JP2004146890A - Monitor camera apparatus and monitor camera system apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance a deviation between a privacy protecting range and a mask display position caused when a turning base with a monitor camera fitted thereto is turned at a high speed in masking for protecting the privacy from infringement caused by the monitor camera and to provide convenience to an operator by optionally varying a composite ratio between a privacy mask signal and a video signal within the privacy protecting range at the time of setting of a privacy mask. <P>SOLUTION: A new correction mask is generated on the basis of data for calculating a mask position at mask display from an angle of each apex of mask setting coordinates stored at the mask setting, a distance of an object, panning and tilt angles of the camera turning base, a focal distance, and a length of one pixel of an imaging element, and of data for calculating the mask position at the mask display resulting from the same arithmetic operation as that at a preceding time, and the correction mask is added to the mask in its traveling direction and the resulting mask is displayed. Further, optionally setting the composite ratio at setting of the privacy mask allows the operator to simultaneously confirm the video signal and the mask position at the setting. <P>COPYRIGHT: (C)2004,JPO

Description

マスクＰｂ’で新たに生成させるパン方向の座標位置ｍｂ１＿０．ｘ、ｍｂ１＿１．ｘを［式７］、［式８］で具体的に表現すると［式９］となる。

【００６１】
マスクの進行方向に対して新たに設定される頂点座標位置は、現在のパン角度［ＰＬ１］時におけるマスクＰｂの頂点座標位置と、現在のパン角度［ＰＬ１］の１つ前のパン角度［ＰＬ０］時におけるマスクＰａの頂点座標位置から生成されることになる。また、［式８］、［式９］で示した演算係数Ｋは、回転台１１の回転速度とは無関係な固定値としてもよいし、回転台１１の回転速度に依存して変化する可変値としてもよいし、回転台１１がパン方向、チルト方向に回転動作する動きと、回転台１１から監視カメラ１２内の外部通信処理部８ｄを介してマスク演算管理部８ａに入力されるまでに発生する時間的な遅延のために発生するマスク表示位置ズレを考慮して変化する可変値、もしくは回転台１１がパン方向、チルト方向に回転動作する動きと、回転台１１から監視カメラ１２内の外部通信処理部８ｄを介してマスク演算管理部８ａに入力されるまでに発生する時間的な遅延のために発生するマスク表示位置ズレを考慮した固定値にしてもよい。また前述の演算係数Ｋのデータ設定は、回転台１１が監視カメラ１２に対して固定値または可変値の設定を常に行ってもよいし、操作者がコントローラ１４を使用し回転台１１経由して監視カメラ１２に設定してもよいし、予め監視カメラ１２に固定値または可変値の設定をしておいてもよい。
【００６２】
次に、回転台１１が右方向に回転し回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］と変化した場合について説明する。
回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］に変化した場合も回転台１１のパン角度が［ＰＬ０］から［ＰＬ１］に変化した場合と同様に処理を行う。マスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算を行いパン角度［ＰＬ２］で表示するマスクＰｃと、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して補正マスク［Ｐｅ］の算出をそれぞれ行い、マスクＰｃ’＝マスクＰｃ＋補正マスク［Ｐｅ］を生成する。このマスクＰｃ’が時間Ｔ２において表示されるプライバシーマスクとなる。このとき、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して補正マスク［Ｐｅ］を算出する際に使用するｍ（ｔ−１）（ｑ−１）＿ｉは、マスクＰｂ’の座標位置情報ではなく、マスクＰｂの座標位置情報を使用する。前回のパン角度［ＰＬ１］で表示したマスクＰｂ’は、回転台１１の動作とマスク表示位置の遅延を補正するために新たに生成された表示位置であり、マスク表示位置算出処理部８ｃのステップ５３で演算した表示位置座標ではないからである。
【００６３】
さらに、回転台１１の回転が終了し回転台１１のパン角度が［ＰＬ２］で停止した場合について説明する。回転台１１のパン角度が［ＰＬ２］で停止した場合も、回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］に変化した場合と同様にマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算と、［式７］、［式８］を用いての演算処理を行う。しかし、回転台１１の回転が発生していないため、［式７］、［式８］を用いて演算した結果はマスクＰｃの位置となり、このマスクＰｃが時間Ｔ３において表示されるプライバシーマスクとなる。
【００６４】
次に、図８を用いて、操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行い、その後設定完了の指示を行い、そして稼働許可となったプライバシーマスク（マスクＰｆ）が回転台１１が右方向に回転したために画面左から画面右に動作する場合について説明するが、この時回転台１１は、パン角度［ＰＲ０］⇒［ＰＲ１］⇒［ＰＲ２］と回転動作するとしチルト角度の動作はない。パン角度［ＰＲ０］と、［ＰＲ１］と、［ＰＲ２］は、回転台１１から外部通信処理８ｄを介してマスク演算管理部８ａに入力し、マスク表示算出処理８ｃに入力されたパン角度情報である。また、時間はＴ０⇒Ｔ１⇒Ｔ２⇒Ｔ３と変わるものとする。この場合も前述の図７を用いて説明した動作と同様な処理を行う。
【００６５】
操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定中に、映像信号のプライバシー保護範囲にマスク信号が任意の割合で合成されている映像信号をモニタ１３などで操作者が確認を行いマスクの設定に関して問題がない場合にコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定完了と、設定完了を経てプライバシーマスクを稼働させる状態である稼働許可となったマスクＰｆは、時間Ｔ０において監視カメラ１２が取り付けてある回転台１１のパン角度が［ＰＲ０］を示す際には、図８に示す画面上に表示している。マスクＰｆは各頂点ｍｆ０＿ｉ（ｉは頂点の番号）で囲まれた大きさでありパン方向の座標位置はｍｆ０＿ｉ．ｘ（ｉは頂点の番号）である。
【００６６】
次に、回転台１１が左方向に回転し、回転台１１のパン角度が［ＰＲ０］から［ＰＲ１］と変化した場合、マスクＰｆの表示位置は、前述のマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算を行い算出したマスクＰｇの座標位置に移動する。このマスクＰｇは頂点ｍｆ１＿ｉ（ｉは頂点の番号）で囲まれた大きさでありパン方向の座標位置はｍｆ１＿ｉ．ｘ（ｉは頂点の番号）である。また、［式７］、［式８］で演算を行いマスクＰｇの進行方向に対して、補正マスク［Ｐｊ］の座標位置が算出される。この補正マスク［Ｐｊ］は、頂点ｍｆ１＿３、ｍｆ１＿２、ｍｊ１＿２、ｍｊ１＿３で囲まれた大きさとなり、パン方向の座標位置はｍｆ１＿３．ｘ、ｍｆ１＿２．ｘ、ｍｊ１＿２．ｘ、ｍｊ１＿３．ｘとなる。
【００６７】
この補正マスク［Ｐｊ］の頂点、ｍｆ１＿２、ｍｆ１＿３はマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算で生成されたマスクＰｇの頂点と同じ座標となり、それぞれの頂点結ぶ辺は同じである。そのため、時間Ｔ１で表示されるプライバシーマスクはマスクＰｇ’＝マスクＰｇ＋補正マスク［Ｐｊ］であり、マスクＰｇ’の頂点はｍｆ１＿０、ｍｆ１＿１、ｍｊ１＿２、ｍｊ１＿３で囲まれた大きさとなり、パン方向の座標位置はｍｆ１＿０．ｘ、ｍｆ１＿１．ｘ、ｍｊ１＿２．ｘ、ｍｊ１＿３．ｘとなる。
【００６８】
次に回転台１１が左方向に回転し回転台１１のパン角度が［ＰＲ１］から［ＰＲ２］と変化した場合について説明する。
【００６９】
回転台１１のパン角度が［ＰＲ１］から［ＰＲ２］に変化した場合も回転台１１のパン角度が［ＰＲ０］から［ＰＲ１］に変化した場合と同様な処理を行い、パン角度［ＰＲ２］で表示するマスクＰｈと、前述の［式７］、［式８］を用いてマスクＰｈの進行方向に対して補正マスク［Ｐｋ］の座標位置の算出処理をそれぞれ行い、マスクＰｈ’＝マスクＰｈ＋補正マスク［Ｐｋ］を生成する。このマスクＰｈ’が時間Ｔ２において表示されるプライバシーマスクとなる。このとき、前述の［式７］、［式８］を用いてマスクＰｈの進行方向に対して補正マスク［Ｐｋ］を算出する際に使用するｍ（ｔ−１）（ｑ−１）＿ｉは、マスクＰｇ’の座標位置情報ではなく、マスクＰｇの座標位置情報を使用する。前回のパン角度［ＰＲ１］で表示したマスクＰｇ’は、回転台１１の動作とマスク表示位置の遅延を補正するために新たに生成された表示位置であり、マスク表示位置算出処理部８ｃのステップ５３で演算した表示位置座標ではないからである。
【００７０】
次に、回転台１１の回転が終了し回転台１１のパン角度が［ＰＲ２］で停止した場合について説明する。
回転台１１のパン角度が［ＰＲ２］で停止した場合も、回転台１１のパン角度が［ＰＲ１］から［ＰＲ２］に変化した場合と同様にマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算と、［式７］、［式８］を用いて補正マスクの演算処理を行う。しかし、回転台１１の移動が発生していないため、［式７］、［式８］を用いて演算した結果はマスクＰｈの位置となり、このマスクＰｈが時間Ｔ３において表示されるプライバシーマスクとなる。
【００７１】
次に、図９を用いて、操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行い、その後設定完了の指示を行い、そして稼働許可となったプライバシーマスク（マスクＴａ）が回転台１１が上方向に回転したために画面上から画面下に移動する場合について説明するが、この時回転台１１は、パン角度の動作はなく、チルト角度が［ＴＤ０］⇒［ＴＤ１］⇒［ＴＤ２］と動作する。チルト角度［ＴＤ０］と、［ＴＤ１］と、［ＴＤ２］は、回転台１１から外部通信処理８ｄを介してマスク演算管理部８ａに入力し、マスク表示算出処理８ｃに入力されたチルト角度情報である。また、時間はＴ０⇒Ｔ１⇒Ｔ２⇒Ｔ３と変わるものとする。この場合も前述の図７を用いて説明した動作と同様である。
【００７２】
操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定中に、映像信号のプライバシー保護範囲にマスク信号が任意の割合で合成されている映像信号をモニタ１３などで操作者が確認を行いマスクの設定に関して問題がない場合にコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定完了と、設定完了を経てプライバシーマスクを稼働させる状態である稼働許可となったマスクＴａは、時間Ｔ０において監視カメラ１２が取り付けてある回転台１１のパン角度が［ＴＤ０］を示す際には、図９に示す画面上に表示している。マスクＴａは各頂点ｍａ０＿ｉ（ｉは頂点の番号）で囲まれた大きさでありチルト方向の座標位置はｍａ０＿ｉ．ｙ（ｉは頂点の番号）である。
【００７３】
次に、回転台１１が上方向に回転し、回転台１１のチルト角度が［ＴＤ０］から［ＴＤ１］と変化した場合、マスクＴａは前述のマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算を行いマスクＴｂの座標位置に移動する。このマスクＴｂは頂点ｍａ１＿ｉ（ｉは頂点の番号）で囲まれた大きさでありチルト方向の座標位置はｍａ１＿ｉ．ｘ（ｉは頂点の番号）である。また、［式７］、［式８］で演算を行いマスクＴｂの進行方向に対して、補正マスク［Ｔｄ］の座標位置が算出される。この補正マスク［Ｔｄ］は頂点ｍａ１＿１、ｍｂ１＿１、ｍｂ１＿２、ｍａ１＿２で囲まれた大きさとなり、チルト方向の座標位置はｍａ１＿１．ｙ、ｍｂ１＿１．ｙ、ｍｂ１＿２．ｙ、ｍａ１＿２．ｙとなる。
【００７４】
この補正マスク［Ｔｄ］の頂点、ｍａ１＿１、ｍａ１＿２はマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算で生成されたマスクＴｂの頂点と同じ座標となり、それぞれの頂点結ぶ辺は同じである。そのため、時間Ｔ１で表示されるプライバシーマスクはマスクＴｂ’＝マスクＴｂ＋補正マスク［Ｔｄ］であり、マスクＴｂ’の頂点はｍａ１＿０、ｍｂ１＿１、ｍｂ１＿２、ｍａ１＿３で囲まれた大きさとなり、チルト方向の座標位置はｍａ１＿０．ｙ、ｍｂ１＿１．ｙ、ｍｂ１＿２．ｙ、ｍａ１＿３．ｙとなる。
【００７５】
次に回転台１１が左方向に回転し回転台１１のチルト角度が［ＴＤ１］から［ＴＤ２］と変化した場合について説明する。
回転台１１のチルト角度が［ＴＤ１］から［ＴＤ２］に変化した場合も回転台１１のチルト角度が［ＴＤ０］から［ＴＤ１］に変化した場合と同様な処理を行い、チルト角度［ＴＤ２］で表示するマスクＴｃと、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して補正マスク［Ｔｅ］の算出をそれぞれ行い、マスクＴｃ’＝マスクＴｃ＋補正マスク［Ｔｅ］を生成する。このマスクＴｃ’が時間Ｔ２において表示されるプライバシーマスクとなる。
【００７６】
このとき、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して補正マスク［Ｔｅ］を算出する際に使用するｍ（ｔ−１）（ｑ−１）＿ｉは、マスクＴｂ’の座標位置情報ではなく、マスクＴｂの座標位置情報を使用する。前回のチルト角度［ＴＤ１］で表示したマスクＴｂ’は、回転台１１の動作とマスク表示位置の遅延を補正するために新たに生成された表示位置であり、マスク表示位置算出処理部８ｃのステップ５３で演算した表示位置座標ではないからである。
【００７７】
次に、回転台１１の回転が終了し回転台１１のチルト角度が［ＴＤ２］で停止した場合について説明する。
回転台１１のチルト角度が［ＴＤ２］で停止した場合も、回転台１１のチルト角度が［ＴＤ１］から［ＴＤ２］に変化した場合と同様にマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算と［式７］、［式８］を用いて処理を行う。しかし、回転台１１の移動が発生していないため、［式７］、［式８］を用いて演算した結果はマスクＴｃの位置となり、このマスクＴｃが時間Ｔ３において表示されるプライバシーマスクとなる。
【００７８】
次に、図１０を用いて、操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行い、その後設定完了の指示を行い、そして稼働許可となったプライバシーマスク（マスクＴｆ）が回転台１１が下方向に回転したために画面下から画面上に動作する場合について説明するが、この時回転台１１は、パン角度の動作はなく、チルト角度が［ＴＵ０］⇒［ＴＵ１］⇒［ＴＵ２］と動作する。チルト角度［ＴＵ０］と、［ＴＵ１］と、［ＴＵ２］は、回転台１１から外部通信処理８ｄを介してマスク演算管理部８ａに入力し、マスク表示算出処理８ｃに入力されたチルト角度情報である。また、時間はＴ０⇒Ｔ１⇒Ｔ２⇒Ｔ３と変わるものとする。この場合も前述の図７を用いて説明した動作と同様である。
【００７９】
操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定中に、映像信号のプライバシー保護範囲にマスク信号が任意の割合で合成されている映像信号をモニタ１３などで操作者が確認を行いマスクの設定に関して問題がない場合にコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定完了と、設定完了を経てプライバシーマスクを稼働させる状態である稼働許可となったマスクＴｆは、時間Ｔ０において監視カメラが取り付けてある回転台１１のパン角度が［ＴＵ０］を示す際には、図１０に示す画面上に表示している。マスクＴｆは各頂点ｍｆ０＿ｉ（ｉは頂点の番号）で囲まれた大きさでありチルト方向の座標位置はｍｆ０＿ｉ．ｘ（ｉは頂点の番号）である。
【００８０】
次に、回転台１１が下方向に回転し、回転台１１のチルト角度が［ＴＵ０］から［ＴＵ１］と変化した場合、マスクＴｆは前述のマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算を行いマスクＴｇの座標位置に移動する。このマスクＴｆは頂点ｍｆ１＿ｉ（ｉは頂点の番号）で囲まれた大きさでありチルト方向の座標位置はｍｆ１＿ｉ．ｙ（ｉは頂点の番号）である。また、［式７］、［式８］で演算を行いマスクＴｇの進行方向に対して、補正マスク［Ｔｊ］の座標位置が算出される。また補正マスク［Ｔｊ］は頂点ｍｊ１＿０、ｍｆ１＿０、ｍｆ１＿３、ｍｊ１＿３で囲まれた大きさとなり、チルト方向の座標位置はｍｊ１＿０．ｙ、ｍｆ１＿０．ｙ、ｍｆ１＿３．ｙ、ｍｊ１＿３．ｙとなる。
【００８１】
この補正マスク［Ｔｊ］の頂点、ｍｆ１＿０、ｍｆ１＿３はマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算で生成されたマスクＴｇの頂点と同じ座標となり、それぞれの頂点結ぶ辺は同じである。そのため、時間Ｔ１で表示されるプライバシーマスクはマスクＴｇ’＝マスクＴｇ＋補正マスク［Ｔｊ］であり、マスクＴｇ’の頂点はｍｊ１＿０、ｍｆ１＿１、ｍｆ１＿２、ｍｊ１＿３で囲まれた大きさとなり、チルト方向の座標位置はｍｊ１＿０．ｙ、ｍｆ１＿１．ｙ、ｍｆ１＿２．ｙ、ｍｊ１＿３．ｙとなる。
【００８２】
次に、回転台１１が左方向に回転し回転台１１のチルト角度が［ＴＵ１］から［ＴＵ２］と変化した場合について説明する。
回転台１１のチルト角度が［ＴＵ１］から［ＴＵ２］に変化した場合も回転台１１のチルト角度が［ＴＵ０］から［ＴＵ１］に変化した場合と同様な処理を行い、チルト角度［ＴＵ２］で表示するマスクＴｈと、前述の［式７］、［式８］を用いてマスクＰｈの進行方向に対して補正マスク［Ｔｋ］の算出をそれぞれ行い、マスクＴｈ’＝マスクＴｈ＋補正マスク［Ｔｋ］を生成する。このマスクＴｈ’が時間Ｔ２において表示されるプライバシーマスクとなる。
【００８３】
このとき、前述の［式７］、［式８］を用いてマスクＴｈの進行方向に対して補正マスク［Ｔｋ］を算出する際に使用するｍ（ｔ−１）（ｑ−１）＿ｉは、マスクＴｇ’の座標位置情報ではなく、マスクＴｇの座標位置情報を使用する。前回のチルト角度［ＴＵ１］で表示したマスクＴｇ’は、回転台１１の動作とマスク表示位置の遅延を補正するために新たに生成された表示位置であり、マスク表示位置算出処理部８ｃのステップ５３で演算した表示位置座標ではないからである。
【００８４】
次に、回転台１１の回転が終了し回転台１１のチルト角度が［ＴＵ２］で停止した場合について説明する。
回転台１１のチルト角度が［ＴＵ２］で停止した場合も、回転台１１のチルト角度が［ＴＵ１］から［ＴＵ２］に変化した場合と同様にマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算と［式７］、［式８］を用いて処理を行う。しかし、回転台１１の移動が発生していないため、［式７］、［式８］を用いて演算した結果はマスクＴｈの位置となり、このマスクＴｈが時間Ｔ３において表示されるプライバシーマスクとなる。
【００８５】
表示座標位置補正処理の第一の実施例の動作説明を、図７、図８，図９，図１０を用いて動作を説明行ったが、例えは、カメラ用回転台１１がパン方向とチルト方向の両方に回転動作した場合でもパン方向の補正マスクとチルト方向の補正マスク演算は双方を独立して処理しているため対応することは可能である。
【００８６】
次に図１１を用いて表示座標位置補正処理の第二の実施例の動作を説明する。図１１では、図７と同様な操作を行った場合に対して説明を行うが、図７を用いて説明した表示座標位置補正処理の第一の動作説明では、回転台１１の回転動作中はマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算を行ったマスクと、回転台１１がパン方向に回転動作する動きと、回転台１１のパン方向、チルト方向の角度情報をもとにマスク表示位置算出処理部８ｃのステップ５３で演算して、ステップ５６によるマスク表示処理が終了し、プライバシー保護部分にマスク信号が合成されて出力されるまでの遅延のために発生するプライバシー保護部分の一部が露出してしまう現象を防ぐためにマスクの進行方向に新たに補正マスク生成し、この補正マスクと、回転台１１の動作中はマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算を行ったマスクを表示している。これは、マスクする範囲を大きくする事で前述の原因によるプライバシー保護部分が一部露出する現象を防いでいる。しかし、マスクする範囲を大きくする事で結果的にプライバシー保護部分以外の映像信号までプライバシーマスクで覆しまう。図１１では、より精度よくプライバシー保護範囲をマスクするための表示座標位置補正処理の説明を行う。
【００８７】
図７と同様に、操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行い、その後設定完了の指示を行い、そして稼働許可となったプライバシーマスク（マスクＰａ）に関して、回転台１１が右方向に回転したために表示中のマスクＰａが画面右から画面左に動作する場合について説明する。この時回転台１１は、パン角度［ＰＬ０］⇒［ＰＬ１］⇒［ＰＬ２］と動作するものとしチルト角度の動作はないとする。パン角度［ＰＬ０］と、［ＰＬ１］と、［ＰＬ２］は、回転台１１から外部通信処理８ｄを介してマスク演算管理部８ａに入力し、マスク表示算出処理８ｃに入力されたパン角度情報である。また、時間はＴ０⇒Ｔ１⇒Ｔ２⇒Ｔ３と変わるものとする。
【００８８】
操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定中に、映像信号のプライバシー保護範囲にマスク信号が任意の割合で合成されている映像信号をモニタ１３などで操作者が確認を行いマスクの設定に関して問題がない場合に、コントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行う状態である設定完了と、設定完了を経てプライバシーマスクを稼働させる状態である稼働許可となったマスクＰａは、時間Ｔ０において監視カメラが取り付けてある回転台１１のパン角度が［ＰＬ０］を示す際には、図１１に示す画面上の位置に表示している。マスクＰａは各頂点ｍａ０＿ｉ（ｉは頂点の番号）で囲まれた大きさでありパン方向の座標位置はｍａ０＿ｉ．ｘ（ｉは頂点の番号）である。
【００８９】
次に、回転台１１が右方向に移動し、回転台１１のパン角度が［ＰＬ０］から［ＰＬ１］と変化した場合、マスクＰａの表示位置は、前述のマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算を行い算出した、マスクＰｂの座標位置に移動する。このマスクＰｂの座標位置は頂点ｍａ１＿ｉ（ｉは頂点の番号）で囲まれた大きさであり、パン方向の座標位置はｍａ１＿ｉ．ｘ（ｉは頂点の番号）である。そして、回転台１１がパン方向に動作する動きと、回転台１１のパン方向、チルト方向の角度情報をもとにマスク表示位置算出処理部８ｃのステップ５３で演算して、ステップ５６によるマスク表示処理が終了し、プライバシー保護部分にマスク信号が合成されて出力されるまでの遅延の影響が大きくなりマスクＰｂの位置ではプライバシー保護部分を確実に覆うことは出来ず、プライバシー保護部分の一部が露出してしまう。そのため、［式７］、［式８］で演算を行いマスクＰｂの進行方向に対して、第一の補正マスク［Ｐｄ］の座標位置を算出する。この第一の補正マスク［Ｐｄ］は頂点ｍｂ１＿０，ｍｂ１＿１、ｍａ１＿１、ｍａ１＿０で囲まれた大きさとなり、パン方向の座標位置はｍｂ１＿０．ｘ、ｍｂ１＿１．ｘ、ｍａ１＿１．ｘ、ｍａ１＿０．ｘとなる。またこの第一の補正マスク［Ｐｄ］の頂点ｍａ１＿１、ｍａ１＿０は、マスク表示位置算出処理部８ｃのステップ５３で表示位置の演算で生成されたマスクＰｂの頂点ｍａ１＿１、ｍａ１＿０と同じ座標となり、それぞれの頂点結ぶ辺は同じである。さらに、［式７］、［式８］で演算を行いマスクＰｂの進行方向の反対側（第一の補正マスク［Ｐｄ］の反対側）に対して、第二の補正マスク［Ｐｄ’］の座標位置を算出する。この第二の補正マスク［Ｐｄ’］は頂点ｍａ１＿３、ｍｂ１＿３、ｍｂ１＿２、ｍａ１＿２で囲まれた大きさとなり、パン方向の座標位置はｍａ１＿３．ｘ、ｍｂ１＿３．ｘ、ｍｂ１＿２．ｘ、ｍａ１＿２．ｘとなる。またこの第二の補正マスク［Ｐｄ’］の頂点ｍａ１＿３、ｍａ１＿２は、マスク表示位置算出処理部８ｃのステップ５３で表示位置の演算で生成されたマスクＰｂの頂点ｍａ１＿３、ｍａ１＿２と同じ座標となり、第二の補正マスク［Ｐｄ’］で新たに定めた頂点ｍｂ１＿３、ｍｂ１＿２は、マスクＰｂの進行方向の対して存在する。そして、時間Ｔ１で表示されるプライバシーマスクはマスクＰｂ’’＝マスクＰｂ＋第一の補正マスク［Ｐｄ］−第二の補正マスク［Ｐｄ’］とすると、マスクＰｂ’は頂点ｍｂ１＿０、ｍｂ１＿１、ｍｂ１＿２、ｍｂ１＿３で囲まれた大きさとなり、パン方向の座標位置はｍｂ１＿０．ｘ、ｍｂ１＿１．ｘ、ｍｂ１＿２．ｘ、ｍｂ１＿３．ｘとなる。時間Ｔ１で表示されるマスクの面積を図７で用いた場合と図１１を用いた場合で比較すると、マスクＰｂ’’＜マスクＰｂ’となり、プライバシー保護範囲をより精度よくマスクすることが可能になる。
【００９０】
次に回転台１１が右方向に回転し回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］と変化した場合について説明する。
【００９１】
回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］に変化した場合も回転台１１のパン角度が［ＰＬ０］から［ＰＬ１］に変化した場合と同様に処理を行う。マスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算を行いパン角度［ＰＬ２］で表示するマスクＰｃと、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して第一の補正マスク［Ｐｅ］と、前述の［式７］、［式８］を用いてマスクＰｃの進行方向とは反対側に対して第二の補正マスク［Ｐｅ’］の算出をそれぞれ行い、マスクＰｃ’’＝マスクＰｃ＋第一の補正マスク［Ｐｅ］−第二の補正マスク［Ｐｅ’］を生成する。このマスクＰｃ’’が時間Ｔ２において表示されるプライバシーマスクとなる。このとき、前述の［式７］、［式８］を用いてマスクＰｃの進行方向に対して補正マスク［Ｐｅ］を算出する際に使用するｍ（ｔ−１）（ｑ−１）＿ｉは、マスクＰｂ’’の座標位置情報ではなく、マスクＰｂの座標位置情報を使用する。前回のパン角度［ＰＬ１］で表示したマスクＰｂ’’は、回転台１１の動作とマスク表示位置の遅延を補正するために新たに生成された表示位置であり、マスク表示位置算出処理部８ｃのステップ５３で演算した表示位置座標ではないからである。
【００９２】
次に回転台１１の移動が終了し回転台１１のパン角度が［ＰＬ２］で停止した場合について説明する。回転台１１のパン角度が［ＰＬ２］で停止した場合も、回転台１１のパン角度が［ＰＬ１］から［ＰＬ２］に変化した場合と同様にマスク表示位置算出処理部８ｃのステップ５３で表示位置座標の演算と、［式７］、［式８］を用いての演算処理を行う。しかし、回転台１１の移動が発生していないため、［式７］、［式８］を用いて演算した結果はマスクＰｃの位置となり、このマスクＰｃが時間Ｔ３において表示されるプライバシーマスクとなる。
【００９３】
表示座標位置補正処理の第二の実施例の動作説明について図１１を用いて説明したが、操作者がコントローラ１４を使用し監視カメラ１２に対してプライバシーマスクの設定を行い、その後設定完了の指示を行い、そして稼働許可となったプライバシーマスクが、図８の様に画面左から画面右に移動する場合と、図９の様に画面上から画面下に移動する場合と、図１０の様に画面下から画面上に移動する場合についても、図１１と同様にプライバシーマスクの進行方向に対して生成した第一の補正マスクと、進行方向とは反対側に対して生成した第二の補正マスクと、前述のマスク表示位置算出処理部８ｃのステップ５３で表示位置の演算を行い生成したマスクから表示するプライバシーマスク位置を新たに生成することで、より精度よくプライバシー保護範囲をマスクするための表示座標位置補正処理を行うことが可能である。
【００９４】
次に、図６に示すフローチャートを用いてステップ５５の表示座標位置補正処理について説明する。
表示座標位置補正処理では、操作者が設定したプライバシーマスク多角形であるため、設定中のプライバシーマスクの各頂点は複数個存在するので、演算を繰り返し実行する必要があるので、ステップ６１において演算回数を管理する変数ｉをゼロに設定し初期化し、ステップ６２に進む。
【００９５】
ステップ６２において、演算回数を管理する変数ｉと、操作者が設定済みのプライバシーマスクで、プライバシーマスクの状態指示が稼働許可であるマスク形状の頂点の総数を比較する。ステップ６２では、前述のステップ３３で取得した操作者がコントローラ１４を使用して設定したマスク形状の頂点数と比較する。本実施例のステップ６２では、操作者がプライバシー保護範囲に設定したマスク形状の頂点数４と設定する、すなわち操作者が四角形のプライバシーマスクを設定済みとするため、ｉ≧４としている。演算回数を管理する変数ｉが設定中のプライバシーマスクの頂点数未満であれば、ステップ６３に進む。また、演算回数を管理する変数ｉが稼働許可中であるマスク形状の頂点の数以上であれば、表示座標位置補正処理は終了する。
【００９６】
ステップ６３において、図７、図８、図９、図１０、および図１１を用いて前述した表示座標位置補正処理を行う。ステップ６３で現在［ｔ］のパンチルト角度に基づいて演算したプライバシーマスクのマスク表示位置座標情報Ｗ［ｔ］と、メモリＥ（マスクデータメモリ）８ｅに記録されているマスク管理カウンタｊが示すＭ番目のマスクについて前回のパンチルト角度に基づいて演算したマスク表示位置座標情報Ｗ［ｔ−１］を用いて、前述の［式８］からＤＥＬＴＡ＿ｍｔｑ＿ｉを算出する。そして、ステップ６３で現在［ｔ］のパンチルト角度に基づいて演算したプライバシーマスクのマスク表示位置座標情報Ｗ［ｔ］と、前述の［式８］から算出したＤＥＬＴＡ＿ｍｔｑ＿ｉと用いて、前述の［式７］からｍｔｑ＿ｉを算出し、する。表示座標位置補正処理を行ったマスク表示位置座標情報Ｖ［ｔ］を生成する。
【００９７】
次にステップ６４において、マスク表示位置算出処理部８ｃのステップ５３で演算した、現在のパンチルト角度に基づいて演算したマスク表示位置座標情報と、マスク管理カウンタｊが示すＭをマイコン８内のメモリＥ（マスクデータバックアップ）８ｅに記録し、ステップ６５に進む。このメモリＥに記録したデータは、ステップ６３の表示座標位置補正処理で使用する。
【００９８】
次にステップ６５に進み、演算回数を管理する変数ｉに１を加算し、ステップ６２に戻る。
この図６で説明した表示座標位置補正処理を用いることで、回転台１１のパン方向、チルト方向の回転時、マスク表示の位置を演算し表示するまでの時間的遅延のために生じるマスク表示の位置とプライバシー保護範囲との間のズレは改善される。
【００９９】
上記で述べた［式４］と［式５］を以下に示す。
［式４］
ｘｐ＝（ｆ／ｘｕ）・ｓｉｎ（θｘｐ−θｘｏ）・ｃｏｓθｙｐ／｛ｃｏｓ（θｘｐ−θｘｏ）・ｃｏｓθｙｐ・ｃｏｓθｙｏ＋　ｓｉｎθｙｐ・ｓｉｎθｙｏ｝
ｙｐ＝（ｆ／ｙｕ）・｛−ｃｏｓ（θｘｐ−θｘｏ）・ｃｏｓθｙｐ・ｓｉｎθｙｏ　＋　ｓｉｎθｙｐ・ｃｏｓθｙｏ　｝／｛ｃｏｓ（θｘｐ−θｘｏ）・ｃｏｓθｙｐ・ｃｏｓθｙｏ＋　ｓｉｎθｙｐ・ｓｉｎθｙｏ｝
但し、ｃｏｓ（θｘｐ−θｘｏ）・ｃｏｓθｙｐ・ｃｏｓθｙｏ＋　ｓｉｎθｙｐ・ｓｉｎθｙｏ＞０　　の時のみ。
ｓｉｎは正弦を示す
ｃｏｓは余弦を示す
［式５］
▲１▼　−ｙｐ’・ｓｉｎθｙｏ＋ｃｏｓθｙｏ＝０　のとき、
ａ）ｘｐ’＝０　のとき、
ｉ）ｓｉｎθｙｏ≧０のとき、
θｘｐ＝０
θｙｐ＝９０
ｉｉ）ｓｉｎθｙｏ＜０のとき、
θｘｐ＝０
θｙｐ＝−９０
ｂ）ｘｐ’＞０　のとき、
θｘｐ＝θｘｏ＋９０
θｙｐ＝ａｒｃｔａｎ［｛ｓｉｎ（θｘｐ−θｘｏ）−ｃｏｓθｙｏ・ｃｏｓ（θｘｐ−θｘｏ）｝／（ｘｐ’・ｓｉｎθｙｏ）］
ｃ）ｘｐ’＜０　のとき、
θｘｐ＝θｘｏ−９０
θｙｐ＝ａｒｃｔａｎ［｛ｓｉｎ（θｘｐ−θｘｏ）−ｃｏｓθｙｏ・ｃｏｓ（θｘｐ−θｘｏ）｝／（ｘｐ’・ｓｉｎθｙｏ）］
▲２▼　−ｙｐ’・ｓｉｎθｙｏ＋ｃｏｓθｙｏ＞０　のとき、
θｘｐ＝θｘｏ＋ａｒｃｔａｎ｛ｘｐ’／（ｃｏｓθｙｏ−ｙｐ’・ｓｉｎθｙｏ）｝
θｙｐ＝ａｒｃｔａｎ｛（ｙｐ’・ｃｏｓθｙｏ＋ｓｉｎθｙｏ）・ｃｏｓ（θｘｐ−θｘｏ）／（ｃｏｓθｙｏ−ｙｐ’・ｓｉｎθｙｏ）｝
▲３▼　−ｙｐ’・ｓｉｎθｙｏ＋ｃｏｓθｙｏ＜０　のとき、
θｘｐ＝θｘｏ＋ａｒｃｔａｎ｛ｘｐ’／（ｃｏｓθｙｏ−ｙｐ’・ｓｉｎθｙｏ）｝＋１８０
θｙｐ＝ａｒｃｔａｎ｛（ｙｐ’・ｃｏｓθｙｏ＋ｓｉｎθｙｏ）・ｃｏｓ（θｘｐ−θｘｏ）／（ｃｏｓθｙｏ−ｙｐ’・ｓｉｎθｙｏ）｝
【０１００】
【発明の効果】
本発明によれば、監視カメラのプライバシー保護のためのマスクした撮像画面をモニタ部に表示させる監視カメラ装置と、その回転台を含む監視カメラシステム装置において、回転台のパン方向、チルト方向回転動作とマスクの位置を演算し表示するまでの時間的遅延のために生じるマスク表示の位置とプライバシー保護範囲との間のズレの改善を行うことができる。
また、操作者がプライバシー保護範囲にマスクを設定する際に、プライバシー保護範囲の映像信号と合成するマスク信号の合成比率を任意に可変できる様にすることで、映像を見ながらマスク範囲を設定できることにより操作者がマスクを設定する際の便宜性を図ることができる。
【図面の簡単な説明】
【図１】本発明の第一の実施例による監視カメラのブロック図である。
【図２】本発明の一実施例による監視システムの構成図である。
【図３】プライバシー保護範囲を別の映像でマスクする全体の処理のフローチャートである。
【図４】設定されたマスク各頂点の角度座標の演算処理および演算結果をメモリに記録するフローチャートである。
【図５】マスク各頂点の角度座標から表示位置座標を演算するフローチャートである。
【図６】表示座標位置補正処理を行うフローチャートである。
【図７】稼働中のプライバシーマスクが画面左側へ動作する際の表示座標位置補正処理の動作説明１である。
【図８】稼働中のプライバシーマスクが画面右側へ動作する際の表示座標位置補正処理の動作説明である。
【図９】稼働中のプライバシーマスクが画面下側へ動作する際の表示座標位置補正処理の動作説明である。
【図１０】稼働中のプライバシーマスクが画面上側へ動作する際の表示座標位置補正処理の動作説明である。
【図１１】稼働中のプライバシーマスクが画面左側へ動作する際の表示座標位置補正処理の動作説明２である。
【図１２】映像信号のマスク方法を示す図である。
【図１３】マスク各頂点の角度情報の算出に用いる演算式を説明する図である。
【図１４】表示位置座標情報の算出に用いる演算式を説明する図である。
【符号の説明】
１…光学系、１ａ…レンズ、１ｂ…撮像素子
３…信号処理変換、４…カメラ信号処理、４ａ…信号処理、４ｃ…マスク信号発生部、４ｄ…信号合成部、５…デジタル／アナログ変換、８…マイクロコンピュータ、８ａ…マスク演算管理部、８ｂ…マスクデータ算出処理部、８ｃ…マスク表示位置算出処理部、８ｄ…外部通信処理部、８ｅ…マスクデータバックアップメモリ、８ｆ…焦点距離データメモリ、８ｇ…撮像素子１画素の水平及び垂直方向の長さデータメモリ、８ｈ…マスクデータメモリ、８ｋ…マスク設定データメモリ、９…マイコンとカメラ信号処理回路の制御ライン、１０…映像出力端子、１１…回転台、１２…監視カメラ、１３…モニタ、１４…コントローラ、１５…パンチルト回転の中心Ｏ、１６…撮像素子の中心ｏ、１７…カメラ向きのパン角度θｘｏ、１８…カメラ向きのチルト角度θｙｏ、１９…パンチルト回転の中心Ｏから撮像素子の中心ｏまでの距離ｒ、２０…焦点、２１…焦点距離ｆ、２２…被写体Ｑ、２３…被写体のパン角度θｘｐ、２４…被写体のチルト角度θｙｐ、２５…被写体距離ｌ、２６…被写体Ｑが撮像素子上に映る点Ｐ、２７…撮像素子１画素の水平方向の長さｘｕ、２８…撮像素子１画素の垂直方向の長さｙｕ、２９…被写体Ｑが撮像素子上に映る点Ｐのｘ成分ｘｐ、３０…被写体Ｑが撮像素子上に映る点Ｐのｙ成分ｙｐ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a surveillance camera device attached to a turntable for a surveillance camera capable of panning (horizontal swing) rotation and tilt (vertical swing) rotation, and masks an image with a part of a screen as a privacy protection range for privacy protection. The present invention relates to a surveillance camera device comprising a mask position storage unit for performing (hiding) and a mask display unit.
[0002]
[Prior art]
Generally, a surveillance camera device uses a video camera fixed to a camera turntable that can freely rotate in a pan direction and a tilt direction so as to capture images in various directions. In addition, there is a surveillance camera system device that can freely change a video position projected by a camera by operating a pan and tilt of a camera turntable, zooming of a surveillance camera device, and the like by an external controller unit. In general, the surveillance camera system device stores a plurality of video locations to be projected, a sequence function for sequentially displaying the stored video locations in a fixed time, and a human sensor or the like installed in a monitoring area, and An alarm function or the like is provided for instantly turning the surveillance camera device in that direction when it is determined by the sense sensor that there is an abnormality. When such a surveillance camera system device is installed in a public place such as a street, there is a problem of processing in places where it is not preferable to take an image for protection of privacy such as a private house. As a solution to this problem, there is a method of masking a portion requiring privacy protection with another image. Hereinafter, a conventional method for masking privacy protection will be described.
[0003]
In Japanese Patent Application Laid-Open No. 2001-69494, a privacy protection range, that is, a mask range is stored as a coordinate position and a size on absolute coordinates, and the absolute coordinate is displayed when a mask is displayed when the monitoring camera device is rotated in the pan-tilt direction. It describes a method of calculating a coordinate position on the screen from the upper coordinate position and displaying a mask. Further, in this method, when the rotation speed in the pan direction and the tilt direction is equal to or higher than a predetermined fixed speed, mask display processing for protecting privacy is not performed.
[0004]
[Patent Document 1]
JP 2001-69494 A
[0005]
[Problems to be solved by the invention]
However, according to the above-described related art, when the camera turntable is rotated in the pan direction and the tilt direction, the position of the mask display is calculated, so that a time delay occurs before the display is performed. For this reason, when the calculation of the position of the mask display is completed, the actual image is advanced by the delay time due to this calculation, and there is a shift between the position of the mask display and the range in which privacy is actually desired to be protected. There was a problem that a part of the protection range was exposed. When the rotation speed of the camera rotating base in the pan direction and the tilt direction is low, the displacement between the mask display position and the privacy protection range caused by this delay is small, so the exposure range of the privacy protection range is small, When the rotation speed of the pan / tilt direction of the camera turntable is high, the difference between the mask display position and the privacy protection range, which occurs due to the delay due to this calculation, is large, and the exposure range of the privacy protection range is large. And the problem becomes more pronounced.
[0006]
SUMMARY OF THE INVENTION It is an object of the present invention to provide a camera having a panning and tilting direction in which the camera pan is rotated in a pan direction and a tilt direction. The position of the mask display and the privacy protection range that occur due to this, the new mask display position is calculated from the previous mask display position and the current calculated mask display position taking into account the aforementioned time delay. Another object of the present invention is to provide a surveillance camera device which improves the above-mentioned misalignment by covering the privacy protection range with the position of the new mask display.
Furthermore, when setting a mask in the privacy protection range, the operator can arbitrarily change the composition ratio of the video signal and the privacy protection mask while setting the mask. An object of the present invention is to make it possible to confirm the position at the same time and to make it easy for an operator to set a mask.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, a first invention comprises, as a basic configuration, first, an optical system of a lens and an image pickup device, second, a calculating means for determining and displaying a mask position, and third, a plurality of Calculation management means for enabling mask display of the above, fourthly, storage means for mask data and data for properly operating this surveillance camera, and fifthly, a partial mask for a video signal from the image sensor. And a video signal processing means for outputting a video. The surveillance camera is mounted on a turntable and rotated, and the surveillance camera and the turntable constitute a surveillance camera system device. Further, a communication unit is provided with a controller unit for operating the monitoring camera system device and a monitor unit for displaying an image.
[0008]
The first optical system includes a lens fixedly arranged on an optical path, and an image sensor that receives light passing through the lens and converts the light into an electric signal.
The second arithmetic unit is configured to determine each of the areas to be masked based on information from a storage unit to be described later, pan and tilt rotation angle information (hereinafter, referred to as pan / tilt angle information) of the turntable, and mask area setting information from a controller unit. It comprises a mask data calculation processing unit that determines the angle coordinates of the vertices, and a mask display position calculation processing unit that calculates the display position coordinates of each vertex of the area to be masked.
The third calculation management means allocates the above-described mask data calculation processing unit and the calculation of the above-described mask display position calculation processing according to the state of each mask so as to enable setting and display of a plurality of masks. It consists of a mask operation management unit.
[0009]
A fourth storage unit configured to store a size of a pixel of the image sensor (memory C); a second storage unit (memory D) storing a calculation result of the mask data calculation processing unit; A third storage unit (memory E) for storing a calculation result of the mask display position calculation processing unit, a fourth storage unit (memory F) for storing mask area setting information from the controller unit, and a focal length of the lens system (Memory B). Fifth video signal processing means, from the mask area setting coordinate information from the controller unit, or the display position coordinate information of the mask vertex calculated in the second, from the image processing of the image sensor of a part of the image of the image sensor is processed, The image is transmitted to an external controller unit or monitor unit.
A communication unit for transmitting and receiving a control instruction for photographing a subject and a mask position determination instruction is provided between the controller unit, the monitor unit, and the monitoring camera system device.
[0010]
At the time of mask setting, a mask setting instruction from the controller unit, mask region setting coordinate information from the controller unit, pan / tilt angle information of the rotary table at that time, the size of one pixel of the image sensor in the first storage unit, and a lens And the pan and tilt angles of each vertex of the mask shape are calculated and stored in the second storage unit. At the time of mask setting, the mask area setting coordinate information from the controller is sent to the fifth video signal processing means. The fifth image signal processing means generates a signal for masking a part of the image signal from the input mask area setting coordinate information, and generates the generated mask signal and the image input from the first optical system. When synthesizing the signals and performing the masking process on a part of the video signal, a signal to be masked on a part of the video signal from the input mask area setting coordinate information and the signal input from the first optical system The video signal is synthesized at an arbitrary ratio, and is transmitted to the image screen. By connecting the transmitted imaging screen to the monitor unit, the operator can confirm the mask position being set, and simultaneously check the video signal of the privacy protection range and the mask being set using the controller unit. It becomes possible.
[0011]
When the mask is in operation, the pan / tilt angle information of the turntable at time t (t is a natural number), the size of one pixel of the image sensor, the focal length of the lens, and the mask display on the image sensor surface from the information in the second storage unit. The position information W [t] (W is a natural number) is calculated. At the same time, the mask information W [t] at time t is stored in the third storage unit. Then, the calculated mask position information W [t], the pan / tilt angle information of the turntable at the previous time t-1 stored in the third storage unit, the size of one pixel of the image sensor, and the focal point of the lens From the distance and the mask display position information W [t-1] on the imaging element surface calculated from the information in the second storage unit, the movement of the turntable on which the monitoring camera is mounted and the mask position information are calculated. New mask position information V (V is a natural number) for correcting a shift of the mask display position caused by the delay generated until the display is performed. Then, the mask position information V calculated for correcting the deviation of the mask display position is sent to the fifth video signal processing means. The fifth image signal processing means generates a signal for masking a part of the image signal from the input mask area setting coordinate information, and generates the generated mask signal and the image input from the first optical system. When synthesizing the signals and performing the masking process on a part of the video signal, a signal to be masked on a part of the video signal from the input mask area setting coordinate information and the signal input from the first optical system The video signals are combined at a ratio of 100 to 0, and are transmitted to the image pickup screen. By connecting the transmitted imaging screen to the monitor unit, the operator moves the mask display position set according to the pan / tilt angle of the turntable, so that the operator always checks the video signal with the privacy protection range masked. be able to.
[0012]
According to the present invention, when rotating in the pan direction and tilt direction of the camera turntable, a time delay until the position of the mask display is calculated from the angle information in the pan direction and tilt direction of the camera turntable and displayed is displayed. The resulting mask display position is deviated from the privacy protection range, and the new mask display position is calculated from the previous mask display position and the current calculated mask display position taking into account the aforementioned time delay. The above-mentioned misalignment can be improved by covering the privacy protection range with a new mask display position.
Furthermore, when setting a mask in the privacy protection range, the operator can arbitrarily change the composition ratio of the video signal and the privacy protection mask while setting the mask. The position can be checked at the same time, making it easier for the operator to set the mask and enabling operability.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
1 and 2, a configuration and operation of a surveillance camera system device and a surveillance camera according to an embodiment of the present invention will be described. FIG. 1 shows a block configuration of a surveillance camera according to an embodiment of the present invention, and FIG. 2 shows a schematic configuration of an entire surveillance camera system device using the surveillance camera.
[0014]
The surveillance camera 12 shown in FIG. 2 is attached to the turntable 11 and is covered with a cover 50. A video signal of a subject captured from an image sensor via an optical lens fixed to the optical system of the monitoring camera 12 is sent to the turntable 11 and the controller 14 and is required for system control such as OSD display such as a system control menu. The information is superimposed and output to the monitor 13. The operator operates the controller 14 while watching the monitor 13, and controls the pan / tilt rotation of the turntable 11, the zoom of the surveillance camera 12, and the mask setting of the privacy protection range as a surveillance camera system device. Between the controller 14, the monitor 13, the turntable 11 and the surveillance camera 12, control information such as a rotation operation of the turntable 11 in a pan direction and a tilt direction, state information such as a pan / tilt angle of the turntable 11, and a zoom of the surveillance camera 12 Control information for controlling the surveillance camera 12, such as movement and setting of a privacy protection range mask, status information such as a zoom position of the monitoring camera 12, a privacy protection range mask setting state, and the like are transmitted and received via the communication cables 51a and 51b. . Here, the controller 14 may use a controller dedicated to the monitoring system, or may use other control means such as a personal computer and monitoring system control software. In FIG. 2, the video signal is transmitted to the controller 14 via the turntable 11 in this embodiment, but may be transmitted directly from the monitoring camera 12 to the controller 14.
[0015]
Next, the configuration of the monitoring camera 12 of the present invention will be described with reference to FIG.
First, the optical system includes an optical lens 1a fixed to the optical path of the monitoring camera 12, and an image sensor 1b. The imaging element 1b is an element that converts imaging light (L) of a subject into an electric signal and outputs the electric signal as a video signal.
[0016]
Second, the calculating means includes a mask data calculation processing section 8b and a mask display position calculation processing section 8c. When setting the mask display position, the mask data calculation processing unit 8b stores the pan / tilt angle information at the time of setting the mask display position of the turntable 11 input via the mask calculation management unit 8a described later and the memory B8f described later. Information on the focal length, information on the size of one pixel of the image sensor stored in the memory C8g described later, and information stored in the memory F8k described later for the operator to set the privacy protection range. The angle of each vertex of the mask display position set in the privacy protection range by the operator from the input coordinate data of the set position of the mask display and the input number of vertices of the mask shape to be displayed using an arithmetic expression [Equation 5] described later. (Hereinafter, referred to as angle information of each vertex of the mask at the time of setting the mask) and send it to a memory D (mask data memory) 8h to be described later and store it. . At the same time, the mask display set position coordinate data input by the operator for setting the privacy protection range stored in the memory F (mask setting position coordinates) 8k is the mask display set by the operator in the privacy protection range. Is output to a mask signal generation unit 4c in the camera signal processing 4, which will be described later, through a mask data display calculation processing 8c so that the set position can be confirmed. Further, in the present embodiment according to the present invention, the mask data calculation processing section 8b sends a mask signal for displaying a mask being set by the operator to the signal synthesizing section 4d in the camera signal processing 4, which will be described later. The control information for changing the synthesis ratio of the video signal output from the optical system and the video signal subjected to the signal processing in the signal processing 4a can be output.
[0017]
The mask display position calculation processing unit 8c calculates the angle information of each vertex of the mask at the time of setting the mask stored in the memory D (mask data memory) 8h, and a certain time input via the mask calculation management unit 8a described later. t] (t is a natural number) from the pan / tilt angle information of the turntable 11, focal length data stored in a memory B8f described later, and information on the size of one pixel of the image sensor stored in a memory C8g described later. By using an arithmetic expression [Equation 4] described later, mask display position coordinates W [t] (hereinafter, referred to as mask display position coordinate information) of each vertex of the mask display at the panning / tilting angle of the turntable 11 at time [t]. , W are natural numbers). The calculation result of the mask display position coordinate information at this time [t] is sent to and stored in a memory E (mask display position coordinate data backup) 8e to be described later.
[0018]
Next, an outline of an operation of the present invention for correcting a shift of a mask display position caused by a time delay that occurs until the mask display position coordinate information is calculated and displayed according to the present invention will be described. The mask display position coordinate information W [t] at the time [t] calculated using [Equation 4] described later, and the previous time [t−) stored in the memory E (mask display position coordinate data backup) 8e. [1], the output delay information of the pan / tilt angle information of the turntable 11 on which the monitoring camera 12 is mounted, the mask display position coordinate information W [t-1], and the mask display position coordinate information. Based on the generated delay information, display coordinate position correction processing is performed to calculate new mask position coordinate information V [t] (V is a natural number) for mask display position deviation correction at time [t]. At the same time, the new mask position coordinate information V [t] is output to a mask signal generator 4c inside the camera signal processing 4 described later, and is transmitted as a masked video signal to the monitor 13 via the turntable 11 and the control 14, Display the image with the mask position corrected.
[0019]
Here, in the present embodiment, the memory E (mask display position coordinate data backup) 8e stores the mask display position coordinate information of the current time [t] and stores the mask display position coordinate information of the previous time [t-1]. Although the information is erased, the mask display position coordinate information of the previous time [t-1] may not be erased.
[0020]
Third, the operation management means includes a mask operation management unit 8a. In the present embodiment, a mask that allows the operator to set a mask in the privacy protection range over the entire range in which the turntable 11 on which the surveillance camera 12 is attached can be rotated and projected in the pan and tilt directions. (N is a natural number). The mask calculation management unit 8a sets the control state of all the settable number N of masks (hereinafter, referred to as privacy masks) set in the privacy protection range by a process in which the operator is setting the mask display position. There is a control state of calculating the angle information of each vertex of the mask, a control state of storing the mask display position coordinate information as the processing in a state where the processing of setting the mask display position of the operator is completed, or This is a process when nothing is set, and is a means for determining whether the control state is an unprocessed control state in which no process is performed. In addition, an operator gives an instruction to the monitoring camera 12 using the controller 14 to set a privacy mask whose state is to be determined by the mask calculation management unit 8a. In addition, as the control state of the privacy mask, the setting of the privacy mask, which is the state where the operator is currently setting the privacy mask for the area in which the privacy is desired to be protected, and the setting of the privacy mask, which is being set by the operator, are completed. There are a state where the setting is completed, an operation permission where the setting has already been completed and the apparatus is operating as a privacy mask of the surveillance camera system, and an unset state where the operator has not set anything.
[0021]
Also, here, the pan / tilt angle information of the turntable 11 transmitted from the turntable 11, the set position coordinate data of the mask display set by the operator in the privacy protection range, and the setting of the privacy protection range by the operator. The input number of vertices of the mask shape to be displayed is input via an external communication processing unit 8d to be described later, and the pan / tilt angle information of the turntable 11 is obtained by the mask data calculation processing unit 8b and the mask display position calculation processing unit 8c described above. And the mask display set position coordinate data and the number of vertices of the mask shape are output to the memory F (mask set position coordinates).
[0022]
Fourth, the storage means includes a memory B8f for storing data of the focal length of the optical lens, a memory C8g for storing the horizontal and vertical lengths of one pixel of the image sensor, and a mask display angle. It has a memory D8h for storing data, a memory E8e for storing mask display position coordinates, and a memory F8k for storing privacy mask setting information set by the operator from the controller 14. The memory F8k stores the set position coordinate data of the mask set by the operator in the privacy protection range and the number of vertices of the mask shape set by the operator in the privacy protection range, which are input via the external communication processing unit 8d described later. It is means for storing. The memory D8h is means for storing angle information of each vertex of the mask when setting the mask with the pan / tilt angle of the rotary table 11 when setting the mask calculated by the mask data calculation processing unit 8b described above. The memory E8e is a unit that stores the mask display position coordinate information at the pan / tilt angle of the turntable 11 at the time [t] calculated by the mask display position calculation processing unit 8c described above.
[0023]
In the present embodiment, the arithmetic means, the arithmetic management means, and the storage means are incorporated in the microcomputer 8 together with the external communication processing unit 8d.
[0024]
Further, the external communication processing unit 8d provides state information such as a pan / tilt angle of the turntable 11 between the controller 14, the turntable 11, and the surveillance camera 12, a zoom to the surveillance camera 12, and a mask for a privacy protection range. It functions as data transmission / reception processing means for various information such as control information for controlling the monitoring camera 12 such as setting, the zoom position of the monitoring camera 12, and status information such as a mask setting state of a privacy protection range.
[0025]
Further, the microcomputer 8 and a camera signal processing 4 described later are connected by a control line 9, and control data and various data of the microcomputer 8 and the camera signal processing 4 are transmitted and received through the control line 9. Mask signal setting data for generating a mask signal to the mask signal generation section 4c incorporated in the camera signal processing 4, and the synthesis ratio of the video signal and privacy mask to the signal synthesis section 4d incorporated in the camera signal processing 4. The setting data is also transmitted from the microcomputer 8 to the camera signal processing 4 via the control line 9.
[0026]
Fifth, the video signal processing means comprises a signal processing conversion 3, a camera signal processing 4, a digital / analog conversion (DAC) 5, and a video output signal terminal 10.
The signal processing converter 3 is a CDS circuit for removing reset noise of a video signal, an automatic gain control (AGC) circuit, and an analog / digital conversion (ADC) circuit for converting an analog signal to a digital signal. The camera signal processing 4 includes a signal processing 4a for processing a video signal, a mask signal generation unit 4c for generating a mask signal, and a signal synthesis unit 4d for synthesizing a part of the video signal with the mask signal. The mask signal generator 4c generates a signal for masking the privacy protection range of the video signal in accordance with the mask signal setting data input from the microcomputer 8 via the control line 9. The signal synthesizing unit 4d varies the synthesizing ratio of the video signal and the privacy mask in accordance with the setting data of the synthesizing ratio of the video signal and the privacy mask input from the microcomputer 8 via the control line 9. The digital / analog conversion (DAC) 5 is a circuit that outputs a video output signal obtained by converting the video digital signal from the camera signal processing 4 to an analog signal from a video output signal terminal 10.
[0027]
Next, an arithmetic expression [Equation 5] used for calculating the angle information of each vertex of the mask when setting the mask in the mask data calculation processing unit 8b, and an arithmetic expression used for calculating the mask display position coordinate information in the mask display position calculation processing unit 8c [Equation 4] will be described with reference to FIGS.
[0028]
FIG. 13 shows a case where the origin is the center of pan-tilt rotation (O) 15 and the object is a point-like object (S) 22 in the XYZ space with the positive direction of the X-axis as a reference for pan and tilt angles. The positional relationship between the image sensor 2 and the subject (S) 22 is shown. FIG. 14 shows a position (P) 26 where the subject (S) 22 is reflected on the image sensor 2 when the subject is a point-like object (S) 22.
[0029]
13 and 14, a distance (r) 19 from the center of pan / tilt rotation (O) 15 to the center (o) 16 of the image sensor 2 and a distance (r) 19 from the center (o) 16 of the image sensor 2 to the focal point (Q) 20 (F) 21, a pan angle (θxp) 23, a tilt angle (θyp) 24 of the subject (S) 22, and a distance (l) 25 from the pan / tilt rotation center (O) 15 to the subject (S) 22. . In FIG. 14, a horizontal length (xu) 27 of one pixel of the image sensor and a vertical length (yu) 28 of one pixel of the image sensor are set.
[0030]
The pan angle (θxo) 17 and the tilt angle (θyo) 18 of the surveillance camera 12 are determined when the surveillance camera 12 is mounted on the turntable 11 and rotates. This is the angle of the optical axis, and the standard of this angle is that the X axis is horizontal. That is, the angle information of the optical axis that passes through the rotation center (O) of the image sensor that is rotatably supported and that is perpendicular to the plane formed by the image sensor is represented by a pan angle (θxo) 17 and a tilt angle (θyo) 18. To That is, the angle between the rotation center (O) of the image sensor and the optical axis intersection of the image sensor is pan-tilt angle information of the turntable 11.
[0031]
In addition, since the monitoring system is not usually installed very close to the area where privacy protection is required, the subject distance (l) 25 is from the center (O) 15 of the pan / tilt rotation to the center (o) 16 of the image sensor. (R) 19 and the distance (f) 21 from the center (o) 16 of the image sensor to the focal point Q20 are very large. Therefore, when the center (O) 15 of the pan / tilt rotation substantially coincides with the center of the monitoring camera 12, since l >> (rf), the subject distance (l) 25 is determined to be infinite. I do.
[0032]
Therefore, as shown in FIG. 14, the number of pixels in the horizontal direction at the position (P) 26 where the object (S) 22 is reflected on the image sensor 2 from the center (o) 16 of the image sensor is represented by the horizontal pixel number (xp) 41 And the number of vertical pixels (yp) 42 in the vertical direction at the position (P) 26 where the object (S) 22 is reflected on the image sensor 2 from the center (o) 16 of the image sensor is the pan angle of the object (S) 22 (Θxp) 23, tilt angle (θyp) 24 of subject (S) 22, horizontal length (xu) 27 of one pixel of image sensor, vertical length (yu) 28 of one pixel of image sensor, It is calculated from the pan angle (θxo) 17 of the surveillance camera 12 and the tilt angle (θyo) 18 of the surveillance camera 12 using an arithmetic expression [Equation 4]. In the mask display position calculation processing unit 8c, the angle information of each vertex of the mask at the time of setting the mask stored in the memory D (mask data memory) 8h is used as the pan angle (θxp) 23 of the subject (S) 22, the subject (S) The pan / tilt angle information of the turntable 11 at a certain time [t] (t is a natural number) input via the mask calculation management unit 8a is used as the pan angle (θxo) 17 of the monitoring camera 12 as the tilt angle (θyp) 24 of 22. And the tilt angle (θyo) 18 of the monitoring camera 12, the focal length data stored in the memory B 8 f as the distance (f) 21 from the center (o) 16 of the image sensor 2 to the focal point (Q) 20, The information on the size of one pixel of the image sensor stored in C8g is expressed as the horizontal length (xu) 27 of one pixel of the image sensor and the vertical length (yu) of one pixel of the image sensor. As 8, it calculates the mask display position coordinate information from the arithmetic expression [Expression 4].
[0033]
Further, the mask data calculation processing unit 8b calculates the angle information of each vertex of the mask at the time of setting the mask using the operation expression [Expression 5] which is the inverse function of the above-mentioned operation expression [Expression 4]. When the mask display position is set, the pan / tilt angle information at the time of setting the mask display position of the turntable 11 input via the mask calculation management unit 8a is used as the pan angle (θxo) 17 of the monitoring camera 12 and the tilt angle ( θyo) 18, the focal length information stored in the memory B 8 f is the distance (f) 21 from the center (o) 16 of the image sensor 2 to the focal point (Q) 20, and the image sensor stored in the memory C 8 g The information on the size of one pixel is defined as a horizontal length (xu) 27 of one pixel of the image sensor and a vertical length (yu) 28 of one pixel of the image sensor.
[0034]
Hereinafter, the overall processing configuration for masking the privacy protection range of a captured image will be described with reference to the flowchart shown in FIG. The processing of the flowchart shown in FIG. 3 is performed by the above-described mask calculation management section 8a.
When the monitoring camera 12 is in the operating state, the mask management counter j for counting the number of the privacy mask is set to zero in step 31, and the process proceeds to step 32. The mask management counter j can be set as a mask of the privacy protection range by the operator in the entire range in which the turntable 11 on which the surveillance camera 12 is mounted can be rotated and projected in the pan direction and the tilt direction. This is a counter for managing the processing order of the total number N of masks (N is a natural number).
[0035]
In step 32, a comparison is made between the total number N of privacy masks that can be set by the operator and the privacy mask number M (M is a natural number) indicated by the mask management counter j for performing the current process. If the mask management counter j is equal to or greater than the total number N of privacy masks that can be set by the operator (M ≧ N), the process returns to step 31 and executes the processing of the flowchart shown in FIG. 3 again. Conversely, if the privacy mask number M indicated by the mask management counter j is less than the total number N of privacy masks that can be set by the operator (M <N), the process of step 33 is performed.
[0036]
In step 33, the mask data calculation processing section 8b sets the mask set position coordinate data stored in the memory F8k by the operator using the controller 14 and the Get the number of vertices of the set mask shape. The acquired set position coordinate data of the mask set by the operator using the controller 14 is also used in step 46 described later. The number of vertices of the mask shape acquired by the operator using the controller 14 at the same time is also used in step 43, step 52, and step 62 described later. After acquiring the mask set position coordinate data and the mask shape vertex number data set by the operator using the controller 14 stored in the memory F8k, the process proceeds to step S34.
[0037]
In step 34, the state of the privacy mask of the number M indicated by the mask management counter j is determined in order to branch the operation processing of the privacy mask. The setting of the privacy mask state is performed by the operator using the controller 14 to instruct the monitoring camera 12. The privacy mask state setting data set by the operator using the controller 14 is input to the mask calculation management unit 8a via the external communication processing 8d shown in FIG. The state of the privacy mask set by the operator includes the setting of the state where the operator is currently setting the privacy mask for the area where privacy is desired to be protected and the setting of the privacy mask set by the operator. The setting is a completed state, which is a completed state, an operation permission, which is a state in which the setting is already completed and is in operation, and an unset state, which is a state in which the operator has not set anything. If the state of the M-th privacy mask indicated by the mask management counter j has not been set, the process proceeds to step S37. If the privacy mask is being set or the setting is completed, the process proceeds to step S35. Display and the like are performed. If the operation is permitted, the process proceeds to step 36, at which the mask display coordinate information of the Mth privacy mask is calculated and displayed.
[0038]
In the flowchart shown in FIG. 3, the state transition of the privacy mask set by the operator is from setting to completion of setting, and from setting completion to operation permission.
In step 35, when the operator sets the mask for each vertex of the privacy mask that is being set or the setting is completed, calculation of the angle information of each vertex of the mask, display of the privacy mask being set, and setting of the mask calculated when the setting is completed The process of writing the result of the angle information of each vertex of the mask into the memory D (mask data memory) inside the microcomputer 8 is performed. Step 35 will be described later with reference to FIG.
[0039]
In step 36, calculation of mask display position coordinate information on the privacy mask permitted to be operated by the operator, processing of writing the calculated mask display position coordinate information to the memory E (mask data backup memory) inside the microcomputer 8, and calculation are performed. A display coordinate position correction process of mask display position coordinate information and a process of displaying a privacy mask are performed. Step 36 will be described later with reference to FIG.
After the branching process according to the state of the privacy mask is completed in steps 35 and 36, the process proceeds to step 37.
[0040]
In step 37, 1 is added to the M-th value indicated by the mask management counter j. Thereafter, the process returns to step 32, and the processing from step 32 to step 37 is repeated N times, the total number of masks for which the operator can set a mask for the privacy protection range. After the process is completed N times, the condition of step 32 described above is satisfied, the process returns to step 31, and the process of the flowchart shown in FIG. 3 is executed again.
Also, the privacy mask set by the operator needs to reliably cover the privacy protection unit. Therefore, in the privacy mask processing, the processing of the flowchart shown in FIG. 3 needs to be performed at least once in accordance with the output cycle of the video signal. In this embodiment, the operation is performed for each field, but the period is not limited to this.
[0041]
Next, the processing of step 35 performed by the mask data calculation processing section 8b will be further described with reference to the flowchart shown in FIG. In the mask data calculation processing unit 8b, for the M-th privacy mask indicated by the above-described mask management counter j, if the privacy mask has been designated by the operator using the controller 14 or the like, the operation is performed. The angle information of each vertex of the mask at the time of setting the above-mentioned mask set by the user in the privacy protection range is calculated and the privacy mask is displayed. When the operator gives a setting completion status instruction, a process of writing the calculated result of the angle information of each vertex of the mask at the time of setting the mask into the memory D (mask data memory) 8h inside the microcomputer 8 is performed.
[0042]
In order to mask the privacy protection range, the operator needs to set a polygonal privacy mask, and there are a plurality of vertices of the set privacy mask. When the operator sets and operates the mask set in the privacy protection range using the above-described arithmetic expressions [Equation 4] and [Equation 5], all the mask shapes set in the privacy protection range by the operator are used. It is necessary to perform an operation for each vertex. Therefore, it is necessary to repeatedly execute the calculation of the angle information of each vertex of the mask at the time of setting the mask. Therefore, in step 42, a variable i for managing the number of calculations is set to zero and initialized, and the process proceeds to step 43.
[0043]
In step 43, a variable i for managing the number of operations is compared with the total number of vertices of the mask shape for which the privacy mask state instruction is being set or the setting is completed for the privacy mask being set by the operator. The total number of vertices to be compared is the number of vertices of the mask shape set by the operator using the controller 14, and is the data obtained from the memory F8k in step 33 described above. In this embodiment, since the mask shape that can be set as the privacy protection range is a quadrangle, the number of vertices of the mask shape set by the operator in the privacy protection range is 4 in step 43, so the condition is determined to be i ≧ 4. . If the variable i for managing the number of operations is less than the number of vertices of the privacy mask being set, the process proceeds to step 44. If the variable i for managing the number of operations is equal to or larger than the number of mask shapes for which the privacy mask status instruction is being set or the setting is completed, the process proceeds to step 46.
[0044]
In step 44, an operation for calculating angle information of each vertex of the mask at the time of setting the mask is performed on the privacy mask being set by the operator using the above-described operation expression [Expression 5]. In performing the calculation of [Equation 5], the pan / tilt angle information of the turntable 11 input via the mask calculation management unit 8a described above, the focal length information stored in the memory B8f, and the information stored in the memory C8g. The information of the size of one pixel of the image pickup device and the set position coordinate data of the mask set in the privacy protection range by the operator input to the memory F8k via the mask calculation management unit 8a are used. After the calculation, the process proceeds to step 45 to calculate the angle of the next vertex.
[0045]
In step 45, 1 is added to the variable i for managing the number of operations, and the process returns to step 43.
In step 46, a privacy mask display process in which the operator is setting and the privacy mask state instruction is being set or the setting is completed is performed. Here, the displayed privacy mask is the set position coordinate data of the mask set by the operator using the controller 14 stored in the memory F8k described above. The data stored in the memory F8k is output to the mask signal generator 4c inside the camera signal processor 4 via the control line 9 shown in FIG. 1, and the mask signal generator 4c outputs a video signal according to the input data. Generate a signal that masks the privacy protection range of the In the mask display processing performed in step 46, the operator stores the mask signal of the privacy mask being set using the controller 14 and the video signal stored in the memory F8k at an arbitrary ratio. Combine. The ratio data for synthesizing the mask signal of the privacy mask being set and the video signal is output to the signal synthesizing unit 4d inside the camera signal processing unit 4 via the control line 9 shown in FIG. In step 4d, the ratio of combining the mask signal of the privacy mask being set and the video signal is set according to the input data. The process of combining the mask signal of the privacy mask being set by the operator with the video signal at an arbitrary ratio and displaying the mask will be described later with reference to FIG. After displaying the privacy mask being set by the operator in step 46, the process proceeds to step 47. In step 47, the state of the privacy mask being set, which is instructed by the operator to the monitoring camera 12 using the controller 14, is determined. In addition, the operator confirms the video on which the privacy mask being set by the signal combining unit 4d of the camera signal processing 4 and the video signal have been combined with the video signal sent from the video output terminal 10, and checks the operator. If there is no problem in the privacy mask setting instructing the monitoring camera 12 by using the controller 14 or the like, the operator instructs the monitoring camera 12 to complete the setting. Therefore, if the operator has instructed to complete the setting in step 47, the process proceeds to step 48. If the setting completion state setting instruction has not been issued from the operator, the process proceeds to step 37.
[0046]
In step 48, the angle information of each vertex of the mask at the time of setting the mask calculated by using the above-described operation expression [Equation 5] in step 44 and the number M indicated by the mask management counter j are stored in the memory D in the microcomputer 8 (mask data). (Memory) 8h.
In this embodiment, since the mask shape that can be set as the privacy protection range is a quadrangle, the condition determination in step 43 is set to i ≧ 4. However, the mask shape that can be set is not limited to this. The condition determination may be made i ≧ 5, and i ≧ L for an L-square shape.
[0047]
Here, a process of combining the mask signal of the privacy mask being set by the operator and the video signal at an arbitrary ratio and displaying the mask will be described with reference to FIG. FIG. 12A shows a privacy mask on the screen of the monitor 13 and masks a closed area surrounded by P0, P1, P2, and P3. 12B shows a mask detection signal for each horizontal line, FIG. 12C shows a video signal of an imaging screen from the imaging device 1b, FIG. 12D shows a mask signal to be combined as a mask, and FIG. ) Is a masked image screen video signal transmitted from the video output terminal 10 after passing through the signal synthesis unit 4d of the camera signal processing 4.
[0048]
As shown in FIG. 12, a signal indicating a vertex forming a region to be masked is determined by a mask signal generation unit 4c for each horizontal line to determine an intersection with a line segment of a portion surrounded by P0 to P3. Toggles Low from the head of the line to the first intersection, High from the first intersection to the second intersection, Low from the second intersection to the end of the horizontal line, and toggles High / Low at every intersection. ) To generate a mask detection signal shown in FIG. When the mask detection signal is High in the signal synthesizing unit 4d, the video signal (the signal shown in FIG. 12C) of the imaging screen from the imaging device 1b and the mask signal to be synthesized (FIG. 12D) Are synthesized at an arbitrary ratio to generate a video signal including privacy mask information. For example, the video signal luminance level at point A of the signal after the mask processing in FIG. 12E is the same as the luminance signal level Y at point A in the video signal in FIG. A luminance level Y + X is obtained by subjecting the signal to the luminance signal level X at the point A and performing the composition processing at the composition ratio Y: X = 1: 1. Further, the combination ratio of the video signal and the mask signal may be set arbitrarily by the operator or may be set in advance.
[0049]
The privacy mask information is set such that the combination ratio of the mask display data being set by the operator using the controller 14 to the monitoring camera 12 and the video signal of the imaging screen from the imaging device 1b is an arbitrary ratio. By generating the included video signal, the operator can check the video signal of the privacy mask protection part and the privacy mask being set at the same time, and the privacy mask protection part depends on the privacy mask being set. It is possible to determine whether the privacy mask is covered to a certain extent, and it becomes easy for the operator to set a privacy mask for instructing the monitoring camera 12 using the controller 14.
[0050]
Next, the processing of step 36 performed by the mask display position calculation processing section 8c will be further described with reference to the flowchart shown in FIG. In the mask display position calculation processing unit 8c, the M-th privacy mask indicated by the mask management counter j is operated after the operator issues a setting completion state instruction to the monitoring camera 12 using the controller 14. When the permission state setting is instructed and the operation is permitted, the angle information of each vertex at the time of setting the M-th mask indicated by the mask management counter j stored in the memory D (mask data memory) 8h and the mask Pan / tilt angle information of the turntable 11 at time [t] input from the operation management unit 8a, information on the focal length stored in the memory B8f, and information on the size of one pixel of the image sensor stored in the memory C8g From the above, the mask display position coordinate information is calculated using the above-described arithmetic expression [Equation 4], and the result of the calculated mask display position coordinate information and the mask display position are calculated. Writing the number of the M indicated by the counter j in the memory E (mask data backup memory) 8e. Then, the mask display position coordinates W [t] calculated in the display coordinate position correction processing performed in step 55 described later and the calculation result W [t-1] of the previous mask display position coordinates stored in the memory E8e. , A new mask coordinate position V [t] for correcting a mask display position shift is generated. The mask display unit displays the mask at the new mask grounding position V that has been subjected to the display coordinate position correction processing.
[0051]
In the mask display position calculation processing unit 8c, since the privacy mask set by the operator is a polygon, a plurality of vertices of the privacy mask being set exist. When the calculation is performed using the above-described calculation expression [Expression 4], it is necessary to perform the calculation on all vertices of the mask set by the operator in the privacy protection range. Therefore, it is necessary to repeatedly execute the calculation of the mask display coordinate position of the mask vertex at the mask display position. Therefore, in step 51, a variable i for managing the number of calculations is set to zero and initialized, and the process proceeds to step 52.
[0052]
In step 52, a variable i for managing the number of operations is compared with the total number of vertices of a mask shape whose privacy mask state instruction is permitted to operate in the privacy mask set by the operator. In step 52, the number of vertices of the mask shape set by the operator using the controller 14 obtained in step 33 described above is compared. In step 52 of the present embodiment, i ≧ 4 because the operator sets the number of vertices of the mask shape set in the privacy protection range to 4, that is, the square privacy mask has already been set. If the variable i for managing the number of operations is smaller than the number of vertices of the privacy mask whose operation is permitted, the process proceeds to step 53. If the variable i for managing the number of operations is equal to or greater than the number of vertices of the mask shape whose operation is permitted, the process proceeds to step 55.
[0053]
In step 53, the operator uses the controller 14 to calculate the mask display position coordinate information of the privacy mask for which the operation instruction has been issued to the monitoring camera 12 using the controller 14 using the above-mentioned equation [Equation 4]. In performing the calculation of [Equation 4], the angle information of each vertex at the time of setting the mask for the M-th mask indicated by the mask management counter j stored in the memory D (mask data memory) 8h, the mask calculation management unit The pan / tilt angle information of the turntable 11 input through the memory 8a, information on the focal length stored in the memory B8f, and information on the size of one pixel of the image sensor stored in the memory C8g are used. . After the calculation, the process proceeds to step 54 to calculate the position coordinates of the next vertex. In step 54, 1 is added to the variable i for managing the number of operations, and the process returns to step 52.
[0054]
In step 55, the display coordinate position correction processing is performed for the operating privacy mask. After the display coordinate position correction processing is completed, the process proceeds to step 56. The display coordinate position correction process will be described later with reference to FIGS. 6, 7, 8, 9, 10, and 11.
At step 56, display processing of the privacy mask subjected to the display coordinate position correction processing is performed. The privacy mask data subjected to the display coordinate position correction processing is output to the mask signal generation unit 4c inside the camera signal processing 4 via the control line 9 shown in FIG. , A signal for masking the privacy protection range of the video signal is generated. In the mask display process performed in step 56, the synthesis ratio of the mask signal of the privacy mask data subjected to the display coordinate position correction process and the video signal is set to 100: 0. The ratio data for synthesizing the mask signal of the privacy mask data subjected to the display coordinate position correction processing and the video signal is sent to the signal synthesizing section 4d inside the camera signal processing 4 via the control line 9 shown in FIG. The signal combining unit 4d sets the ratio of combining the mask signal of the privacy mask being set and the video signal according to the input data.
[0055]
Next, the operation of the first embodiment of the display coordinate position correction process will be described with reference to FIGS. 7, 8, 9, and 10. FIG.
In FIG. 7, the operator sets a privacy mask for the monitoring camera 12 using the controller 14, thereafter, instructs the completion of the setting, and, with respect to the privacy mask (mask Pa) for which the operation is permitted, the turntable 11. A case will be described in which the mask Pa being displayed moves from the right side of the screen to the left side of the screen because of moving rightward. At this time, it is assumed that the turntable 11 operates with the pan angle [PL0] → [PL1] → [PL2] and does not operate with the tilt angle. The pan angles [PL0], [PL1], and [PL2] are input to the mask calculation management unit 8a from the turntable 11 via the external communication process 8d, and are obtained from the pan angle information input to the mask display calculation process 8c. is there. In addition, it is assumed that the time changes from T0 to T1 to T2 to T3.
[0056]
During the setting in which the operator sets the privacy mask for the surveillance camera 12 using the controller 14, the video signal in which the mask signal is combined with the privacy protection range of the video signal at an arbitrary ratio is displayed on the monitor 13. When there is no problem with the setting of the mask after the operator confirms the setting, the privacy mask is set to the surveillance camera 12 using the controller 14, and the privacy mask is operated after the setting is completed. When the pan angle of the turntable 11 to which the surveillance camera 12 is attached indicates [PL0] at time T0, the mask Pa whose operation is permitted in the state is displayed at the position on the screen shown in FIG. I have. The mask Pa has a size surrounded by each vertex ma0_i (i is the number of the vertex), and the coordinate position in the pan direction is ma0_i. x (i is the number of the vertex).
[0057]
Next, when the turntable 11 rotates rightward and the pan angle of the turntable 11 changes from [PL0] to [PL1], the display position of the mask Pa is determined by the step of the mask display position calculation processing unit 8c described above. At 53, the display position is moved to the coordinate position of the mask Pb calculated by calculating the coordinates. The coordinate position of the mask Pb is a size surrounded by the vertex ma1_i (i is the number of the vertex), and the coordinate position in the pan direction is ma1_i. x (i is the number of the vertex).
[0058]
However, the calculation is performed in step 53 of the mask display position calculation processing unit 8c based on the movement of the turntable 11 rotating in the pan direction and the angle information of the turntable 11 in the pan direction and the tilt direction. , A delay occurs until the mask signal is combined with the privacy protection portion and output. When the rotation speed of the turntable 11 is low, the influence of the above-mentioned delay is small and the area where the privacy protection portion is exposed is small even at the position of the mask Pb, so that the privacy protection portion can be almost covered. However, when the rotation speed of the turntable 11 is high, the influence of the above-described delay increases, and the privacy protection portion cannot be reliably covered at the position of the mask Pb, and a part of the privacy protection portion is exposed. Problems arise.
[0059]
Therefore, in order to correct a delay due to the rotation operation of the turntable 11 and the calculation of the mask display position, the positions of two new vertices mb1_0 and mb1_1 are calculated ahead of the vertices ma1_0 and ma1_1 of the mask Pb corresponding to the traveling direction of the mask Pa. To generate a correction mask [Pd]. The correction mask [Pd] has a size surrounded by vertices mb1_0, mb1_1, ma1_1, and ma1_0, and the coordinate position in the pan direction is mb1_0. x, mb1_1. x, ma1_1. x, ma1_0. x. The vertices ma1_1 and ma1_0 of the correction mask [Pd] have the same coordinates as the vertices ma1_1 and ma1_0 of the mask Pb generated by the calculation of the display position in step 53 of the mask display position calculation processing unit 8c, and the sides connecting the respective vertices. Is the same. Therefore, the privacy mask displayed at time T1 is: mask Pb ′ = mask Pb + correction mask [Pd]. The mask Pb 'has a size surrounded by vertices mb1_0, mb1_1, ma1_2, and ma1_3, and the coordinate position in the pan direction is mb1_0. x, mb1_1. x, ma1_2. x, ma1_3. x.
[0060]
The coordinate positions mb1_0 and mb1_1 of the vertexes in the pan direction to be newly generated by the mask Pb ′ are calculated using [Equation 7] and [Equation 8].

The coordinate position mb1_0... In the pan direction to be newly generated by the mask Pb ′. x, mb1_1. When x is specifically expressed by [Equation 7] and [Equation 8], it becomes [Equation 9].

[0061]
The vertex coordinate position newly set with respect to the mask traveling direction includes the vertex coordinate position of the mask Pb at the time of the current pan angle [PL1] and the pan angle [PL0 before the current pan angle [PL1]. ] Is generated from the vertex coordinate position of the mask Pa at the time. The calculation coefficient K shown in [Equation 8] and [Equation 9] may be a fixed value independent of the rotation speed of the turntable 11 or a variable value that changes depending on the rotation speed of the turntable 11. Or the rotation of the turntable 11 in the pan direction and the tilt direction, and the movement between the turntable 11 and the input to the mask calculation management unit 8a via the external communication processing unit 8d in the monitoring camera 12 Variable value that changes in consideration of a mask display position shift generated due to a time delay, or a movement in which the rotating base 11 rotates in the pan direction and the tilt direction, and an external movement in the monitoring camera 12 from the rotating base 11. The fixed value may be set in consideration of a mask display position shift generated due to a time delay occurring until the mask display management unit 8a is input via the communication processing unit 8d. In the data setting of the calculation coefficient K, the turntable 11 may always set a fixed value or a variable value for the monitoring camera 12, or the operator may use the controller 14 via the turntable 11. The monitoring camera 12 may be set, or a fixed value or a variable value may be set in the monitoring camera 12 in advance.
[0062]
Next, the case where the turntable 11 rotates rightward and the pan angle of the turntable 11 changes from [PL1] to [PL2] will be described.
When the pan angle of the turntable 11 changes from [PL1] to [PL2], the same process is performed as when the pan angle of the turntable 11 changes from [PL0] to [PL1]. In step 53 of the mask display position calculation processing section 8c, the display position coordinates are calculated, and the mask Pc displayed at the pan angle [PL2] and the mask Pc in the advancing direction of the mask Pc using [Equation 7] and [Equation 8]. On the other hand, the correction mask [Pe] is calculated, and a mask Pc ′ = mask Pc + correction mask [Pe] is generated. This mask Pc ′ becomes a privacy mask displayed at time T2. At this time, m (t-1) (q-1) _i used when calculating the correction mask [Pe] with respect to the traveling direction of the mask Pc using the above [Equation 7] and [Equation 8] is , Not the coordinate position information of the mask Pb ′ but the coordinate position information of the mask Pb. The mask Pb ′ displayed at the previous pan angle [PL1] is a display position newly generated to correct the delay of the operation of the turntable 11 and the mask display position, and the step of the mask display position calculation processing unit 8c This is because they are not the display position coordinates calculated in 53.
[0063]
Further, a case where the rotation of the turntable 11 is completed and the pan angle of the turntable 11 stops at [PL2] will be described. When the pan angle of the turntable 11 stops at [PL2], the display position is determined in step 53 of the mask display position calculation processing unit 8c in the same manner as when the pan angle of the turntable 11 changes from [PL1] to [PL2]. Calculation of coordinates and calculation processing using [Equation 7] and [Equation 8] are performed. However, since the rotation of the turntable 11 has not occurred, the result calculated using [Equation 7] and [Equation 8] is the position of the mask Pc, and this mask Pc is the privacy mask displayed at time T3. .
[0064]
Next, referring to FIG. 8, the operator sets a privacy mask for the monitoring camera 12 using the controller 14, instructs the completion of the setting, and then permits the operation of the privacy mask (mask Pf). The following describes a case where the turntable 11 rotates from the left to the right of the screen because the turntable 11 rotates rightward. At this time, the turntable 11 rotates at a pan angle [PR0] ⇒ [PR1] ⇒ [PR2]. There is no tilt angle operation. The pan angles [PR0], [PR1], and [PR2] are input to the mask calculation management unit 8a from the turntable 11 via the external communication process 8d, and are obtained from the pan angle information input to the mask display calculation process 8c. is there. In addition, it is assumed that the time changes from T0 to T1 to T2 to T3. In this case, the same processing as the operation described with reference to FIG. 7 is performed.
[0065]
During the setting in which the operator sets the privacy mask for the surveillance camera 12 using the controller 14, the video signal in which the mask signal is combined with the privacy protection range of the video signal at an arbitrary ratio is displayed on the monitor 13. When there is no problem with the setting of the mask after the operator confirms the setting, the privacy mask is set to the surveillance camera 12 using the controller 14, and the privacy mask is operated after the setting is completed. When the pan angle of the turntable 11 to which the surveillance camera 12 is attached indicates [PR0] at time T0, the mask Pf in which the operation is permitted is displayed on the screen shown in FIG. The mask Pf has a size surrounded by each vertex mf0_i (i is the number of the vertex), and the coordinate position in the pan direction is mf0_i. x (i is the number of the vertex).
[0066]
Next, when the turntable 11 rotates leftward and the pan angle of the turntable 11 changes from [PR0] to [PR1], the display position of the mask Pf is determined by the step of the mask display position calculation processing unit 8c described above. At 53, the display position is calculated and the coordinate is moved to the calculated coordinate position of the mask Pg. This mask Pg has a size surrounded by vertices mf1_i (i is the number of the vertices), and the coordinate position in the pan direction is mf1_i. x (i is the number of the vertex). Further, the calculation is performed by [Equation 7] and [Equation 8], and the coordinate position of the correction mask [Pj] is calculated with respect to the traveling direction of the mask Pg. This correction mask [Pj] has a size surrounded by vertices mf1_3, mf1_2, mj1_2, and mj1_3, and the coordinate position in the pan direction is mf1_3. x, mf1_2. x, mj1_2. x, mj1_3. x.
[0067]
The vertices mf1_2 and mf1_3 of the correction mask [Pj] have the same coordinates as the vertices of the mask Pg generated by the calculation of the display position in step 53 of the mask display position calculation processing unit 8c, and the vertices connecting the vertices are the same. . Therefore, the privacy mask displayed at time T1 is mask Pg ′ = mask Pg + correction mask [Pj], and the vertices of mask Pg ′ have a size surrounded by mf1_0, mf1_1, mj1_2, and mj1_3, and are coordinates in the pan direction. The position is mf1_0. x, mf1_1. x, mj1_2. x, mj1_3. x.
[0068]
Next, a case where the turntable 11 rotates leftward and the pan angle of the turntable 11 changes from [PR1] to [PR2] will be described.
[0069]
When the pan angle of the turntable 11 changes from [PR1] to [PR2], the same processing as when the pan angle of the turntable 11 changes from [PR0] to [PR1] is performed, and the pan angle [PR2] changes. Using the mask Ph to be displayed and the above-described [Equation 7] and [Equation 8], the coordinate position of the correction mask [Pk] is calculated in the traveling direction of the mask Ph, and the mask Ph ′ = mask Ph + correction Generate a mask [Pk]. This mask Ph ′ becomes a privacy mask displayed at time T2. At this time, m (t−1) (q−1) _i used when calculating the correction mask [Pk] with respect to the traveling direction of the mask Ph using the above [Equation 7] and [Equation 8] is , The coordinate position information of the mask Pg is used instead of the coordinate position information of the mask Pg ′. The mask Pg ′ displayed at the previous pan angle [PR1] is a display position newly generated to correct the delay of the operation of the turntable 11 and the mask display position, and the step of the mask display position calculation processing unit 8c This is because they are not the display position coordinates calculated in 53.
[0070]
Next, a case where the rotation of the turntable 11 is completed and the pan angle of the turntable 11 stops at [PR2] will be described.
When the pan angle of the turntable 11 stops at [PR2], the display position is determined in step 53 of the mask display position calculation processing unit 8c in the same manner as when the pan angle of the turntable 11 changes from [PR1] to [PR2]. Calculation of coordinates and calculation processing of a correction mask are performed using [Equation 7] and [Equation 8]. However, since the rotation of the turntable 11 has not occurred, the result calculated using [Equation 7] and [Equation 8] is the position of the mask Ph, and this mask Ph becomes the privacy mask displayed at time T3. .
[0071]
Next, referring to FIG. 9, the operator uses the controller 14 to set a privacy mask for the surveillance camera 12, then instructs the setting to be completed, and then permits the operation of the privacy mask (mask Ta). In the following, a description will be given of a case in which the pan / tilt 11 moves from the top of the screen to the bottom of the screen due to the rotation of the turntable 11 at this time. It operates with [TD2]. The tilt angles [TD0], [TD1], and [TD2] are input to the mask calculation management unit 8a from the turntable 11 via the external communication processing 8d, and are used as the tilt angle information input to the mask display calculation processing 8c. is there. In addition, it is assumed that the time changes from T0 to T1 to T2 to T3. In this case, the operation is the same as that described with reference to FIG.
[0072]
During the setting in which the operator sets the privacy mask for the surveillance camera 12 using the controller 14, the video signal in which the mask signal is combined with the privacy protection range of the video signal at an arbitrary ratio is displayed on the monitor 13. When there is no problem with the setting of the mask after the operator confirms the setting, the privacy mask is set to the surveillance camera 12 using the controller 14, and the privacy mask is operated after the setting is completed. When the pan angle of the turntable 11 on which the surveillance camera 12 is attached indicates [TD0] at time T0, the mask Ta whose operation is permitted, which is the state, is displayed on the screen shown in FIG. The mask Ta has a size surrounded by each vertex ma0_i (i is the number of the vertex), and the coordinate position in the tilt direction is ma0_i. y (i is the number of the vertex).
[0073]
Next, when the turntable 11 rotates upward and the tilt angle of the turntable 11 changes from [TD0] to [TD1], the mask Ta is displayed at the display position in step 53 of the mask display position calculation processing unit 8c described above. And moves to the coordinate position of the mask Tb. This mask Tb has a size surrounded by vertices ma1_i (i is the number of the vertices), and the coordinate position in the tilt direction is ma1_i. x (i is the number of the vertex). Further, the calculation is performed by [Equation 7] and [Equation 8], and the coordinate position of the correction mask [Td] is calculated with respect to the traveling direction of the mask Tb. This correction mask [Td] has a size surrounded by vertices ma1_1, mb1_1, mb1_2, and ma1_2, and the coordinate position in the tilt direction is ma1_1. y, mb1_1. y, mb1_2. y, ma1_2. y.
[0074]
The vertices of this correction mask [Td], ma1_1 and ma1_2, have the same coordinates as the vertices of the mask Tb generated by the calculation of the display position in step 53 of the mask display position calculation processing unit 8c, and the sides connecting the vertices are the same. . Therefore, the privacy mask displayed at time T1 is mask Tb ′ = mask Tb + correction mask [Td], and the vertices of mask Tb ′ have a size surrounded by ma1_0, mb1_1, mb1_2, and ma1_3, and are coordinates in the tilt direction. The position is ma1_0. y, mb1_1. y, mb1_2. y, ma1_3. y.
[0075]
Next, a case where the turntable 11 rotates to the left and the tilt angle of the turntable 11 changes from [TD1] to [TD2] will be described.
When the tilt angle of the turntable 11 changes from [TD1] to [TD2], the same processing as when the tilt angle of the turntable 11 changes from [TD0] to [TD1] is performed, and the tilt angle [TD2] is changed. The correction mask [Te] is calculated for the traveling direction of the mask Pc using the mask Tc to be displayed and the above [Equation 7] and [Equation 8], and the mask Tc ′ = mask Tc + correction mask [Te]. Generate This mask Tc ′ becomes a privacy mask displayed at time T2.
[0076]
At this time, m (t-1) (q-1) _i used when calculating the correction mask [Te] with respect to the traveling direction of the mask Pc using the above [Equation 7] and [Equation 8] is , Not the coordinate position information of the mask Tb ′, but the coordinate position information of the mask Tb. The mask Tb ′ displayed at the previous tilt angle [TD1] is a display position newly generated to correct the operation of the turntable 11 and the delay of the mask display position, and the step of the mask display position calculation processing unit 8c This is because they are not the display position coordinates calculated in 53.
[0077]
Next, a case where the rotation of the turntable 11 is completed and the tilt angle of the turntable 11 stops at [TD2] will be described.
When the tilt angle of the turntable 11 is stopped at [TD2], the display position is determined in step 53 of the mask display position calculation processing unit 8c in the same manner as when the tilt angle of the turntable 11 changes from [TD1] to [TD2]. Processing is performed using coordinate calculation and [Equation 7] and [Equation 8]. However, since the rotation of the turntable 11 has not occurred, the result calculated using [Equation 7] and [Equation 8] is the position of the mask Tc, and this mask Tc becomes the privacy mask displayed at time T3. .
[0078]
Next, referring to FIG. 10, the operator uses the controller 14 to set a privacy mask for the surveillance camera 12, then instructs the setting to be completed, and then permits the operation of the privacy mask (mask Tf). In the following, a description will be given of a case in which the pan / tilt head 11 rotates in the downward direction and moves from the bottom of the screen to the top of the screen. It operates with [TU2]. The tilt angles [TU0], [TU1], and [TU2] are input to the mask calculation management unit 8a from the turntable 11 via the external communication processing 8d, and are used as the tilt angle information input to the mask display calculation processing 8c. is there. In addition, it is assumed that the time changes from T0 to T1 to T2 to T3. In this case, the operation is the same as that described with reference to FIG.
[0079]
During the setting in which the operator sets the privacy mask for the surveillance camera 12 using the controller 14, the video signal in which the mask signal is combined with the privacy protection range of the video signal at an arbitrary ratio is displayed on the monitor 13. When there is no problem with the setting of the mask after the operator confirms the setting, the privacy mask is set to the surveillance camera 12 using the controller 14, and the privacy mask is operated after the setting is completed. When the pan angle of the turntable 11 to which the surveillance camera is attached indicates [TU0] at time T0, the mask Tf in the state of operation permission is displayed on the screen shown in FIG. The mask Tf has a size surrounded by each vertex mf0_i (i is the number of the vertex), and the coordinate position in the tilt direction is mf0_i. x (i is the number of the vertex).
[0080]
Next, when the turntable 11 rotates downward and the tilt angle of the turntable 11 changes from [TU0] to [TU1], the mask Tf is displayed at the display position in step 53 of the mask display position calculation processing unit 8c described above. And moves to the coordinate position of the mask Tg. This mask Tf has a size surrounded by a vertex mf1_i (i is the number of the vertex), and the coordinate position in the tilt direction is mf1_i. y (i is the number of the vertex). Further, the calculation is performed by [Equation 7] and [Equation 8], and the coordinate position of the correction mask [Tj] is calculated with respect to the traveling direction of the mask Tg. The correction mask [Tj] has a size surrounded by vertices mj1_0, mf1_0, mf1_3, and mj1_3, and the coordinate position in the tilt direction is mj1_0. y, mf1_0. y, mf1_3. y, mj1_3. y.
[0081]
The vertices of this correction mask [Tj], mf1_0 and mf1_3, have the same coordinates as the vertices of the mask Tg generated by the calculation of the display position in step 53 of the mask display position calculation processing unit 8c, and the sides connecting the vertices are the same. . Therefore, the privacy mask displayed at time T1 is mask Tg ′ = mask Tg + correction mask [Tj], and the vertices of the mask Tg ′ have a size surrounded by mj1_0, mf1_1, mf1_2, and mj1_3, and are coordinates in the tilt direction. The position is mj1_0. y, mf1_1. y, mf1_2. y, mj1_3. y.
[0082]
Next, a case where the turntable 11 rotates leftward and the tilt angle of the turntable 11 changes from [TU1] to [TU2] will be described.
When the tilt angle of the turntable 11 changes from [TU1] to [TU2], the same processing as when the tilt angle of the turntable 11 changes from [TU0] to [TU1] is performed, and the tilt angle [TU2] is changed. Using the mask Th to be displayed and the above-described [Equation 7] and [Equation 8], the correction mask [Tk] is calculated for the traveling direction of the mask Ph, and the mask Th ′ = mask Th + correction mask [Tk]. Generate This mask Th 'becomes a privacy mask displayed at time T2.
[0083]
At this time, m (t−1) (q−1) _i used when calculating the correction mask [Tk] with respect to the traveling direction of the mask Th using the above [Equation 7] and [Equation 8] is , Not the coordinate position information of the mask Tg ′ but the coordinate position information of the mask Tg. The mask Tg ′ displayed at the previous tilt angle [TU1] is a newly generated display position for correcting the delay of the operation of the turntable 11 and the mask display position, and the step of the mask display position calculation processing unit 8c This is because they are not the display position coordinates calculated in 53.
[0084]
Next, a case where the rotation of the turntable 11 is completed and the tilt angle of the turntable 11 stops at [TU2] will be described.
When the tilt angle of the turntable 11 stops at [TU2], the display position is determined in step 53 of the mask display position calculation processing unit 8c in the same manner as when the tilt angle of the turntable 11 changes from [TU1] to [TU2]. Processing is performed using coordinate calculation and [Equation 7] and [Equation 8]. However, since the rotation of the turntable 11 has not occurred, the result calculated using [Equation 7] and [Equation 8] is the position of the mask Th, and this mask Th is the privacy mask displayed at time T3. .
[0085]
The operation of the first embodiment of the display coordinate position correction process has been described with reference to FIGS. 7, 8, 9, and 10. For example, the camera rotating base 11 is moved in the pan direction and the tilt direction. Even when the rotation operation is performed in both directions, the correction mask calculation in the pan direction and the correction mask calculation in the tilt direction can be handled because both are processed independently.
[0086]
Next, the operation of the second embodiment of the display coordinate position correction processing will be described with reference to FIG. FIG. 11 illustrates a case where the same operation as in FIG. 7 is performed. However, in the first operation description of the display coordinate position correction processing described with reference to FIG. Based on the mask for which the display position coordinates have been calculated in step 53 of the mask display position calculation processing unit 8c, the movement of the turntable 11 rotating in the pan direction, and the angle information of the pan and tilt directions of the turntable 11. Is calculated in step 53 of the mask display position calculation processing section 8c, the mask display processing in step 56 is completed, and the privacy protection portion generated due to the delay until the mask signal is combined with the privacy protection portion and output. A new correction mask is generated in the direction of travel of the mask in order to prevent a part of the mask from being exposed, and the correction mask and the scan of the mask display position calculation processing unit 8c during operation of the turntable 11 are generated. Displaying a mask was carried out the calculation of the display position coordinates-up 53. This prevents the privacy protection portion from being partially exposed due to the above-described cause by increasing the masking range. However, by enlarging the range to be masked, video signals other than the privacy protection part are eventually covered with the privacy mask. FIG. 11 illustrates a display coordinate position correction process for more accurately masking the privacy protection range.
[0087]
As in FIG. 7, the operator sets the privacy mask for the monitoring camera 12 using the controller 14, instructs the completion of the setting, and rotates the privacy mask (mask Pa) for which the operation is permitted. The case where the mask Pa being displayed moves from the right side of the screen to the left side of the screen due to the rotation of the base 11 in the right direction will be described. At this time, it is assumed that the turntable 11 operates with the pan angle [PL0] → [PL1] → [PL2] and does not operate with the tilt angle. The pan angles [PL0], [PL1], and [PL2] are input to the mask calculation management unit 8a from the turntable 11 via the external communication process 8d, and are obtained from the pan angle information input to the mask display calculation process 8c. is there. In addition, it is assumed that the time changes from T0 to T1 to T2 to T3.
[0088]
During the setting in which the operator sets the privacy mask for the surveillance camera 12 using the controller 14, the video signal in which the mask signal is combined with the privacy protection range of the video signal at an arbitrary ratio is displayed on the monitor 13. When there is no problem with the setting of the mask after the operator confirms, for example, the privacy mask is set to the surveillance camera 12 using the controller 14 and the privacy mask is operated after the setting is completed. When the pan angle of the turntable 11 to which the surveillance camera is attached indicates [PL0] at time T0, the mask Pa whose operation is permitted to be operated is displayed at the position on the screen shown in FIG. I have. The mask Pa has a size surrounded by each vertex ma0_i (i is the number of the vertex), and the coordinate position in the pan direction is ma0_i. x (i is the number of the vertex).
[0089]
Next, when the turntable 11 moves rightward and the pan angle of the turntable 11 changes from [PL0] to [PL1], the display position of the mask Pa is determined by the step of the mask display position calculation processing unit 8c described above. At 53, the display position is moved to the coordinate position of the mask Pb calculated by calculating the coordinates. The coordinate position of the mask Pb is a size surrounded by the vertex ma1_i (i is the number of the vertex), and the coordinate position in the pan direction is ma1_i. x (i is the number of the vertex). Then, based on the movement of the turntable 11 moving in the pan direction and the angle information of the turntable 11 in the pan direction and the tilt direction, calculation is performed in step 53 of the mask display position calculation processing unit 8c, and the mask display in step 56 is performed. When the processing is completed, the effect of the delay from the mask signal being synthesized with the privacy protection portion to being output is increased, the privacy protection portion cannot be reliably covered at the position of the mask Pb, and a part of the privacy protection portion is not covered. It will be exposed. Therefore, the calculation is performed by [Equation 7] and [Equation 8] to calculate the coordinate position of the first correction mask [Pd] with respect to the traveling direction of the mask Pb. The first correction mask [Pd] has a size surrounded by vertices mb1_0, mb1_1, ma1_1, and ma1_0, and the coordinate position in the pan direction is mb1_0. x, mb1_1. x, ma1_1. x, ma1_0. x. The vertices ma1_1 and ma1_0 of the first correction mask [Pd] have the same coordinates as the vertices ma1_1 and ma1_0 of the mask Pb generated by the calculation of the display position in step 53 of the mask display position calculation processing unit 8c. The edges connecting the vertices are the same. Further, the calculation is performed by [Equation 7] and [Equation 8], and the second correction mask [Pd '] is moved with respect to the side opposite to the traveling direction of the mask Pb (the side opposite to the first correction mask [Pd]). Calculate the coordinate position. This second correction mask [Pd '] has a size surrounded by vertices ma1_3, mb1_3, mb1_2, and ma1_2, and the coordinate position in the pan direction is ma1_3. x, mb1_3. x, mb1_2. x, ma1_2. x. The vertices ma1_3 and ma1_2 of the second correction mask [Pd '] have the same coordinates as the vertices ma1_3 and ma1_2 of the mask Pb generated by the display position calculation in step 53 of the mask display position calculation processing unit 8c. The vertices mb1_3 and mb1_2 newly defined by the second correction mask [Pd '] exist in the direction of travel of the mask Pb. When the privacy mask displayed at time T1 is mask Pb ″ = mask Pb + first correction mask [Pd] −second correction mask [Pd ′], the mask Pb ′ has vertices mb1_0, mb1_1, mb1_2, mb1_3, and the coordinate position in the pan direction is mb1_0. x, mb1_1. x, mb1_2. x, mb1_3. x. When the area of the mask displayed at the time T1 is compared between the case of using FIG. 7 and the case of using FIG. 11, the mask Pb ″ <the mask Pb ′, and the privacy protection range can be more accurately masked. Become.
[0090]
Next, the case where the turntable 11 rotates rightward and the pan angle of the turntable 11 changes from [PL1] to [PL2] will be described.
[0091]
When the pan angle of the turntable 11 changes from [PL1] to [PL2], the same process is performed as when the pan angle of the turntable 11 changes from [PL0] to [PL1]. In step 53 of the mask display position calculation processing section 8c, the display position coordinates are calculated, and the mask Pc displayed at the pan angle [PL2] and the mask Pc in the advancing direction of the mask Pc using [Equation 7] and [Equation 8]. On the other hand, using the first correction mask [Pe] and the above [Equation 7] and [Equation 8], the second correction mask [Pe '] is calculated for the side opposite to the traveling direction of the mask Pc. The respective processes are performed to generate a mask Pc ″ = mask Pc + first correction mask [Pe] −second correction mask [Pe ′]. This mask Pc ″ becomes a privacy mask displayed at time T2. At this time, m (t-1) (q-1) _i used when calculating the correction mask [Pe] with respect to the traveling direction of the mask Pc using the above [Equation 7] and [Equation 8] is , Not the coordinate position information of the mask Pb ″, but the coordinate position information of the mask Pb. The mask Pb ″ displayed at the previous pan angle [PL1] is a display position newly generated to correct the delay of the operation of the turntable 11 and the mask display position, and the mask Pb ″ of the mask display position calculation processing unit 8c This is because they are not the display position coordinates calculated in step 53.
[0092]
Next, a case where the movement of the turntable 11 is completed and the pan angle of the turntable 11 stops at [PL2] will be described. When the pan angle of the turntable 11 stops at [PL2], the display position is determined in step 53 of the mask display position calculation processing unit 8c in the same manner as when the pan angle of the turntable 11 changes from [PL1] to [PL2]. Calculation of coordinates and calculation processing using [Equation 7] and [Equation 8] are performed. However, since the rotation of the turntable 11 has not occurred, the result calculated using [Equation 7] and [Equation 8] is the position of the mask Pc, and this mask Pc is the privacy mask displayed at time T3. .
[0093]
The operation of the second embodiment of the display coordinate position correction process has been described with reference to FIG. 11, but the operator sets the privacy mask on the monitoring camera 12 using the controller 14, and then instructs the completion of the setting. And the privacy mask that has been permitted to operate moves from the left of the screen to the right of the screen as shown in FIG. 8, when it moves from the top of the screen to the bottom of the screen as shown in FIG. 9, and as shown in FIG. Also in the case of moving from the bottom of the screen to the top of the screen, similarly to FIG. 11, the first correction mask generated for the traveling direction of the privacy mask and the second correction mask generated for the side opposite to the traveling direction By calculating the display position in step 53 of the mask display position calculation processing section 8c and newly generating a privacy mask position to be displayed from the generated mask, the process can be performed with higher accuracy. It is possible to perform Ibashi scope display coordinate position correction processing for masking.
[0094]
Next, the display coordinate position correction processing in step 55 will be described with reference to the flowchart shown in FIG.
In the display coordinate position correction process, since the privacy mask set by the operator is a polygon, there are a plurality of vertices of the privacy mask being set, so that it is necessary to repeat the calculation. Is set to zero and initialized, and the routine proceeds to step 62.
[0095]
In step 62, a variable i for managing the number of calculations is compared with the total number of vertices of a mask shape whose privacy mask status indication is operation permission for the privacy mask set by the operator. In step 62, the number of vertices of the mask shape set by the operator using the controller 14 obtained in step 33 described above is compared. In step 62 of the present embodiment, i ≧ 4 because the operator sets the number of vertices of the mask shape set in the privacy protection range to 4, that is, the operator sets a rectangular privacy mask. If the variable i for managing the number of operations is less than the number of vertices of the privacy mask being set, the process proceeds to step 63. If the variable i for managing the number of operations is equal to or greater than the number of vertices of the mask shape whose operation is permitted, the display coordinate position correction processing ends.
[0096]
In step 63, the display coordinate position correction processing described above with reference to FIGS. 7, 8, 9, 10, and 11 is performed. In step 63, the mask display position coordinate information W [t] of the privacy mask calculated based on the pan / tilt angle of [t] and the M-th mask management counter j indicated by the mask management counter j recorded in the memory E (mask data memory) 8e DELTA_mtq_i is calculated from the above-described [Equation 8] using the mask display position coordinate information W [t-1] calculated based on the previous pan / tilt angle for the mask of. Then, in step 63, using the mask display position coordinate information W [t] of the privacy mask calculated based on the pan / tilt angle of the current [t] and the DELTA_mtq_i calculated from the above-mentioned [Equation 8], the above-mentioned [Equation 7] is used. Mtq_i is calculated from the above equation]. The mask display position coordinate information V [t] that has been subjected to the display coordinate position correction processing is generated.
[0097]
Next, in step 64, the mask display position coordinate information calculated based on the current pan / tilt angle, calculated in step 53 of the mask display position calculation processing section 8c, and M indicated by the mask management counter j are stored in the memory E in the microcomputer 8. (Mask data backup) Recorded in 8e and proceed to step 65. The data recorded in the memory E is used in the display coordinate position correction processing in step 63.
[0098]
Next, the routine proceeds to step 65, where 1 is added to the variable i for managing the number of operations, and the routine returns to step 62.
By using the display coordinate position correction process described with reference to FIG. 6, when the rotary table 11 is rotated in the pan direction and the tilt direction, a mask display position generated due to a time delay until the mask display position is calculated and displayed. The gap between the location and the privacy protection area is improved.
[0099]
[Equation 4] and [Equation 5] described above are shown below.
[Equation 4]
xp = (f / xu) · sin (θxp−θxo) · cosθyp / {cos (θxp−θxo) · cosθyp · cosθyo + sinθyp · sinθyo}
yp = (f / yu) · {−cos (θxp−θxo) · cos θyp · sinθyo + sinθyp · cosθyo｝ / {cos (θXP−θxo) · cosθyp · cosθyo + sinθyp · sinθyo}
However, only when cos (θxp−θxo) · cosθyp · cosθyo + sinθyp · sinθyo> 0.
sin indicates a sine
cos indicates cosine
[Equation 5]
(1) When −yp ′ · sin θyo + cos θyo = 0,
a) When xp ′ = 0,
i) When sinθyo ≧ 0,
θxp = 0
θyp = 90
ii) When sinθyo <0,
θxp = 0
θyp = −90
b) When xp '> 0,
θxp = θxo + 90
θyp = arctan [{sin (θxp−θxo) −cos θyo · cos (θXP−θxo)} / (xp ′ · sinθyo)]
c) When xp ′ <0,
θxp = θxo−90
θyp = arctan [{sin (θxp−θxo) −cos θyo · cos (θXP−θxo)} / (xp ′ · sinθyo)]
(2) When −yp ′ · sin θyo + cos θyo> 0,
θxp = θxo + arctan {x ′ / (cos θyo−yp ′ · sin θyo)}
θyp = arctan {(yp '· cosθyo + sinθyo) · cos (θxp-θxo) / (cosθyo-yp' · sinθyo)}
(3) When −yp ′ · sin θyo + cos θyo <0,
θxp = θxo + arctan {x ′ / (cos θyo−yp ′ · sin θyo)} + 180
θyp = arctan {(yp '· cosθyo + sinθyo) · cos (θxp-θxo) / (cosθyo-yp' · sinθyo)}
[0100]
【The invention's effect】
According to the present invention, in a surveillance camera device that displays a masked imaging screen for protecting a privacy of a surveillance camera on a monitor unit, and a surveillance camera system device including the turntable, a panning and tilting rotation operation of the turntable is performed. It is possible to improve the deviation between the position of the mask display and the privacy protection range, which is caused by the time delay until the position of the mask is calculated and displayed.
In addition, when setting a mask in the privacy protection range, the operator can arbitrarily change the synthesis ratio of the mask signal to be combined with the video signal in the privacy protection range so that the mask range can be set while watching the video. Thereby, the convenience when the operator sets the mask can be achieved.
[Brief description of the drawings]
FIG. 1 is a block diagram of a surveillance camera according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram of a monitoring system according to an embodiment of the present invention.
FIG. 3 is a flowchart of an overall process of masking a privacy protection range with another image.
FIG. 4 is a flowchart of a process of calculating angular coordinates of each vertex of a set mask and recording a result of the calculation in a memory;
FIG. 5 is a flowchart for calculating display position coordinates from angle coordinates of each vertex of a mask.
FIG. 6 is a flowchart illustrating a display coordinate position correction process.
FIG. 7 is a first operation description of the display coordinate position correction processing when the operating privacy mask moves to the left side of the screen.
FIG. 8 is a diagram illustrating an operation of a display coordinate position correction process when the operating privacy mask moves to the right side of the screen.
FIG. 9 is a diagram illustrating an operation of a display coordinate position correction process when the operating privacy mask moves to the lower side of the screen.
FIG. 10 is a diagram illustrating an operation of a display coordinate position correction process when the operating privacy mask moves to the upper side of the screen.
FIG. 11 is a second explanatory diagram of the display coordinate position correction processing when the operating privacy mask moves to the left side of the screen.
FIG. 12 is a diagram illustrating a method of masking a video signal.
FIG. 13 is a diagram illustrating an arithmetic expression used for calculating angle information of each vertex of a mask.
FIG. 14 is a diagram illustrating an arithmetic expression used for calculating display position coordinate information.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Optical system, 1a ... Lens, 1b ... Image sensor
3 signal processing conversion, 4 camera signal processing, 4a signal processing, 4c mask signal generation section, 4d signal synthesis section, 5 digital / analog conversion, 8 microcomputer, 8a mask operation management section, 8b ... Mask data calculation processing unit, 8c ... Mask display position calculation processing unit, 8d ... External communication processing unit, 8e ... Mask data backup memory, 8f ... Focal length data memory, 8g ... Length of horizontal direction and vertical direction of one pixel of image sensor Data memory, 8h: mask data memory, 8k: mask setting data memory, 9: control line of microcomputer and camera signal processing circuit, 10: video output terminal, 11: turntable, 12: surveillance camera, 13: monitor, 14 ... Controller, 15 ... Center O of pan-tilt rotation, 16 ... Center o of image sensor, 17 ... Pan angle θxo for camera, 18 ... The tilt angle θyo in the direction of la, 19: distance r from the center O of the pan / tilt rotation to the center o of the image sensor, 20: focal point, 21: focal length f, 22: subject Q, 23: subject pan angle θxp, 24 ... Subject tilt angle θyp, 25 subject distance 1, 26 point P at which subject Q is reflected on the image sensor 27, horizontal length xu of one image sensor pixel, 28 vertical length of one image sensor pixel Yu, 29: x component xp of point P where subject Q appears on the image sensor, 30 ... y component yp of point P where subject Q appears on the image sensor

Claims (6)

An imaging unit having an imaging element and an optical lens; a signal processing unit for performing a mask display process by synthesizing a closed area with an imaging signal from the imaging unit; and the closed area specified by predetermined operation information. First storage means for storing the specified coordinate information and the information on the operation state at the time of specification, and the coordinate information of the closed area in an arbitrary operation state and the information stored in the first storage means and the arbitrary A coordinate calculation means for calculating based on the information of the operation state,
A second storage unit for storing coordinate information of the closed region by the coordinate calculation unit, wherein the coordinate information of the first closed region in a first operation state recorded in the first storage unit; A surveillance camera device that calculates coordinate information of a third closed region from coordinate information of a second closed region in a second operation state calculated by a calculating unit. The surveillance camera device according to claim 1, wherein the surveillance camera device can be attached to a turntable, and the information on the operation state is at least information on a shooting direction from the turntable. The surveillance camera device according to claim 1, wherein the signal processing unit performs a mask display process on the third closed region based on the coordinate information of the third closed region. 4. A surveillance camera device according to claim 1, further comprising: a turntable rotatably supporting the surveillance camera device; and a control device for controlling the surveillance camera device and the turntable. A surveillance camera system device, wherein designated coordinate information of a closed area can be input by an operation. In a surveillance camera device including: an imaging unit that includes an imaging element and an optical lens; and a signal processing unit that performs a mask display process by combining a closed region with an imaging signal from the imaging unit.
A surveillance camera device, wherein when an arbitrary closed region is designated, a ratio of combining the imaging signal and a closed region signal for displaying the closed region can be changed. A surveillance camera device according to claim 5, a turntable for rotating and supporting the surveillance camera device, and a control device for controlling the surveillance camera device and the turntable, and at least a predetermined operation from the control device. The surveillance camera system device, wherein when the closed area is designated by the following, a ratio of synthesizing the imaging signal and the closed area signal can be designated by the control device.

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