JP2017204691A - Monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring device that is mounted on a mobile body and obtains distance information by moving a desired portion of a tracking target to the center of video by moving a tracking point of the tracking target freely in a range of the video on a display operation unit in order to obtain distance from the desired portion of the tracking target in the case where distance information is obtained with a range finder while the target is being tracked with an imaging device.SOLUTION: A tracking state determination unit is added to components of a monitoring device. During tracking, the monitoring device moves the center of a tracking gate on the basis of the amount of inclination of a joystick of a display operation unit, moves a specific portion of a tracking target to the center of video by transmitting the amount of movement to an imaging unit and an image tracking processing unit, and obtains distance information from the target with a range finder while continuing target tracking.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a monitoring device that performs tracking of a target using a video signal of an image pickup device mounted on a moving body and acquires distance information to the target by distance measurement of a distance measuring device.

  There is a control device that mounts an imaging device including a TV camera and a distance measuring device including a laser distance measuring device on a moving body, tracks a target by a video signal, and acquires distance information to the target (for example, Patent Documents) 1).

  In addition, there is an image monitoring device that holds a tracking target at a tracking start position when the target is tracked by an imager, or holds the target at the center of the video by holding the target at the center of the video (see, for example, Patent Document 2).

JP 2008-134028 A

JP 2001-76156 A

  In general, a monitoring apparatus in which an imaging device and a distance measuring device are mounted on a moving body adjusts so that the optical axis of the imaging device and the optical axis of the distance measuring device are maintained in parallel. As a result, the center of the image and the optical axis of the distance measuring device substantially coincide with each other in the target at a position sufficiently distant from the difference between the installation positions of the image pickup device and the distance measuring device. The target tracking by the image pickup device uses the feature portion of the video in the video signal obtained by the image pickup device to track the target so that the feature portion continues to exist at the center of the screen.

  In a conventional monitoring apparatus, when a distance to a desired target position is measured by a distance measuring device, a characteristic portion that can be tracked by an image pickup device and a portion to be measured by the distance measuring device may be different. At this time, if the optical axis of the distance measuring device is substantially coincident with the center of the image, there is a problem that it is not possible to obtain distance information to the part to be measured.

  The present invention has been made to solve such a problem, and an object of the present invention is to obtain distance information to a part to be measured even when a characteristic part that can be tracked and a part to be measured are different. .

  The monitoring device according to the present invention includes an image pickup device that acquires a target image, a distance measuring device that obtains distance information to the target, a monitoring device that can rotate the line-of-sight direction of the image pickup device, and an image of the image pickup device. An image tracking processor for detecting a target based on the signal, a deviation angle between the center of the target image detected by the image tracking processor and the center of the tracking gate, and mode information for either tracking or non-tracking. Drive control information based on the deviation angle from the image tracking processor when the tracking controller to output, the display controller to output the amount of tilt of the joystick, and the mode information from the tracking controller are tracking Output to the monitoring device, and a tracking situation determination unit that outputs tracking point control information corresponding to the amount of tilt of the joystick output from the display / operating device. Driving Based on the control information, the line-of-sight direction of the image pickup device is rotated so that the center of the target image coincides with the center of the tracking gate, and the image tracking processor performs target distance information according to the tilt amount of the joystick. The center of the tracking gate is moved so that the part to be obtained coincides with the image center of the image pickup device.

  According to the present invention, since the position of the target being tracked can be arbitrarily moved within a specific range in the video, the target part for which distance information is desired can be moved to the center of the video. It is possible to more reliably obtain the distance information of the target part for which the distance information is desired.

It is a figure which shows the operation example of the monitoring apparatus by Embodiment 1. FIG. It is a figure which shows the structure of the monitoring apparatus by Embodiment 1. FIG. It is a figure which shows the 1st image display example of the target signal detected with the image tracking processor by Embodiment 1. FIG. It is a figure which shows the 2nd example image display of the target signal detected with the image tracking processor by Embodiment 1. FIG.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating an operation example of the monitoring device 1 according to the first embodiment. A moving body 20 such as a vehicle or a ship moves on a horizontal plane 21 on the ground or the sea. The monitoring device 1 is mounted on a moving body 20 such as a vehicle or a ship, and has a monitoring device 2. The monitoring device 2 captures a video feature part 18 such as a vehicle or ship as a monitoring target within the viewing angle 22 of the image pickup device 3 to be mounted. The monitoring device 2 tracks the image feature portion 18.

  FIG. 2 is a diagram illustrating the configuration of the monitoring device 1. The monitoring device 1 includes a monitoring device 2, a gyro 5, an image tracking processor 6, a tracking controller 7, a display operation device 8, and a tracking situation determination device 9. The monitoring device 2 can rotate in the turning and elevation directions with respect to the moving body 20. The monitoring device 2 is provided with an image pickup device 3 including a television camera and a distance measuring device 4 including a laser distance measuring device. In accordance with the rotation of the monitoring device 2, the optical axes (also referred to as line-of-sight directions) of the image pickup device 3 and the distance measuring device 4 move in the turning direction and the elevation direction. The gyro 5 is mounted on the moving body 20, detects the rocking angle of the moving body 20, and outputs the detected rocking angle to the monitoring device 2.

  The image pickup device 3 picks up an image including the target. The image pickup device 3 outputs a video signal 12 of a video including a target. The distance measuring device 4 measures the distance to the target by transmitting a pulse wave of the laser beam and receiving the reflected light from the target. Normally, the distance measuring device 4 measures the distance to the image center of the image including the target detected by the image capturing device 3 by adjusting the optical axis of the image capturing device 3 and the optical axis of the distance measuring device 4 in parallel. And distance information 11 is obtained.

  In addition, the monitoring device 2 uses the gyro signal 10 measured by the gyro 5 so that the optical axes of the image pickup device 3 and the distance measuring device 4 move in the direction of canceling the swing angle, and in the turning direction and the elevation direction. Controls the rotation angle around the rotation axis. Further, the display operation device 8 can adjust a shaking correction function for canceling the shaking angle of the moving body 20 with respect to the monitoring device 2.

FIG. 3 is a diagram illustrating a first image display example of the target signal detected by the image tracking processor 6 according to the first embodiment according to the first embodiment. Details of FIG. 3 will be described later.
The image tracking processor 6 detects a target signal distinguished from the background based on the image in the video signal 12 obtained by the image pickup device 3. Here, the range for distinguishing the target signal from the background is the optical tracking gate 17. The image tracking processor 6 detects the target signal based on a change in the amplitude of the video signal in the optical tracking gate 17. The image tracking processor 6 obtains the position of the image center of the image feature portion 18 in the target signal detected in the optical tracking gate 17 as the vertical and horizontal angles from the center of the optical tracking gate 17 on the screen. Further, the image tracking processor 6 outputs the video signal 12 including the target signal obtained by the imaging device 3 and the position information of the optical tracking gate 17 to the tracking controller 7.

  In addition, the image tracking processor 6 uses the gyro signal 10 measured by the gyro 5 to display an image including the target signal around each rotation axis in the turning and elevation directions so as to cancel the swing angle in the turning and elevation directions. It is possible to rotate. At this time, the monitoring device 2 can rotate the image including the target signal in the direction of the rotation axis even when the rotation axis in the turning and elevation directions does not have a mechanical movable axis. As a result, the image tracking processor 6 can correct the swing around each rotation axis in the turning and elevation directions for the target signal in the video signal 12 obtained by the image pickup device 3.

  The tracking controller 7 is configured so that the optical axes (line-of-sight directions) of the image pickup device 3 and the distance measuring device 4 in the monitoring device 2 coincide with a desired direction to be indicated. The directional control is performed. For example, the tracking controller 7 performs tracking control so that the center of the optical tracking gate 17 indicating the line-of-sight direction of the image pickup device 3 coincides with the video center of the target signal detected by the image tracking processor 6. The tracking controller 7 determines the angle of deviation between the center of the optical tracking gate 17 and the image center of the image feature portion 18 of the target signal (the angle at which the image center of the target signal deviates vertically and horizontally from the center of the optical tracking gate 17). The tracking state status information 14 is output.

Further, the tracking controller 7 includes any mode information of “tracking mode” or “non-tracking mode” in the tracking state status information 14 and outputs it to the tracking state determination unit 9.
Here, when the tracking controller 7 obtains the target signal from the image tracking processor 6, it determines that the target is being tracked and outputs “tracking mode” as mode information. Further, when the target signal is not obtained from the image tracking processor 6, the tracking controller 7 determines that the target is not being tracked, and outputs “non-tracking mode” as mode information.

  The tracking controller 7 outputs the video signal 12 input from the image tracking processor 6, the detected target signal, and the position information of the optical tracking gate 17 to the display operation unit 8.

  The display operation unit 8 receives the video signal 12 output from the tracking controller 7 and the detected target signal. The display operation unit 8 displays the image signal 12 output from the tracking controller 7, the detected target signal, and the symbol image of the optical tracking gate 17 based on the positional information of the optical tracking gate 17. The display operation unit 8 performs an operation for directivity control of the monitoring device 2 using a joystick.

  The display operation device 8 is provided with a joystick that rotates around two axes, that is, up and down and left and right. The joystick can be tilted by an operator's stick operation. The display operation unit 8 can detect the amount of tilt of the joystick in accordance with the stick operation of the joystick. The display operation unit 8 outputs the directional control information 13 corresponding to the amount of inclination of the joystick in the vertical direction and the horizontal direction to the tracking state determination unit 9.

  The tracking controller 7 may receive the tracking status information 14 from the display / operator 8. Further, the tracking controller 7 may be input with any mode information of “mode in tracking” or “mode in non-tracking” as the tracking status status information 14. As this mode information, for example, one of a “tracking mode” and a “non-tracking mode” is selectively set by an operator's selection operation through an operation button (not shown) of the display operation unit 8. It is good to do so.

  The tracking status determiner 9 receives directivity control information 13 corresponding to the amount of tilt of the joystick from the display operation device 8, and receives tracking state status information 14 from the tracking controller 7. When the mode information of the tracking state status information 14 is “not tracking”, the tracking status determination unit 9 performs the directional control of the monitoring device 2 based on the directional control information 13 according to the amount of tilt of the joystick. The monitoring device 2 obtains the drive control information 15 from the tracking situation determination unit 9 so as to rotate around the respective axes in the turning direction and the up-and-down direction by an angle corresponding to the amount of inclination of the joystick up and down and left and right.

  On the other hand, when the mode information of the tracking state status information 14 output from the tracking controller 7 is “tracking”, the tracking status determination unit 9 is based on the pointing control information 13 corresponding to the tilt amount of the joystick. The monitoring device 2 is configured such that the center 17 has a deviation angle from the image center of the target image feature portion 18 minimized or zero, and the center of the optical tracking gate 17 is moved by a moving amount corresponding to the tilt amount of the joystick. The drive control information 15 is sent to. That is, the monitoring device 2 moves the center of the optical tracking gate 17 from the screen center (image center) of the image pickup device 3 by an amount of movement corresponding to the amount of tilt of the joystick.

  In addition, when the mode information of the tracking state status information 14 output from the tracking controller 7 is “tracking”, the tracking status determination unit 9 is based on the directivity control information 13 corresponding to the tilt amount of the joystick. The tracking point control information 16 is sent to the image tracking processor 6 so that the tracking center located at the center of 17 moves by an amount of movement corresponding to the tilt amount of the joystick. At this time, the image tracking processor 6 moves the center position of the optical tracking gate 17 from the screen center (image center) of the image pickup device 3 by an angle corresponding to the amount of movement based on the tracking point control information 16. .

  FIG. 3 described above illustrates a state in which the target tracking point is not moved from the image center of the image pickup device 3, that is, the state of the image in the image tracking processor 6 immediately after the start of tracking. In FIG. 3, the symbol image of the optical tracking gate 17 of the image tracking processor 6 has a rectangular frame shape. A target image feature 18 is located inside the optical tracking gate 17. The image tracking processor 6 continues tracking so that the center position of the optical tracking gate 17 coincides with the target video feature part 18 with the target video feature part 18 in the video as a target tracking point.

  At this time, the target portion 19 for which distance information is to be obtained is away from the center of the optical tracking gate 17 to the left side of the figure and is located outside the range of the optical tracking gate 17. In the target video feature part 18, the target part 19 for which distance information is to be obtained does not coincide with the center of the video or the optical tracking gate 17, and desired distance information is obtained for the target part 19 for which distance information is to be obtained. Can't get.

  FIG. 4 is a diagram showing a second image display example of the target signal detected by the image tracking processor 6 according to the first embodiment. FIG. 4 shows an image tracking processor when the target video feature part 18 which is the target tracking point is moved using the display operation unit 8 and the target part 19 for which distance information is to be obtained is made coincident with the video center. 6 illustrates the state of an image to be output. When the tracking situation determination unit 9 outputs “tracking” as the tracking state status information 14, the display operation unit 8 outputs the directional control information 13 corresponding to the tilt amount of the joystick to the tracking situation determination unit 9.

  The tracking status determination unit 9 outputs tracking point control information 16 corresponding to the tilt amount of the joystick to the image tracking processing unit 6 based on the directivity control information 13. Based on the tracking point control information 16, the image tracking processor 6 moves the image in the vertical and horizontal directions of the screen by a moving amount corresponding to the amount of tilt of the joystick until the part 19 for which distance information is to be obtained matches the center of the image. Let The center position of the optical tracking gate 17 moves in the upper right direction from the screen center (image center). At this time, the center position of the optical tracking gate 17 is maintained in a state where it coincides with the target video feature part 18 which is the target tracking point. Since the optical distance of the distance measuring device 4 coincides with that of the image pickup device 3, the laser beam output from the distance measuring device 4 is irradiated to the target region 19 for which distance information is to be obtained, and the target region for which distance information is to be obtained. Distances up to 19 can be measured. This makes it possible to obtain desired distance information to the target portion 19 for which distance information is desired while maintaining image tracking of the target tracking point.

  Further, the monitoring device 2 matches the center of the target video detected by the image tracking processor 6 with the center of the tracking gate 17 based on the drive control information 15 from the tracking situation determination unit 9, and the deviation angle between the two is minimal. Alternatively, the direction of the line of sight of the image pickup device 3 is rotated to track the target so as to be zero.

  The moving amount of the image with respect to the displacement of the joystick of the display operation unit 8 when moving the target tracking point is set smaller than the moving amount of the image based on the directional control information 13 by the joystick during non-tracking. Good.

  As described above, the monitoring device according to the first embodiment includes an imaging device that acquires a target image, a distance measuring device that obtains distance information to the target, and a monitoring device that can rotate the line-of-sight direction of the imaging device; An image tracking processor for detecting a target based on the video signal of the image pickup device, a deviation angle between the target video center detected by the image tracking processor and the center of the tracking gate, and whether tracking is in progress or not tracking The tracking controller that outputs the mode information, the display controller that outputs the tilt amount of the joystick, and the shift angle from the image tracking processor when the mode information from the tracking controller is being tracked. And a tracking situation determination unit that outputs tracking point control information corresponding to the amount of tilt of the joystick output from the display / operation device, and the monitoring device includes the tracking control unit. Status Based on the drive control information from the fixed device, the line-of-sight direction of the image pickup device is rotated so that the center of the target image coincides with the center of the tracking gate, and the image tracking processing device responds to the tilt amount of the joystick. The center of the tracking gate is moved so that the part where the target distance information is to be obtained coincides with the image center of the imager.

  In this way, we want to obtain distance information by allowing the center of the tracking gate to be arbitrarily moved within a specific range in the video based on the tilt amount of the joystick of the display controller while tracking the target. Since the target part can be moved to the center of the image, it is possible to obtain distance information to the part where the target distance information is desired to be obtained in a state where the optical axes of the distance measuring device and the image pickup device are parallel. Thus, it is possible to more reliably obtain the distance information of the target portion for which the target distance information is desired.

  DESCRIPTION OF SYMBOLS 1 Monitoring apparatus, 2 Monitoring machine, 3 Image pick-up device, 4 Distance measuring device, 5 Gyro, 6 Image tracking processor, 7 Tracking controller, 8 Display operation device, 9 Tracking situation determination device, 10 Gyro signal, 11 Distance information, 12 video signal, 13 directivity control information, 14 tracking state status information, 15 drive control information, 16 tracking point control information, 17 optical tracking gate, 18 target video feature part, 19 part to obtain distance information, 20 moving body, 21 Horizontal plane, 22 Imager viewing angle.

Claims (1)

An imaging device that acquires a target image; a distance measuring device that obtains distance information to the target; and a monitoring device that can rotate the line-of-sight direction of the imaging device;
An image tracking processor for detecting a target based on the video signal of the imager;
A tracking controller that outputs a deviation angle between the target video center detected by the image tracking processor and the center of the tracking gate, and mode information during tracking or non-tracking,
A display controller that outputs the tilt amount of the joystick,
When the mode information from the tracking controller is being tracked, the drive control information based on the deviation angle from the image tracking processor is output to the monitor, and the tilt of the joystick output from the display controller A tracking situation determiner that outputs tracking point control information according to the amount;
With
Based on the drive control information from the tracking situation determiner, the monitoring machine rotates the line-of-sight direction of the imager so that the center of the target video and the center of the tracking gate coincide.
The image tracking processor moves the center of the tracking gate according to the amount of tilt of the joystick so that a part for which target distance information is to be obtained coincides with the image center of the imager.
Monitoring device.

Images