JP2007184780A - Remote monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote monitoring device that can securely detect a trespasser who enters a watching area remote from a monitoring point and speedily and accurately discriminate between an enemy and a friend. <P>SOLUTION: The remote monitoring device 10 is equipped with a laser radar 12 which scans the predetermined watched area SR, a monitor camera 14 which is provided where the watched area SR can be imaged to swivel, tilt, and zoom, a moving body detecting means 22 of detecting a moving body in the watching area SR based upon a signal from the laser radar 12 and outputting distance information and azimuth information of the moving body 3, and a camera control means 26 of directing the monitor camera 14 to the moving body and making the monitor camera zoom according to the distance to the moving body 3 based upon the distance information and azimuth information of the moving body 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a remote monitoring device capable of accurately identifying and specifying a moving object when a moving object enters a predetermined monitoring area.

  In a means to prevent unauthorized intruders from entering an area (monitoring area) located remotely from the monitoring point, the intruder is detected and the intruder is an enemy, ally, or third party (general person) ) Identification / confirmation is required. At the same time, it is necessary to specify the position of the intruder as information for attacking when it is determined to be an enemy. Moreover, since it is desirable that these actions are executed at a stage where the enemy is far away, quickness and accuracy are required.

  Conventionally, as one means for executing the remote monitoring as described above, a scout has actually visited the monitoring area and made a visual determination. However, this measure is time consuming and dangerous. Therefore, monitoring by humans or automatic monitoring has been performed using a remote monitoring camera.

On the other hand, as a prior art for preventing the activities of unauthorized intruders, for example, there is one disclosed in Patent Document 1 below.
The technique of patent document 1 installs a photographing camera and a water discharge nozzle in the middle of a route to an important facility in the facility, moves the water discharge nozzle in conjunction with the movement of the photographing camera, and discharges water to an intruder. It is.

JP 2005-208833 A

In the monitoring using the remote monitoring camera described above, if an attempt is made to monitor a wide range at the same time, the intruder appearing on the screen becomes too small, and it becomes difficult to identify enemies and allies. For this reason, there is a problem that an intruder cannot be identified or identification takes time.
On the other hand, if the turning means is turned at any time by the turning means so that the whole image can be captured using a telephoto lens, the intruder can be easily identified. Since only a part of the monitoring area is captured while the camera is directed, there is a problem in that an intruder who has entered outside the field of view of the camera may miss detection or be delayed.

  In addition, the technique disclosed in Patent Document 1 is intended for monitoring in a relatively narrow range such as in facilities, and cannot remotely monitor a wide range outside.

  The present invention has been made in view of such circumstances, and it is possible to reliably detect an intruder into a monitoring area located at a location remote from a monitoring point, and to quickly and easily and accurately identify enemies and allies. An object of the present invention is to provide a remote monitoring device that can be performed.

In order to solve the above problems, the remote monitoring apparatus of the present invention employs the following means.
That is, a remote monitoring apparatus according to the present invention includes a laser radar that scans a predetermined monitoring area, a monitoring camera that is provided at a position where the monitoring area can be imaged and that can turn, elevate, and zoom, and the laser radar. A moving object detecting unit that detects a moving object in the monitoring region based on a signal and outputs distance information and azimuth information of the moving object; and the monitoring camera based on the distance information and azimuth information of the moving object. Camera control means for directing the moving object and zooming according to the distance to the moving object.

As described above, since the moving object is detected based on the signal from the laser radar, the entire monitoring region can be constantly monitored. When a moving object is detected, the surveillance camera is pointed at the moving object and zoomed according to the distance, so that it is possible to easily and accurately identify who the moving object (intruder) is.
Therefore, it is possible to reliably detect an intruder into a monitoring area located at a location remote from the monitoring point, specify the distance and direction thereof, and quickly and easily and accurately identify an enemy / friend. In this way, it is possible to take measures such as attacking intruders and blocking activities.

  The remote monitoring device according to the present invention is further characterized by further comprising alarm generation means for issuing an alarm when a moving object is detected by the moving object detection means.

  As described above, since the alarm is generated when the moving object is detected by the alarm generation means, it is not necessary for the monitor to constantly watch the image of the monitor camera, and the burden on the monitor is reduced. As the alarm generation means, various forms such as lighting / flashing of a warning lamp, output of warning sound from a speaker, display on a display, etc. can be adopted.

  In the remote monitoring device according to the present invention, when the moving object detection unit detects two or more moving objects, the moving object detection unit generates a priority order according to a predetermined criterion, and the monitoring camera in order from the moving object having the highest priority order. Distance information and azimuth information are output to the camera control means so that the camera is directed to a moving object.

  As described above, when two or more moving objects are detected, the priority order is assigned and the monitoring camera is directed to the moving object, so that a plurality of moving objects can be confirmed without omission.

  In the remote monitoring apparatus according to the present invention, the priority is determined by the distance of the detected moving object from the predetermined reference point, the estimated arrival time to the reference point, the size of the moving object, or the intrusion of the moving object. The ranking is determined by the degree of threat based on any one of the places or a combination thereof.

  In this way, by using the threat level (risk level) of a moving object as a priority, when the moving object is an enemy, the invasion of the enemy can be efficiently eliminated.

  According to the present invention, it is possible to reliably detect an intruder into a monitoring area located remotely from a monitoring point, identify the distance and direction thereof, and quickly and easily and accurately identify enemies and allies. it can.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is a diagram showing a schematic configuration of a remote monitoring device 10 according to an embodiment of the present invention. The remote monitoring device 10 is a device for accurately identifying and specifying the moving object 3 when any moving object 3 enters the predetermined monitoring region SR.
As shown in FIG. 1, the remote monitoring device 10 includes a laser radar 12, a monitoring camera 14, and an information processing device 18.

  The laser radar 12 acquires distance information and azimuth information of an object in a predetermined monitoring region SR by using the scanned pulsed laser light 1. The target monitoring area SR extends to a position remote from the laser radar 12, for example, a range up to a position several hundred meters away from the laser radar 12.

Since this laser radar 12 can be a known one, its details will not be described, but one example is as follows.
That is, the laser radar 12 as an example includes a laser light source that oscillates pulse laser light, a polyhedral mirror that reflects the pulse laser light, a main scanning motor that rotates the polyhedral mirror, and a rotation axis of the polyhedral mirror within a predetermined angular range. A sub-scanning motor that oscillates inside, and a light receiver that receives the reflected pulse laser beam.

  The polyhedral mirror is irradiated with pulsed laser light oscillated from a laser light source, and the pulsed laser light is irradiated in a direction determined by the rotation and tilt of the polyhedral mirror. The pulse laser beam is scanned at high speed in the main scanning direction (left and right direction as viewed from the laser radar 12) by the rotation of the polyhedral mirror at this time, and the polyhedral mirror is oscillated by the sub scanning motor, thereby moving the pulse laser beam in the sub scanning direction. Scan in the vertical direction as viewed from the laser radar 12. As a result, the entire monitoring area SR is scanned. The pulse laser beam thus scanned is reflected by an object existing in the monitoring region SR, and the reflected light is received by the light receiver in synchronization with the irradiation timing of the pulse laser beam. The distance to the object is obtained based on the elapsed time from the irradiation timing to the reception timing of the reflected light.

In the present embodiment, the laser radar 12 may scan only in the main scanning direction. In other words, the configuration may be such that the pulsed laser light 1 is scanned horizontally at a height of, for example, about 30 cm to 1 m above the ground so that the moving object 3 can be captured.
Further, the wavelength of the pulse laser beam 1 is not particularly limited, but is preferably outside the range of visible light in order to prevent detection of monitoring. In the case of the red outer side, the thickness is preferably 760 nm to 1600 nm.

The surveillance camera 14 is provided at a position where the surveillance area SR can be imaged, and can be turned, elevated and zoomed under the control of the camera control means 26 described later. In the present embodiment, the monitoring camera 14 is installed on the upper part of the laser radar 12, but it may be installed on the lower part or the side part of the laser radar 12, or may be installed in another place. The surveillance camera 14 configured as described above can turn to an object existing in the surveillance region SR by turning, raising and lowering and zooming, and can capture an enlarged image (see FIG. 3).
The surveillance camera 14 may be a normal camera that can capture images under visible light, but it is preferable to use a high-sensitivity camera or an infrared camera that can reliably capture the moving object 3 even at night (darkness). .

The information processing apparatus 18 is constituted by a personal computer, for example, and the radar image creation means 20, the moving body detection means 22 and the camera control means 26 are realized as part of the functions of the information processing apparatus 18. It is.
The radar image creating means 20 obtains the distance (distance information) to the object based on the elapsed time from the irradiation timing of the pulsed laser light 1 in the laser radar 12 to the light receiving timing of the reflected light. The radar image of the monitoring region SR is generated based on the azimuth information of the object determined by the scanning direction of the pulse laser beam 1. The radar image generated by the radar image creating means 20 is output to a radar image monitor 28 connected to the information processing device 18.

The moving object detection unit 22 includes a moving object detection unit 23 that detects the moving object 3 in the monitoring region SR based on the distance information and the direction information from the radar image creation unit 20. Detection of the moving object 3 at this time can be realized by a known moving object detection method. That is, it is possible to detect the moving object 3 from information in which the detection coordinates change every constant scan in the monitoring region SR.
FIG. 2 shows a radar image displayed on the screen 29 of the radar image monitor 28. On this screen 29, the radar image of the monitoring region SR is displayed in a sector shape, and a frame-shaped marker M indicating the position of the moving object 3 is displayed superimposed on the radar image. In addition, when a plurality of moving objects enter the monitoring region SR, the moving object detection unit 24 can detect a plurality of moving objects at the same time. In this case, as shown in FIG. A marker M is displayed.

  In FIG. 1, the moving body detection unit 22 outputs a detection signal to the alarm generation unit 30 when the moving body detection unit 23 detects the moving object 3. The alarm generating means 30 is, for example, a warning lamp, a warning speaker, a display, a vibrator or the like installed in a range that can be recognized by a monitoring person, and by means of appealing to the human senses such as sound, light, vibration, etc. This is to notify the observer of the appearance of the moving object 3. In other words, the alarm generation means 30 receives the detection signal of the moving object 3 and turns on / flashes the warning lamp or emits a warning sound from the warning speaker to notify the monitoring staff of the appearance of the moving object 3. Or you may make it alert | report the appearance of the moving object 3 using the display function and speaker of the monitor 28 for radar images or the monitor 32 for camera images.

In this way, since the alarm is issued when the moving object 3 (intruder) is detected, it is not necessary for the monitor to constantly watch the image of the monitoring camera 14, and the burden on the monitor is reduced. In addition, it is possible to prompt the monitoring staff and quickly start the identification work of the moving object to be executed next.
The order determination unit 24 of the moving object detection unit 22 will be described later.

  Based on the distance information and azimuth information of the moving object 3, the camera control unit 26 directs the monitoring camera 14 toward the moving object 3 and zooms according to the distance to the moving object 3. The video imaged by the monitoring camera 14 is output to the camera image monitor 32. The zooming at this time is such that the moving object 3 that is an intruder is displayed at an appropriate ratio (size) on the screen of the camera image monitor 32 so that the inspector can easily identify the intruder. Controlled. That is, when the moving object 3 is detected, the camera control unit 26 controls the monitoring camera 14 to track the moving object 3.

  FIG. 3 shows a camera image displayed on the screen 33 of the camera image monitor 32. In this way, under the control of the camera control means 26, the surveillance camera 14 is directed to the moving object 3 existing in the surveillance area SR, and an enlarged image is taken. Since the moving object 3 can be tracked in this way, the moving object 3 (intruder) detected at a position remote from the monitoring point (installation position of the monitoring camera 14) can be accurately grasped, and the enemy can be detected by the monitor. -Easily identify allies or third parties (generals).

Next, the order determination unit 24 of the moving object detection unit 22 shown in FIG. 1 will be described. In FIG. 1, a plurality of moving objects 3 (intruders) have entered the monitoring region SR. However, since the monitoring camera 14 zooms in on the moving object 3, the plurality of moving objects 3 A plurality of moving objects 3 cannot be imaged (tracked) at the same time unless the three are close to each other. Therefore, in order to identify all the moving objects 3, it is necessary to sequentially point the monitoring camera 14 toward the moving object 3.
Therefore, when the order determination unit 24 detects two or more moving objects 3, the order determination unit 24 generates priorities according to a predetermined criterion, and directs the monitoring camera 14 toward the moving objects 3 in order from the moving objects 3 having the highest priority. As described above, the distance information and the direction information are output to the camera control means 26.
In this way, when two or more moving objects 3 are detected, the monitoring camera 14 is directed to the moving object 3 with priorities, so that a plurality of moving objects 3 can be tracked and identified without omission.

In addition, the above priority order includes the distance from the predetermined reference point of the detected moving object 3 (the position where the laser radar is installed, the location of an important section where intrusion must be prevented, etc.), and the predicted arrival at the reference point. It is preferable that the order is determined by the threat level based on any one of time, the size of the moving object 3, and the intrusion location of the moving object 3, or a combination thereof. The distance, predicted arrival time, size, and intrusion location can be obtained from detection data of the laser radar 12.
As described above, by using the threat level (risk level) of the moving object 3 as the priority order, when the moving object 3 is an enemy, the invasion of the enemy can be efficiently eliminated.

  The data communication means between the laser radar 12, the monitoring camera 14, the information processing apparatus 18, and the camera image monitor 32 may be any of wired communication and wireless communication.

Next, the operation and effect of the remote monitoring device 10 according to the present invention will be described.
According to the remote monitoring device 10 of the present invention, since the moving object 3 is detected based on the signal from the laser radar 12, the entire monitoring region SR can be constantly monitored. Further, when the moving object 3 is detected, the monitoring camera 14 is pointed at the moving object 3 and the moving object 3 is tracked by zooming, so that it is easy and accurate to identify who the moving object 3 (intruder) is. Can be identified.
Therefore, it is possible to reliably detect an intruder into the monitoring area SR located at a location remote from the monitoring point, identify the distance and direction thereof, and quickly and easily and accurately identify the enemy / friend. In this way, it is possible to take measures such as attacking intruders and blocking activities.

  Further, since the alarm is generated when the moving object 3 is detected by the alarm generation means 30, it is not necessary for the monitor to constantly watch the image of the monitoring camera 14, and the burden on the monitor is reduced.

  Furthermore, when two or more moving objects 3 are detected, priority is given and the monitoring camera 14 is directed to the moving object 3, so that a plurality of moving objects 3 can be confirmed without omission. Further, by using the threat level (risk level) of the moving object 3 as the priority order, when the moving object 3 is an enemy, the invasion of the enemy can be efficiently eliminated.

  In the above-described embodiment, since the intruder is identified by the monitor using the image on the screen of the camera image monitor 32, it can be said that the radar image is not necessary directly. Therefore, the radar image monitor 28 can be omitted. However, when a plurality of moving objects 3 are detected, the presence of the plurality of moving objects 3 is grasped from the radar image (see FIG. 2), and this is an index for knowing the degree of urgency or risk of the situation. An image monitor 28 is preferably provided.

  In addition, this invention is not limited to embodiment mentioned above, Of course, it can change variously in the range which does not deviate from the summary of this invention.

It is a figure which shows schematic structure of the remote monitoring apparatus concerning embodiment of this invention. It is a figure which shows the radar image displayed on the screen of the radar image monitor of the remote monitoring apparatus of FIG. It is a figure which shows the camera image displayed on the screen of the monitor for camera images of the remote monitoring apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Pulse laser beam 3 Moving object 10 Remote monitoring apparatus 12 Laser radar 14 Monitoring camera 18 Information processing apparatus 20 Radar image creation means 22 Moving object detection means 23 Moving object detection part 24 Order determination part 26 Camera control means 28 Radar image monitor 30 Alarm generation Means 32 Camera image monitor

Claims (4)

A laser radar that scans a predetermined monitoring area;
A monitoring camera provided at a position where the monitoring area can be imaged and capable of turning, raising and lowering, and zooming;
A moving object detecting means for detecting a moving object in the monitoring region based on a signal from the laser radar and outputting distance information and azimuth information of the moving object;
Camera control means for directing the monitoring camera to the moving object and zooming according to the distance to the moving object based on distance information and azimuth information of the moving object;
A remote monitoring device characterized by that.   The remote monitoring apparatus according to claim 1, further comprising an alarm generation unit that issues an alarm when a moving object is detected by the moving object detection unit.   The moving object detection unit generates priority according to a predetermined criterion when two or more moving objects are detected, and directs the monitoring camera to the moving object in order from the moving object having the highest priority. 2. The remote monitoring apparatus according to claim 1, wherein distance information and direction information are output to the control means.   The priority order is any one of a distance from a predetermined reference point of the detected moving object, an estimated arrival time to the reference point, a size of the moving object, or an intrusion location of the moving object, or a combination thereof. The remote monitoring apparatus according to claim 3, wherein the order is determined by a threat level based on the security level.

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