JP2018067764A - Monitoring device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow complicated adjustment work at the time of installation to be simplified, and to always grasp a correct positional relationship between a monitoring object and an obstacle.SOLUTION: A monitoring device comprises: a whole camera 17 imaging a monitoring object; stereo cameras 22A and 22B being capable of adjusting azimuth angles and elevation/depression angles and having photographic optical axes substantially parallel to each other; a display part 41 displaying an image; an operation part 39 displaying an image imaged by the whole camera 17 by the display part 41 and designating the monitoring object and an obstacle object in the image; and an arithmetic part 38 adjusting the azimuth angles, the elevation/depression angles and focal lengths of the stereo cameras 22A and 22B according to positions of the monitoring object and the obstacle object designated by the operation part 39, causing enlarged images to be acquired, acquiring information indicating a positional relationship between the monitoring object and the obstacle object from a parallax of a plurality of enlarged images acquired, and causing the information acquired together with the images imaged by the whole camera 17 or the stereo cameras 22A and 22B to be displayed by the display part 41.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a monitoring apparatus and a program.

  Conventionally, in a work with a crane truck, as a method of monitoring safety in a place where it is difficult for a person to enter, it is to place a monitor for each of a plurality of obstacles to be monitored and perform a visual monitoring of the monitor. It is common.

  As an example, when there is a height limit for crane work, a string with a length corresponding to the limited height is hung from the tip of the crane boom so that the bottom of the string is always in contact with the ground. A method is adopted that monitors and does not raise the crane boom to a higher height.

  However, in reality, when a material or the like is suspended by a crane boom, it interferes with a string and has not yet been reliably monitored.

  Furthermore, even when crane work is performed in a narrow part such as a wall, fence, beam, or ceiling of an existing structure, a method in which the observer looks up at the tip of the crane boom and monitors the distance from the structure is also adopted. However, the safety has not been reliably monitored.

  In recent years, a method of installing a laser light emitting / receiving unit and performing monitoring with a vertical laser screen has also been implemented. In the method using the laser emitting / receiving unit, it may be necessary to install the laser screen on a horizontal plane so as to monitor not only the vertical plane but also the height. However, the installation of these laser emitting / receiving units requires large-scale construction with the danger of working at a high place, and it takes a lot of time for installation and subsequent adjustments. It is necessary, and it is practically difficult to introduce it at every field.

  On the other hand, the proposal regarding the obstacle alerting | reporting system of a crane vehicle for the purpose of improving the safety | security of a crane vehicle is made. (For example, Patent Document 1)

Japanese Patent Laid-Open No. 2006-013889

  The notification system described in the above-mentioned patent document acquires a monitoring image by imaging a monitoring area including a part of a crane truck and its surroundings from a camera attached to the body of the crane truck. It is a technology aimed at monitoring obstacles around it. In other words, the image of the surroundings of the crane truck, which is a blind spot for the crane truck operator, is displayed on the monitor, and the state of the crane boom tip and various obstacles is actually observed. It cannot be recognized as an image, and it does not consider setting an obstacle virtually such as limiting the working range of height.

  In addition, as another monitoring environment, when measuring the distance to an object in a place with special constraints such as a radiation control area, or when measuring the height of a structure having a projection above, For measurements in places where people are difficult to enter, measurement is performed using a device that uses a protractor or a dedicated continuous measurement device. The cost is high, and it is difficult to introduce it to all sites.

  Furthermore, when surveying road gradients, widths, curvatures, etc., various flat plate surveying devices have been adopted, but all of them require time and effort during installation and are also used by those who handle measurement and drawing. At present, it is a device that requires experience and skill and can be used only by limited personnel.

  The present invention has been made in view of the above circumstances, and the object of the present invention is to simplify the complicated adjustment work at the time of installation and to provide an accurate positional relationship between the monitoring target and the obstacle. It is an object of the present invention to provide a monitoring device and a program that can always grasp the above.

  The monitoring apparatus according to the embodiment includes a first imaging unit that images a monitoring target, a plurality of second imaging units that can adjust the azimuth angle and the elevation angle and that have imaging optical axes that are substantially parallel to each other, and the first imaging unit. A display unit that displays an image captured by the second imaging unit and an image captured by the first imaging unit and displayed by the display unit. An enlarged image is obtained by adjusting the azimuth and elevation angles and focal lengths of the plurality of second imaging means according to the designation means to be designated and the positions of the monitoring target and obstacle target designated by the designation means A positional relationship acquisition unit that acquires information indicating a positional relationship between the monitoring target and the obstacle target from the acquired parallax of the plurality of enlarged images, and the information acquired by the positional relationship acquisition unit as the first imaging unit. Or the plurality of second Characterized in that it comprises a display control means for displaying on the display unit together with the image captured by the image unit.

The perspective view which shows the external appearance structure of the camera part with which the obstruction monitoring apparatus which concerns on one Embodiment is provided. The block diagram which shows the structure of the functional circuit of the whole obstruction monitoring apparatus which concerns on the same embodiment. 6 is an exemplary flowchart illustrating a processing procedure according to an image processing program of a calculation unit according to the embodiment. The figure which shows the display screen in the display part obtained in the case of the monitoring test which concerns on the embodiment.

  Hereinafter, an embodiment will be described in detail with reference to the drawings.

[Constitution]
FIG. 1 shows an external configuration of a camera unit 10 included in an obstacle monitoring apparatus according to an embodiment. FIG. 1 (A) is an external perspective view seen from the front, and FIG. 1 (B) is a side view. It is the perspective view seen from the slightly back side. This camera unit 10 should be installed at a position where it is possible to grasp the positional relationship with the obstacle object, away from the crane or the like to be monitored, and at a position that does not hinder the traffic of workers or the like due to construction. Is preferred.

  As shown in the figure, the camera unit 10 has a chassis in which a rectangular upper top plate 11 and a lower top plate 12 are connected by four columns 13 to 16. A whole camera 17 facing the front is fixed to the lower part of the upper top plate 11.

  And the 1st support plate 18 is installed in parallel with the support | pillars 13-16 so that the center of this chassis may be supported. The first support plate 18 is rotatable by a motor 19 and a drive mechanism 20 provided on the upper top plate 11 along a plane parallel to the upper top plate 11 and the lower top plate 12 as indicated by an arrow I in the drawing. Supported by

  A second support plate 21 having a T-shaped arm structure is attached to the first support plate 18, and stereo cameras 22 </ b> A and 22 </ b> B are attached to both ends of the second support plate 21. These stereo cameras 22A and 22B are attached to the second support plate 21 so that the photographing optical axes are parallel, and both have a zoom function and an autofocus function.

  The second support plate 21 is attached to the first support plate 18 so as to be rotatable by driving the motor 23 as shown by an arrow II in FIG. 1B. Then, the elevation angle at which the photographing optical axes of the stereo cameras 22A and 22B are opposed to each other can be arbitrarily changed via a drive mechanism not shown in detail.

  Subsequently, FIG. 2 shows a configuration of a functional circuit of the entire obstacle monitoring apparatus including the camera unit 10. In the figure, the camera unit 10 includes an imaging unit 31 and a drive unit 32. The imaging unit 31 includes the whole camera 17 and the stereo cameras 22A and 22B.

The stereo cameras 22 </ b> A and 22 </ b> B are configured such that the angle in the photographing direction is adjusted by an angle adjustment unit 33 including the first support plate 18 and the second support plate 21, and the angle adjustment unit 33 is connected to the motor 19 and the motor 23. By driving the two-axis motor 36, the azimuth angle along the plane parallel to the upper top plate 11 and the lower top plate 12 and the elevation angle along the vertical plane are adjusted.
The operation of the angle adjustment unit 33 by the biaxial motor 36 is controlled by a calculation unit 38 which will be described later.

The stereo cameras 22A and 22B are similarly adjusted in shooting timing and shooting conditions (zoom angle, focus position, exposure value, white balance, etc.) according to instructions given from the camera synchronization unit 34 via the angle adjustment unit 33.
The operation of instructing the stereo cameras 22A and 22B by the camera synchronization unit 34 is also controlled by the calculation unit 38 described later.

  Furthermore, the imaging unit 31 includes a biaxial tilt sensor 35 for detecting how much the plane of the upper top plate 11 and the lower top plate 12 where the camera unit 10 is placed is tilted from the horizontal plane.

  The drive unit 32 includes a biaxial motor 36 and a motor drive unit 37 that supplies electric power necessary for the biaxial motor 36.

  The imaging unit 31 and the drive unit 32 are connected to the calculation unit 38 and operate based on the control from the calculation unit 38, and image information is converted into a signal and sent to the calculation unit 38.

  In addition to the imaging unit 31 and the drive unit 32, the calculation unit 38 is also connected to an operation unit 39, a recording unit 40, a display unit 41, and an alarm transmission unit 42.

  The arithmetic unit 38 includes a CPU 43 that executes arithmetic processing for control, a memory 44 as a work memory, and a recording medium such as a hard disk device that stores an image processing program 45, and controls the operation of the entire obstacle monitoring apparatus. Execute.

  The operation unit 39 includes a mouse 46 as a pointing device, for example, which is operated by a supervisor, and a keyboard 47 for inputting numerical values, commands, and the like, and the operation signals are sent to the calculation unit 38, respectively. By receiving the operation signal from the operation unit 39, the calculation unit 38 designates the monitoring target and the obstacle target, drives the angle adjustment unit 33 by the two-axis motor 36, and instructs the stereo cameras 22A and 22B by the camera synchronization unit 34. Control the operation and so on.

  The recording unit 40 records image information, operation information, and the like in the process in which the calculation unit 38 executes the image processing program 45 as a history based on control from the calculation unit 38.

  The display unit 41 is provided with the calculation unit 38, image information obtained by the whole camera 17 and the stereo cameras 22A and 22B of the imaging unit 31, the positional relationship between the monitoring target crane and the obstacle target, and the like. This information is displayed on the monitor.

  The alarm transmitter 42 wirelessly transmits an alarm signal from the arithmetic unit 38 from the antenna 48 in accordance with, for example, the IEEE 802.11a / 11b / 11g / 11n standard.

  The alarm unit 50 installed in a cockpit such as a crane to be monitored receives the alarm signal from the alarm transmitter 42 via the antenna 49. For example, the notification unit 50 notifies the operator of the positional relationship between the tip of the crane boom and the obstacle with a buzzer sound emitted from a speaker and a color and a light emission pattern according to the warning level of the warning lamp.

  Note that the image processing program 45 is used as an application program for a personal computer in order to realize the calculation unit 38, the operation unit 39, the recording unit 40, the display unit 41, and the alarm transmission unit 42 by, for example, a notebook type personal computer. It may be realized.

  In this case, the recording unit 40 may be configured by a hard disk device or a solid state drive built in a personal computer, or may be configured by a hard disk device external to the personal computer or other recording medium.

  Further, when realized by a notebook type personal computer, a configuration is adopted in which only the alarm transmitter 42 is externally attached to the personal computer as dedicated hardware in accordance with the output of the alarm transmitter 42, the wireless standard, or the like. Also good.

  On the other hand, the computing unit 38, the operation unit 39, the recording unit 40, the display unit 41, and the alarm transmission unit 42 may be an obstacle monitoring device constructed by a dedicated hardware circuit.

[Operation]
Next, the operation of the embodiment will be described.
The camera unit 10 shown in FIG. 1 is able to visually grasp the positional relationship with a plurality of obstacle objects with respect to a certain distance from a crane or the like to be monitored, and also allows a worker or the like to come and go by construction or the like. Installed in a position that will not interfere.

FIG. 3 is a flowchart showing a processing procedure executed by the CPU 43 in accordance with the image processing program 45 of the calculation unit 38.
First, the CPU 43 starts image capturing with the entire camera 17 of the camera unit 10 and displays the captured image on the display unit 41 (step S101).

Here, the operator of the obstacle monitoring apparatus gives an instruction such as a partial enlarged display to the whole image displayed on the display unit 41 as necessary, and then, for example, moves the tip of the crane boom as a tracking point. It designates by operation of 46 (step S102).
In response to the operator's designation of the tracking point, the CPU 43 adjusts the azimuth and elevation (elevation) angle of the stereo cameras 22A and 22B by the two-axis motor 36 (motors 19 and 23) of the drive unit 32, and stereo. The tip of the crane boom at the tracking point is positioned at the center of the images obtained by the cameras 22A and 22B, and the zoom magnification of the stereo cameras 22A and 22B is increased to adjust the focal length to be maximum, for example. The image obtained is displayed as a small screen on a part of the display unit 41 (step S103).

  In addition, the CPU 43 uses the stereo cameras 22A and 22B as a reference based on the parallax of the zoom screen and the deviation from the center of the screen with respect to the image including the tip of the enlarged crane boom obtained from the stereo cameras 22A and 22B. Dimensional coordinate information is calculated. The coordinate value is rotationally converted by the azimuth angle and elevation angle of the stereo cameras 22A and 22B, and is further rotationally converted by the angle detected by the two-axis tilt sensor 35, so that the three-dimensional coordinates with reference to the horizontal plane of the apparatus 10 Calculate information. Then, the calculated three-dimensional information is superimposed and displayed on the display unit 41 in accordance with the position of the tip of the crane boom in the entire image (step S104).

  Thereafter, the CPU 43 determines whether or not the movement of the tracking point in the image is instructed by the operation of the mouse 46 (step S105).

  If it is determined here that the movement of the tracking point in the image by the operation of the mouse 46 is not instructed (No in step S105), the CPU 43 next points the obstacle with the movement operation and the click operation of the mouse 46. It is determined whether or not designation has been made (step S106).

  If it is determined that no obstacle points have been specified (No in step S106), the CPU 43 further uses the keyboard 47 to set a fictitious obstacle, such as a height limit near the airport, by numerical values. It is determined whether or not an operation has been performed (step S107).

  If it is determined that an operation for setting a numerical value for an imaginary obstacle is not performed (No in step S107), the CPU 43 returns to the process from step S105.

  By repeatedly executing the processing of steps S105 to S107 in this way, the CPU 43 instructs to move the pointer in the image by operating the mouse 46, designates an obstacle point with the moving operation and click operation of the mouse 46, and the keyboard 47. Wait for any of the fictitious obstacle values to be set.

  FIG. 4 is a diagram showing an image displayed on the screen of the display unit 41 obtained during a monitoring test in which the image processing program 45 is actually executed. The three-dimensional coordinate information x, y is displayed by displaying an image captured by the whole camera 17 using many parts of the display unit 41 and specifying the tip of the crane boom that is a point to be tracked in the image. , Z are calculated and displayed.

  In addition, on the right side of the image captured by the whole camera 17, images of the tip of the crane boom captured by the stereo cameras 22A and 22B are displayed side by side. The figure confirms that the shape of the tip of the crane boom about 120 [m] ahead can be normally recognized and followed by the automatic zoom-up function of 15 times each based on the setting.

  If it is determined in step S105 that an instruction to move the pointer in the image by the operation of the mouse 46 is given (Yes in step S105), the CPU 43 moves the pointer display position in the image in accordance with the operation (step S108). .

  In conjunction with this operation, the CPU 43 adjusts the azimuth and elevation (elevation) angle of the stereo cameras 22A and 22B by the biaxial motor 36 (motors 19 and 23) of the drive unit 32, and the pointer operation position in the entire image. The zoom magnification of the stereo cameras 22A and 22B is increased and the focal length is set to a magnification according to the maximum magnification, for example, the maximum zoom magnification of the stereo cameras 22A and 22B (based on the shortest focal length). If it is “15” times, it is adjusted to be “10” times and an image is taken, and the obtained image is displayed as a small screen superimposed on the entire image of the display unit 41 as an image corresponding to the pointer position. (Step S109).

  Therefore, in the entire image displayed on the display unit 41, a part of the area centered on the mouse pointer being operated is displayed in an enlarged state from the surroundings.

  After the process of moving the pointer by the operation of the mouse 46 described above, the process returns to the process from step S105 again and similarly waits for the next operation. By continuously performing the pointer movement process by operating the mouse 46, the vicinity of the mouse pointer is enlarged and displayed especially in the process of searching for a point that becomes an obstacle. Points can be specified.

  If it is determined in step S106 that an obstacle point designation with a mouse 46 movement operation and a click operation has been performed, the CPU 43 determines that the stereo camera The azimuths and elevation (elevation) angles of 22A and 22B are adjusted by the biaxial motor 36 (motors 19 and 23) of the drive unit 32 so that the designated point position becomes the approximate center of the captured image, and the stereo camera 22A. , 22B is increased and the focal length is adjusted to be, for example, the maximum, and an image is taken (step S110).

  In particular, when the obstacle is an electric wire, by selecting that the object is “electric wire” on the screen displayed in advance on the display unit 41, the photographing automatically acquired by the stereo cameras 22 </ b> A and 22 </ b> B. It is also possible to make the brightness of the image darker (= lower the exposure amount by a certain amount) to make it easier to recognize the fine lines in the image.

  On the other hand, when a relatively small object that fits inside another obstacle is designated, the brightness level of the captured images automatically acquired by the stereo cameras 22A and 22B is increased (= exposure amount is increased by a certain amount). Thus, it may be easy to recognize a small subject.

  Further, in order to improve the followability to the dynamic object, every time the dynamic object moves in the image obtained by the entire camera 17, the approach distances with a plurality of obstacles are always calculated, Update the three-dimensional coordinate information.

  In addition, the CPU 43 obtains from the stereo cameras 22A and 22B the image including the point of the enlarged obstacle from the parallax thereof, based on the three-dimensional information of the point, specifically within the image range captured by the entire camera 17. Three-dimensional information information is calculated, distance information indicating a relative positional relationship with the tip of the crane boom as the tracking point is calculated from the calculated three-dimensional information information, and the calculation result is displayed on the display unit 41. The superimposed image is displayed in accordance with the position of the obstacle point in the entire image (step S111).

  In this case, the distance information is compared with the threshold by setting the distance threshold in advance by operating the keyboard 47 in a plurality of stages, for example, two stages, and the distance information is based on the comparison result. May be displayed in an identifiable manner using any one of the three levels of colors.

  In this way, the degree of approach between the tip of the crane boom as a tracking point and the point of the obstacle may be determined visually and easily.

  Thereafter, the CPU 43 determines whether or not an instruction to return to the display of the entire image in order to designate other obstacles is given by a dedicated icon instruction or the like (step S112).

  If it is determined that the instruction to return to the display of the entire image has not been given (No in step S112), the CPU 43 returns to the process from step S110 again, and displays a display that follows the point of the obstacle specified immediately before. While performing, it waits for the operation to return to the entire image display.

  If it is determined in step S112 that an instruction to return to the display of the entire image has been given (Yes in step S112), the CPU 43 next compares the tracking point and all the obstacle points specified at that time. The distance indicating the positional relationship is digitized and superimposed on the entire image obtained from the entire camera 17 and displayed on the display unit 41 (step S113), and the process returns to step S105.

  If it is determined in step S107 that an operation for setting a fictitious obstacle using the keyboard 47 by a numerical value has been performed (Yes in step S107), the CPU 43 is based on the azimuth, numerical value, and the like input by the keyboard 47. After setting the virtual obstacle, the image is created, and the created virtual obstacle image is added to the entire image and superimposed (step S114), and then the process returns to step S105. .

  The operation of the CPU 43 based on the image processing program 45 described above can be recorded as log data in the recording unit 40 at any time, and a series of images displayed on the display unit 41 can be confirmed later. .

[Effect of the embodiment]
As described above in detail, according to the present embodiment, it is possible to always grasp the exact positional relationship between the monitoring target such as the tip of the crane boom and the obstacle.

  In the embodiment, the relative distance between the crane boom designated as the tracking target and each point designated as the plurality of obstacle targets is calculated and displayed on the image. It is possible to accurately grasp the positional relationship with the obstacle target.

  Furthermore, in the above-described embodiment, a relative distance threshold value indicating a positional relationship between the monitoring target and the obstacle target is set in advance, the actual distance is compared with the threshold value, and the distance is color-coded based on the result. Display, the degree of the distance between the object to be monitored and the object to be obstructed can be displayed in an easily understandable manner visually.

  Further, since the embodiment includes the recording unit 40 as a logger and can record the process of the monitoring operation using the camera unit 10 at any time, it is possible to save data and reproduce the situation.

  In the embodiment, by detecting the degree of inclination at the installation position of the camera unit 10 using the two-axis inclination sensor 35, it is possible to accurately recognize a horizontal plane and the like to calculate position information in the three-dimensional space. It becomes possible. In addition to this, for example, by combining devices such as GPS (Global Positioning System) and azimuth sensors, the position information of the object to be tracked and monitored and the object of the obstacle can be obtained from latitude / longitude / altitude. It can be handled as information.

  Although not described in the above embodiment, the movement of the stereo cameras 22A and 22B in which the azimuth and the elevation angle can be changed by the angle adjustment unit 33 with respect to the whole camera 17 and the stereo cameras 22A and 22B of the camera unit 10 are particularly preferable. By constructing a system in which virtual image information is given in conjunction with each other, it can be used as an apparatus for education and training for operators of overhead cranes such as crane cars and factories.

  In addition, as a feature during calibration work required at the time of installation, it is possible to associate only the relationship between the fixed camera that monitors the whole and the orientation of the stereo camera equipped with the zoom-up function, and the parallax and depth distance of the stereo camera Since the configuration is completed, the adjustment work at the time of installation can be simplified, and the measurement can be performed without requiring experience and skill for the handling person.

  Although not described in the above embodiment, when setting a monitoring area, for example, by following the crane boom, the moving speed of the boom can be monitored, and the approach distance to the obstacle reaches a dangerous threshold area. It is also possible to predict and display the time.

  In addition, an application such as setting a safe distance from the threshold area in advance and giving an instruction to decelerate the moving speed of the crane boom when reaching the position is also possible.

Furthermore, in the above-described embodiment, a case has been described in which a fictitious obstacle, for example, a height limit in the vicinity of an airport, is set by a numerical value, but the present invention further requires a request from a customer so as not to hinder airplane takeoff and landing. The height plane of the threshold area can be set on the 3D screen at the height at which the aviation is instructed, and the approach distance of the boom to the plane can be monitored.
As for the height that causes aviation obstacles, it is possible to set and monitor the threshold area of the inclined surface at the specified location only by inputting the inclination angle according to the request and instruction of the customer as well as the horizontal plane. Is possible.
In addition, the threshold surface area on these 3D screens can be set not only for the height but also for the side surface that rises vertically in the front-rear and left-right directions, and for the rising side surface with an azimuth angle.

  Although the embodiment has been described above, the embodiment has been presented as an example, and is not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 ... Camera part, 11 ... Upper top plate, 12 ... Lower top plate, 13-16 ... Support | pillar, 17 ... Whole camera, 18 ... 1st support plate, 19 ... Motor, 20 ... Drive mechanism, 21 ... 2nd support plate, 22A, 22B ... stereo camera, 23 ... motor, 31 ... imaging unit, 32 ... drive unit, 33 ... angle adjustment unit, 34 ... camera synchronization unit, 35 ... biaxial tilt sensor, 36 ... biaxial motor, 37 ... motor drive 38 ... Calculation unit 39 ... Operation unit 40 ... Recording unit 41 ... Display unit 42 ... Alarm transmission unit 43 ... CPU 44 ... Memory 45 ... Image processing program 46 ... Mouse 47 ... Keyboard 48, 49... Antenna, 50.

Claims (5)

First imaging means for imaging a monitoring target;
A plurality of second imaging means having imaging optical axes substantially parallel to each other, the azimuth angle and elevation angle of which can be adjusted;
Display means for displaying images picked up by the first image pickup means and the second image pickup means;
A designation unit for designating a monitoring target and an obstacle target in an image captured by the first imaging unit and displayed by the display unit;
The enlarged image is acquired by adjusting the azimuth and elevation angles and focal lengths of the plurality of second imaging units according to the positions of the monitoring target and the obstacle target specified by the specifying unit, Positional relationship acquisition means for acquiring information indicating the positional relationship between the monitoring target and the obstacle target from the parallax of the enlarged image;
Display control means for causing the display means to display information acquired by the positional relationship acquisition means together with an image captured by the first imaging means or the plurality of second imaging means;
A monitoring device comprising: The positional relationship acquisition means acquires information on a relative distance indicating a positional relationship between the monitoring target and the obstacle target,
The display control unit images the relative distance information indicating the positional relationship between the monitoring target and the obstacle target acquired by the positional relationship acquisition unit by the first imaging unit or the plurality of second imaging units. The monitoring apparatus according to claim 1, wherein the monitoring unit displays the image together with the image. Further comprising setting means for setting a relative distance threshold indicating a positional relationship between the monitoring target and the obstacle target;
The display control means, based on the comparison result between the relative distance information indicating the positional relationship between the monitoring target and the obstacle target acquired by the positional relationship acquisition means and the threshold value set by the setting means. The monitoring apparatus according to claim 2, wherein identification information is displayed on an image picked up by the image pickup means or the plurality of second image pickup means.   Information on images captured by the first imaging unit and the plurality of second imaging units, monitoring targets and obstacle targets in the image specified by the specifying unit, the monitoring targets acquired by the positional relationship acquisition unit, and The monitoring apparatus according to claim 1, further comprising recording means for recording information indicating a positional relationship between obstacle objects and information of an image displayed by the display control means. A first imaging unit that images a monitoring target, a plurality of second imaging units that can adjust the azimuth angle and the elevation angle and that have imaging optical axes that are substantially parallel to each other, and the first imaging unit and the second imaging unit A program executed by a computer built in an apparatus including a display unit that displays an image captured by an imaging unit, the computer being
Designation means for designating a monitoring target and an obstacle target in an image captured by the first imaging unit and displayed by the display unit;
The enlarged image is acquired by adjusting the azimuth and elevation angles of the plurality of second imaging units and the focal length according to the positions of the monitoring target and the obstacle target specified by the specifying unit, A positional relationship acquisition unit that acquires information indicating a positional relationship between the monitoring target and the obstacle target from the parallax of the enlarged image, and the information acquired by the positional relationship acquisition unit as the first imaging unit or the plurality of second Display control means for displaying on the display unit together with an image captured by the image capturing unit,
A program characterized by functioning as