JP2012099014A - Passing vehicle monitoring system and passing vehicle monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a passing vehicle monitoring system and vehicle monitoring cameras which can accurately recognize passing vehicles on a road, be easily installed, and display a state of surroundings of a monitored place and facility information around the monitored place.SOLUTION: A passing vehicle monitoring system 1 comprises a plurality of monitoring cameras 2 which are connected in a daisy chain manner and photograph vehicle passing conditions, and a center device 4 connected to the plurality of monitoring cameras. The center device 4 comprises: an image reconfiguring section for reconfiguring to display an image of a recognized vehicle for display, an image of a facility for display of a building structure where the plurality of monitoring cameras 2 are installed, and an image of a building structure on a monitor 6 in accordance with a specified display form; and an information display image generating section for generating an information display image to display information about the facility displayed on the monitor 6 in association with the image of the facility for display displayed on the monitor 6.

Description

  The present invention relates to a traffic vehicle monitoring system and a traffic vehicle monitoring device.

  Conventionally, vehicle monitoring systems have been widely put into practical use in order to prevent accidents of vehicles traveling on roads. Examples of the vehicle monitoring system include one that recognizes a vehicle number from a vehicle license plate of an image obtained by photographing the vehicle, and one that records a driver's seat image.

  In addition, a tunnel monitoring system has been proposed that monitors specific events that occur in tunnels, displays messages on information boards to prevent accidents from occurring, and detects vehicles that carry poisons. (For example, refer to Patent Document 1).

JP 2003-272086 A

However, any conventional monitoring device or monitoring system cannot recognize the three-dimensional size of the object from the captured image.
For example, if the falling object on the road in the tunnel is a thin object such as newspaper, the risk of an accident is not high, but if the falling object is a three-dimensional object such as a cardboard box, an accident will occur. The risk is high. In addition, since the actual size of the photographed object and its three-dimensional shape are unknown, the accuracy of object recognition, for example, human recognition, is low.

Also, for example, in the case of tunnels, surveillance cameras are obligated to be installed only in tunnels of a predetermined length or longer due to laws and regulations, and the installation cost of surveillance cameras is high, so there are many tunnels where surveillance cameras are not installed, Even in tunnels where surveillance cameras are installed, there is a problem that the number of cameras installed is small.
Furthermore, in the monitoring room, even if an image captured by the monitoring camera is displayed on the monitor, the monitoring staff cannot obtain information on the vehicle displayed on the monitor beyond the displayed image information.

  For example, when an accident occurs on a road, even if the image of the accident site and its surroundings are displayed on the monitor, it is difficult to see the vehicle reflected far away, and the location of the emergency call and the evacuation room are difficult to see. There is a case. For this reason, it may not be possible to accurately explain the situation of the accident site, the instruction of evacuation guidance, etc. to a rescue team member or the like heading to the accident site.

  Therefore, the present invention provides a traffic vehicle monitoring system and a traffic vehicle monitoring device that can accurately recognize a traffic vehicle on a road, can be easily installed, and can display a situation around a monitoring location and equipment information around the monitoring location. The purpose is to do.

  According to an aspect of the present invention, there is provided a traffic vehicle monitoring system including a plurality of surveillance cameras connected to a rosary and imaging a vehicle traffic situation, and a center device connected to the plurality of surveillance cameras. The monitoring camera includes a plurality of imaging units, a distance image generation unit that generates distance image data from a plurality of images obtained by the plurality of imaging units, and a first monitoring process that executes a first monitoring process based on the distance image. And generating information for identifying the vehicle recognized based on the distance image, and storing the information including the identification information and time information about the recognized vehicle. A recording processing unit for recording in the unit, and a second monitoring processing unit for executing a second monitoring process different from the first monitoring process based on the distance image, wherein the center device is , From the plurality of cameras A camera information receiving unit that receives the data of the recording image and the identification information of the vehicle recognized based on the data of the distance image, the display image of the recognized vehicle, and the plurality of monitoring cameras are installed. An image reconstructing unit that reconstructs an image for displaying facilities related to the constructed building structure and an image of the building structure in order to display the image on the display device in accordance with a designated display form, and the image reconstruction An information display image generation unit that generates an information display image for displaying information related to the facility reconstructed by the unit and displayed on the display device in association with the display image of the facility displayed on the display device It is possible to provide a passing vehicle monitoring system characterized by comprising:

  ADVANTAGE OF THE INVENTION According to this invention, the traffic vehicle monitoring system and traffic vehicle monitoring apparatus which can recognize the traffic vehicle on a road correctly, are easy to install, and can display the surrounding condition of a monitoring place and the equipment information around a monitoring place are provided. can do.

It is a figure for demonstrating the structure of the passing vehicle monitoring system concerning embodiment of this invention. It is a figure which shows the installation condition of the monitoring camera in a tunnel concerning embodiment of this invention. 1 is an external view of a surveillance camera according to an embodiment of the present invention. It is a block diagram which shows the internal structure of the surveillance camera 2 concerning embodiment of this invention. It is a flowchart which shows the example of the flow of the basic monitoring process concerning embodiment of this invention. It is a flowchart which shows the example of the flow of the command processing concerning embodiment of this invention. It is a flowchart which shows the example of the flow of the abnormality process in FIG.5 and FIG.6. It is a flowchart which shows the example of the flow of the abnormality process in the center apparatus 4 concerning embodiment of this invention. It is a figure which shows the example of the monitoring screen displayed on the monitor 6 concerning embodiment of this invention. 10 is a flowchart illustrating an example of a flow of display processing of the screen in FIG. 9. It is a figure which shows the data structure of the log data concerning embodiment of this invention. It is a figure for demonstrating correlation of vehicle ID in the center apparatus 4 concerning embodiment of this invention. It is a figure which shows the circumference | surroundings of a certain monitoring place in the tunnel concerning the embodiment of this invention, and the condition of an installation. It is a figure which shows the example of the condition display screen concerning embodiment of this invention. It is a block diagram which shows the structure of the software process for producing | generating the display image of FIG. It is a figure which shows the other example of the condition display screen concerning embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
(System configuration)
First, based on FIG. 1, the structure of the system concerning this Embodiment is demonstrated. FIG. 1 is a diagram for explaining the configuration of a passing vehicle monitoring system according to the present embodiment. FIG. 2 is a diagram showing the installation status of the monitoring camera in the tunnel. FIG. 3 is an external view of the surveillance camera.

  As shown in FIG. 1, a traffic monitoring system 1 for monitoring the inside of a tunnel includes a plurality of monitoring cameras 2, each of which is a stereo camera, a communication cable 3 that connects two adjacent monitoring cameras 2, and a plurality of monitoring cameras. A center device 4 connected to one of the cameras 2 by a communication cable 3, a storage device 5 connected to the center device 4, and a monitor 6 that is an image display device connected to the center device 4 are included. It is configured.

  As shown in FIG. 1, n (n is an integer) number of surveillance cameras 2 (n is an integer) of surveillance cameras 2 (n) from the surveillance camera 2 (1) installed at one end TA of the tunnel 101 to the other end TB. Are arranged at substantially equal intervals on the ceiling side. In FIG. 1, each surveillance camera 2 is shown with an identification number. The first monitoring camera 2 (1) to the n th monitoring camera 2 (n) are connected in a daisy chain by the communication cable 3, and the monitoring camera 2 (1) is connected to the center device 4. In the following description, the term “surveillance camera 2” is used when a specific surveillance camera is not pointed out.

  The communication cable 3 is a signal line capable of supplying power, for example, a cable compatible with Power over Ethernet (registered trademark) (PoE) capable of supplying power. The center device 4 includes a power supply circuit, and the power of the power supply circuit is supplied to each monitoring camera 2 via the communication cable 3.

  The center device 4, the storage device 5, and the monitor 6 are arranged in a monitoring room, for example. A storage device 5 and a monitor 6 are connected to the center device 4, and the center device 4 stores predetermined data in the storage device 5 and displays a monitoring screen on the monitor 6. Therefore, the monitor can operate the center device 4 to display a desired image on the monitor 6. The storage device 5 includes a plurality of storage units for storing various data, which will be described later, specifically, a reference data storage unit 5a, a processing content data storage unit 5b, a related information storage unit 5c, an equipment display information storage unit 5d, A vehicle display information storage unit 5e and a building structure display information storage unit 5f are included.

  A facility management device 7 is connected to the center device 4. The facility management device 7 is a device that controls and manages various facilities related to the tunnel 101, for example, a ventilation fan and an escape port. The facility management apparatus 7 can instruct the operation of each facility, for example, instruct on on and off, monitor the operation status of each facility, and supply information on the operation state to the center device 4.

  As shown in FIG. 1, a plurality of surveillance cameras 2 are daisy chained by a communication cable 3, that is, connected in a daisy chain, and are connected to a center device 4. As shown in FIG. 2, each surveillance camera 2 is installed at a predetermined distance Lt along the route direction of the tunnel 101 at a position slightly lower than the highest position of the ceiling portion 102 of the inner wall of the tunnel 101. ing. The predetermined interval Lt is set so that the shooting ranges PA of the adjacent monitoring cameras 2 partially overlap. The predetermined interval Lt is, for example, 10 m.

Communication between the monitoring cameras 2 and communication between the monitoring cameras 2 and the center device 4 are data communication using Ethernet (registered trademark). Data from each monitoring camera 2 can be transmitted to the center device 4 via a daisy chain network. The center device 4 can also transmit various commands such as a command for requesting transmission of captured images to all or desired monitoring cameras 2. Therefore, the center device 4 can acquire the image information, recognition information, event information, and the like of the moving image from the monitoring camera 2 via the daisy chain connection network in accordance with the command from the center device 4. .
Although FIG. 1 shows an example in which the center device 4 monitors one tunnel, the center device 4 may monitor a plurality of tunnels.

  As shown in FIG. 3, the surveillance camera 2 that is a surveillance camera for vehicles has a casing 11 in the shape of an elongated rectangular parallelepiped. Two objective optical systems 12 are provided on one side of the elongated casing 11 so that their optical axes are parallel to each other with a predetermined distance. An imaging element such as a CMOS image sensor is provided in the casing 11 at the imaging position of each objective optical system. Each surveillance camera 2 is installed on the ceiling portion 102 so that the surface on which the two objective optical systems 12 are provided faces the road surface 103.

  Here, each monitoring camera 2 will be described as an example having two image sensors for stereo imaging, but there may be three or more image sensors, and at least two image sensors. Just do it.

Moreover, the connector 13 for connecting the communication cable 3 is provided in the both end surfaces of the casing 11, and the some monitoring camera 2 can mutually be daisy chain-connected.
As described above, the communication cable 3 is an Ethernet (registered trademark) communication cable and is a cable compatible with Ethernet (registered trademark) PoE that can supply power, so that the monitoring camera 2 (1) is connected to the center device. It is only necessary to connect the adjacent monitoring cameras 2 to each other by the communication cable 3, and the installation and extension of the monitoring cameras 2 are easy.

  One imaging unit of the monitoring camera 2 has a visual field range PAr, and the other imaging unit has a visual field range PAl. The imaging range PA of the surveillance camera 2 is determined by the two visual field ranges.

  The center device 4 is a computer device and includes a CPU (Central Processing Unit), ROM, RAM, etc., receives data from each monitoring camera 2 and sends various commands to each monitoring camera 2 to obtain information. While being able to acquire, various data processing can be performed.

(Configuration of surveillance camera)
FIG. 4 is a block diagram showing an internal configuration of the monitoring camera 2.
The surveillance camera 2 includes two imaging units 21, an imaging unit interface unit (hereinafter referred to as an imaging unit I / F) 22, a three-dimensional measurement unit 23, a basic monitoring unit 24, an additional monitoring unit 25, a determination unit 26, a memory 27, and an image. A supply unit 28, a communication control unit 29, two communication interface units (hereinafter referred to as communication I / F) 30, and two connectors 13 are configured.

  Some functions of the monitoring camera 2 are realized by a software program executed by a central processing unit (CPU) mounted on the monitoring camera 2. For example, the three-dimensional measurement unit 23, the basic monitoring unit 24, the additional monitoring unit 25, and the determination unit 26 are realized by a software program. Note that some functions of the monitoring camera 2 may be realized by a digital signal processor (DSP).

  Each imaging unit 21 includes an objective optical system 12 that is an objective lens, and an imaging element 31 such as a CMOS image sensor disposed at an imaging position of the objective optical system 12. Image data obtained by imaging with each imaging element 31 is supplied to the three-dimensional measurement unit 23 and the image supply unit 28 via the imaging unit I / F 22.

  The three-dimensional measurement unit 23 is a distance image generation unit that generates distance image data from two image data. The distance image data is image data in which each pixel value is a distance value from two input image data. The three-dimensional measurement unit 23 generates distance image data. In the distance image, each pixel value may be position information in a three-dimensional space. The three-dimensional measurement unit 23 supplies the generated distance image information to the basic monitoring unit 24 and the additional monitoring unit 25.

The basic monitoring unit 24 is a first monitoring processing unit that executes processing of a basic monitoring function that executes predetermined monitoring processing such as detection of a stopped object based on a distance image.
In the present embodiment, the basic monitoring unit 24 includes a stopped object detection processing unit P1 and an object locus detection processing unit P2 as monitoring processing units for the basic monitoring function. The basic monitoring unit 24 includes a measurement and recording processing unit P3 separately from these monitoring processing units. In the present embodiment, these three processing units P1, P2, and P3 are used as basic monitoring function processing units. However, the basic monitoring function processing is not limited to these, and other processing may be performed by the basic monitoring unit 24. May be included.

  The stop object detection processing unit P1 performs processing for recognizing and detecting a stop object from the distance image obtained by the stereo processing. For example, the stop object detection processing unit P1 determines whether or not the position of the object obtained by recognizing from the distance image is in a state of not moving for a predetermined time or more, and the position of the object is not less than a predetermined time or more When it does not move, an abnormality with a stopped object is detected. The stopped object is, for example, a stopped vehicle, a fallen object on the road, or the like.

  The object trajectory detection processing unit P2 recognizes the object from the distance image, and the trajectory obtained from the change in position (change in position on the road plane) of the object obtained by the recognition matches the predetermined trajectory. A process of detecting whether or not to perform, in other words, whether or not the obtained trajectory does not match the predetermined trajectory is performed. The predetermined trajectory is a trajectory in which the trajectory of the moving object is substantially linear, for example. The trajectory is a change in the position of the recognized object, for example, the position of the center of gravity. A locus of meandering operation in which the amount of movement of the object in the traveling direction is greater than or equal to a predetermined amount is detected as an abnormality that does not match the predetermined locus.

  The measurement and recording processing unit P3 recognizes the object from the distance image, and passes through the imaging area within a predetermined time from the amount of change in the position of each object obtained by the recognition, the speed of each object (for example, the vehicle speed). A measurement process for measuring or recognizing the number of vehicles (that is, the count value), the time and position of entering the monitoring area, the time and position of leaving the monitoring area, attribute data such as color, etc. is performed.

Further, the measurement and recording processing unit P3 generates identification information of the recognized passing vehicle, associates the above-described measurement data with the identification information, and records it in the memory 27 as a storage unit as log data. Includes processing. That is, the measurement and recording processing unit P3 generates identification information of the recognized passing vehicle based on the distance image, and records the identification information and time information about the recognized passing vehicle in the memory 27. The recording processing unit is configured. Here, the log data is stored in the memory 27 from the basic monitoring unit 24 via the determination unit 26. The log data may be recorded by the basic monitoring unit 24 directly in the memory 27.
The additional monitoring unit 25 is a second monitoring processing unit that executes processing of an additional monitoring function different from the monitoring processing of the basic monitoring unit 24. Specifically, the additional monitoring unit 25 includes a plurality of additional processing units Q1, Q2, and the like for performing processing such as abnormality processing according to the content of the abnormality and command response processing according to the command from the center device 4. Q3, ... includes Qm (m is an integer). In FIG. 4, the additional processing units Q1 and Q2 are processing units to be executed when it is determined that there is an abnormality, and the additional processing units Q3 to Qm are processing units for command response processing.

  The abnormality process is a process selected and executed by the determination unit 26 in accordance with the content of the abnormality detected by the basic monitoring unit 24. An additional processing unit that is executed when an abnormality is detected in the basic monitoring unit 24 is included in the additional monitoring unit 25 as a processing unit at the time of abnormality.

  For example, the additional processing unit Q1 corresponding to the detection of the stopped object determines whether the stopped object is a vehicle or a person based on the still image data. It detects the direction (that is, whether it is facing parallel or oblique to the road direction), the size, the number of vehicles, and so on. It is a processing unit that detects the number of persons (whether they are lying (falling down), standing on the road, etc.), the number of people, and so on. The size of the stop object can be calculated or estimated from the distance image data, and further, it can be determined from the shape information whether the stop object is a person.

  Further, the additional processing unit Q2 corresponding to the case where the locus of the object does not match the predetermined locus changes the lane based on moving image data (that is, a plurality of frame data) in the RAM 28a described later or log data stored in the memory 27. Whether the object is a deceleration or an object separation. Lane change can be determined by detecting vehicle escape, meandering, rotation (spinning), contact (contact with walls, contact between vehicles), and the like. Deceleration can be determined based on log data.

Furthermore, the presence or absence of an object separated from the vehicle can be detected from the locus of the object. Therefore, it is possible to detect separation and determine the size of the fallen object and whether or not the fallen object is a person, so whether the load has fallen from the vehicle, the motorcycle has fallen and the person has been thrown out. It is possible to detect whether the person gets off the vehicle or the moving direction of the person getting off the vehicle.
As described above, the additional monitoring unit 25 is configured to be executable based on the processing result of the basic monitoring unit 24.

  The command response processing in the additional monitoring unit 25 is specified and executed by the determination unit 26 or the like according to commands from the center device 4 such as a log data transmission command, a person detection command, and an image transmission command. It is processing. An additional processing unit that is executed in response to the command is included in the additional monitoring unit 25. A command from the center device 4 is supplied to the determination unit 26 and the image processing unit 28 via the communication control unit 29. The additional monitoring unit 25 executes monitoring processing based on the distance image based on the command.

  For example, in the log data transmission process Q3 corresponding to the log data transmission command, when the command from the center device 4 is a command for instructing transmission of log data, the log stored in the memory 27 designated by the command This is a process of reading and transmitting data. The human detection process Q4 corresponding to the human detection command is executed in the same manner when the command from the center device 4 is a command for instructing human detection, detects a human from the captured image, and detects the detection result as the center. This is a process of transmitting to the device 4. Since the image data of the monitoring camera 2 is distance data, a person can be accurately detected.

In the image transmission process Q5 corresponding to the image transmission command, when the command from the center device 4 is a command for instructing transmission of image data, the communication control unit 29 reads the image data from the image supply unit 28, and the monitoring camera 2 This is a process for transmitting the image data obtained by imaging with. There are a plurality of types of commands from the center device 4, and there are also commands in which one command causes a plurality of additional processes to be executed. Therefore, the additional monitoring unit 25 is necessary to execute a process corresponding to the command. Including a large number of processing units.
There are two types of commands from the center device 4, that is, global commands for all monitoring cameras 2 and commands for specific monitoring cameras 2.
As described above, the additional monitoring unit 25 is configured to be executable based on the processing result of the basic monitoring unit 24 and to be executable according to the command from the center device 4.

  The determination unit 26 performs a rule-based determination process based on the detection results or determination results from the basic monitoring unit 24 and the additional monitoring unit 25, and from among a plurality of processing units included in the necessary additional monitoring unit 25. The processing unit to be executed is selected and executed according to the rule. Further, the determination unit 26 performs processing for selecting and executing a processing unit to be executed from among a plurality of additional processing units in the additional monitoring unit 25 according to the content of the command from the center device 4.

  Specifically, when an abnormality is detected by the basic monitoring unit 24, the determination unit 26 executes an additional analysis process, an execution instruction process for an abnormality handling process, a notification process, and an image transmission process as described later. Further, when receiving a command from the center device 4, the determination unit 26 analyzes the content of the command, and executes a process corresponding to the command by a corresponding additional processing unit in the additional monitoring unit 25.

  In addition, since the processing content of the determination unit 26 is determined on a rule basis, the determination unit 26 includes reference data and determination rules for determination by rules. The reference data and the determination rule may be described in the program of the determination unit 26 or may be stored in the memory 27. By changing the reference data and the determination rule, the processing contents in the basic monitoring unit 24 and the additional monitoring unit 25 that the determination unit 26 instructs to execute can be changed. Furthermore, the determination unit 26 can also perform determination using log data stored in the memory 27. Details of the abnormality processing and command processing of the determination unit 26 will be described later.

  The memory 27 is a storage unit that stores the log data described above. The structure of log data stored in the memory 27 will be described later.

The image supply unit 28 includes a RAM 28 a that can store the latest plural frames of image data from at least one of the image data obtained by imaging by the two imaging units 21. One or more pieces of image data stored in the RAM 28 a of the image supply unit 28 can be read out by the determination unit 26. As will be described later, one or more pieces of image data stored in the RAM 28a are transmitted to the center device 4 according to a command from the center device 4 or according to an instruction from the determination unit 26. A control unit for communicating with the center device 4 and the other monitoring cameras 2 via the communication cable 3 connected in a daisy chain. In particular, the communication control unit 29 constitutes a command receiving unit that receives commands from the center device 4. In this embodiment, when the image data transmission command is received from the center device 4, the communication control unit 29 reads the image data from the image supply unit 28 and transmits it to the center device 4. 26 may interpret the command, read the image data from the RAM 28a, and transmit the image data to the center device 4.
The two communication I / Fs 30 are interfaces between the communication control unit 29 and the connector 13.

(Basic monitoring processing for surveillance cameras)
Next, the basic monitoring process will be described.
FIG. 5 is a flowchart illustrating an example of the flow of basic monitoring processing. In the present embodiment, as described above, the processing of the basic monitoring unit 24 is executed as a partial function of a program executed by the CPU.

  Distance image data is acquired from the three-dimensional measurement unit 23 (S1). Based on the distance image data, the stop object detection processing unit P1 and the object trajectory detection processing unit P2 in the basic monitoring unit 24 are executed as basic monitoring processing (S2).

  The stop object detection processing unit P1 recognizes an object other than the background, and detects a stop object based on whether there is a change in the position of the object between frames. An object having a three-dimensional shape greater than or equal to a predetermined size is selected as a stop object detection target. Since the stop object is detected based on the distance image data, the volume of the object can be detected, and the stop object to be detected can be accurately recognized and detected.

  The object locus detection processing unit P2 detects the recognized object locus from the position information of the object between frames, and detects or determines whether the locus matches a predetermined locus.

Since the locus is also detected based on the distance image data, the locus of the object can be accurately detected and determined.
Next, a log data recording process is executed (S3). This process is executed by the above-described measurement and recording processing unit P3.

Then, the determination unit 26 determines whether an abnormality is detected in any of the stop object detection processing unit P1 and the object locus detection processing unit P2 (S4), and if there is no abnormality (S4). : NO), the process ends, and if there is an abnormality (S4: YES), the abnormality process is executed (S5).
Note that the processing in FIG. 5 is always repeated while the surveillance camera 2 is operating.

(Command processing in surveillance camera)
Next, command processing will be described. FIG. 6 is a flowchart illustrating an example of the flow of command processing.
The monitoring camera 2 determines whether a command from the center device 4 has been received (S11). The command is received by the determination unit 26 via the communication control unit 29. When no command is received (S11: NO), the process ends. When a command is received (S11: YES), the received command is analyzed, that is, the content of the command is determined (S12).

  The determination unit 26 selects a processing unit corresponding to the command from the additional monitoring unit 25 and executes the processing (S13). For example, if the command is a log data transmission request command, the determination unit 26 selects the processing unit Q3 corresponding to the command from the additional monitoring unit 25 and reads the specified log data from the memory 27. To the center device 4. If the command is a human detection command for performing human detection processing, the processing unit Q4 corresponding to the command is selected from the additional monitoring unit 25, and processing for detecting a person from the image data is executed.

  As a result of processing corresponding to the command, it is determined whether or not any abnormality is detected (S14). If there is no abnormality such as a person detected (S14: NO), information indicating that there was no abnormality is transmitted. Response processing to the center apparatus 4 is executed (S16), and the processing is terminated. If there is an abnormality (S14: YES), the abnormality processing is executed (S14: YES). S16).

(Abnormal processing in surveillance cameras)
Next, the abnormality process will be described. FIG. 7 is a flowchart showing an example of the flow of abnormality processing in FIGS. 5 and 6.
The content of the processing to be executed according to the content of the abnormality detected in the basic monitoring processing or the additional monitoring processing is set in advance on a rule basis. The determination unit 26 executes the process shown in FIG. 7 according to the contents of the predetermined rule base.
When an abnormality is detected, the determination unit 26 refers to the rule base and determines the processing content (S21).

  Then, the determination unit 26 executes an execution instruction process (S22) of an abnormality handling process, an additional analysis process (S23), a notification process (S24), and an image transmission process (S25) according to the determined processing content. These four processes are executed in parallel with each other, and the contents determined in the process content determination process (S21) are executed. Since the content of the process is set in advance on a rule basis, depending on the content of the abnormality, it may be determined not to execute all four processes in the process content determination process (S21).

  The execution instruction process (S22) of the abnormality handling process is performed from the monitoring camera 2 to other equipment such as broadcasting equipment installed in the tunnel, information display panel installed at the entrance of the tunnel, without going through the center device 4. This process directly gives an instruction to operate. When other equipment is connected on the Ethernet (registered trademark) communication formed by the communication cable 3, the monitoring camera 2 can communicate with the other equipment.

  For example, if there is a broadcast facility and an information display panel as communicable facilities connected to the same Ethernet (registered trademark) as the communication cable 3, the execution instruction process (S22) of the abnormality handling process is performed for the broadcast facility or the like. Processing such as transmission of a predetermined voice output instruction command to the control device.

  In FIG. 1, a facility control device 41 is connected to Ethernet (registered trademark) and can receive commands from the monitoring camera 2. In this case, when a certain monitoring camera 2 (k) transmits a predetermined command to the control device 41 according to the execution instruction process (S22) of the abnormality handling process, the equipment executes the operation specified in the command. . Therefore, since a desired operation instruction can be issued directly from the monitoring camera 2 to the equipment, it is possible to quickly cope with an abnormality.

  Further, the execution instruction process (S22) of the abnormality handling process includes command transmission to another monitoring camera 2. For example, when a avoiding vehicle is detected, the speed and trajectory data of the avoiding vehicle are sent to another monitoring camera 2 (adjacent monitoring camera or several monitoring cameras ahead) in the traveling direction of the vehicle. A command for executing processing to be transmitted to the center device 4 is transmitted. Thereby, the center apparatus 4 can monitor rapidly the driving state of the detected avoidance vehicle.

  As described above, the execution instruction process (S22) of the abnormality handling process is performed according to the type of the predetermined abnormality that has occurred, when the processing result of the basic monitoring unit is a determination that there is a predetermined abnormality. An execution command transmission processing unit is configured to transmit a command for a predetermined operation or a command for instructing another monitoring camera 2 to execute a predetermined process to a predetermined facility or another monitoring camera 2.

The additional analysis process (S23) is a process of the additional processing unit in the additional monitoring unit 25 described above. Therefore, additional analysis according to the content of the abnormality can be performed.
The notification process (S24) is a process of transmitting predetermined information such as predetermined data and a message corresponding to the detected abnormality to the center device 4. For example, when the determination unit 26 executes a process of determining the risk level from the content of the abnormality, information on the risk level is also transmitted to the center device 4.

The image transmission process (S25) is a process in which the monitoring camera 2 that has detected an abnormality reads predetermined image data from the image supply unit 28 and transmits it to the center device 4.
After the additional analysis process (S23) is executed, a predetermined determination process is executed (S26).

  As described above, the contents of the processing from S22 to S26 are determined on a rule basis and differ depending on the contents of the abnormality. When these processes are executed, it is determined whether or not the detected abnormality is terminated (S27).

  If the abnormality is not terminated (S27: NO), the process returns to S21. If the abnormality is terminated (S27: YES), the termination process is executed (S28), and the process ends.

  For example, when the stop object detection processing unit P1 of the basic monitoring unit 24 detects an abnormality with the presence of a stopped object, the determination unit 26 uses a predetermined additional processing unit Q1 corresponding to the detection of the stopped object. This is executed as additional analysis processing (S23). At the same time, the determination unit 26 transmits a command so as to display a message such as “There is a stopped vehicle in tunnel” to the control device of the information display panel in the execution instruction process (S22) of the abnormality handling process. . Furthermore, the determination unit 26 transmits a message indicating that a stopped vehicle has been detected to the center device 4 in the notification process (S24). Further, the determination unit 26 transmits the image data of the stopped object to the center device 4 in the image transmission process (S25).

  The determination process (S26) is a process based on the process result of the additional analysis process (S23), and executes a process according to the process result of the additional processing unit Q1. Therefore, for example, when a person is detected by the additional processing unit Q1, the determination unit 26 detects an abnormality that a person has been detected.

  If the abnormality has not ended, the process returns to the process content determination process (S21). Then, the determination unit 26 again adds the abnormality detected by the additional analysis processing, determines the processing content, and executes the processing from S22 to S25.

  For example, when a person is detected in the additional processing unit Q1, in the execution instruction process (S22) of the abnormality handling process, a voice message such as “Please pay attention to other vehicles” is sent to the control device of the broadcast facility. Send a command to broadcast the message in the tunnel.

  As another example, when the object trajectory detection processing unit P2 of the basic monitoring unit 24 determines that the object trajectory is not the predetermined trajectory, the determination unit 26 determines that the object trajectory does not match the predetermined trajectory. The additional processing unit Q2 corresponding to is executed as additional analysis processing, and determination processing (S26) based on the result of the additional processing unit Q2 is executed.

  In the termination process (S28), since the abnormal state is no longer detected, a transmission process of a message indicating that the abnormal state has ended to the center device 4 and a command to terminate the operation based on the command transmitted to other equipment Transmission processing, etc. are executed.

  As described above, the monitoring camera 2 includes the basic monitoring unit 24 and the additional monitoring unit 25, and normally executes the processing of the basic monitoring unit 24, and when an abnormality is detected in the basic monitoring unit 24, or When a command is received from the center apparatus 4, a processing unit set in advance on a rule basis is executed.

(Abnormal processing in center equipment)
A monitor in the monitoring room monitors traffic conditions in the tunnel while viewing information, images, and the like displayed on the monitor 6. As described above, the monitor can specify a specific monitoring camera 2 and execute a desired process to control the monitoring camera 2. And the center apparatus 4 receives the various information from the some monitoring camera 2, and when abnormality is detected, performs a predetermined | prescribed process.

FIG. 8 is a flowchart showing an example of the flow of abnormality processing in the center device 4. The processing in FIG. 8 is executed by the CPU of the center device 4.
The center device 4 obtains information from the individual cameras (S31), determines the situation based on a predetermined standard, and determines the processing content according to the determination result (S32).

  Predetermined reference data for determining the situation is stored in the reference data storage unit 5 a of the storage device 5. In addition, processing content data to be executed according to the determined situation is also stored in the processing content data storage unit 5 b in the storage device 5.

  The CPU of the center apparatus 5 determines whether or not there is an abnormality as a result of the situation determination in S32 (S33). If there is no abnormality (S33: NO), the process returns to S31. If there is an abnormality (S33: YES), the center device 4 executes an abnormality handling process execution instruction process (S34), a warning screen display process (S35), and an operation input confirmation process (S36). These three processes are executed in parallel with each other and execute the contents determined in S32. The process of S31 constitutes a camera information receiving unit that receives the distance image data from the monitoring camera 2 and the vehicle identification information recognized based on the distance image data.

  The abnormality response process execution instruction process (S34) includes, for example, a process for giving an instruction to equipment connected to the center apparatus 4, for example, an information display panel installed at the entrance of a tunnel, and a command instruction to a specific monitoring camera 2. Transmission processing, etc.

  For example, when the object trajectory detection processing unit P2 of the basic monitoring unit 24 determines that the object trajectory is not a predetermined trajectory, when the information is obtained, a predetermined message such as “attention to travel” is displayed on the information display panel. Is sent to the information display panel. As a result, the driver of another vehicle can keep driving more carefully. When the transmission of such a command is set to be automatically performed in advance, the monitoring staff does not particularly need to perform an instruction operation to the information display panel. The setting is stored in the processing content data storage unit 5b.

Through the execution instruction process (S34) of the abnormality handling process, the center device 4 can transmit a command for transmitting image data to, for example, another specific monitoring camera 2. As a result, an image of a place where a vehicle that does not conform to the predetermined trajectory is assumed to pass thereafter is displayed on the monitor 6, so that the monitor passes the front of the monitoring camera 2. Can be confirmed by looking at the driving situation when passing.
As described above, it is possible to realize automation of a predetermined process at the time of abnormality by the process of the abnormality handling process execution instruction process (S34).

  The warning screen display process (S35) is a process for displaying a predetermined message on the screen of the monitor 6 as shown in FIG. By this warning screen display process (S35), for example, when a certain abnormality occurs, a message indicating a corresponding operation method such as “Please operate” is displayed, that is, an advice message is displayed. The monitor can be made to perform a predetermined operation by seeing the message display. Which message is displayed in what order according to the abnormality that has occurred is stored in advance in the processing content data storage unit 5b.

  The operation input confirmation process (S36) is a process for confirming whether or not the operation instructed by the warning screen display process (S35) has been appropriately performed. For example, it is determined whether or not the operations to be operated in a predetermined order are correctly performed in the predetermined order. When the operation contents and the order are not appropriate, the operation input confirmation process (S36) Display on the monitor 6.

  That is, when the center device 4 receives a notification of a predetermined abnormality from the determination unit 26 of any of the monitoring cameras 2, the center device 4 displays a message indicating a predetermined operation content on the display device, and operates the predetermined operation content. An operation input confirmation process is executed for monitoring the input and confirming whether a predetermined operation content has been input.

  As a result of the processing of S34 to S36, comprehensive determination is performed (S37). Data after the occurrence of an abnormality, that is, history data is recorded in the storage device 5. The reference for comprehensive determination is also stored in the reference data storage unit 5 a of the storage device 5. In the comprehensive determination process (S37), based on the circumstances after the occurrence of the abnormality, a predetermined process is executed, and the occurrence of the abnormality is eliminated, and it is determined whether or not the abnormality has ended.

  After the comprehensive determination process (S37), it is determined whether or not the abnormality has ended. If the abnormality has not ended (S38: NO), the process returns to S31, and if the abnormality has ended (S38: YES), a termination process is executed (S39), and the process ends.

  Therefore, the center device 4 determines an abnormality based on information from each monitoring camera 2, executes a process corresponding to the abnormality, displays a predetermined message on the screen of the monitor 6, and It is confirmed whether or not a predetermined operation corresponding to the abnormality has been correctly performed. Therefore, when an abnormality occurs, it is not necessary for the monitoring staff to check the details of the abnormality and perform all the processing for the necessary equipment, and since the operation contents are displayed as guidance, it is possible to respond quickly. Operation mistakes can also be prevented.

(Monitoring screen)
FIG. 9 is a diagram illustrating an example of a monitoring screen displayed on the monitor 6. In the screen 51 of the monitor 6, a display unit 52 for displaying a schematic diagram of the tunnel to be monitored, a display unit 53 for the number of vehicles entering and exiting each entrance and exit, a display unit 54 for monitoring images, a tunnel And a display unit 55 for displaying the number of vehicles existing in the vehicle.

In the display section 52, characters “.. direction” indicating the destination are also displayed in the vicinity of each doorway in the schematic diagram of the tunnel.
The display unit 53 is arranged in the vicinity of each doorway in the schematic diagram of the tunnel, and displays the number of vehicles entering and exiting in real time. The number is, for example, the cumulative number from midnight when the date starts.

  The display unit 54 acquires a captured image from a specific monitoring camera 2 selected from the plurality of monitoring cameras 2 and displays the acquired image. As described above, the monitoring staff operates the center device 4 to select the monitoring camera 2 at the location to be monitored, and transmits the image transmission command to the monitoring camera 2, whereby the monitoring camera 2 is displayed on the display unit 54. It is also possible to display the image.

  The display unit 55 displays the number of vehicles existing in the tunnel at that time in real time. For example, the monitoring cameras 2 (1) and 2 (n) always transmit information on the number of recognized vehicles that have entered the tunnel and the number of vehicles that have exited for each of the up and down lanes. The center device 4 can display the number of vehicles present in the tunnel by calculating the difference between the vehicles exiting from the vehicles entering for each of the descending and the descending vehicles.

  The screen of FIG. 9 is always displayed on the monitor 6, and the above-mentioned advice message and the like are displayed on the screen of FIG.

  FIG. 10 is a flowchart illustrating an example of the flow of the display process of the screen of FIG. The center device 4 acquires information on the number of vehicles that have entered and the number of vehicles that have exited from a specific surveillance camera 2, for example, surveillance cameras 2 (1) and 2 (n), and executes a predetermined calculation (S41). The predetermined calculation is a calculation for displaying the number of the display units 53 and 55 described above.

  And the center apparatus 4 acquires the image data from the specific surveillance camera 2 (S42), and updates the screen data of FIG. 9 based on the information obtained in S41 and S42 (S43). As a result, the contents of the screen 51 displayed on the monitor 6 are displayed in real time.

(Log data)
Log data is stored in the memory 27 of each surveillance camera 2 as described above. The measurement and recording processing unit P3 assigns an identifier to each object obtained by recognition based on the distance image obtained by the three-dimensional measurement unit 23, and acquires each data shown in FIG. Obtained by calculation and stored in the memory 27.
Since the memory 27 has a limited capacity, the oldest data is erased when new data is recorded. In the memory 27, for example, data for several tens of hours in the past is stored.

FIG. 11 is a diagram illustrating a data structure of log data. The log data in FIG. 11 is data that is generated and stored every time the monitoring camera 2 goes up and down.
FIG. 11 shows log data of the upstream lane of the identification number of the monitoring camera 2 (shown as monitoring camera 2 (k) in FIG. 11). The log data 61 includes the camera identification number (camera # (up)), vehicle ID, time (on), time (out), multiple attributes of the object, speed, and when entering the monitoring area separately for ascending and descending. It includes data such as the position (on), the position (out) when exiting from the monitoring area, and the trajectory within the monitoring area.

  Since the vehicle ID is assigned to each surveillance camera 2, it is a so-called local ID. Time (on) and time (out) are the times when the recognized object enters and exits the monitoring area, and are time data in milliseconds. The attribute is, for example, data such as the color, volume, height, and shape of the recognized object. The volume, height, shape, and the like are calculated based on the distance image data. The speed is data calculated by calculation from a change in the position of an object traveling in the monitoring area.

The position (on) and the position (out) are positions within the monitoring area. For example, on the XY plane of the monitoring area, the position when the object enters the monitoring area and when the object leaves the monitoring area This is the position data. The trajectory is trajectory data indicating changes in the position of the recognized object on the XY plane of the monitoring area, such as the head position and the center of gravity position.
Data other than the data shown in FIG. 11 may also be stored in the memory 27 as log data.

  As described above, the log data 61 in the memory 27 is generated for each vehicle, but is local ID data. The center device 4 can collect log data from all or some of the monitoring cameras 2.

  The center device 4 uses the time (on), time (out), position (on), and position (out) data in the log data collected from each monitoring camera 2 to use a plurality of vehicles from each monitoring camera 2. A process of associating IDs with each other can be performed.

  FIG. 12 is a diagram for explaining association of vehicle IDs in the center device 4. In FIG. 12, the imaging ranges of the continuous monitoring cameras 2 (k) to 2 (k + 4) are shown as PA (k) to PA (k + 4). As described above, the shooting ranges PA (indicated by dotted lines) of the adjacent monitoring cameras 2 overlap.

  In the imaging range PA, a monitoring area MR for acquiring data of time (on), time (out), position (on) and position (out) in the log data is set. In FIG. 12, monitoring areas MR (k) to MR (k + 4) are set in the imaging ranges PA (k) to PA (k + 4), respectively. The monitoring areas MR of adjacent monitoring cameras 2 are set so as to contact each other. This setting is performed, for example, based on the captured image from each monitoring camera 2 after the monitoring camera 2 is installed in the tunnel 101. Therefore, the position on the line (hereinafter referred to as the boundary line) TL where two monitoring regions MR of adjacent monitoring cameras 2 are in contact with each other can be associated between the two monitoring regions MR.

  Then, the center device 4 stores in advance in the storage device 5 the related information of the position on the boundary line TL between the adjacent monitoring cameras 2. The related information of the position is stored in the related information storage unit 5 c of the storage device 5. The related information is, for example, a conversion formula for the positions of the two monitoring regions MR on the boundary line TL, and is generated for all the boundary lines TL and stored in the related information storage unit 5c. Based on the position related information, the center device 4 determines whether the position on the boundary line TL viewed from one of the two adjacent monitoring regions MR and the position on the same boundary line TL viewed from the other are the same position. Can be determined.

  In FIG. 12, the trajectory of a certain vehicle in each of the up and down directions is indicated by dotted lines. The position P1 of the vehicle exiting from the monitoring area MR (k) and the position P2 of the vehicle exiting from the adjacent monitoring area MR (k) are obtained from the respective monitoring cameras 2 (k) and 2 (k + 1). Therefore, the time (out) recorded by the monitoring camera 2 (k) matches the time (on) recorded by the monitoring camera 2 (k + 1), and the position (out) recorded by the monitoring camera 2 (k) is monitored. When the recorded positions (input) of the cameras 2 (k + 1) match, the log data generated separately by the two monitoring cameras 2 are determined as log data for the same vehicle.

  For this purpose, the center device 4 has related information for associating the positions of the monitoring cameras in the area monitored by the plurality of monitoring cameras 2, and vehicle identification information generated by the plurality of monitoring cameras based on the related information. An association processing unit for performing a process of associating

  As a result, the two log data having the vehicle ID of the local ID generated separately in each monitoring camera 2 can be determined to be of the same vehicle, and can be collected as log data of one vehicle ID. In other words, the vehicle ID can be converted into a global ID.

  Since the log data includes various attribute data, the attribute data may be used as confirmation data when determining a plurality of log data as log data for the same vehicle.

  The center device 4 collects log data of all the monitoring cameras 2 and performs such processing, thereby generating data on the traveling state on the road from the entrance to the exit of the tunnel for all the vehicles. Obtainable. The data is travel history data in the tunnel of each vehicle.

  Therefore, immediately after an event such as an accident occurs, the center apparatus 4 transmits a log data transmission command for transmitting log data to all the monitoring cameras 2, and collects log data of all the monitoring cameras 2. Thus, the travel history data of each vehicle as described above is generated. The generated traveling history data of each vehicle indicates the traveling state of the vehicle related to the accident immediately after the accident, and thus is effective information for those who investigate the cause of the accident.

  In FIG. 12, the monitoring areas MR of adjacent monitoring cameras 2 are set so as to be in contact with each other, but may not overlap or completely contact with each other. In the case of overlapping, it is possible to associate two pieces of log data by associating positional information of overlapping areas. Further, when the monitoring areas MR of the adjacent monitoring cameras 2 are not in contact with each other, two log data can be associated by performing time and position estimation processing according to the distance between them.

(Status display in tunnel)
The traffic vehicle monitoring system 1 can further display the status of a desired monitoring location in detail on the monitor 6 of the center device 4 as a status display screen.
A place as shown in FIG. 13 will be described as an example. FIG. 13 is a diagram showing the surroundings of a certain monitoring place in the tunnel and the state of the equipment. For example, in a certain part 111 in the tunnel 101 which is a building structure, two ventilation fans 112 are attached to the ceiling surface. It is assumed that there is a refuge facility 116. On the road surface 103, a white line 117 as a road center line is drawn.

  Then, for example, the monitoring camera 2 detects a stop object at the portion 111 in the tunnel 101, and the monitoring person in the monitoring room may want to know detailed information on the location in response to the abnormality report.

  In such a case, the monitor uses the input device such as the keyboard and the mouse of the center device 4 to perform a predetermined operation for instructing the display of the status display screen, thereby causing the monitor 6 to display as shown in FIG. It is possible to display information around the site. Or the center apparatus 4 receives the report of the abnormality from the monitoring camera 2, and according to the content of the report, a status display screen is automatically generated. In other words, the status display screen is synthesized each time according to an instruction from the monitoring person or based on an abnormality report from the monitoring camera 2.

  FIG. 14 is a diagram showing an example of a status display screen that displays information around the site. As shown in FIG. 14, on the screen 71 of the monitor 6, a tunnel graphic 111A (indicated by a dotted line) corresponding to the above-mentioned portion 111 is displayed as a three-dimensional image, and at each corresponding position of the tunnel graphic 111A, A ventilation fan graphic 112A, an evacuation passage graphic 113A, an evacuation exit graphic 114A, a telephone facility graphic 115A, a shelter facility graphic 116A, and a white line graphic 117A (shown by dotted lines) are displayed as a three-dimensional image. Further, a vehicle figure 118A which is a stop object is also displayed.

Information for displaying these figures is stored in the storage device 5 in advance. Specifically, since the tunnel 101 is a building structure, and its design or construction data is created at the time of design or construction, the graphic information based on the structural information such as its shape is the design or construction of these. It is previously extracted or selected from the data, and is stored in the building structure display information storage unit 5f of the storage device 5 as image information of the building structure.
The building structure display information storage unit 5f further stores facility information around the tunnel 101, such as image information of water pipes and gas pipes, and image information of evacuation routes.

Therefore, the building structure display information storage unit 5f stores image information of the shape and structure of the tunnel 101, image information of peripheral facilities, and attribute information thereof.
Further, the display image of the equipment related to the tunnel 101 is stored in advance in the equipment display information storage unit 5 d of the storage device 5.

  The building structure display information storage unit 5f and the facility display information storage unit 5d store the information of each display image in CAD data such as shape, structure, and dimensions, or in the three-dimensional data format of CG data. Yes.

  Further, the display image related to the vehicle is also stored in advance in the vehicle display information storage unit 5 e of the storage device 5. Here, the vehicle display information storage unit 5e stores a vehicle display image corresponding to the detected vehicle type.

  In FIG. 14, information display portions D1 to D7 as information display images for displaying information of the tunnel 101, facilities 112 to 117, and the like are displayed in association with the respective figures 111A to 117A by respective lead lines dl. . For example, the information display units D2 to D7 display the character information such as the name and state of the equipment associated with the lead line dl. For example, regarding the ventilation fan 112, an information display unit D2 including characters of “ventilation fan: ON” is displayed in association with the lead line dl from the ventilation fan figure 112A.

  Here, the graphic information of the white line graphic 117A is stored in the facility information storage unit 5d as one of the facilities, but is stored in the building structure display information storage unit 5f as an accessory to the tunnel 101. Also good.

For equipment such as the ventilating fan 112 and the evacuation exit 114, the operation status information is obtained from the equipment management device 7, and operations such as “on”, “off”, “locking”, “unlocking” of the door, etc. The state is displayed on the information display unit.
As described above, each of the information display units D2 to D7 is an information display image that displays information related to the facility displayed on the monitor 6 in association with the display image of the facility displayed on the monitor 6.

  In addition, a vehicle graphic 118 </ b> A is also displayed on the screen 51 as a stop object. The surveillance camera 2 that has detected the stopped object determines that the stopped object is a vehicle by the additional processing unit Q1 described above. Information on the determination result is transmitted to the center device 4 by the notification process (S24) of the monitoring camera 2. Therefore, the center device 4 can display a display image of the vehicle as a stop object on the screen 71 based on the information obtained by the notification process.

  For example, the additional processing unit Q1 discriminates three types of “small vehicle”, “medium size vehicle”, and “large vehicle” according to the size of the vehicle from the distance image by the monitoring camera 2, and the center device 4 is notified by the notification process. , Vehicle type information is conveyed. The vehicle display information storage unit 5e stores data such as three types of vehicle shapes in advance. Therefore, the center device 4 can read the vehicle graphic data corresponding to the type and display it on the screen 71.

  Here, the additional processing unit Q1 recognizes not only the position of the vehicle but also the type and color of the vehicle from the data of the distance image of the vehicle, and transmits the recognition information to the center device 4. As a result, FIG. As shown, the center device 4 displays information of “small vehicle, white” on the information display unit D8 from the recognition information. Therefore, the observer can grasp the surrounding situation by looking at a diagram as shown in FIG. 14 and that the stopped object is a “white small vehicle”.

  FIG. 15 is a block diagram showing a configuration of software processing for generating the display image of FIG. The status display screen generation processing shown in FIG. 15 is processing of a software program stored in the storage device 5 that is executed by the CPU of the center device 4.

  The situation display screen generation processing program includes an image generation control unit 121, a display information collection unit 122, a display effect unit 123, a display image generation unit 124, and a live-action image preprocessing and synthesis processing unit 125. Has been. The status display screen generation processing program is executed based on a display instruction command DC from the monitoring staff or an abnormality report from the monitoring camera 2.

When the monitoring person gives the display instruction command DC of the status display screen 71 of FIG. 14 to the center device 4, or the center device 4 automatically issues the display instruction command DC of the status display screen 71 based on the information from the monitoring camera 2. Then, the image generation control unit 121 receives the display instruction command DC. The display instruction command DC includes display position information DP, display form information DS, monitoring camera information MC obtained by the monitoring camera 2 such as stop object information, and the like.
The display position information DP is information on the position of a stopped object in the tunnel 101, for example.

  The display form information DS is information on the form in which the image of the place specified by the display position information DP is displayed. The display form information DS is information such as the viewpoint position of each display image, the presence / absence of highlighting, and the like, for example. For example, the highlighted information is information such as blinking a specific facility or displaying it with a highlight.

  The display instruction command DC is a command corresponding to the cause (detection of a stopped vehicle or the like), and the image generation control unit 121 generates display form information DS corresponding to the command, that is, corresponding to the cause.

The monitoring camera information MC includes information on whether the stopped object is a vehicle or a person, information on the type of vehicle, information on a change in the position of the vehicle (that is, information on a flow line or a trajectory), Information on whether or not there is, attribute information such as the color of the recognized object, and the like.
Based on the received display position information DP, display form information DS, and monitoring camera information MC, the image generation control unit 121 first collects display images necessary for displaying the status display screen 71 in the display information collection unit 122. Instruct.

  Based on the display position information DP, the display form information DS, and the monitoring camera information MC, the display information collection unit 122 displays the display image to be displayed in the status display screen 71 and information on the information display unit (hereinafter referred to as parts information). collect.

  Note that the part information display image is three-dimensional data to be displayed as a three-dimensional image as described above, but may be information including a combination of two-dimensional images. When the part information display image is information of a combination of two-dimensional images, the finally displayed images of facilities, vehicles, and the like are images that are stereoscopically viewed by combining a plurality of two-dimensional images.

  The facility display information storage unit 5d of the storage device 5 includes a display graphic information storage unit for each facility, such as a ventilation fan display graphic information storage unit 5d1 and an escape passage graphic information storage unit 5d2. Each of the display graphic information storage units 5d1, 5d2,... Includes information such as the installation position, shape, attribute, and the like in the tunnel 101 of each facility. As will be described later, the attribute information includes the name of the facility.

  Therefore, the display information collection unit 122 collects part information related to the equipment included in the range to be displayed from the equipment display information storage unit 5d based on the display position information DP and the display form information DS. For example, the display form information DS is viewed from a predetermined viewpoint position (for example, from the viewpoint position obliquely from the upper left front) including a predetermined range (for example, a range of 20 m before and after) including the position indicated by the display position information DP. Suppose that the status indicates that it is displayed. In that case, the display information collection unit 122 collects part information about the equipment existing within the predetermined range from the equipment display information storage unit 5d of the storage device 5.

  The display image information storage unit 5d further includes a storage unit that stores information on the operation state of the facility from the facility management apparatus 7 in association with each facility. Therefore, the display information collecting unit 122 can collect information on the operating state of the equipment to be displayed.

  Further, the display information collection unit 122 collects display image data corresponding to the type of the vehicle from the vehicle display information storage unit 5e based on the monitoring camera information MC. As described above, when the monitoring camera 2 determines that the stop object is a vehicle and a small vehicle, the display information collection unit 122 uses the information to display display image data for the small vehicle. collect.

Then, the display information collecting unit 122 supplies part information for displaying the status display screen 71 in the display form as shown in FIG.
Based on the display form information DS from the image generation control part 121, the display effect part 123 determines the display form of the display image for each collected part information.

  As described above, since the display instruction command DC is a command corresponding to the cause of the occurrence, for example, when the image generation control unit 121 receives a command caused by a fire, the building structure display information is displayed. Information such as the gas pipe and the evacuation route in the portion 111 is obtained from the storage unit 5 f and supplied to the display effect unit 123.

  The display effect unit 123 supplies part information collected by the display information collecting unit 122 to the display image generating unit 124 together with information on an effect method such as highlighting, that is, how to display an image.

  The display image generating unit 124 displays the status display screen 71 on the monitor 6 using the structure information of the portion 111 of the tunnel 101, each part information, and information on the production method from the building structure display information storage unit 5f. Then, the image of the portion 111 of the tunnel 101, the display image of each facility, and the display image of the vehicle are reconstructed.

  The display image generation unit 124 outputs the image data of each of the graphics 111A to 118A obtained as a result of the reconstruction to the monitor 6.

  In the production method determined by the display production unit 123, when the stop vehicle is instructed to use the live-action video, the display image generation unit 124 obtains the image data from the monitoring camera 2 and displays the pre-production image. The vehicle graphic 118A is generated using the vehicle image data processed by the processing and synthesis processing unit 125.

  In this case, an image of a shadow part that is not in the actual image is generated by duplicating the captured image, or the actually captured image is transformed into a shape viewed from the viewpoint position, etc. Synthesis processing such as pre-processing, generation, and pasting is performed in the pre-processing and synthesis processing unit 125 of the live-action video.

  In addition, you may acquire the real image of a vehicle not only from the one monitoring camera 2 but from the some monitoring camera 2. FIG. By doing so, the vehicle figure is generated by combining the captured images from the plurality of monitoring cameras 2. That is, the display image of the vehicle is generated using the data of the photographed image from at least one surveillance camera.

  The pre-processing and composition processing unit 125 for the photographed image is a processing unit that obtains image data from the surveillance camera 2 and generates vehicle image data to be displayed on the status display screen 71.

The display image generation unit 124 also generates images of the plurality of information display units D1 to D8. The information displayed on each information display unit is selected from the attribute information of each facility, the attribute information of the vehicle, and the attribute information related to the tunnel 101 that is a building structure. As described above, the information display unit D2 associated with the ventilation fan figure 112A also displays information on the operating state of the ventilation fan.
Since the display image generation unit 124 also outputs the image data of these information display units D1 to D8 to the monitor 6, as a result, the status display screen 71 shown in FIG.

  The display image generation unit 124 designates the recognized display image of the vehicle, the display image of the equipment related to the building structure in which the plurality of monitoring cameras 2 are installed, and the image of the building structure. According to the form, information on the image reconstruction unit reconstructed to be displayed on the monitor 6 which is a display device, and the equipment reconstructed by the image reconstruction unit and displayed on the monitor 6 is displayed on the monitor 6. An information display image generation unit configured to generate an information display image to be displayed in association with the facility display image;

  As described above, in the center device 4 that is a passing vehicle monitoring device, the status display screen 71 is generated and displayed in response to an instruction or abnormality of the monitoring staff. And the equipment information around the monitoring location.

  FIG. 16 is a diagram illustrating another example of the situation display screen based on the distance image. For example, when the monitor 6 is a monitor capable of stereoscopic display, the situation display screen 72 in FIG. 16 is a situation in which an image obtained by viewing a certain place in the tunnel 101 from a vertical viewpoint from the ceiling is stereoscopically displayed. It is an example of a display screen.

  As shown in FIG. 16, an accident vehicle 131 and a vehicle graphic 132 existing in that portion of the tunnel 101 are combined with a tunnel graphic 112 </ b> A in a certain range R <b> 1 in the tunnel 101 and displayed in a three-dimensional manner. Since the center device 4 can obtain a range image data within the range R1 by transmitting a predetermined command to the surveillance camera 2 within the range R1, the stereoscopic display image data is based on the range image data. Is displayed on the monitor 6 as a status display screen 72. Therefore, it is easier for the observer to understand the situation at the accident site.

  In addition, when the monitor instructs the enlarged display of a certain area on the road or the point A1 in the status display screen 72 of FIG. 16, an enlarged image of that part is displayed in the enlarged display frame 133. In FIG. 16, a person is enlarged and displayed in the enlarged display frame 133.

  Further, based on information from the monitoring camera 2, the center apparatus 4 may be able to determine that a plurality of vehicles are running away and traveling along the same locus at the same position. In FIG. 16, for example, it is assumed that the center device 4 detects that a plurality of vehicles have traveled substantially along the locus LN. In such a case, the center device 4 may also display on the status display screen 72 a locus LN that is a change in the position of the vehicle. Further, a predetermined figure 135 (a hatched circle figure in FIG. 16) may be displayed at a position where it can be estimated that the object causing the escape is present. The trajectory LN and the predetermined graphic 135 may be displayed on the screen of FIG.

  Since the information on the change in the position of each vehicle of each surveillance camera 2 is associated by performing the process of associating the local vehicle IDs from each surveillance camera 2 described above with each other, the trajectory data across the plurality of surveillance cameras 2 Can be displayed on the monitor 6.

  Accordingly, the display image generation unit 124 displays information such as trajectory data obtained from the vehicle distance image data in association with the vehicle display image based on the recognized vehicle identification information. An image generation unit is configured.

  Whether or not to additionally display the locus LN and the figure 135 is determined by the image generation control unit 121 based on information from the monitoring camera 2. Based on the determination, the display effect unit 123 instructs the display image generation unit 124 to generate the graphic of the locus LN and the predetermined graphic 135 and display the graphic at the specified position.

  As described above, according to the traffic vehicle monitoring system according to the present embodiment described above, the vehicle on the road is accurately recognized, easy to install, the situation around the monitoring place, and the facility information around the monitoring place. It is possible to provide a traffic vehicle monitoring system and a traffic vehicle monitoring device that can display the vehicle.

  In addition, although embodiment mentioned above is an example which monitors the vehicle of a tunnel with a traffic vehicle monitoring system and a vehicle monitoring camera, the above-mentioned traffic vehicle monitoring system and vehicle monitoring camera are only monitoring the vehicle in a tunnel. In addition, the present invention can be applied to monitoring of vehicles on other building structures such as ordinary roads and highways.

  The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Traffic vehicle monitoring system, 2 Surveillance camera, 3 Communication cable, 4 Center apparatus, 5 Storage apparatus, 5a Reference data storage part, 5b Processing content data storage part, 11 Casing, 12 Objective optical system, 13 Connector, 21 Imaging part, 22 imaging I / F, 23 stereoscopic measurement unit, 24 basic monitoring unit, 25 additional monitoring unit, 26 determination unit, 27 memory, 28 image supply unit, 29 communication control unit, 30 communication I / F, 31 imaging device, 41 equipment Control device, 101 tunnel, 102 ceiling part, 103 road surface

Claims (6)

A traffic vehicle monitoring system comprising a plurality of surveillance cameras connected to a rosary and imaging a vehicle traffic situation, and a center device connected to the plurality of surveillance cameras,
Each surveillance camera
A plurality of imaging units;
A distance image generation unit for generating data of a distance image from a plurality of images obtained by the plurality of imaging units;
A first monitoring processing unit that executes a first monitoring process based on the distance image;
A storage unit;
A recording processing unit that generates identification information of the vehicle recognized based on the distance image, and records information including the identification information and time information about the recognized vehicle in the storage unit;
A second monitoring processor that executes a second monitoring process different from the first monitoring process based on the distance image;
Have
The center device is
A camera information receiving unit configured to receive data of the distance image from the plurality of cameras and vehicle identification information recognized based on the data of the distance image;
A display device that displays the recognized vehicle display image, the display image of the facility related to the building structure in which the plurality of monitoring cameras are installed, and the image of the building structure according to a designated display form An image reconstruction unit that is reconstructed for display on
Information for generating an information display image for displaying information related to the facility reconstructed by the image reconstruction unit and displayed on the display device in association with the display image of the facility displayed on the display device A display image generation unit;
Having
A vehicle monitoring system characterized by that. A camera information receiving unit that receives distance image data from a plurality of cameras and vehicle identification information recognized based on the distance image data;
A display device that displays the recognized vehicle display image, the display image of the facility related to the building structure in which the plurality of monitoring cameras are installed, and the image of the building structure according to a designated display form An image reconstruction unit that is reconstructed for display on
Information for generating an information display image for displaying information related to the facility reconstructed by the image reconstruction unit and displayed on the display device in association with the display image of the facility displayed on the display device A display image generation unit;
A passing vehicle monitoring device characterized by comprising:   The information display image generation unit further displays information obtained from the distance image data of the vehicle in association with the display image of the vehicle based on the identification information of the recognized vehicle. The traffic vehicle monitoring apparatus according to claim 2, wherein the vehicle is monitored.   The passing vehicle monitoring apparatus according to claim 3, wherein the information obtained from the data of the distance image of the vehicle is information on a change in the position of the vehicle. The plurality of surveillance cameras include:
A plurality of imaging units;
A distance image generation unit that generates data of the distance image from a plurality of images obtained by the plurality of imaging units;
A first monitoring processing unit that executes a first monitoring process based on the distance image;
A storage unit;
A recording processing unit that generates the identification information of the vehicle recognized based on the distance image and records information including the identification information and time information about the recognized vehicle in the storage unit;
A second monitoring processor that executes a second monitoring process different from the first monitoring process based on the distance image;
The passing vehicle monitoring apparatus according to claim 2, 3 or 4, characterized by comprising: The building structure is a tunnel;
The passing vehicle monitoring device according to any one of claims 2 to 5, wherein the facility is at least one of a telephone facility, an evacuation exit, and a refuge facility.

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