JP2009253449A - Monitoring apparatus and monitoring method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring apparatus which can prevent interruption in the way of monitoring when monitoring of an immobile object and tracking monitoring are performed simultaneously, and can control monitoring of an immobile object and tracking monitoring simultaneously. <P>SOLUTION: A monitoring apparatus includes: a first monitoring means for monitoring a stationary object photographed at an image pick-up section 201 and determining that the stationary object is an immobile object if movement of the stationary object is not detected for a predetermined time; and a second monitoring means for tracking monitoring a moving object photographed at the image pick-up section 201. A third monitoring means operates both the first monitoring means and the second monitoring means under predetermined conditions if a moving object is detected when the first monitoring means is monitoring or if a stationary object is detected when the second monitoring means is monitoring. A control section 205 has that function in each means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a monitoring device and a monitoring method, and more particularly to a monitoring device and a monitoring method that are characteristic of unmoving object monitoring and tracking technology.

  In recent years, various intelligent techniques have been proposed for abnormality detection (detection) of a monitoring camera (monitoring device).

  One is a technique for tracking moving objects. For example, there is one that performs tracking monitoring control by paying attention to the color and histogram of a moving object (see, for example, Patent Document 1).

  In addition, as a technique for tracking a moving object, a method for tracking by storing a part of the moving object as a template, a method for tracking by focusing on a motion vector, and the like are known. Furthermore, a technique has been proposed in which a motion of a captured image is detected and a moving object is tracked as it is (see, for example, Patent Document 2).

  Another technique is to monitor (detect) unmoving objects. The non-moving object monitoring technique is a technique for detecting an object that is newly added to an image (stationary object) or disappears from the image as time passes.

For example, Patent Document 3 proposes a method and apparatus for detecting obstacles and falling objects that appear on the road, and the occurrence of an object on the road is determined by a change in the difference between the reference background image and the captured image that are sequentially updated. Determining disappearance and detecting unmoving objects.
JP-A-11-150676 JP 2003-255442 A Patent No. 2913882

  The unmoving object monitoring described in the above prior art starts monitoring when it detects that a moving object is stationary, and after confirming that it does not move for a predetermined time, determines that it is a non-moving object, so that it is fixed for a certain period of time. It is necessary to fix the camera direction (shooting range). On the other hand, in tracking, it is necessary to change the direction of the camera (shooting range) in accordance with the movement of the moving object.

  Therefore, if unattended object monitoring and tracking monitoring are performed at the same time, if the moving object that is the tracking target moves greatly in the direction away from the stationary object that is being monitored, any of the objects to be monitored will be out of the shooting range. End up. As a result, there is a problem that either unmoving object monitoring or tracking monitoring is interrupted during monitoring.

  Therefore, even when both the unmoving object monitoring function and the tracking monitoring function are installed in one surveillance camera, no effective proposal other than the exclusive use has been made. There was a problem that it was difficult to improve the accuracy of anomaly detection.

  An object of the present invention is to provide a monitoring device capable of preventing interruption during monitoring when both unmoving object monitoring and tracking monitoring are performed, and capable of simultaneously controlling the unmoving object monitoring function and the tracking monitoring function. It is to provide a monitoring method.

  In order to achieve the above object, the monitoring apparatus according to claim 1 monitors a stationary object photographed by an imaging unit and determines that the object is a non-moving object when the movement of the stationary object is not detected for a predetermined time. When the first monitoring unit, the second monitoring unit that tracks and monitors the moving object photographed by the imaging unit, and the moving object detected during the monitoring by the first monitoring unit, Or, when the stationary object is detected during the monitoring by the second monitoring means, the first monitoring means and the third monitoring means for operating both the second monitoring means under a predetermined condition. Features.

The monitoring method according to claim 10, wherein a first monitoring step of monitoring a stationary object imaged by an imaging unit and determining that the object is a non-moving object when the movement of the stationary object is not detected for a predetermined time;
When the moving object is detected during the second monitoring step of tracking and monitoring the moving object imaged by the imaging means and the first monitoring step, or the second monitoring When the stationary object is detected during the monitoring by the step, the first monitoring step and the third monitoring step for operating both the second monitoring step under a predetermined condition are provided.

  According to the monitoring apparatus and the monitoring method of the present invention, when unmoving object monitoring and tracking monitoring are performed simultaneously, it is possible to prevent interruption during monitoring, and the unmoving object monitoring function and tracking monitoring function are controlled simultaneously. be able to.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a configuration diagram of a surveillance camera system including a surveillance device according to an embodiment of the present invention.

  In FIG. 1, this surveillance camera system is constructed by connecting a surveillance camera 101 as a surveillance device that is a subject of the present invention and a control device 103 as an external device via a network (network communication means) 102. . The monitoring camera 101 and the control device 103 communicate via the network 102 to exchange various commands and data.

  In the present embodiment, communication of control commands, imaging data, and the like related to unmoving object monitoring control and tracking monitoring control is performed. The internal configuration of the monitoring camera 101 will be described with reference to FIG.

  In this embodiment, the network 102 is an Ethernet (registered trademark) network. However, the network 102 is not limited to this, and may be any network that can transmit and receive control commands and photographing data. Good.

  In this embodiment, the control device 103 is a PC (personal computer). However, the control device 103 is not limited to this, and may be any control device that can transmit and receive control commands and photographing data. Good.

  FIG. 2 is a block diagram of the surveillance camera in FIG.

  In FIG. 2, the monitoring camera 101 includes an imaging unit 201 that performs photographing (imaging) of a subject, and a motion detection unit 202 that performs motion detection processing on video data input from the imaging unit 201.

  When the motion detection unit 202 detects a motion in the video data, the control unit 205 described below is notified. The motion detection process is performed using, for example, a difference between images. As a difference method, a difference between adjacent frames and a background difference are known.

  The method using the difference calculation of the difference between adjacent frames is a method in which the absolute value of the brightness difference between the pixels having the same coordinates, the absolute value sum of the differences in DCT coefficients in JPEG encoded block units, or the like is used. In this method, regarding a region of interest, if a value obtained by integrating these difference results exceeds a preset threshold value, there is a movement.

  In the present embodiment, the present invention is not limited to the above method, and motion detection processing by an arbitrary method can be used.

  The monitoring camera 101 also includes a video compression unit 203 that compresses video data input from the imaging unit 201, a camera / head control unit that performs shooting control such as pan, tilt, and zoom of the monitoring camera 101 and a pan head control. 204.

  The monitoring camera 101 also includes a control unit 205 that performs hardware control and software execution, a communication unit 206 that performs communication with the control device 103, and an Ethernet (registered trademark) port 207 that is a physical interface with the network 102. .

  In addition, the monitoring camera 101 includes a hardware timer 208, a storage of a program according to the present invention, and a storage unit 209 used as a work area of the control unit 205.

  Next, the unmoving object monitoring process (function) that can be performed by the monitoring camera 101 described above will be described.

  The non-moving object monitoring function is a function for notifying the user when an object newly enters from outside the monitoring area and remains stationary in the monitoring area for a certain period of time.

  When the control unit 205 receives a control command for starting unmoving object monitoring by the control device 103 via the communication unit 206, the processing is started.

  The area where the unattended object monitoring process is performed is generally designated by the user in order to reduce the calculation load. In addition to the control command described above, the panning angle, the tilt angle, etc. for specifying the unattended object monitoring area are captured. Control parameters are also sent.

  FIG. 3 is a flowchart showing a procedure of unmoving object monitoring processing executed by the monitoring camera of FIG.

  This process is executed under the process of the control unit 205 in FIG.

  In FIG. 3, in step S <b> 301, motion detection processing is performed on the input video data by the motion detection unit 202 in FIG. 2.

Step S <b> 301 functions as a second monitoring unit that tracks and monitors the moving object captured by the imaging unit 201 as the imaging unit by the imaging unit 201.
If motion detection is determined in step S302 (motion determination is present), the process proceeds to step S303. If not, the process in step S301 is repeated.

  FIG. 4 is a flowchart showing the procedure of the motion detection process executed in step S301 of FIG.

  In FIG. 4, in step S401, the difference calculation between adjacent frames is performed on the video data input from the imaging unit 201, and the second and subsequent calculations are added to the previous calculation result. The portion to be calculated in the frame is only within the monitoring area designated by the user as described above.

  In step S402, if the integration result exceeds a preset threshold value, it is determined in step S403 that there is a motion.

  The motion detection process described above is repeated for each frame, and motion determination is performed by calculating an integrated value of differences between adjacent frames.

  Returning to the description of the non-moving object monitoring process flow of FIG.

  If it is determined in step S302 that there is a motion and it is determined that there is a moving object, the motion detection unit 202 performs stillness detection processing (step S303). In step S302, the stillness detection process determines whether or not the motioned part has stopped moving, that is, determines whether or not the moving object has stopped still.

  Step S303 functions as a first monitoring unit that monitors a stationary object imaged by the imaging unit 201 as an imaging unit and determines that the object is a non-moving object when the movement of the stationary object is not detected for a predetermined time. Here, the predetermined time in the first monitoring means can be set by the user.

  FIG. 5 is a flowchart showing the procedure of still detection processing executed in step S303 of FIG.

  In FIG. 5, in step S <b> 501, difference calculation between adjacent frames is performed on the video data input from the imaging unit 201. In step S502, when the difference value is equal to or smaller than a preset threshold value, counting is performed (step S503).

  This count value is incremented every time the difference value between adjacent frames is equal to or less than the threshold value, and when it is determined in step S504 that the total count exceeds a preset value, it is determined that the frame is stationary. (Step S505).

  On the other hand, if the difference value between adjacent frames exceeds the threshold value in step S502, the count value is reset to zero in step S506.

  The stillness detection process described above is repeated for each frame, and the difference value between adjacent frames is calculated and compared to determine whether or not the moving object is stationary.

  Returning to the description of the non-moving object monitoring process flow of FIG.

  If it is determined in step S303 and step S304 that the stillness detection process is performed on a plurality of frames and it is determined that the frame is still (with stillness determination), in step S305, it is compared with the reference image. The process proceeds to step S306.

  The reference image is an image held in advance by the monitoring camera 101, and is a background image in which only a permanently existing object is shown. That is, in step S305, if the area determined to be stationary matches the reference image, it is determined that the moving object is not stationary in the monitoring area but is out of the non-moving object monitoring area.

  Subsequently, in step S306, timer count for unmoving object determination is started using the timer 208.

  In step S307, step S308, and step S309, if no motion is detected in the stationary object until a timeout occurs, it is determined that the object is a non-moving object (step S310). Then, the process ends.

  The motion detection process in step S308 may use the same method as the motion detection process shown in FIG. If a motion is detected in step S309, it is determined that the object that has been stationary has immediately started moving again, and the process is terminated without determining that the object is a non-moving object.

  As described above, the unmoving object monitoring is processed according to the flow shown in FIG.

  Although not mentioned, video data input from the imaging unit 201 during processing is compressed by the video compression unit 203 and transmitted to the control device 103 via the communication unit 206, and a monitor (not shown) of the control device 103. ) Can also be displayed.

  The compression by the video compression unit 203 may be a standard video compression method such as Motion JPEG or MPEG4. Further, the threshold value serving as a reference for performing the motion determination described in step S <b> 402 may be set by the user via the control device 103 or may be fixedly set in the monitoring camera 101.

  Further, the threshold value serving as a reference for performing the stillness determination described in step S <b> 502 may be set by the user via the control device 103 or may be fixedly set in the monitoring camera 101.

  In addition, even if the time-out value, which is a reference for the time from the start of unmoving object monitoring described in steps S306 and S307 to the unmoving object determination, set by the user via the control device 103, is monitored. It may be fixed to the camera 101.

  Next, the tracking monitoring process that can be performed by the monitoring camera 101 described above will be described.

  The tracking monitoring function is a function that, when a moving object is detected in the monitoring area, controls the moving object to be at the center of the imaging range and tracks and captures the moving object. The monitoring area for performing motion detection for moving object detection is generally specified by the user in order to reduce the calculation load, and the pan angle and tilt for specifying the non-moving object monitoring target area together with the control command described above. Shooting control parameters such as corners are also sent.

  FIG. 6 is a flowchart showing the procedure of the tracking monitoring process executed by the monitoring camera of FIG.

  This process is executed under the control of the control unit 205 in FIG.

  6, in step S601, the motion detection unit 202 in FIG. 2 performs motion detection processing on the input video data. If motion detection is determined in step S602, the process proceeds to step S603. If not, the motion detection process in step S601 is repeated.

  The motion detection process in step S601 is the same as the process described above with reference to FIG. The target for motion detection is only within the monitoring area designated by the user as described above.

  If a moving object is detected in the user designated area in step S602, tracking monitoring processing (tracking processing) for the moving object is started (step S603).

  In the tracking monitoring process started in step S603, panning and tilting are performed so as to obtain a region on the image based on the motion information obtained by the motion detection unit 202, and the center of gravity is located at the center of the image. Camera / head control.

  After the camera / head control is completed, the motion detection process is performed after the operation of the camera / head control unit 204 is stabilized, and when the movement is detected, the camera / head control is again performed. Done.

  As described above, during the tracking monitoring process, the motion detection process and the camera / head control are alternately repeated. This is because if the inter-frame difference process is performed during camera / head control, erroneous detection due to the movement of the camera / head control unit 204 occurs.

  The tracking method is not limited to the above, and for example, a method of continuously tracking by storing feature amounts such as the color, pattern, and edge of a moving object may be used.

  As described above, the tracking is performed in accordance with the movement of the moving object. When the moving object exceeds the limits of the pan angle and the tilt angle and is out of the shooting range (step S604), the tracking is ended.

  The processing flow when the unmoving object monitoring process is operated independently and the tracking monitoring process is operated independently has been described above with reference to the drawings.

  Next, a processing flow when unmoving object monitoring and tracking monitoring are simultaneously enabled will be described with reference to the drawings.

  FIG. 7 is a flowchart showing the procedure of the unmoving object monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  Referring to FIG. 7, a process flow when tracking monitoring processing is started during unmoving object monitoring processing, that is, while a non-moving object is being monitored for a stationary object, moving objects to be tracked are separated. A processing flow in the case of detection in the area will be described.

  Here, the same numbers are assigned to steps having the same content as the unmoving object monitoring processing flow of FIG. 3, and the description thereof is omitted.

  In FIG. 7, in step S <b> 701, after the unmoving object monitoring is started and before a timeout occurs, the tracking target is tracked in accordance with the processing in steps S <b> 601 and S <b> 602 in a shooting range different from the stationary object being monitored. A moving object is detected. In that case, a simultaneous monitoring process described later is started (step S702). Details of the simultaneous monitoring process will be described later.

  In step S702, when a moving object is detected during monitoring by the first monitoring unit, or when a stationary object is detected during monitoring by the second monitoring unit, the first monitoring unit and the second monitoring unit are set. It functions as a third monitoring means that operates both under predetermined conditions.

  Here, the predetermined condition in the third monitoring means is a condition for shortening, changing, or invalidating the remaining time of the predetermined time in the first monitoring means.

The predetermined conditions in the third monitoring means are the following conditions.
(1) Conditions for storing the position information of the stationary object and the shooting control setting information when the first monitoring unit detects the stationary object.
(2) A condition in which the second monitoring unit tracks and monitors a moving object until a predetermined time elapses, and moves to a shooting range based on the shooting control setting information after the predetermined time elapses.
(3) Conditions for determining that the first monitoring means is a non-moving object when a stationary object is detected at the same position as the position information.

  Step S703 is a step showing a flow of returning to the single unmoving object monitoring process when the tracking monitoring process ends during the simultaneous monitoring process, which will be described later.

  FIG. 8 is a flowchart showing a procedure of tracking monitoring processing executed by the monitoring camera of FIG. 2 when unmoving object monitoring and tracking monitoring are simultaneously enabled.

  Referring to FIG. 8, a processing flow in the case where unmoving object monitoring is started during tracking monitoring processing, that is, during the tracking monitoring of a certain moving object, unmoving object monitoring of another stationary object is performed. A processing flow in the case of starting will be described.

  Here, the same number is assigned to the step having the same processing content as the tracking monitoring processing flow in FIG. 6, and the description is omitted.

  In FIG. 8, in step S <b> 801, after tracking monitoring is started, if unmoving object monitoring is started in accordance with the processing in steps S <b> 301 to S <b> 307 in a shooting range different from the moving object, simultaneous monitoring processing described later is started. (Step S802). Details of the simultaneous monitoring process will be described later.

  In step S802, when a moving object is detected during monitoring by the first monitoring unit, or when a stationary object is detected during monitoring by the second monitoring unit, the first monitoring unit and the second monitoring unit are set. It functions as a third monitoring means that operates simultaneously under a predetermined condition.

  Step S803 is a step showing a flow of returning to the single tracking monitoring process when the unmoving object monitoring process ends during the simultaneous monitoring process, which will be described later.

Next, the simultaneous monitoring process will be described.
(First embodiment)
In the first embodiment, when a stationary object that is a non-moving object monitoring target and a moving object that is a tracking target are detected at the same time, shooting is performed so that the stationary object that is a non-moving object monitoring target is always included in the shooting range. . Then, when the tracking target moving object exceeds the limit point of the imaging range, the tracking monitoring process ends.

  FIG. 9 is a flowchart illustrating a procedure of the first embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  In FIG. 9, when unmoving object monitoring and tracking monitoring control overlap in step S901, the user is warned. For example, a warning message is transmitted to the control device 103 via the communication unit 206, and the control device 103 issues a warning by a method of displaying the message on a monitor or a method of making a sound.

  In step S902, the camera / head control unit 204 zooms the lens to the wide (W) end in order to include as much as possible the stationary object that is the unmoving object monitoring target and the moving object that is the tracking monitoring target.

  Hereinafter, steps S903 to S907 are unmoving object monitoring processing. In step S903, when a non-moving object monitoring time-out occurs, in step S904, the monitored stationary object is determined as a non-moving object.

  Thereby, the unmoving object monitoring is ended (step S905), and only the tracking monitoring process is continued (step S906). Step S906 corresponds to step S803 in FIG.

  If the unmoving object monitoring timeout has not yet occurred in step S903, the motion detection process described with reference to FIG. 4 is performed in step S907.

  If it is determined in step S908 that there is movement, the unmoving object monitoring process is terminated in step S905, and only the tracking monitoring process is continued (step S906). On the other hand, if it is not determined in step S908 that there is a motion, the process proceeds to step S909.

  Thereafter, steps S909 to S912 are tracking monitoring processes.

  In step S909, tracking monitoring processing (tracking processing) is performed. The tracking monitoring process here is obtained by adding tracking control of the position of a stationary object that is an unmoving object monitoring target to the processing content described in step S603.

  In the tracking monitoring process described in step S603, the camera / head control unit 204 is controlled so that the moving object comes to the center of the shooting range in accordance with the movement of the moving object in the tracking monitoring control, and the shooting range is changed. .

  In the tracking control, a process of adding a vector having the same magnitude and the reverse direction as the coordinate change vector of the moving object at this time to the monitoring position (coordinate position in the imaging range) of the unmoving object that is being continued is performed. . Thereby, even if the position of the stationary object to be monitored is changed in the imaging range, it is possible to continue the unmoving object monitoring.

  Subsequently, in step S910, it is determined whether or not a vector outside the imaging range is applied to a stationary object that is a non-moving object monitoring target located at the limit point of the pan control range or the tilt control range by the tracking movement. To do.

  In this way, it is determined whether or not the stationary object to be monitored by the unmoving object is about to go out of the shooting range. If so, in step S911, the camera The pan head control unit 204 is controlled. At this time, as a result, the moving object that is the tracking target deviates from the center of the shooting range.

  Subsequently, in step S912, when the moving object exceeds the limit point of the pan control range or the tilt control range and deviates from the shooting range, the tracking is ended (step S913), and only the unmoving object monitoring process is continued (step S913). S914).

  Step S914 corresponds to step S703 in FIG. If the moving object is not out of the shooting range in step S912, the processing from step S903 is repeated.

  As described above, according to the flow described with reference to FIG. 9, when both unmoving object monitoring and tracking monitoring are enabled simultaneously, even when a stationary object that is a non-moving object monitoring target and a moving object that is a tracking monitoring target are detected simultaneously, The following effects are achieved.

  In other words, it is possible to shoot so that a stationary object that is a non-moving object monitoring target is included in the shooting range, and to end the tracking monitoring process when the moving object that is the tracking monitoring target exceeds the limit point of the shooting range. .

As described above, the flow described with reference to FIGS. 7, 8, and 9 is performed, and when both the unmoving object monitoring function and the tracking monitoring function are operated, the non-moving object monitoring target stationary object is out of the imaging range. Control not to. Thereby, it is possible to prevent unmoving object monitoring from being interrupted and simultaneously perform unmoving object monitoring processing and tracking monitoring processing.
(Second Embodiment)
In the second embodiment, in the simultaneous processing of the unmoving object monitoring and the tracking monitoring, the immovable object monitoring timer does not move until the timeout of the unmoving object monitoring timer occurs or the moving object to be tracked exceeds the limit point of the shooting range. Tracking processing is performed regardless of the position of the stationary object to be monitored.

  FIG. 10 is a flowchart showing the procedure of the second embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  Note that the same step number is assigned to the same content as the flow already described, and the description is omitted.

  In FIG. 10, in step S <b> 1001, information about a stationary object that is a non-moving object monitoring target is stored in the storage unit 209. The information stored at this time is the position of the stationary object, image information, and setting values of the camera / head control unit 204.

  Subsequently, the tracking of the moving object is performed until a timeout of the unmoving object monitoring occurs or until the moving object to be tracked is out of the imaging range. In the tracking monitoring process, the shooting range is changed by the camera / head control unit 204.

  Thereafter, when a timeout of unmoving object monitoring occurs (step S903), the tracking monitoring process ends in step S1002. In step S1003, the imaging range is returned based on the information on the stationary object stored in step S1001 (the set value of the camera / head control unit 204).

  Subsequently, in step S1004, the unmoving object determination is performed based on the stored stationary object information (stationary object position, image information). In addition, during the tracking of the unmoving object, when the moving object is out of the shooting range during the tracking and the tracking is finished, the shooting is performed based on the information of the stationary object (the setting value of the camera / head control unit 204) in step S1005. Return range.

As described above, by performing the flow described with reference to FIG. 10, when both the unmoving object monitoring function and the tracking monitoring function are operated, the tracking monitoring is performed until the timeout of the unmoving object monitoring timer occurs. When a timeout occurs, unmoving object determination processing is performed. This prevents unattended object monitoring from being interrupted, and at the same time allows tracking monitoring processing for a certain period of time.
(Third embodiment)
In the third embodiment, using FIGS. 11 (a) and 11 (b), when tracking monitoring is started during unmoving object monitoring or when unmoving object monitoring is started during tracking monitoring, immediately after that, An embodiment for changing the unmoving object monitoring timeout will be described. Note that the same step number is assigned to the same content as the flow already described, and the description is omitted.

  FIG. 11 is a flowchart illustrating the procedure of the third embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  FIG. 11A is a processing flow when the timeout change process is applied in the first embodiment described with reference to FIG. FIG. 11B is a processing flow when the timeout change process is applied in the second embodiment described with reference to FIG.

  In FIG. 11, in step S1101, the timeout value for unattended object monitoring is changed in a decreasing direction. At this time, if the elapsed time of the unmoving object monitoring is longer than the time-out value after the decrease (step S1102), the timer is ended, and the process proceeds to step S904 to perform the unmoving object determination.

  For example, if the unmoving object monitoring timeout is set in advance by the user as 10 minutes, and if the process overlaps with tracking, the time is changed to 3 minutes. At this time, when 3 minutes or more have passed since the unmoving object monitoring is started, the unmoving object determination is performed.

  Next, when tracking monitoring is started during unmoving object monitoring, or when unmoving object monitoring is started during tracking monitoring, a non-moving object is detected when the stationary object that is the unmoving object monitoring object is about to fall out of the shooting range. A process for changing the monitoring timeout will be described.

  FIG. 12 is a flowchart illustrating a procedure of a modified example of the third embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  FIG. 12 is a processing flow when the timeout change process is applied to the first embodiment described with reference to FIG.

  In step S910 in FIG. 12, if a stationary object that is a non-moving object monitoring target is about to fall out of the shooting range, the camera / head control unit 202 is controlled so as not to fall out of the shooting range in step S911. In step S1201, the unmoving object monitoring timeout value is changed in a decreasing direction.

  As described above, by executing the flow described with reference to FIGS. 11 and 12, when both the unmoving object monitoring and the tracking are operated, the timeout value of the unmoving object monitoring timer is changed (changed in the decreasing direction). Thus, the unmoving object monitoring process is completed early and the process proceeds to tracking monitoring.

Thereby, it is possible to prevent the unattended object monitoring process from being interrupted and to reduce the possibility of the tracking monitoring process being terminated halfway due to the moving object being out of the imaging range.
(Fourth embodiment)
In the fourth embodiment, referring to FIG. 13, when tracking is started during unmoving object monitoring, or when unmoving object monitoring is started during tracking, the unmoving object monitoring timeout is invalidated immediately after that. Will be described.

  FIG. 13 is a flowchart showing the procedure of the fourth embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  Note that the same step number is assigned to the same content as the flow already described, and the description is omitted.

  In step S901 in FIG. 13, the user is warned, and then in step S1301, the unmoving object monitoring timer is invalidated and unmoving object determination is performed. At the same time, the captured image input from the imaging unit 201 at this time is transmitted to the control device 103. Subsequently, the process proceeds to a single tracking monitoring process in step S906.

  FIG. 14 is a flowchart illustrating a procedure of a modified example of the fourth embodiment of the simultaneous monitoring process executed by the monitoring camera of FIG. 2 when the unmoving object monitoring and the tracking monitoring are simultaneously enabled.

  When tracking monitoring is started during unmoving object monitoring or when unmoving object monitoring is started during tracking, the stationary object that is the unmoving object monitoring target is likely to be out of the imaging range with reference to FIG. The case of invalidating the unmoving object monitoring timeout will be described.

  FIG. 14 is a processing flow when the timeout invalidation processing is applied to the first embodiment described with reference to FIG.

  In step S910 in FIG. 14, if a stationary object that is a non-moving object monitoring target is about to fall out of the shooting range, the camera / head control unit 202 is controlled so as not to fall out of the shooting range in step S911.

  In step S1401, the unmoving object monitoring timeout is invalidated and unmoving object determination is performed. At the same time, the captured image input from the imaging unit 201 at this time is transmitted to the control device 103. Subsequently, in step S905, the unmoving object monitoring is terminated, and in step S906, the process proceeds to a single tracking monitoring process.

  As described above, by executing the flow described with reference to FIGS. 13 and 14, when both the unmoving object monitoring and the tracking monitoring are operated, the unmoving object monitoring timer is invalidated so that the unmoving object monitoring process is performed. To complete the tracking monitoring process.

  Thereby, it is possible to prevent the unattended object monitoring process from being interrupted and to reduce the possibility of the tracking monitoring process being terminated halfway due to the moving object being out of the imaging range.

In the present embodiment, when tracking monitoring is started immediately after the unmoving object monitoring is started, it is determined that the object is not moving before the monitoring is sufficiently performed, so there is a high possibility of erroneous determination. However, at this time, it is possible to prompt the user to confirm the abnormality early by transmitting the stationary object to be monitored for the unmoving object to the control device 103.
(Fifth embodiment)
In the fifth embodiment, a case will be described in which the simultaneous control means for unmoving object monitoring and tracking monitoring described in the first to fourth embodiments is selectable by the user.

  The simultaneous control program for unattended object monitoring and tracking monitoring described above is stored in the storage unit 209 in advance, the control device 103 transmits a command for selecting the simultaneous control program, and is executed by the control unit 205 that has received the command. Switch the simultaneous control program.

  As described above, all the simultaneous control means for unmoving object monitoring and tracking monitoring described in the first to fourth embodiments can be mounted on the monitoring camera 101 and can be selected by the user.

1 is a configuration diagram of a surveillance camera system including a surveillance device according to an embodiment of the present invention. It is a block diagram of the surveillance camera in FIG. It is a flowchart which shows the procedure of the unmoving object monitoring process performed by the monitoring camera of FIG. It is a flowchart which shows the procedure of the motion detection process performed by step S301 of FIG. It is a flowchart which shows the procedure of the still detection process performed by step S303 of FIG. It is a flowchart which shows the procedure of the tracking monitoring process performed by the monitoring camera of FIG. It is a flowchart which shows the procedure of a non-moving object monitoring process in case the non-moving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. 3 is a flowchart illustrating a procedure of tracking monitoring processing executed by the monitoring camera of FIG. 2 when unmoving object monitoring and tracking monitoring are simultaneously enabled. It is a flowchart which shows the procedure of 1st Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of 2nd Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of 3rd Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of 3rd Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of the modification of 3rd Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of 4th Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG. It is a flowchart which shows the procedure of the modification of 4th Embodiment of the simultaneous monitoring process when the unmoving object monitoring and tracking monitoring performed simultaneously by the monitoring camera of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Surveillance camera 102 Network 103 Control apparatus 201 Image pick-up part 202 Motion detection part 203 Image | video compression part 204 Camera and pan head control part 205 Control part 206 Communication part 208 Timer 209 Storage part

Claims (18)

A first monitoring unit that monitors a stationary object imaged by the imaging unit and determines that the stationary object is a non-moving object when the movement of the stationary object is not detected for a predetermined time;
A second monitoring means for tracking the moving object imaged by the imaging means by the imaging means;
When the moving object is detected during monitoring by the first monitoring unit, or when the stationary object is detected during monitoring by the second monitoring unit, the first monitoring unit and the second monitoring unit Third monitoring means for operating the means both under predetermined conditions;
A monitoring device comprising:   The monitoring apparatus according to claim 1, wherein the predetermined time in the first monitoring unit can be set by a user.   The monitoring apparatus according to claim 1, wherein the first monitoring unit warns a user when the stationary object is determined to be the non-moving object.   The monitoring apparatus according to claim 1, wherein the predetermined condition in the third monitoring unit is a condition for warning a user.   The predetermined condition in the third monitoring means is that when the predetermined time in the first monitoring means elapses and the monitoring in the first monitoring means ends, the tracking monitoring by the second monitoring means is continued. The monitoring apparatus according to claim 1, wherein the monitoring apparatus is a condition.   5. The predetermined condition in the third monitoring unit is a condition for shortening, changing, or invalidating a remaining time of the predetermined time in the first monitoring unit. The monitoring device described.   The predetermined condition in the third monitoring unit is such that the second monitoring unit tracks the moving object while the first monitoring unit monitors the stationary object so that it does not deviate from the imaging range of the imaging unit. The monitoring apparatus according to claim 1, wherein the monitoring condition is satisfied.   The predetermined condition in the third monitoring means stores position information and shooting control setting information of the stationary object when the stationary object is detected by the first monitoring means, and the second monitoring means The moving object is tracked and monitored until a predetermined time elapses. After the predetermined time elapses, the moving object moves to a shooting range based on the shooting control setting information, and the first monitoring means is located at the same position as the position information. The monitoring apparatus according to claim 1, wherein when an object is detected, the condition is determined to be the unmoving object.   Network communication means for communicating via a network communicating with an external device, and the predetermined condition in the third monitoring means is a condition for transmitting an image of the stationary object to the external device by the network communication means. The monitoring apparatus according to claim 1, wherein A first monitoring step of monitoring a stationary object imaged by an imaging means, and determining that the object is a non-moving object when the movement of the stationary object is not detected for a predetermined time;
A second monitoring step of tracking the moving object imaged by the imaging means by the imaging means;
When the moving object is detected during monitoring by the first monitoring step, or when the stationary object is detected during monitoring by the second monitoring step, the first monitoring step and the second monitoring are performed. A third monitoring step for operating both steps under predetermined conditions;
A monitoring method comprising:   The monitoring method according to claim 10, wherein the predetermined time in the first monitoring step can be set by a user.   12. The monitoring method according to claim 10, wherein the first monitoring step warns a user when it is determined that the stationary object is the unmoving object.   The monitoring method according to claim 10, wherein the predetermined condition in the third monitoring step is a condition for warning a user.   The predetermined condition in the third monitoring step is that when the predetermined time in the first monitoring step elapses and the monitoring in the first monitoring step is finished, the tracking monitoring in the second monitoring step is continued. The monitoring method according to claim 10, wherein the monitoring method is a condition.   The predetermined condition in the third monitoring step is a condition for shortening, changing, or invalidating the remaining time of the predetermined time in the first monitoring step. The monitoring method described.   The predetermined condition in the third monitoring step is that the moving object is tracked by the second monitoring step while monitoring the stationary object so as not to deviate from the imaging range of the imaging means by the first monitoring step. 14. The monitoring method according to claim 10, wherein the monitoring condition is satisfied.   The predetermined condition in the third monitoring step stores the position information and shooting control setting information of the stationary object when the stationary object is detected in the first monitoring step, and the second monitoring step includes the step of The moving object is tracked and monitored until a predetermined time elapses, and after the predetermined time elapses, the moving object moves to a shooting range based on the shooting control setting information, and the first monitoring step includes the stationary at the same position as the position information. The monitoring method according to claim 10, wherein when an object is detected, the condition is determined to be the unmoving object.   Network communication means for communicating via a network communicating with an external device, and the predetermined condition in the third monitoring step is a condition for transmitting an image of the stationary object to the external device by the network communication means. The monitoring method according to any one of claims 10 to 17, wherein:

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