JP2010039825A - Parking monitoring method and monitoring device thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow vehicles parking on a road in a wide range to be accurately monitored by the small number of cameras. <P>SOLUTION: The inside of a certain area is continuously photographed by a wide-area monitoring camera device 21 to specify the position of a vehicle from photographed images. A monitoring vehicle 22 photographs a number plate of a vehicle 23 parking on the road by a moving camera 27 and calculates a distance from the parking monitoring vehicle 22 to the vehicle 23 parking on the road, in accordance with the size of the photographed number plate. The position of the vehicle 23 parking on the road is calculated in accordance with position information acquired from a GPS device 28 and the calculated distance. The vehicle 23 judges whether it is the same vehicle on the basis of the calculated position information. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a parking monitoring method and a monitoring device for controlling parking violation.

  In the control of street parking vehicles, it is necessary to specify the parking position and parking time of the vehicle in order to confirm that the same vehicle is parked at the same place for a long time. Therefore, when illegal parking on the road is manually controlled, as shown in FIG. 1, a line connecting the tire of the road parking vehicle and the ground on which the tire contacts is marked and the time is recorded. Then, after a sufficient amount of time had passed to crack down as a parking violation, it was determined that the same vehicle had been parked for a long time because the marked line of the parked vehicle was not misaligned during the retour.

Conventionally, in order to crack down on parking violations, it has been necessary for the observer to mark the parking position and time of the vehicle, and then go to the same location to confirm that the same vehicle is parked.
However, since not all the vehicles marked by the observer in the first round are parked until the second round, the trip is often wasted, and the work of monitoring illegal parking The efficiency of was bad.

In order to solve the above problem, it is considered to monitor a road parked vehicle using an image recognition technique.
Patent Document 1 describes the following. When a parked vehicle is discovered during a patrol, the license plate of the parked vehicle and a background that can identify the parked vehicle are photographed together. Then, the determination device determines whether or not a specific vehicle is present in the plurality of captured images. If there is, the determination device determines that there is a parking violation when the time difference between the capturing times is equal to or greater than a certain time.

  FIG. 2 is an explanatory diagram of a conventional method for monitoring a road parked vehicle. In FIG. 2, the monitoring person makes a patrol with the monitoring vehicle 11. The monitoring vehicle 11 captures the number plate of the road parking vehicle 12 and the background or road surface of the road parking vehicle 12 with the camera 13 and stores the shooting time. The parked vehicle 12 and the background are also photographed during the second patrol, and it is determined whether or not a matching license plate is stored. If the license plates match, compare the positional relationship between the background feature points and the vehicle feature points of the two images taken during each tour. If the vehicle is not moving, Control parking violations depending on whether or not the time difference is more than the parking violation time.

  Patent Document 2 describes the following. When the vehicle detection device detects a parking violation vehicle, the vehicle detection device transmits position information indicating a position on the map and a vehicle detection signal to the central station. The central office identifies the code of the police officer in the vicinity of the parking violation vehicle, and transmits the location information of the parking violation vehicle to the terminal device corresponding to the code. When the officer confirms the position of the parking violation vehicle with the terminal device, the director rushes to the site and treats the parking violation vehicle.

  FIG. 3 is an explanatory diagram of a conventional method for monitoring a road parking vehicle. In FIG. 3, the monitoring vehicle 11 includes a camera 13 and a GPS device 14. The camera 13 captures a road parked vehicle 12, reads a license plate with a recognition device, and identifies the vehicle. Further, the position information of the own device is acquired from the GPS device 14 and transmitted to the central station. The position information of the road parking vehicle 12 is transmitted from the central office to the terminal device of the nearby regulator, and if the regulator confirms that the road parking vehicle 12 is in the corresponding position, it is cleared as a parking violation vehicle.

The method described above can save the marking of the parking vehicle, but the point is that the observer needs to make multiple rounds. Further, in the above method, it can be seen that the same vehicle is parked as in the past patrol, but there is a problem that it is not known whether or not the vehicle has been parked continuously.

  Patent Document 3 describes the following. The entire parking prohibited area is photographed with the camera, the parking start image is stored with the image of the violation vehicle and the reading result of the license plate, and the vehicle image and the reading result of the license plate that is parked after a certain period of time are stored in the central unit. Send. As a result, it is possible to improve the accuracy of detecting a parking violation vehicle and automatically collect information necessary for enforcement.

  FIG. 4 is an explanatory diagram of a conventional method of monitoring a road parking vehicle. In this road parking vehicle monitoring method, a road camera 15 is installed in a parking prohibited area, and a license plate of the road parking vehicle 12 is photographed by the road camera 15. And the character recognition process is performed with respect to the image | photographed license plate image, and the information 16 which matched the recognition result of the license plate and the parking start time is recorded. As a result, it can be seen that the same vehicle has been parked for a certain period of time or longer, so parking violation can be controlled in one round.

However, in order to recognize the numbers and characters on the license plate, it is necessary to shoot so that the image of the license plate has a certain size or more, so that the shootable range is narrowed. As a result, the range that can be monitored by one camera is about one vehicle, and a large number of cameras are required when the range to be monitored is wide.
Japanese Patent Laid-Open No. 04-090100 Japanese Patent No. 2751955 JP 2004-288113 A

  An object of the present invention is to enable accurate monitoring of a wide range of on-street parking vehicles with a small number of cameras.

  The disclosed parking monitoring method continuously captures a vehicle in a certain area with a wide area monitoring camera, calculates the position of a road parked vehicle from the captured image of the wide area monitoring camera, records a parking start time, To capture the road parking vehicle, calculate a distance from the movement monitoring camera to the road parking vehicle based on the captured image, and based on the calculated distance and the position information of the mobile camera the position of the road parking vehicle Is calculated.

  According to the disclosed parking monitoring method, a wide range of road parking vehicles can be monitored with a small number of cameras. In addition, the number of patrols for monitoring parking violations can be reduced.

  According to the disclosed parking monitoring method, a wide range of road parking vehicles can be monitored with a small number of cameras. In addition, the number of patrols for monitoring parking violations can be reduced.

Hereinafter, preferred embodiments of the present invention will be described. FIG. 5 is an explanatory diagram of the parking monitoring method according to the embodiment.
In this parking monitoring method, the wide area monitoring camera device 21 continuously captures images in a certain area (parking prohibited area) (continuously or at regular intervals). When the vehicle enters the parking prohibited area and stops, the parking start time is recorded and the position of the vehicle is specified from the captured image.
As a method for specifying the position of the vehicle, for example, information (coordinate table or the like) in which the position in the image space of the photographed image is associated with the position in the real space is stored, and the real space is referenced with reference to the information. The position at is calculated.

  The monitoring vehicle 22 is equipped with a moving camera 27 and a GPS device 28. The moving camera 27 photographs the license plate of the road parking vehicle 23 and calculates the distance from the moving camera 27 to the road parking vehicle 23 based on the size of the photographed license plate. Then, the position information is acquired from the GPS device 28, and the absolute position of the road parked vehicle 23 is calculated from the acquired position information and the calculated distance.

  Whether the target vehicle is the same depending on whether the position of the road parking vehicle 23 calculated from the captured image of the wide area monitoring camera device 21 and the position of the road parking vehicle 23 calculated from the captured image of the monitoring vehicle 22 match. It can be determined whether or not. When it is determined that the vehicle is the same, the parking time can be calculated from the parking start time and the current time to determine whether or not there is a parking violation.

  According to the parking monitoring method of this embodiment, the road parking vehicle 23 in the fixed area is continuously photographed by the wide area monitoring camera device 21, so that the road parking vehicle 23 has not moved to another place after stopping. I can prove that. Further, it is determined whether or not the vehicle is the same by comparing the position information of the road parking vehicle 23 calculated from the captured image of the wide area monitoring camera device 21 and the position information of the road parking vehicle 23 calculated from the captured image of the moving camera 27. it can. In this case, the captured image of the wide area monitoring camera 25 only needs to be able to identify the position of the on-road parked vehicle 23, so a plurality of vehicles can be imaged with one camera, and the number of monitoring cameras can be reduced.

  Note that the example of FIG. 5 is a case where the wide-area monitoring camera device 21 has one camera. However, when the monitoring area is wide, a plurality of cameras may be used. In addition, the camera is not limited to a fixed installation, and may be rotated and photographed.

FIG. 6 is a diagram illustrating the on-street parking monitoring device 20 according to the first embodiment. The road parking monitoring device 20 includes a wide area monitoring camera device 21, a monitoring vehicle 22, and a server 24.
The wide area monitoring camera device 21 includes a wide area monitoring camera 25 and an image processing device 26. The wide-area monitoring camera 25 is installed at a position where an entire fixed area (parking prohibited area) can be imaged, and continuously captures vehicles in the fixed area.

When the image processing device 26 detects that the vehicle is parked in the parking prohibited area from the captured image of the wide area monitoring camera 25, it records the time at that time as the parking start time.
The image processing device 26 specifies the position of the vehicle in the captured image of the wide area monitoring camera 25, and calculates the position in the real space from the position in the image space. The image processing device 26 corresponds to a first calculation unit.

  For example, information that associates the position of the observation point in the image space captured by the wide-area monitoring camera 25 with the position in the real space is stored in the image processing device 26 in advance, and the position in the real space is determined using the information. calculate.

  FIG. 7 is an explanatory diagram of the association between the real space and the image space. Which point in the real space the observation point of the image space photographed with the wide area monitoring camera 25 corresponds to can be obtained in advance by measurement or calculation when the wide area monitoring camera 25 is installed. Therefore, if it is known from the captured image where the vehicle is in the image space, the position (absolute position) of the vehicle in the real space can be calculated.

Returning to FIG. 6, the wide-area monitoring camera device 21 transmits the calculated position information (or image) of the on-road parking vehicle 23 and the parking start time to the server 24.
Note that the image processing device 26 of the wide-area monitoring camera device 21 does not have the function of calculating the position, and transmits the captured image or the position in the image space to the server 24 and calculates the position in the real space on the server 24 side. You may make it do.

The monitoring vehicle 22 includes a moving camera 27, a GPS device (position information device) 28, and a license plate recognition device 29.
The moving camera 27 captures the license plate of the road parked vehicle 23 and outputs the captured image to the license plate recognition device 29.

  The license plate recognition device 29 calculates the size (vertical or horizontal width) of the number plate of the photographed image, and from the actual license plate size and the size of the number plate of the photographed image, from the moving camera 27 to the road parking vehicle 23. The distance L is calculated. The license plate recognition device 29 calculates the position of the road parked vehicle 23 from the position information acquired from the GPS device 28 and the calculated distance L. In addition, the license plate recognition device 29 performs image recognition processing on the photographed image of the license plate, and reads the numbers and characters on the license plate. Furthermore, the time at the time of shooting is recorded. The license plate recognition device 29 corresponds to a distance calculation unit and a second calculation unit.

The monitoring vehicle 22 transmits the position information of the on-street parking vehicle 23, the photographing time, and the number and characters of the license plate (hereinafter referred to as license plate information) to the server 24.
The server 24 analyzes the position information and the license plate information transmitted from the wide area monitoring camera device 21, the position information and the parking start time, and the information transmitted from the monitoring vehicle 22, and integrates the information. Create Then, it is monitored whether or not a vehicle having the same position information is parked for a predetermined time or more, and when the vehicle is parked for a certain time or more, the vehicle is notified to the monitoring vehicle 22 as a parking violation vehicle. The monitor of the monitoring vehicle 22 can control a parking violation vehicle based on the information.

FIGS. 8A to 8C are diagrams illustrating a data configuration of the in-vehicle camera information 31, the wide area monitoring camera information 32, and information obtained by integrating them.
FIG. 8B is a diagram illustrating a data configuration of the wide area monitoring camera information 32 created from the captured image of the wide area monitoring camera 25. In the wide area monitoring camera information 32, the position information (for example, longitude aa / latitude bb) of the road parking vehicle 23 calculated from the captured image is associated with the parking start time.

FIG. 8A is a diagram illustrating a data configuration of the in-vehicle camera information 31. The in-vehicle camera information 31 is associated with the position information (for example, latitude aa / longitude bb) of the road parking vehicle 23 calculated from the captured image of the moving camera 27 and the license plate information.
FIG. 8C is a diagram showing a data configuration of integrated information 33 obtained by integrating the in-vehicle camera information 31 and the wide-area monitoring camera information 32 described above.

  The integrated information 33 is obtained by integrating the in-vehicle camera information 31 having the same position information and the wide area monitoring camera information 32. The parking start time of the wide-area monitoring camera information 32 with the same position information and the license plate information of the in-vehicle camera information 31 are recorded in association with the position information as the same vehicle information. The integrated information 33 is created by the server 24, for example.

  In the example of FIG. 8C, since the parking start time of the vehicle in the position information aa / bb is 14:00 and the current time is 15:00, it can be seen that the vehicle is parked for 1 hour or more. It is possible to automatically determine whether the vehicle is subject to parking violation.

FIG. 9 is a flowchart of image processing of the wide-area monitoring camera device 21 according to the first embodiment. The following processing is executed by the image processing device 26 of the wide area monitoring camera device 21.
A vehicle is extracted from the image captured by the wide area monitoring camera 25 (S11). The number of extractions in this case is N.

An initial value “1” is set in the counter n for designating the vehicle, and the tracking flag in the management table is reset (S12).
Next, it is determined whether or not the value of the counter n is equal to or less than the vehicle extraction number N (S14). When the value of the counter n is equal to or smaller than the extraction number N (S13, YES), the process proceeds to step S14, and the vehicle tracking determination process designated by the counter n is executed. In this tracking determination process, the trajectory of the vehicle is traced from the position of the vehicle designated by the counter n at the time of previous photographing and the position at the time of photographing this time.

On the other hand, when the value of the counter n is larger than the vehicle extraction number N (S13, NO), the processing of all the extracted vehicles is completed, so the management table is updated and the processing is terminated.
In the tracking determination in step S14, if it is determined that there is no corresponding vehicle at the time of previous shooting (S14, NO), the process proceeds to step S17, and the vehicle designated by the counter n is newly registered in the management table. As a result, a new vehicle entering the monitoring area can be registered in the management table. Although not shown, vehicle position information and parking start time are registered in the management table in the order of the value of the counter n.

  If the corresponding vehicle exists at the time of the previous photographing (S14, YES), the process proceeds to step S16, and the movement determination process is executed (S16). The movement determination process in step S16 determines whether the vehicle is moving by comparing the previous captured image with the current captured image.

  If it is determined in step S16 that the vehicle is moving (YES in step S16), the process proceeds to step S18 to determine whether the parking flag is on. The parking flag is a flag provided for each vehicle designated by the counter n, and is set to ON when the vehicle is parked, and is set to OFF when the vehicle is moving.

  If it is determined in step S18 that the parking flag is on (S18, on), the process proceeds to step 19 where the parking flag is set off, the parking time is reset, the position information of the corresponding vehicle, and the parking flag. Notify the server that is turned off. Then, it progresses to step S21 and increments the value of the counter n and repeats the process mentioned above.

  When the vehicle parked until then starts moving by the process in step S19, for example, the parking time corresponding to the vehicle position information in the wide area monitoring camera information 32 (FIG. 8) is reset. Furthermore, the server 24 is notified that the vehicle corresponding to the position information has been parked.

  If it is determined in step S18 that the parking flag is OFF (S18, OFF), the process proceeds to step S20, the position of the vehicle is calculated from the captured image, and the vehicle of the corresponding vehicle in the wide area monitoring camera information 32 of the management table is calculated. Update location information. Then, it progresses to step S21.

On the other hand, if it is determined in step S16 that the vehicle is stopped (S16, NO), the process proceeds to step S22 to determine whether the parking flag is on.
If it is determined in step S22 that the parking flag is ON (S22, ON), the vehicle continues to be parked, so the data is not updated and the process proceeds to step S21.

  If it is determined in step S22 that the parking flag is off (S22, off), the process proceeds to step S23, the parking flag is set on, and the parking start time is registered. Furthermore, the position of the vehicle is calculated from the captured image, and the calculated position information and parking start time are notified to the server. Then, it progresses to step S21.

  Since the image processing of the wide-area monitoring camera device 21 described above can identify the position where the vehicle is stopped in the image space by image recognition or the like, the corresponding position (longitude, latitude) in the real space is calculated. can do.

FIG. 10 is a flowchart of the image processing of the monitoring vehicle 22 according to the first embodiment. This process is executed by the license plate recognition device 29.
A vehicle is extracted from the captured image of the moving camera 27 (S31). When the vehicle is extracted (S31, YES), the process proceeds to step S32, and the size, numbers and characters of the license plate are recognized. If no vehicle is extracted, the process proceeds to the next frame.

  Next, the distance L from the moving camera 27 to the on-street parking vehicle 23 is calculated from the size (for example, the lateral width) of the license plate of the photographed image and the actual size of the license plate (S33). Further, the position information of the shooting point is acquired from the GPS device 28 (S34).

The position of the road parking vehicle 23 is calculated from the distance L from the moving camera 27 to the road parking vehicle 23 and the position information acquired from the GPS device 28 (S35).
Next, the position information of the on-street parked vehicle 23, the number plate information that is the recognition result of the numbers and characters of the number plate, and the photographing time are transmitted (notified) to the server 24 (S36). Thereafter, processing of the next frame (next photographed image) is executed.

FIG. 11 is an explanatory diagram of a method for calculating the distance L to the license plate of the target vehicle.
The angle of the optical axis of the moving camera 27 based on the traveling direction of the monitoring vehicle 22 is δ, the angle of the center of the license plate is θ, and the angle of the real space coordinates with the x axis is α. Further, it is assumed that the traveling direction of the monitoring vehicle 22 is perpendicular to the surface of the license plate of the target vehicle.

In this case, the distance L and the angle θ from the moving camera 27 to the license plate can be expressed by the following equation: L = f · Wp · cos θ / wp
^{θ = δ + tan -1 (pc} / f)
f: focal length of lens wp: width of license plate of photographed image Wp: width of actual license plate δ: angle of optical axis of moving camera 27 with respect to traveling direction of surveillance vehicle 22 pc: angle of image on photographed image plane Distance from the center to the center of the license plate If the distance L and the angle θ are obtained from the above formula, the position of the license plate in the real space coordinates is x = L · cos (θ + α), y = L · sin ( θ + α). Since the position of the mobile camera 27 is equal to the position acquired from the GPS device 28, the position of the target vehicle in the real space can be calculated.

By the image processing of the monitoring vehicle 22 described above, the absolute position of the target vehicle can be calculated from the captured image of the license plate of the target vehicle.
Next, FIGS. 12 and 13 are flowcharts (1) and (2) illustrating the processing of the server 24 according to the first embodiment.

In FIG. 12, the server 24 receives data from the wide-area monitoring camera device 21 (S4).
1). In the process of step S41, for example, the position information, the parking start time, and the parking flag of the vehicle in a certain area are received from the wide area monitoring camera device 21.

  Next, it is determined whether the parking flag of the received data is on (S42). When the parking flag is on (S42, on), the process proceeds to step S43, and the vehicle position information and the parking start time are registered in the management table.

  When the parking flag is off (S42, off), the process proceeds to step S44, and the data registered in association with the position information in the management table is deleted. The process of step S44 is a process for excluding the vehicle from the monitoring target when the vehicle is parked in the monitoring area and then moves and the parking flag is turned off.

  In FIG. 13, the server 24 receives data from the monitoring vehicle 22 (S51). The process of step S51 receives, for example, vehicle position information, license plate information, and photographing time from the monitoring vehicle 22.

Next, it is checked whether or not a vehicle having the same position information is registered by checking the management table (S52).
If a vehicle having the same position information is registered, it is determined from the parking start time of the vehicle and the shooting time of the monitoring vehicle 22 whether the vehicle is a violation vehicle that has been parked on the road for a certain time or more. (S53).

Next, information on the target vehicle is acquired by collating the database with the license plate information (S54).
Next, the position information, the license plate information, the violation determination result, etc. of the target vehicle are transmitted to the monitoring vehicle 22 (S55).

The monitor of the monitoring vehicle 22 can control parking violation based on the information transmitted from the server 24.
According to the first embodiment described above, the vehicles in the monitoring area of the wide-area monitoring camera device 21 are continuously photographed, and the position of the vehicle is calculated from the photographed image, so that each vehicle is continuously parked. You can see if it was. Further, the position of the vehicle is calculated from the captured image of the monitoring vehicle 22, and it is determined whether or not the calculated position information matches the position information of the vehicle captured by the wide-area monitoring camera device 21. Parking time can be measured accurately. This makes it possible to accurately monitor whether or not the target vehicle has been parked at the same position for a certain period of time.

  In the first embodiment, since it is not necessary to capture an image that allows the wide-area monitoring camera 25 to recognize the license plate of the vehicle, a single camera can simultaneously capture a large number of vehicles. Thereby, the number of cameras for photographing a vehicle in a certain area can be reduced.

  Furthermore, when the parking time of the road parking vehicle photographed by the wide area monitoring camera 25 has passed for a certain time or more, it is possible to notify the monitoring vehicle 22 that the violation determination result or the parking time has passed for a certain time or more. . Thereby, since the monitoring vehicle 22 can detect the violation vehicle, the number of patrols for monitoring the parking violation can be reduced.

  Next, FIG. 14 is a diagram illustrating a road parking monitoring device 40 according to the second embodiment. In the second embodiment, the wide-area monitoring camera device 41 recognizes the position of the monitoring vehicle 42 so that the monitoring vehicle 42 does not need to be equipped with a position information device.

The road parking monitoring device 40 includes a wide area monitoring camera device 41, a monitoring vehicle 42, and a server 43.
The wide area monitoring camera device 41 includes a wide area monitoring camera 44 and an image processing device 45. The wide-area monitoring camera 44 is installed at a position where the entire fixed area can be imaged, and continuously captures a vehicle in the fixed area (continuously or at regular intervals).

  When the image processing device 45 detects that the vehicle is parked from the captured image of the wide area monitoring camera 44, the image processing device 45 records the position of the vehicle and the parking start time. Further, the image processing device 26 calculates the position of the monitoring vehicle 42 where the rotating lamp is blinking in the image captured by the wide area monitoring camera 25. The position of the vehicle is calculated with reference to information in which the position in the image space and the position in the real space are associated with each other as in the first embodiment. The thing for specifying the monitoring vehicle 42 is not limited to the rotating lamp, and any object may be used as long as the monitoring vehicle 42 can be specified from the captured image. For example, it may be a periodically flashing light, a letter written on the roof of a vehicle, a side surface, or the like.

The monitoring vehicle 42 includes a rotating lamp 46, a moving camera 47, and a license plate recognition device 48.
The moving camera 47 captures the license plate of the road parked vehicle 23 and outputs the captured image to the license plate recognition device 48.

  The license plate recognition device 48 calculates the size of the number plate of the photographed image, and calculates the distance L from the moving camera 47 to the road parking vehicle 23 from the actual size of the license plate and the size of the number plate of the photographed image. calculate. In addition, the license plate recognition device 48 recognizes the photographed image, recognizes the numbers and characters of the license plate, and records the time of photographing.

The monitoring vehicle 42 transmits the photographing time, the distance L to the on-street parking vehicle 23, and license plate information to the server 43.
The server 43 receives the position information of the target vehicle, the position information of the monitoring vehicle, the parking start time, and the shooting time of the monitoring vehicle 42 transmitted from the wide area monitoring camera device 41. Further, the server 43 receives the distance L, the shooting time, and the license plate information transmitted from the monitoring vehicle 42. Then, these pieces of information are integrated by the position information and stored in a storage device such as a memory.

  FIG. 15 is a flowchart of image processing of the wide-area monitoring camera device 41 according to the second embodiment. The image processing of FIG. 15 is obtained by adding a part of the processing based on the image processing of the first embodiment of FIG. Hereinafter, a different part from the process of FIG. 9 is demonstrated.

  It is determined whether or not the value of the counter n designating the vehicle is equal to or less than the vehicle extraction number N (S61). When the value of the counter n is N or less (S61, YES), the process proceeds to step S62, and it is determined whether or not the vehicle designated by the counter n is the monitoring vehicle 42. The determination as to whether or not the vehicle is a monitoring vehicle 42 is made, for example, based on whether or not the vehicle has a revolving light. The reference for determining whether or not the vehicle is the monitoring vehicle 42 is not limited to the revolving light, and any device that can identify the vehicle by image recognition may be used.

  When the value of the counter n is larger than the extraction number N (S61, NO), the process proceeds to step S63, and the management table is updated. In the management table update process in step S63, the position information and parking start time of each vehicle in the management table are updated to information calculated from the latest captured image.

When it is determined in step S62 that the vehicle is a monitoring vehicle 42 (S62,
YES), the process proceeds to step S 64, and the monitoring vehicle flag indicating the monitoring vehicle 42 and the vehicle position information are transmitted to the server 43. Thereafter, the process proceeds to step S66, where the value of the counter n is incremented and the above-described processing is repeated.

  On the other hand, when it is determined in step S62 that the target vehicle is not the monitoring vehicle 42 (S62, NO), the process proceeds to step S65, and the tracking determination process is executed. This tracking determination process is the same as the tracking determination process in step S14 of FIG. Following step S65, the processing from step S16 onward in FIG. 9 is executed.

  By the image processing of the wide area monitoring camera device 41 described above, the position of the road parking vehicle 23 and the position of the monitoring vehicle 42 are calculated from the captured image of the wide area monitoring camera 44, the position information, the parking start time, and the monitoring The shooting time of the vehicle 42 is transmitted to the server 43.

Next, FIG. 16 is a flowchart of the image processing of the monitoring vehicle 42 according to the second embodiment.
A license plate of the vehicle is extracted from the photographed image of the moving camera 47 by image recognition (S71). When the license plate is extracted (S71, YES), the process proceeds to step S72, the size (for example, width) of the license plate is calculated, and the numbers and characters of the license plate are recognized. If the license plate is not extracted, the process proceeds to the next frame.

  Next, the distance L from the moving camera 47 to the on-street parking vehicle 23 is calculated from the size of the license plate of the photographed image (S73). The distance L is calculated by the same method as the distance L calculation method of the first embodiment.

  Next, the photographing time of the mobile camera 47, the distance L to the on-street parking vehicle 23, and the license plate information are transmitted (notified) to the server 43 (S74). Thereafter, processing of the next frame is executed.

  The distance L from the captured image of the moving camera 27 to the road parked vehicle 23 is calculated by the image processing of the monitoring vehicle 42 described above, and the calculated distance L, the imaging time, and the license plate information are transmitted to the server 43. The

  Next, FIGS. 17 and 18 are flowcharts (1) and (2) illustrating the processing of the server 43 according to the second embodiment. The flowchart in FIG. 17 is obtained by adding some processes based on the flowchart in FIG. Hereinafter, a different part from the process of FIG. 12 is demonstrated.

  In FIG. 17, the server 43 receives data from the wide-area monitoring camera device 41 (S81). In the process of step S81, for example, the vehicle position information, the parking start time, the parking flag, and the monitoring vehicle flag are received from the wide area monitoring camera device 41.

Next, it is determined whether or not the monitoring vehicle flag in the received data is on (S82).
If it is determined in step S82 that the monitoring vehicle flag is ON (S82, ON), the process proceeds to step S83, and the position of the monitoring vehicle 42 is updated. In the process of step S83, when the monitoring vehicle flag is turned on for the first time, the received position information of the monitoring vehicle 42 is registered in the management table, and the position information of the monitoring vehicle 42 is already registered in the management table. When it is, the position information is updated.

When it is determined in step S82 that the monitoring vehicle flag is off (S82)
, Off), the process proceeds to step S84 to determine whether or not the parking flag is on. Thereafter, the processing after step S43 in FIG. 12 is executed.

The flowchart of FIG. 18 is obtained by adding a part of processing based on the flowchart of FIG. Hereinafter, a different part from the process of FIG.
In FIG. 18, the server 43 receives data from the monitoring vehicle 42 (S91). In the process of step S91, for example, the distance L from the monitoring vehicle 42 to the road parking vehicle 23, the photographing time, and license plate information are received.

  Next, the position of the monitoring vehicle 42 is confirmed (S92). In the process of step S92, the position information of the monitoring vehicle 42 transmitted from the wide area monitoring camera device 41 is registered or updated in the management table.

  Next, the target vehicle is specified (S93). In the target vehicle specifying process in step S93, the position of the road parked vehicle 23 is calculated from the position of the monitoring vehicle 42 and the distance L to the target vehicle transmitted from the monitoring vehicle 42. Further, the position information of the road parked vehicle 23 calculated from the captured image of the wide area monitoring camera device 41 is compared with the calculated position information to determine whether or not the same position information is present.

  If a vehicle having the same position information is specified, it is determined whether or not there is a parking violation from the parking start time of the specified vehicle and the shooting time of the target vehicle of the monitoring vehicle 42 (S94). Thereafter, the processing after step S54 in FIG. 13 (processing of the first embodiment) is executed.

  According to the second embodiment described above, the vehicle in the surveillance area is continuously photographed by the wide area surveillance camera 44, and the position of the vehicle is calculated from the photographed image, so that the target vehicle continues in the surveillance area. You can tell if you were parked. Further, the surveillance vehicle 42 is photographed by the wide area surveillance camera 44, the position of the surveillance vehicle 42 is calculated from the photographed image, and further, the distance L from the photographed image of the surveillance vehicle 42 to the target vehicle is calculated. The position of the target vehicle can be specified. In this case, the monitoring vehicle 42 does not need to have a position information device. Then, by determining whether or not the position information of the target vehicle calculated from the captured image of the wide area monitoring camera 44 matches the position information calculated from the captured images of the moving camera 47 and the wide area monitoring camera 44, the target vehicle is It can be determined whether or not they are the same. This makes it possible to accurately monitor whether or not the target vehicle has been parked at the same position for a certain period of time.

  In the second embodiment, the wide-area monitoring camera 44 does not need to capture an image that can recognize the license plate of the vehicle, so that a single camera can simultaneously capture a large number of vehicles. . Thereby, the number of cameras for photographing a vehicle in a certain area can be reduced.

  In addition, when the parking time has elapsed for a certain period of time or more in the on-street parking vehicles photographed by the wide area monitoring camera 44, the monitoring vehicle 22 is notified of the violation determination result or that the parking time has elapsed for a certain period of time. Can do. Thereby, since the monitoring vehicle 22 can detect the violation vehicle, the number of patrols for monitoring the parking violation can be reduced.

The present invention is not limited to the embodiment described above, and may be configured as follows, for example.
(1) In the above-described embodiment, the servers 24 and 43 determine whether or not there is a parking violation from the parking start time of the street parking vehicle 23, but the servers 24 and 43 do not have to determine the parking violation. good. For example, the servers 24 and 43 display the parking start time and license plate information of vehicles with the same parking position information on the display device of the monitoring vehicles 22 and 42, and whether the monitoring person is a parking violation from the displayed information. You may judge.
(2) The road parking monitoring device 20 (or 40) is not limited to the one having the wide-area monitoring camera device 21 (or 41), the monitoring vehicle 22 (or 42), and the server 24 (or 43). For example, the road parking monitoring device 20 includes a wide area monitoring camera device 21 and a monitoring vehicle 22, and the position information and the parking start time calculated by the wide area monitoring camera device 21 are directly transmitted to the monitoring vehicle 22. Also good. Then, the monitoring vehicle 22 may compare the position information received from the wide-area monitoring camera device 21 with the position information calculated from the captured image of the moving camera 27. By comprising in this way, the structure of the road parking monitoring apparatus 20 (or 40) becomes simple.
(3) The moving cameras 27 and 47 are not limited to those mounted on the monitoring vehicles 22 and 42, and a monitoring person may carry the moving cameras 27 and 47 and photograph the on-street parked vehicle 23. In this case, the mobile cameras 27 and 47 only need to have a function of calculating the position of the road parked vehicle 23 from the captured image. The position information of the shooting point may be acquired from a portable GPS device or the like.

(Appendix 1)
Continue to shoot vehicles in a certain area with a wide-area surveillance camera,
While calculating the position of the road parked vehicle from the captured image of the wide area monitoring camera, record the parking start time,
Shoot the road parking vehicle with a moving camera, calculate the distance from the movement monitoring camera to the road parking vehicle based on the captured image,
A parking monitoring method for calculating a position of the road parking vehicle based on the calculated distance and the position information of the moving camera.
(Appendix 2)
The parking monitoring method according to supplementary note 1, wherein the parking information is monitored by determining that a vehicle in which the position information calculated from the captured image of the wide area monitoring camera and the positional information calculated from the captured image of the moving camera coincide is the same vehicle. .
(Appendix 3)
The parking monitoring device according to supplementary note 1 or 2, wherein the position information of the moving camera is acquired from a position information device.
(Appendix 4)
Information that associates the position in the image space of the captured image of the fixed area with the position in the real space is stored in the storage means,
The parking monitoring according to appendix 1, 2, or 3, wherein the position of the image taken by the wide-area monitoring camera in the real space is calculated with reference to the information in which the position of the image space and the real space are associated with each other. Method.
(Appendix 5)
Taking a license plate of the road parking vehicle with the moving camera, calculating the distance from the moving camera to the road parking vehicle based on the size of the photographed license plate, the calculated distance and the position of the moving camera The parking monitoring method according to appendix 1, 2, 3 or 4, wherein the position of the road parking vehicle is calculated based on the information.
(Appendix 6)
Monitoring the presence or absence of movement of the vehicle in the fixed area by the fixedly installed wide area monitoring camera, storing the parking information indicating whether the vehicle is parked in storage means,
Item 6. The supplementary note 1 to 5, wherein when the parking information is rewritten from information indicating that the vehicle is in a parking state to information indicating that the vehicle is moving, the corresponding vehicle is excluded from a monitoring object of parking violation. Parking monitoring method.
(Appendix 7)
Continue to shoot vehicles in a certain area with a wide-area surveillance camera,
While calculating the position of the road parking vehicle and the monitoring vehicle from the captured image of the wide area monitoring camera, recording the parking start time of the road parking vehicle,
The road parking vehicle is photographed by a moving camera mounted on the monitoring vehicle, and a distance from the movement monitoring camera to the road parking vehicle is calculated based on a captured image,
A parking monitoring method for calculating the position of the on-road parking vehicle based on the position information of the monitoring vehicle calculated from the captured image of the wide area monitoring camera and the calculated distance.
(Appendix 8)
The parking time is monitored by determining that the position information calculated from the captured image of the wide area monitoring camera and the position information calculated from the captured image of the wide area monitoring camera and the captured image of the moving camera are the same vehicle. The parking monitoring method according to appendix 7.
(Appendix 9)
Information that associates the position in the image space of the captured image of the fixed area with the position in the real space is stored in the storage means,
Additional remark 7 or 8 for calculating the position of the road parking vehicle and the monitoring vehicle in the real space of the image captured by the wide area monitoring camera with reference to the information in which the position of the image space and the real space are associated with each other. Parking monitoring method.
(Appendix 10)
The parking monitoring method according to appendix 7, 8 or 9, wherein a license plate of the road parking vehicle is photographed by the moving camera, and a distance from the moving camera to the road parking vehicle is calculated based on a size of the photographed license plate. .
(Appendix 11)
A wide-area surveillance camera that continuously captures vehicles in a certain area;
Calculating a position of a road parked vehicle from a photographed image of the wide area monitoring camera, and measuring a parking start time;
A moving camera for photographing the street parking vehicle;
Distance calculating means for calculating a distance from the moving camera to the on-street parking vehicle based on a captured image of the moving camera;
A parking monitoring apparatus comprising: a second calculation unit that calculates a position of the on-road parking vehicle based on the distance calculated by the distance calculation unit and the position information of the mobile camera.
(Appendix 12)
Additional remark 11 having monitoring means for monitoring a parking time by determining a vehicle in which position information calculated from a captured image of the wide area monitoring camera and position information calculated from a captured image of the moving camera coincide with each other as the same vehicle. Parking monitoring device.
(Appendix 13)
The parking monitoring device according to appendix 12, wherein the second calculation means acquires the position information of the moving camera from a position information device.
(Appendix 14)
Storage means for storing information in which the position in the image space of the captured image of the fixed area and the position in the real space are associated with each other;
The first calculating means refers to the information in which the image space stored in the storage means and the position of the real space are associated with each other on the real space of the road parked vehicle of the image taken by the wide area monitoring camera. 14. The parking monitoring device according to appendix 11, 12 or 13, which calculates a position.
(Appendix 15)
The moving camera photographs the license plate of the street parking vehicle,
The second calculating means calculates a distance from the moving camera to the road parking vehicle based on the size of the license plate of the photographed image, and based on the calculated distance and the position information of the moving camera, 15. The parking monitoring device according to appendix 11, 12, 13 or 14, which calculates the position of a road parked vehicle.
(Appendix 16)
A wide-area surveillance camera that continuously captures vehicles in a certain area;
Calculating a position of a road parking vehicle and a monitoring vehicle from a photographed image of the wide area monitoring camera, and recording a parking start time of the road parking vehicle;
A moving camera mounted on the monitoring vehicle for photographing the road parking vehicle;
Distance calculating means for calculating a distance from the moving camera to the on-street parking vehicle based on a captured image of the moving camera;
Parking monitoring comprising: second calculating means for calculating the position of the road parking vehicle based on the position information of the monitoring vehicle calculated from the image taken by the wide area monitoring camera and the distance to the road parking vehicle. apparatus.
(Appendix 17)
The parking time is monitored by determining that the position information calculated from the captured image of the wide area monitoring camera and the position information calculated from the captured image of the wide area monitoring camera and the captured image of the moving camera are the same vehicle. The parking monitoring device according to supplementary note 16, comprising monitoring means for performing the above.
(Appendix 18)
A wide area monitoring camera apparatus having the wide area monitoring camera and the first calculating means, a monitoring apparatus having the moving camera and the second calculating means, and a position transmitted from the wide area monitoring camera apparatus and the monitoring apparatus. 18. The parking monitoring device according to any one of appendices 11 to 17, further comprising a server that receives information, a parking start time, and license plate information.

It is a figure which shows the example of the marking to a road parking vehicle. It is explanatory drawing of the monitoring method of the conventional street parking vehicle. It is explanatory drawing of the monitoring method of the conventional street parking vehicle. It is explanatory drawing of the monitoring method of the conventional street parking vehicle. It is explanatory drawing of the on-street parking monitoring method of embodiment. It is a figure which shows the road parking monitoring apparatus of 1st Embodiment. It is explanatory drawing of matching of the position of real space and image space. It is a figure which shows the data structure of vehicle-mounted camera information, wide-area monitoring camera information, and the information which integrated them. It is a flowchart of the image processing of the wide area monitoring camera apparatus of 1st Embodiment. It is a flowchart of the image processing of the monitoring vehicle of 1st Embodiment. It is explanatory drawing of the calculation method of the distance L to the license plate of a target vehicle. It is a flowchart (1) which shows the process of the server of 1st Embodiment. It is a flowchart (2) which shows the process of the server of 1st Embodiment. It is a figure which shows the road parking monitoring apparatus of 2nd Embodiment. It is a flowchart of the image processing of the wide area monitoring camera apparatus of 2nd Embodiment. It is a flowchart of the image processing of the monitoring vehicle of 2nd Embodiment. It is a flowchart (1) which shows the process of the server of 2nd Embodiment. It is a flowchart (2) which shows the process of the server of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 20 Road parking monitoring apparatus 21 Wide area monitoring camera apparatus 22 Monitoring vehicle 23 Road parking vehicle 24 Server 25 Wide area monitoring camera 26 Image processing apparatus 27 Moving camera 28 GPS apparatus 29 License plate recognition apparatus 40 Road parking monitoring apparatus 41 Wide area monitoring camera apparatus 42 Vehicle for monitoring 43 Server 44 Wide area monitoring camera 45 Image processing device 46 Rotating light 47 Moving camera 48 License plate recognition device

Claims (7)

Continue to shoot vehicles in a certain area with a wide-area surveillance camera,
While calculating the position of the road parked vehicle from the captured image of the wide area monitoring camera, record the parking start time,
Shoot the road parking vehicle with a moving camera, calculate the distance from the moving camera to the road parking vehicle based on the captured image,
A parking monitoring method for calculating a position of the road parking vehicle based on the calculated distance and position information of the moving camera.   The parking monitoring according to claim 1, wherein the parking time is monitored by determining that a vehicle in which the position information calculated from the captured image of the wide area monitoring camera and the positional information calculated from the captured image of the moving camera coincide is the same vehicle. Method.   The parking monitoring method according to claim 1, wherein position information of the moving camera is acquired from a position information device. Information that associates the position in the image space of the captured image of the fixed area with the position in the real space is stored in the storage means,
The parking according to claim 1, 2, or 3, wherein the position in the real space of the on-road parking vehicle of the image captured by the wide area monitoring camera is calculated with reference to the information in which the position of the image space and the real space are associated with each other. Monitoring method.   Taking a license plate of the road parking vehicle with the moving camera, calculating the distance from the moving camera to the road parking vehicle based on the size of the photographed license plate, the calculated distance and the position of the moving camera The parking monitoring method according to claim 1, 2, 3, or 4, wherein the position of the road parking vehicle is calculated based on the information. A wide-area surveillance camera that continuously captures vehicles in a certain area;
Calculating a position of a road parked vehicle from a captured image of the wide area monitoring camera, and recording a parking start time;
A moving camera for photographing the street parking vehicle;
Distance calculating means for calculating a distance from the moving camera to the on-street parking vehicle based on a captured image of the moving camera;
A parking monitoring apparatus comprising: a second calculation unit that calculates a position of the on-road parking vehicle based on the distance calculated by the distance calculation unit and the position information of the mobile camera.   7. A monitoring unit that monitors parking time by determining that a vehicle in which position information calculated from a captured image of the wide area monitoring camera and position information calculated from a captured image of the moving camera match is the same vehicle. The parking monitoring device described.