissible area 3
The sides of 01B and 302B are in contact with each other without overlapping.

By arranging the background area and the presence-permissible area in this way, an object within the image-capable range of the camera is
Except for a part of the peripheral area in the image-capable range, the area exists in any of the existence allowable areas. Therefore, if the shooting range of the camera is switched to the background area including the existence permissible area where the change area exists, the change area moves without considering the moving direction or the moving speed of the change area. The change area can be tracked without predicting the position to be changed.

Further, since the image-capable range of the camera is divided into a plurality of areas and the plurality of background areas are arranged with a small overlap, the capacity for recording the background image obtained by imaging the background area is reduced. be able to.

FIG. 13 is a flow chart showing the flow of the background difference tracking processing executed by the monitoring apparatus according to this embodiment. Referring to FIG. 13, the background difference tracking process is
First, the background difference image processing is used to calculate a change area from the background image (step S91). Then, in step 92, it is determined whether or not the changed area has been detected. If the changed area can be detected, the process proceeds to step S93, and if not, the process ends.

In step S93, it is determined whether or not the changed area is within the existence allowable range in the background area. If it is in the existence permissible area, the process proceeds to step S91 to continue the process. On the other hand, if it is not within the existence allowable range, the process proceeds to step S94.

In step S94, it is determined whether or not the adjacent background area is within the existence allowable range. If it is within the existence allowable range of the adjacent background area, step S95.
Otherwise, to step S96. In step S95, the PTZ control unit 106 controls the pan / tilt drive mechanism 121 to perform PT drive in order to move the shooting range of the camera to the adjacent background area. Then, the process proceeds to step S91, and the background difference tracking process is continuously performed.

On the other hand, in step S96, it is determined whether or not the changing area exists on the background area. If there is a change area in the background area, the tracking process is continued, and the process proceeds to step S91. If not, the process ends. The case of proceeding to step S96 is a case where the change area exists at a position around the image capturing range of the camera and outside the existence allowable range. In this case, since there is no adjacent background area, it is not possible to switch the shooting direction of the camera to that direction. Therefore, if there is no changed area in the background area, the process ends.

As described above, the monitoring apparatus 100 according to this embodiment uses one or more of the color extraction image processing, the time difference image processing, and the background difference image processing as a discovery method for one monitoring area. Since it can be set, an appropriate discovery method can be set according to the monitoring area. As a result, changes in the monitored area can be easily and accurately detected.

Further, in the tracking method as well, any one of the color extraction image processing, the time difference image processing and the background difference image processing can be set for each monitoring area. Therefore, for example, a tracking suitable for a tracking target can be performed. The method can be set. Therefore, it is possible to track accurately.

Further, as a tracking method, color extraction image processing,
Even if the time difference image processing is set, if the tracking target is lost, the background difference image processing is switched to and the tracking is continued. Therefore, the target can be tracked more reliably.

Furthermore, the monitoring device 1 according to the present embodiment.
In 00, the monitoring area is divided into a plurality of areas to set a background area with less overlap. Therefore, the background image is stored efficiently, and the storage capacity is small.

Furthermore, the monitoring device 1 according to the present embodiment.
In 00, the background image used in the background difference tracking process is an image obtained by photographing a predetermined background area. That is, the existence allowable area is provided in the background area, and the background area is arranged such that the existence allowable area is in contact with the existence allowable area of the adjacent background area. Therefore, when a moving object extracted as a change area is tracked, the object as the change area is tracked only by determining the shooting direction of the camera so as to shoot the background area including the change area in the existence allowable area. be able to.

Further, the background area is changed when the change area exists in the processed image but does not exist in the existence allowable area. Therefore, the background region to be changed next can be determined at the stage when the changed region exists in the processed image.

As a result, it is not necessary to predict the position of the moving object based on the moving direction or moving speed of the moving object, and the object can be easily tracked.

In the present embodiment, the intruder is detected based on the photographed image, but separately,
The input signal from the external sensor may be referred to. For example, a sensor for detecting the opening and closing of a front door is provided, and when a signal from the sensor is input, the camera controls the angle of view in the direction of the door, and the processing in and after step S31 of FIG. Good.

The embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a monitoring device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a flow of remote operation processing executed by the monitoring device according to the present embodiment.

FIG. 3 is a flowchart showing a flow of setting processing executed by the monitoring device according to the present embodiment.

FIG. 4 is a diagram showing an example of a remote control screen output by the monitoring device.

FIG. 5 is a diagram showing an example of a mode setting screen output by the monitoring device.

FIG. 6 is a diagram for explaining a relationship between an image-capable range of a monitoring device and a monitoring area.

FIG. 7 is a flowchart showing the flow of a monitoring process executed by the monitoring device according to the present embodiment.

8 is a flowchart showing a flow of a cyclic order setting process executed in step S23 of FIG.

9 is a flowchart showing the flow of tracking processing executed in step S43 of FIG.

FIG. 10 is a diagram for explaining a process of extracting a change region in one of the time difference image processes.

FIG. 11 is a flowchart showing a flow of time difference tracking processing executed by the monitoring device in the present embodiment.

FIG. 12 is a diagram for explaining a background image used in the background difference tracking process.

FIG. 13 is a flowchart showing a flow of background difference tracking processing executed by the monitoring device according to the present embodiment.

[Explanation of symbols]

100 monitoring device, 101 control box, 1
02 camera head, 103 image input unit, 104 image recording unit, 105 image processing unit, 106 PTZ control unit, 107 external communication unit, 108 timer, 109 storage device, 120 camera head, 121 pan / tilt drive mechanism, 122 zoom drive Mechanism, 123 lens,
132 Internet, 140 recording medium, 150
Window, 151 door, 160 control unit, 200 remote control screen, 203A, 203B pan button, 204A, 2
04B tilt button, 205A, 205B zoom button, 210 monitoring area edit screen, 220 new monitoring area setting screen, 230 view angle setting screen, 240 name setting screen, 250 discovery method setting screen, 260 tracking method setting screen, 270 patrol method setting Screen, 280 record notification setting screen, 300 shootable range, 201A, 201B
Monitoring area.

Continued front page    (72) Inventor Yasuhisa Kanto             2-3-13 Azuchi-cho, Chuo-ku, Osaka-shi, Osaka             Toki Building Minolta Co., Ltd. F term (reference) 5B057 AA19 BA17 CA08 CA12 CA16                       CB08 CB12 CB16 CE09 CH11                       DB02 DB09 DC32                 5C054 CD03 CF05 CG02 CG06 EA01                       FC12 FC13 HA18 HA31                 5L096 BA02 CA04 EA35 GA08 HA03                       HA07 LA11

Claims (5)

[Claims] 1. An image pickup means for outputting a picked-up image, a predetermined monitor area being divided into a plurality of background areas, and an angle of view of the image pickup means for picking up each of the background areas to obtain a plurality of background images. A first angle-of-view control unit that changes the image, a storage unit that stores the acquired plurality of background images, and a processed image acquisition that captures a processed image by capturing any one of the background regions Means, a change area acquisition means for acquiring an area of an object that did not exist at the time of acquiring the background image based on the acquired background image and the corresponding background image, and a background area in which the area of the object corresponds to the processed image A second view angle control means for changing the view angle of the image pickup means to photograph the adjacent background area when the adjacent background area is moved from the adjacent monitor to the adjacent background area. 2. Each of the plurality of background areas has a presence permission area surrounded by an overlapping area, and the presence permission area is in contact with an existence permission area of an adjacent background area without overlapping, and the second image The angle control means changes the angle of view of the image pickup means in order to photograph a background area including the object area in the existence allowable area when the object area is in the overlapping area of the background area corresponding to the processed image. The monitoring device according to claim 1, wherein 3. A monitoring method executed by a monitoring device having an imaging means for outputting a captured image, wherein a predetermined monitoring region is divided into a plurality of background regions, each background region is photographed, and a plurality of background regions are photographed. Changing the angle of view of the imaging means to acquire a background image; storing the acquired plurality of background images; and processing any one background area of the plurality of background areas A step of acquiring an image, a step of acquiring an area of an object that did not exist at the time of acquiring the background image based on the background image corresponding to the acquired processed image, and a background in which the area of the object corresponds to the processed image Changing from the area to the adjacent background area, the angle of view of the imaging means is changed to capture the background area adjacent to the background area. 4. A monitoring program executed by a monitoring device having an imaging means for outputting a captured image, wherein a predetermined monitoring region is divided into a plurality of background regions, each background region is photographed, and a plurality of background regions are photographed. Changing the angle of view of the image capturing means to acquire a background image; storing the acquired plurality of background images; and capturing and processing any one of the background regions A step of acquiring an image, a step of acquiring a region of an object that did not exist at the time of acquiring the background image based on the background image corresponding to the acquired processed image, and a background in which the region of the object corresponds to the processed image Monitor for making the computer execute the step of changing the angle of view of the image pickup means in order to photograph the background area adjacent to the background area when moving from the area to the adjacent background area. Program. 5. A computer-readable recording medium in which the monitoring program according to claim 4 is recorded.