JP2017224917A - Disaster-stricken place specification system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a disaster-stricken place specification system capable of specifying a disaster-stricken place promptly.SOLUTION: A disaster-stricken place specification device 9 of a disaster-stricken place specification system 100 includes: first disaster-stricken place azimuth angle calculation means 91 for calculating a first azimuth angle P1 of a disaster-stricken place H, viewed from a fixed camera device 1a, from the position of the fixed camera device 1a, and the azimuth angle and field angle of the fixed camera device 1a obtained from a camera controller 2a, the position of the disaster-stricken place captured by the fixed camera device 1a on a screen 4a, and the number of pixels of a monitor in the horizontal direction; second disaster-stricken place azimuth angle calculation means 92 for calculating a second azimuth angle P2 of the disaster-stricken place H, viewed from a mobile camera device 10, from positional information of a mobile 6; and disaster-stricken place calculation means 93 for specifying the position of the disaster-stricken place H, from the position of the fixed camera device 1a, the first azimuth angle P1, the position of the mobile camera device 10, and the second azimuth angle P2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a disaster location identifying system that identifies the location of a disaster occurrence location based on images taken by a plurality of camera devices.

  Conventionally, when a disaster occurs, a video display system that transmits and displays a video from a site is indispensable for grasping the situation of the disaster site. For this purpose, national, local governments, and private companies install camera devices at multiple locations in the area, and when disasters occur, refer to the images at disaster prevention bases, etc. to identify the location of the disaster and rescue and rescue. Useful for activities.

  In order to plan rescue and rescue activities, it is necessary to quickly identify "where and how much damage has occurred", but only from the video sent from the camera device, identify "where" It is very difficult to do.

  That is, what can be recognized by one camera device is only vague information such as “smoke is rising in a certain direction as seen from a certain place, or the building is falling”. There is a need for a technique for specifically identifying “where”, in particular, a technique for superimposing information on the area on a video. As such a technique, there has been proposed a method for specifying a fire occurrence place using images of two infrared cameras installed at a high place such as a building (see, for example, Patent Document 1).

  In general, when the same object is photographed from two camera devices, the position of the object can be calculated if the position coordinates and photographing direction of the camera device are known. The described technology is an application of this concept.

JP-A-9-167287

  However, in the city disaster prevention monitoring device described in Patent Document 1, only the disaster area that can be seen by two camera devices can be identified, so that it becomes a blind spot of a fixed camera device due to a high-rise building or the like. It is impossible to identify disasters that occur in such places. Therefore, when the target area covers a wide area like a local government disaster prevention system, there is a problem that many cameras must be installed to obtain a sufficient prospect. In addition, two cameras that monitor the same area must always be installed, and there is a problem of high cost.

  In addition, there are many blind spots that cannot be monitored even when a plurality of sets of two cameras are installed, and there is a problem that as the coverage rate of the monitoring area increases, the coverage rate slows down.

  The present invention has been made to solve the above-described problems, and a place where a disaster occurs by using a fixed camera device installed in a building on the ground and a mobile camera device mounted on a moving body in combination. It is an object of the present invention to provide a disaster location identification system that can identify a disaster quickly and without omission.

The disaster location identification system according to this invention is
A mobile camera device mounted on at least one mobile body;
Position information of the mobile body, mobile body information acquisition device for acquiring mobile body information having course information,
A wireless transmission device that transmits the video captured by the mobile camera device and the mobile object information;
A wireless receiver for receiving the video and the mobile object information;
At least one fixed camera device installed at a specific position;
A camera control device for controlling the azimuth and angle of view of the fixed camera device;
A video receiving device for receiving video from the fixed camera device;
A monitor for displaying the video from the mobile camera device and the fixed camera device;
A pointer for identifying the disaster location on the image from the fixed camera device displayed on the screen of the monitor;
A disaster location identifying device for identifying the location of the disaster location,
The disaster location identifying device is:
The position of the fixed camera device, the azimuth angle, the angle of view of the fixed camera device obtained from the camera control device, and the position on the screen of the disaster location photographed by the fixed camera device, and First disaster location azimuth calculating means for calculating a first azimuth angle of the disaster location seen from the fixed camera device from the number of pixels in the horizontal direction of the monitor;
Second disaster location azimuth calculating means for calculating a second azimuth of the disaster location seen from the mobile camera device from the position information of the moving body;
And a disaster position calculating means for specifying the position of the disaster location from the position of the fixed camera device, the first azimuth angle, the position of the mobile camera device, and the second azimuth angle.

  Since the disaster location specifying system according to the present invention is configured as described above, even when a disaster location can be seen only with one fixed camera device at the time of a disaster, the mobile camera device mounted on the moving body By using, the location of the affected area can be quickly identified.

It is a system configuration | structure figure of the disaster location specific system which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the mobile body information which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the disaster location identification apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the positional relationship of the fixed camera apparatus which concerns on Embodiment 1 of this invention, and a disaster location. It is a figure which shows the positional relationship of the moving camera apparatus of the moving body which concerns on Embodiment 1 of this invention, and a disaster location. It is a figure which shows the positional relationship on the orthogonal coordinate of the two camera apparatuses which concern on Embodiment 1 of this invention. It is a system configuration | structure figure of the disaster location specific system which concerns on Embodiment 2 of this invention. It is a figure which shows the structure of the disaster location identification apparatus concerning Embodiment 2 of this invention. It is a figure which shows the operation example of the disaster location specific system based on Embodiment 2 of this invention. It is a figure which shows the structure of the moving body corresponding | compatible database which concerns on Embodiment 2 of this invention. It is a figure which shows the structure of the disaster location specific system which concerns on Embodiment 4 of this invention. It is a figure which shows the structure of the disaster location identification apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows the structure of the imaging | photography possible area database which concerns on Embodiment 4 of this invention.

Embodiment 1 FIG.
Hereinafter, a disaster location identifying system according to Embodiment 1 of the present invention will be described with reference to the drawings.
FIG. 1 is a system configuration diagram of a disaster location identification system 100.
The disaster location identifying system 100 includes fixed camera devices 1a and 1b, camera control devices 2a and 2b, video receiving devices 3a and 3b, monitors 4a and 4b, and camera consoles 5a and 5b as fixed-side equipment. Is provided.

  The operator performs operations such as turning (azimuth angle) and zooming (viewing angle) of the fixed camera devices 1a and 1b installed on the rooftop of the building and taking pictures of the situation in the vicinity from the camera consoles 5a and 5b. This is done by operating 2b. Images taken by the fixed camera devices 1a and 1b are received by the image receiving devices 3a and 3b and displayed on the monitors 4a and 4b. Two pieces of equipment such as the monitors 4a and 4b are arranged, but at least one piece of equipment may be provided.

Next, equipment on the moving body 6 side will be described.
FIG. 2 is a diagram showing the configuration of the mobile object information 65.
The disaster location identifying system 100 acquires the moving body information 65 including the moving body 6, the moving camera device 10 mounted on the moving body 6, and the position information of the moving body 6 as equipment on the moving body 6 side. It includes a body information acquisition device 61, and a wireless transmission device 62 for transmitting the video captured by the mobile camera device 10 and the mobile body information 65 acquired by the mobile body information acquisition device 61 to the ground.

  The video or the like distributed from the wireless transmission device 62 is received by the wireless reception device 7 which is equipment on the ground side. The wireless reception device 7 separates the video and the moving body information 65. The video is displayed on the monitor 104, and the moving body information 65 is passed to the disaster location identifying device 9.

  The pointer 8 is connected to the monitors 4a, 4b, and 104. It is used to specify the position of the disaster location on the screen by the operator touching the location considered as the disaster location from the images projected on the screens of the monitors 4a, 4b, 104. Then, the disaster location identifying device 9 is based on the position coordinates on the screen obtained from the pointer 8, the camera control information obtained from the camera control devices 2a and 2b, and the moving body information 65 obtained from the wireless reception device 7. Thus, it is used to specify the specific position of the disaster location designated by the operator on the screens of the monitors 4a, 4b, and 104.

FIG. 3 is a diagram illustrating a configuration of the disaster location identifying device 9 of the disaster location identification system 100.
FIG. 4 is a diagram illustrating a positional relationship between the fixed camera device 1a and the disaster location H.
An azimuth angle A shown in FIG. 4 indicates an azimuth angle in a direction in which the fixed camera device 1a is facing.
The angle B indicates a half of the horizontal field angle (Field of VIEW) of the fixed camera device 1a. The disaster location identifying device 9 uses this azimuth angle A and angle B as camera angle information.

Next, the first disaster location azimuth calculation means 91 of the disaster location identification device 9 shown in FIG. 3 will be described using the fixed camera device 1a and the monitor 4a.
The first disaster location azimuth calculation means 91 is a fixed camera device based on the azimuth angle A to which the optical axis of the fixed camera device 1a capturing the disaster location H and the disaster location H in the image projected on the monitor 4a. It is a means for calculating the first azimuth angle P1 of the disaster location H viewed from 1a.

  Now, the video of the range of the angle of view indicated by the line segment M indicated by the broken line in FIG. 4 is displayed on the monitor 4a. The angle of view of the fixed camera device 1a at this time is 2B. Here, the number of pixels in the horizontal direction of the screen of the monitor 4a is 2W. The operator uses the pointer 8 to specify the position of the disaster location H displayed on the monitor 4a on the screen of the monitor 4a. Let X be the length (unit: pixel) of the horizontal component of the position on the screen of the specified monitor 4a measured from the screen center. At this time, the center position of the fixed camera device 1a in FIG. 4 and the length L to the line segment M are expressed as L = W / tan (B). Further, the azimuth difference C = tan ^ (− 1) (X / L) between the azimuth angle A toward the optical axis of the fixed camera device 1a and the first azimuth angle P1 of the disaster location H. Accordingly, the first azimuth angle P1 of the disaster location H viewed from the fixed camera device 1a is A + C degrees.

Next, the second disaster location azimuth calculating means 92 shown in FIG. 3 will be described.
FIG. 5 is a diagram illustrating a positional relationship between the moving camera device 10 of the moving body 6 and the disaster location H.
The mobile body information 65 shown in FIG. 2 sent from the mobile body 6 has a mobile body latitude 65a, a mobile body longitude 65b, a mobile body path 65c, a pan angle 65d of the mobile camera device 10, and an angle of view 65e. The second struck area azimuth calculating means 92 is a means for calculating the second azimuth angle P2 to the stricken area H viewed from the mobile camera device 10 mounted on the moving body 6. Assuming that the moving camera device 10 is directed to the moving body 6 with the pan angle 65d (E) direction with respect to the traveling direction and specifies the disaster location H at the center of the screen of the monitor 104, the second azimuth angle P2 = moving The body path 65c (D) + the camera pan angle 65d (E).

Next, the damage position calculation means 93 in FIG. 3 will be described. The outputs from the first disaster location azimuth calculation means 91 and the second disaster location azimuth calculation means 92, that is, the azimuth angle of the disaster location H viewed from the fixed camera device 1a and the mobile camera device 10, are respectively the first azimuth angle P1. And the second azimuth angle P2.
FIG. 6 is a diagram showing a positional relationship between the two camera devices 1a and 10 on the orthogonal coordinates.
For example, if the latitude and longitude of the fixed camera device 1a is (LON1a, LAT1a) and the coordinates obtained by converting the latitude and longitude into plane rectangular coordinates are (X1a, Y1a), the shooting direction of the fixed camera device 1a is It is represented by a vector of one position angle P1. Converting this to a two-dimensional Cartesian equation,
sinP1 · X + cosP1 · Y = sinP1 · X1a + cosP1 · Y1a
Similarly, if the shooting direction of the mobile camera device 10 is (LON10, LAT10) as its latitude and longitude, and (X10, Y10) is the coordinate obtained by converting it into plane rectangular coordinates,
sinP2 · X + cosP2 · Y = sinP2 · X10 + cosP2 · Y10
It becomes.
The solution (X, Y) of the simultaneous equations is the coordinates of the disaster location H to be obtained, and the latitude and longitude coordinates of the disaster location H can be obtained based on the coordinates.

  In the description so far, the mobile camera device 10 mounted on the mobile body 6 has been described as specifying the disaster location H at the center of the screen of the monitor 104. However, the mobile camera device 10 of the mobile body 6 is also fixed. Similarly to the camera device 1 a, the disaster location H may first be identified from the screen of the monitor 104 using the pointer 8, and the specific latitude and longitude of the disaster location H may be identified by the disaster location calculation means 93.

  Alternatively, a geomagnetic sensor may be mounted on the mobile camera device 10 itself to directly acquire the azimuth angle of the optical axis of the mobile camera device 10.

  According to the disaster location identifying system 100 according to the first embodiment of the present invention, even in the event of a disaster, even if the disaster location can only be seen by one fixed camera device 1a, the mobile camera device mounted on the moving body 6 By using 10, the position of the disaster location H can be quickly identified. The moving body 6 can be used regardless of whether it is manned or unmanned, such as an automobile, a ship, a helicopter, an aircraft, and a drone. Moreover, you may use two moving bodies 6 carrying the moving camera apparatus 10. FIG.

Embodiment 2. FIG.
Hereinafter, the disaster location identifying system 200 according to the second embodiment of the present invention will be described with a focus on differences from the first embodiment.
FIG. 7 is a system configuration diagram of the disaster location identifying system 200.
FIG. 8 is a diagram illustrating a configuration of the disaster location identifying device 209.
FIG. 9 is a diagram illustrating an operation example of the disaster location identifying system 200.
FIG. 10 is a diagram showing the configuration of the moving object-corresponding database 209d in which areas that can only be viewed with one fixed camera device are stored in a database.

  When there are high-rise buildings or the like in an area, there may be an area where the fixed camera devices 1a and 1b cannot be seen. For example, it is assumed that the area 202 cannot be imaged from the fixed camera device 1a, and the area 201 cannot be imaged from the fixed camera device 1b. In that case, when the area 202 is photographed by the mobile camera device 10, it is necessary to always photograph the area 202 by operating the fixed camera device 1 b. On the other hand, when shooting the area 201 with the mobile camera device 10, it is necessary to operate the fixed camera device 1a. Thus, although it can image | photograph with either the fixed camera apparatus 1a or the fixed camera apparatus 1b, in the area which cannot image | photograph with both cameras, imaging | photography with the moving body 6 is anticipated.

  The multi-input monitor 204 is a monitor that can input video from a plurality of cameras. The input video displayed on the multi-input monitor 204 can be switched under the control of the disaster location identifying device 209. The camera console 205 can operate the plurality of camera control devices 2a and 2b, and can designate the camera control devices 2a and 2b to be controlled from the disaster location identifying device 209. The disaster location identifying device 209 is provided with a moving object correspondence database 209d and a moving object correspondence search means 294 in which areas that can only be viewed with one fixed camera are recorded. The latitude and longitude of a plurality of points 1 to N can be registered in one record of the moving object correspondence database 209d. And the part enclosed by these points 1-N is an area | region which can image | photograph only with any one of the fixed camera apparatuses 1a-1N.

  The disaster location identifying device 209 is a mobile camera mounted on a moving body 6 that is moving in or near a region where only one of the fixed camera devices 1a to 1N can be seen by the following processing. The function of identifying the location of the disaster location H by capturing with the device 10 is realized.

  First, the disaster location identifying device 209 receives the moving body information 65 of the moving body 6 from the wireless reception device 7. Next, the mobile object correspondence search unit 294 uses one piece of information on the mobile body latitude 65a and the mobile body longitude 65b in the mobile body information 65 as a key, and fixes one unit existing in the vicinity (for example, a range within several kilometers). A region that can be photographed only by the camera devices 1a to 1N is searched using the database 209d that requires moving object. If the corresponding area exists, the moving object correspondence search unit 294 acquires the camera ID of the fixed camera device capable of photographing the area, and sends the camera ID to the multi-input monitor 204, the camera console 205, etc. The video from the camera is displayed on the multi-input monitor 204. Thereafter, as in the first embodiment, the first azimuth angle P1 of the disaster location is acquired. The moving body 6 moves to a position where the area can be photographed, and the moving camera device 10 photographs. Based on this image and the like, the second azimuth angle P2 is acquired in the same manner as in the first embodiment, and the position of the disaster location H is specified.

  According to the disaster location specifying system 200 according to the second embodiment of the present invention, the location data of an area that can only be seen by one fixed camera is accumulated as a moving object-corresponding database 209d in normal times, If the area 6 is moving is included in the area registered in the mobile object correspondence database 209d, or there is an area registered in the mobile object correspondence database 209d nearby, By photographing the ground with a mobile camera and transmitting it together with the moving body information 65, the position of the disaster location H can be quickly identified even when the disaster location H can be seen only with one fixed camera device 1a.

Embodiment 3 FIG.
Hereinafter, the disaster location identifying system according to the third embodiment of the present invention will be described focusing on differences from the first embodiment.

  There may be a case where a plurality of disaster locations are photographed at once in a video photographed by the fixed camera device 1a, the mobile camera device 10, or the like. If this is continuously specified in one screen, the affected area can be identified more quickly. In this case, the following processing is added to the disaster location identifying device 9.

For example, N disaster locations confirmed on the monitor 4 a are designated N times consecutively using the pointer 8. This information is sent to the disaster location identifying device 9. Next, the same disaster location confirmed on the monitor 104 is designated N times in succession using the pointer 8. This information is also sent to the disaster location identifying device 9.
Each of the disaster location identifying devices 9 identifies the specific locations of the N disaster locations by setting the position on the Nth designated screen as a set.

Embodiment 4 FIG.
Hereinafter, the disaster location identifying system according to the fourth embodiment of the present invention will be described with a focus on differences from the second embodiment.
In the second embodiment, if the moving body 6 is not used in combination with the moving body 6 corresponding database 209d that is position information about an area that can be photographed by only one of the fixed camera devices 1a to 1N, the disaster area The application in the case where the position of H cannot be specified has been described.

In the present embodiment, a case will be described in which positions where each camera can be photographed are stored in a database in advance, and a fixed camera device and a mobile camera device are used together.
FIG. 11 is a system configuration diagram of the disaster location identification system 400.
FIG. 12 is a diagram showing the configuration of the disaster location identifying device 409. As shown in FIG.
FIG. 13 is a diagram showing a configuration of a shootable area database 409d in which areas that can be shot with each fixed camera device are stored in a database.

  The disaster location identifying device 409 includes a shootable area database 409d in which areas that can be viewed with each fixed camera are recorded, and a shootable area determination unit 495. The latitude and longitude of a plurality of points 1 to N can be registered in one record of the photographable area database 409d. And the part enclosed by these points 1-N is an area which can image | photograph with the fixed camera apparatuses 1a-1N.

  The disaster location identifying device 409 realizes a function of identifying the location of the disaster location H by the following processing.

  First, the disaster location identifying device 409 receives the moving body information 65 of the moving body 6 from the wireless reception device 7. Next, the shootable area determination unit 495 uses the information on the moving body latitude 65a and the moving body longitude 65b in the moving body information 65 as a key, and the position can be captured by any one of the fixed camera devices 1a to 1N. Is determined using the imageable area database 409d. When there are fixed camera apparatuses 1a to 1N that include the latitude and longitude of the position where the moving body 6 exists in the range, the shootable area determination unit 495 acquires the camera ID of the fixed camera apparatus that can shoot the area. The camera ID is sent to the multi-input monitor 204, the camera console 205, etc., and the video from the fixed camera is displayed on the multi-input monitor 204. From there, the first azimuth angle P1 of the disaster location is determined as in the first embodiment. get. Similarly, the second azimuth angle P <b> 2 from the mobile camera device 10 is acquired, and the position of the disaster location H is specified by the disaster location calculation means 93.

  According to the disaster location identifying system 400 according to Embodiment 2 of the present invention, the disaster location can be identified along with the moving route of the moving body 6 while using the fixed camera together. By letting it fly, it is possible to quickly identify the location of the affected area without omission.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

100,200 Disaster location identification system, 1a, 1b fixed camera device,
2a, 2b camera control device, 10 moving camera device, 3a, 3b video receiving device,
4a, 4b, 104 monitor, 204 multi-input monitor,
5a, 5b, 205 Camera console, 6 mobile body, 61 mobile body information acquisition device,
62 wireless transmission device, 65 moving body information, 65a moving body latitude, 65b moving body longitude,
65c moving body path, 65d pan angle, 7 wireless receiver, 8 pointer,
9, 209, 409 Stricken area identification device, 209d mobile object correspondence database,
409d shootable area database, 91 first damaged place azimuth calculating means,
92 second damage location azimuth calculation means, 93 damage position calculation means,
294 mobile object search means, 495 shootable area determination means, A azimuth,
P1 first azimuth, P2 second azimuth, B angle, C azimuth difference, H disaster location,
M line segment, 201,202 region.

Claims (6)

A mobile camera device mounted on at least one mobile body;
Position information of the mobile body, mobile body information acquisition device for acquiring mobile body information having course information,
A wireless transmission device that transmits the video captured by the mobile camera device and the mobile object information;
A wireless receiver for receiving the video and the mobile object information;
At least one fixed camera device installed at a specific position;
A camera control device for controlling the azimuth and angle of view of the fixed camera device;
A video receiving device for receiving video from the fixed camera device;
A monitor for displaying the video from the mobile camera device and the fixed camera device;
A pointer for identifying the disaster location on the image from the fixed camera device displayed on the screen of the monitor;
A disaster location identifying device for identifying the location of the disaster location,
The disaster location identifying device is:
The position of the fixed camera device, the azimuth angle, the angle of view of the fixed camera device obtained from the camera control device, and the position on the screen of the disaster location photographed by the fixed camera device, and First disaster location azimuth calculating means for calculating a first azimuth angle of the disaster location seen from the fixed camera device from the number of pixels in the horizontal direction of the monitor;
Second disaster location azimuth calculating means for calculating a second azimuth of the disaster location seen from the mobile camera device from the position information of the moving body;
A disaster location identifying system comprising: a disaster location calculation means for identifying the location of the disaster location from the position of the fixed camera device, the first azimuth angle, the position of the mobile camera device, and the second azimuth angle. The mobile body information includes pan angle information of the mobile camera device,
2. The second stricken area azimuth calculation unit according to claim 1, wherein the second azimuth is calculated by adding a pan angle of the optical axis of the mobile camera device to the path to the azimuth of the path of the moving body. Disaster location identification system. The moving body information includes field angle information of the mobile camera device,
The second disaster location azimuth calculating means is
From the moving body information, the position on the screen of the disaster location photographed by the mobile camera device, and the number of pixels in the horizontal direction of the monitor, the number of the disaster location as seen from the mobile camera device. The disaster location identifying system according to claim 1 or 2, wherein a two-azimuth angle is calculated. The disaster location identifying device is included in a moving object correspondence database that registers area information that can be photographed with only one fixed camera device, and in the moving object correspondence database around the current position of the moving object. A mobile object-compatible search means for searching for an area where
The disaster location identifying device uses the fixed camera device and the mobile camera device capable of photographing the area around the current position of the mobile body and included in the mobile object correspondence database. The disaster location identifying system according to any one of claims 1 to 3, wherein the location of the location is identified. The disaster location identifying device determines whether or not a shootable area database that registers area information that each fixed camera apparatus can shoot and a current position of the moving body is registered in the shootable area database. And a photographable area determination means,
When the current position is included in the photographable area database,
The said disaster location specific apparatus specifies the position of the said disaster location using the said fixed camera apparatus which can image | photograph the said present position, and the said mobile camera apparatus. Disaster location identification system. The disaster location identification system according to any one of claims 1 to 5, wherein the disaster location identification device is capable of continuously identifying the positions of a plurality of the disaster locations projected on the monitor.

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