JP2018139373A - Field angle adjustment method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a field angle adjustment procedure in a monitoring system.SOLUTION: A field angle adjustment method being the field angle adjustment method of a monitoring system 1 comprising a camera 2A that images a first area Rand a camera 2B that images a second area Rbeing more remote than the first area R, comprises the steps of: setting a target of a common area Rincluded in both areas Rand R; calculating arrangement of a mark Cindicating a display objective of the target on an image Jby the camera 2A; displaying the mark Con the image J; adjusting a field angle of the camera 2A such that the target is adapted to the mark Con the image J; calculating arrangement of a mark Cindicating the display objective of the target on an image Jby the camera 2B; displaying the mark Cat a position calculated on the image J; and adjusting a field angle of the camera 2B such that the target is adapted to the mark Con the image J.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a field angle adjustment method in a monitoring system including a camera.

  For example, as a monitoring camera setting method, there is a method of setting a monitoring area by detecting three markers (see, for example, Patent Document 1). In this setting method, three markers are set on the monitoring target horizontal plane, and these markers are detected by image processing. In this setting method, camera parameters are calculated using information on the three marker intervals and the camera height, and a monitoring area is set using the calculated camera parameters.

JP 2001-204007 A

  However, when a plurality of markers are arranged and a camera is set as in the conventional case, the work is complicated. For example, in a system including a plurality of cameras, it is necessary to set a marker for each camera.

  An object of the present invention is to provide an angle-of-view adjustment method capable of simplifying an angle-of-view adjustment procedure in a surveillance system including a camera.

  An angle-of-view adjustment method of the present invention includes a short-distance camera for photographing a first photographing region, a part of the first photographing region, and a region farther from the reference position than the first photographing region. A field-of-view adjustment method in a surveillance system that includes a long-distance camera that captures a second imaging region including a target, and targets to a common region included in both the first imaging region and the second imaging region , A step of calculating the arrangement of the first mark indicating the display target of the target on the first image photographed by the short-distance camera, and the first so as to be the calculated arrangement A step of displaying the mark on the first image, a step of adjusting the angle of view of the short-range camera so that the display of the target matches the first mark on the first image, and a long-range camera. Target on the second image taken Calculating a second mark position indicating a display target of the target, displaying a second mark on the second image so as to obtain the calculated position, and displaying the target mark on the second image. Adjusting the angle of view of the long-distance camera so that the display is aligned with the second mark.

  In this angle-of-view adjustment method, a target is set in a common area included in both the first shooting area shot by the short-distance camera and the second shooting area shot by the long-distance camera, and the same. The angle of view adjustment in the short distance camera and the angle of view adjustment in the long distance camera can be performed using this target. Thereby, it is not necessary to arrange the target used for the field angle adjustment of the short-distance camera in the first imaging region and to arrange the target used for the field angle adjustment of the long-distance camera in the second imaging region. The procedure for adjusting the angle of view can be simplified. Further, by photographing the same target, it is possible to easily compare the target image data acquired by the short-distance camera with the target image data acquired by the long-distance camera. Therefore, it is possible to improve the detection accuracy of the object based on the acquired image data.

  The monitoring system further includes a laser radar that irradiates a region including the common region with the laser, and the angle of view adjustment method further includes a step of measuring a distance from the reference position to the target using the laser radar, and the first mark The step of calculating the arrangement of the first mark calculates the arrangement of the first mark in consideration of the distance to the target, and the step of calculating the arrangement of the second mark includes the second mark in consideration of the distance to the target. May be calculated. Thereby, since the distance from the reference position to the target can be calculated with high accuracy, the first mark and the second mark can be calculated based on the calculated distance to the target. Therefore, the first mark can be set with high accuracy to improve the accuracy of the angle of view of the short-distance camera, and the second mark can be set with high accuracy to adjust the angle of view of the long-distance camera. Accuracy can be improved.

  In the angle-of-view adjustment method, a step of measuring a first shift amount, which is a shift amount between the target and the first mark on the first image, is stored in the storage unit of the monitoring system. And a process. Thereby, when detecting a target object using a monitoring system, the data acquired by the short-distance camera can be corrected in consideration of the first shift amount stored in the storage unit.

  The field angle adjustment method includes a step of determining whether or not the first deviation amount is equal to or larger than a first determination threshold value, and a short distance when the first deviation amount is equal to or larger than the first determination threshold value. And a step of adjusting the angle of view of the camera for the second time. Thereby, when the first deviation amount is equal to or larger than the first determination threshold, the angle of view of the short-distance camera can be adjusted again, and the first deviation amount is less than the first determination threshold. In addition, the monitoring system can be used without changing the use state without adjusting the angle of view of the short-distance camera. In the angle of view adjustment method, unnecessary readjustment can be reduced, and the angle of view adjustment procedure can be simplified.

  The angle-of-view adjustment method includes a step of measuring a second shift amount, which is a shift amount between the target and the second mark on the second image, and stores the second shift amount in the storage unit of the monitoring system. And a process. Thereby, when detecting a target object using a monitoring system, the data acquired by the long distance camera can be corrected in consideration of the second shift amount stored in the storage unit.

  The field angle adjustment method includes a step of determining whether or not the second shift amount is equal to or greater than a second determination threshold value, and a long distance when the second shift amount is equal to or greater than the second determination threshold value. And adjusting the angle of view of the camera for the second time. Thereby, when the second deviation amount is equal to or larger than the second determination threshold value, the angle of view of the long-distance camera can be adjusted again, and the second deviation amount is less than the second determination threshold value. In addition, the surveillance system can be used without changing the use state without adjusting the angle of view of the long-distance camera. In the angle of view adjustment method, unnecessary readjustment can be reduced, and the angle of view adjustment procedure can be simplified.

  The angle-of-view adjustment method of the present invention is an angle-of-view adjustment method in a surveillance system equipped with a camera, which is present in an imaging region by a camera, and has a known size and distance from the camera and is capable of determining a reference length A step of setting an object as a target, a step of calculating an arrangement of marks indicating a display target of the target on an image photographed by a camera, and a step of displaying the mark on the image so as to be the calculated arrangement Adjusting the angle of view of the camera so that the display of the target matches the mark on the image, and calculating the mark arrangement is based on the distance from the camera to the target, which is known data Calculate the mark placement.

  In this angle-of-view adjustment method, a known object existing in the shooting area of the camera is set as a target, and the angle of view of the camera can be adjusted using the known data of the target and the distance from the camera. it can. Thereby, it is not necessary to bother to arrange the target object, and the procedure of angle of view adjustment in the monitoring system can be simplified.

  In the step of setting an existing object as a target, an existing object having a known angle with respect to the horizontal plane of the mounting surface on which the object is mounted is set as a target. Thereby, in the step of calculating the mark arrangement, the mark arrangement can be calculated based only on the distance from the camera to the target, which is known data.

  Further, in the step of setting an existing object as a target, the center of the camera coordinates of the camera coincides with the center of the existing object, or the existing object whose deviation from the center of the existing object is known. Set as a target. This eliminates the need to measure the amount of deviation between the center of the camera coordinates and the center of the target. Alternatively, the angle of view adjustment in the monitoring system can be performed based on a known deviation amount of the center of the object with respect to the camera coordinates.

  ADVANTAGE OF THE INVENTION According to this invention, in the surveillance system provided with the short distance camera and the long distance camera, the simplification of the procedure of angle of view adjustment can be achieved. Further, according to the present invention, the procedure for adjusting the angle of view can be simplified in a monitoring system including a camera.

It is a perspective view which shows the state which the vehicle carrying an obstacle detection apparatus drive | works on a highway. It is a block block diagram which shows the obstruction detection apparatus which can apply an angle-of-view adjustment method. It is a schematic side view which shows the imaging | photography area | region by the camera for short distances, the imaging | photography area | region by the camera for long distances, and the arrangement | positioning of a target. It is a flowchart which shows the process sequence in a view angle adjustment method. It is a figure which shows the target and mark displayed on the image. It is a figure which shows the positional relationship of the imaging device of a camera, and a target. FIG. 7A is a side view showing the installation pitching angle of the camera. FIG. 7B is a plan view showing the installation pan angle of the camera. FIG. 8A is a flowchart showing the processing procedure of the field angle adjustment method in the short-distance camera during maintenance. FIG. 8B is a flowchart illustrating the processing procedure of the angle-of-view adjustment method in the long-distance camera during maintenance. Figure 9 (a), (c) is a diagram showing a target T _A and the second mark displayed on the second image. Figure 9 (b), (d) is a diagram showing a target T _A and the first mark displayed on the first image. It is a block block diagram which shows the obstruction detection apparatus which can apply the view angle adjustment method which concerns on a modification. It is a flowchart which shows the process sequence of the view angle adjustment method which concerns on a modification.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same part or an equivalent part, and the overlapping description is abbreviate | omitted.

  First, an obstacle detection device (monitoring system) to which the angle-of-view adjustment method according to this embodiment can be applied will be described with reference to FIGS. 1 and 2.

(Obstacle detection device)
As shown in FIG. 1, the obstacle detection device 1 is mounted on, for example, a vehicle M and detects an object in front of the vehicle (for example, a falling object B). As shown in FIG. 2, the obstacle detection device 1 includes a camera 2, 3 DLR (three-dimensional laser radar, 3D Laser Radar) 3, a wheel speed sensor 4, and an obstacle detection unit 5.

  The obstacle detection device 1 tracks the detected object, and determines the obstacle that satisfies the determination condition among the tracked objects. The “obstacle” is an object that may interfere with the traveling of the vehicle M, and it is necessary to change the traveling so as to avoid the object or to stop and remove the object.

  The camera 2 captures the front of the vehicle and acquires image information (detection data) such as roads and objects. Image information acquired by the camera 2 is input to the obstacle detection unit 5. The camera 2 includes a short distance camera 2A and a long distance camera 2B. The short-distance camera 2A and the long-distance camera 2B are, for example, arranged at the same position in the vehicle front-rear direction and arranged side by side in the vehicle width direction. Note that the influence of the distortion of the lens of the camera 2 is sufficiently small.

As shown in FIG. 3, the short-distance camera 2A images the first imaging region _R2A in front of the vehicle. The first imaging region R _2A is, for example, a range from a point P ₁ to a point P _{3 in} front of the vehicle. The long-distance camera 2B images the second imaging region _R2B in front of the vehicle. The second imaging region R _2B is, for example, a range from the point P ₂ to the point P ₄ . Including a range of several hundred meters ahead of the vehicle. The second imaging region R _2B includes a part of the first imaging region R _2A , and the distance from the reference position (the stop position of the vehicle M, the installation position of the camera 2) is the first imaging region R _2A (point P ₃ ) Is farther away. Note that a region included in both the first imaging region R _2A and the second imaging region R _2B is a common region R _2C . The common area R _2C includes an area from the point P ₂ to the point P ₃ . Further, the first imaging region R _2A and the second imaging region R _2B may be set so as to be adjacent to each other. The common area at this time is a boundary between the first imaging area R _2A and the second imaging area R _2B .

  The 3DLR 3 irradiates a laser in front of the vehicle and receives a reflected laser reflected by an object on the road. Information regarding the reflected laser received by the 3DLR 3 is input to the obstacle detection unit 5.

  The wheel speed sensor 4 is a sensor that acquires information related to the rotation angle of the wheel of the vehicle M. The wheel speed sensor 4 includes, for example, an encoder, and this encoder measures a rotation pulse of the wheel. A signal related to the rotation pulse of the wheel is input to the obstacle detection unit 5.

  The obstacle detection unit 5 includes an image processing unit 6, a 3 DLR processing unit 7, a linear calculation unit 8, an integration processing unit 9, and a system control unit 10. The obstacle detection unit 5 includes a CPU that performs arithmetic processing, a ROM and a RAM that are storage units, an input signal circuit, an output signal circuit, a power supply circuit, and the like.

  The system supervision unit 10 controls the entire obstacle detection unit 5 and manages block generation and function stop of the image processing unit 6, the 3 DLR processing unit 7, the linear calculation unit 8, and the integration processing unit 9. The system control unit 10 manages data input / output with a display unit 15, an operation unit 16, and a vehicle control unit 17 which will be described later.

  The image processing unit 6 performs image processing on the sensor data input from the camera 2. As the image processing, the image processing unit 6 performs, for example, binarization processing, and detects information on the object and information on the white line of the road. The sensor data input from the camera 2 includes information on the hue of the object, information on the brightness of the object, information on the size (outer dimensions) of the object, and information on the position of the object.

  Further, the image processing unit 6 determines the position of the object (position in the left-right direction, position in the traveling direction of the vehicle M), the size of the object (size in the width direction, size in the height direction) based on the sensor data, Calculate the hue and brightness of the object. Further, the image processing unit 6 calculates the hue and brightness around the object.

The image processing unit 6 compares the camera parameters such as the angle of view and the linear information of the path with the pixel size in the image, and calculates and determines the actual size of the object. The angle of view includes, for example, a focal length f (see FIG. 6), an installation pitching angle θ ₁ (see FIG. 7A), an installation pan angle θ ₂ (see FIG. 7B), and the like.

  The 3DLR processing unit 7 performs data processing on the sensor data input from the 3DLR 3. The sensor data input from the 3DLR includes the position of the object (position in the left-right direction, position in the traveling direction of the vehicle M, position in the up-down direction).

  The 3DLR processing unit 7 calculates the position of the object (position in the left-right direction, position in the traveling direction of the vehicle M, position in the up-down direction) based on the sensor data.

  The linear calculation unit 8 calculates the travel distance of the vehicle M using the linear information of the route stored in the storage unit and the vehicle speed acquired by the wheel speed sensor 4. “Route linear information” is information on the three-dimensional shape of the route corresponding to the distance from the starting position of the route, information on the curvature of the curve in the horizontal direction on the road, and information on the gradient in the vertical direction on the slope. Is included. The linear calculation unit 8 calculates own vehicle position information indicating the position from the starting point of the vehicle M based on the linear information of the route and the vehicle speed.

  The integration processing unit 9 performs integration processing for integrating sensor data of objects acquired from a plurality of sensors. The integration processing unit 9 integrates a plurality of temporally different sensor data as temporally continuous data in order to obtain data suitable for tracking processing and obstacle determination processing.

  The integrated processing unit 9 determines whether the object detected by the short-distance camera 2A, the long-distance camera 2B, or the 3DLR 3 is an obstacle. The processing result by the integrated processing unit 9 is output to the system control unit 10.

  Further, the obstacle detection unit 5 is electrically connected with a display unit 15 and an operation unit 16. The display unit 15 is a liquid crystal display device, for example, and displays an image acquired by the camera 2. Moreover, based on the information output from the obstacle detection unit 5, the driver is notified by highlighting an object that is an obstacle.

  The operation unit 16 is a touch panel of a liquid crystal display device, for example, and outputs a signal based on a driver's operation input to the system control unit 10. For example, the driver operates the operation unit 16 when performing an input operation on an object that is confirmed not to be an obstacle.

  Further, the obstacle detection device 1 is electrically connected to a vehicle control unit 17 that controls the vehicle M. For example, an alarm device 18 and a brake 19 are electrically connected to the vehicle control unit 17. The vehicle control unit 17 can emit an alarm sound by controlling the alarm device 18 based on a signal from the system control unit 10. Further, the vehicle control unit 17 can decelerate the vehicle M by operating the brake 19 based on a signal from the system control unit 10.

(Field angle adjustment method; first embodiment)
Next, a method of adjusting the angle of view of the camera 2 in the obstacle detection apparatus 1 provided with the short distance camera 2A and the long distance camera 2B will be described. This will be described with reference to the flowchart shown in FIG. FIG. 4 is a flowchart showing the processing procedure of the angle of view adjustment method. The processing procedure shown in FIG. 4 is performed before the obstacle detection device 1 is used, for example. For example, before the shipment, the angle of view adjustment method may be performed in a factory, may be performed outdoors, or may be performed on a traveling road. Further, the angle of view adjustment method is performed while the vehicle M is stopped.

The angle adjusting method, first, the operator performs the step of placing the target T _A forward vehicle M (step S1). Target T _A, as shown in FIG. 5, for example, is displayed as a rectangular object on the screen. Target T _A is not limited to what is displayed as a rectangular object, for example, triangular, circular, trapezoidal, etc. linear, or intended to be displayed as the object of other shapes.

The target T _A, as shown in FIG. 3, is disposed in the common area R _2C of the vehicle M forward. Target T _A is placed into a photographable position by both near camera 2A and far camera 2B. The first imaging region _{R 2A} short-distance camera 2A is not more than the vehicle ahead of the S [m] or more 4S [m], the second imaging region _{R 2B} by long-range camera 2B is ahead of the vehicle 2S [m In the case of 8S [m] or less, the common region _R2C is in the range of 2S [m] or more and 4S [m] or less. “S” is an arbitrary numerical value. Distance _{L TA} from the vehicle M to the target _{T A} is, for example, 3S [m]. The distance _{L TA,} for example a camera 2 (short-range camera 2A, the long-distance camera 2B) may be the distance from to the target _{T A.}

Instead of placing the object as a target T _A, it may be used existing ones as the target T _A. For example, a sign placed near the road, a white line on the road, a display on the road, or other installations may be used as the target. Further, for example, in the image processing unit detects a white line on both sides of the lane, and sets the imaginary straight line intersecting these white lines may be set straight virtual as the target T _A.

Next, a step of measuring the distance from the vehicle M to the target T _A (step S2). Specifically, 3DLR3 is irradiated with laser forward vehicle, it receives a reflected laser reflected by the target T _A. 3DLR processing unit 7 performs data processing on the sensor data received from 3DLR3, detects the position of the target _{T A.} Thus, measuring the distance from the vehicle M to the target T _A. Note that 3DLR calibration may be performed when performing measurement using 3DLR3.

The step of measuring the distance L _TA from the vehicle M to the target T _A is not limited to being implemented using 3DLR3, other laser radar may be used range finder, in other ways The distance L _TA may be measured. Further, when the distance L _TA from the vehicle M to the target T _A is known, it is possible to use that value.

Next, a step of calculating the placement of the first mark _{C 1} (step S3). First mark _{C 1} is a mark showing a display target of the target _{T A} in on the first image _{J 1.} Further, the first image J _1, an image photographed using short-range camera 2A. First mark C _1, for example, has a shape corresponding to the outer shape of the target T _A. For example, if the outer shape of the target T _A is rectangular, the first mark C ₁ may be a rectangular frame body corresponding to the outer shape of the target T _A. First mark C ₁ may have a shape corresponding to a portion of the outline of the target T _A. For example, if the target T _A has a rectangular shape may be in terms of four arranged in a position corresponding to the four corners.

  In step S3, for example, the image processing unit 6 of the obstacle detection unit 5 performs arithmetic processing. FIG. 6 is a diagram illustrating a positional relationship between the imaging element of the camera and the target. The camera in this case is the short-distance camera 2A, and the image sensor 21 and the lens 22 are the image sensor 21 and the lens 22 of the short-distance camera 2A.

As shown in FIG. 6, the focal length f [mm], a distance _L TA from the camera 2 (the vehicle M) to the target _{T A} [mm], the element size a of the image sensor [mm], the field of view b of the target _{T A} [Mm] satisfies the following proportional expression (1).
f: a = L _TA : b (1)

In the proportional formula (1), the focal length f and the element size a are known. Distance L _TA from the camera 2 to the target T _A may be a value calculated in step S2. The field of view b can be calculated by substituting these values (a, b, L _TA ) into the proportional expression (1).

As described above, the horizontal field of view b _X [mm] and the vertical field of view b _Y [mm] at the position of the target T can be obtained using the proportional expression (1). At this time, the resolution of the image of the camera (for example, full HD: horizontal 1920 [pixel], vertical 1080 [pixel]) is known. Therefore, the resolution Gx (= 1920 / horizontal visual field b _X ) [pixel / mm] in the horizontal direction X at the target position and the resolution G _Y (= 1080 / vertical visual field b _Y ) [pixel / mm] in the vertical direction Y are set. Can be sought.

Because the target actual size of T _A [mm] is also known, the image processing unit 6, the above resolution Gx, by using the G _Y, the size of the first mark C ₁ to be imaged on the image [pixel] of Can be calculated.

Next, a step of displaying a first mark _{C 1} on the first image _{J 1} (step S4). In step S4, and it displays a first mark C ₁ on the first image J ₁ so as to be arranged calculated in step S3. The image processing section 6 applies the first size of the mark _{C 1} calculated in step S3 (Tx, Ty), as shown in FIG. 5, on the first image _{J 1,} the first mark _{C 1} indicate. The position for displaying a first mark C ₁ (the display position on the image (x, y)) is the user can arbitrarily set. For example, the center of the image, so that the first mark C ₁ is displayed may determine the first display position of the mark C _1.

Next, a step of adjusting the angle of view of the short distance camera 2A is performed (step S5). Specifically, in the first image J on _1, as a first mark C ₁ and the target T _A displayed matches adjusts the angle of view of the short-range camera 2A. For example, an operator may manually operate the short-distance camera 2A to adjust the angle of view of the short-distance camera 2A. A signal is output from the obstacle detection unit 5 to automatically drive the actuator. You may adjust.

In step S5, for example, the focal length f of the short distance camera 2A, the installation pitching angle θ _{1 of} the short distance camera 2A, and the installation pan angle θ ₂ of the short distance camera 2A are adjusted. The focal length f can be changed by moving the position of the lens 22 of the short-distance camera 2A. 7 (a) is a side view showing an installation pitching angle theta ₁ of the near camera 2A. As shown in FIG. 7 (a), it can be for example the axis D extending in the horizontal direction, and the installation angle pitching angle theta ₁ which the optical axis L ₂ intersects the short-range camera 2A. For example, by tilting the support table for supporting a short-range camera 2A, it is possible to adjust the installation pitching angle theta _1.

FIG. 7B is a plan view showing the installation pan angle θ ₂ of the short-distance camera 2A. As shown in FIG. 7 (b), for example, the axis E that extends in the longitudinal direction of the vehicle M, that the optical axis L ₂ of the short-range camera 2A to the installation pan angle theta ₂ the angle of intersection it can. For example, the installation pan angle θ ₂ can be adjusted by rotating the support base that supports the short-distance camera 2 </ _b > A around the axis extending in the vertical direction.

Next, a step of calculating the placement of the second mark _{C 2} (step S6). Second mark _{C 2} is a mark showing a display target of the target _{T A} of the on the second image _{J 2.} Further, the second image J _2, an image taken using a long distance camera 2B. Second mark C _2, for example, has a shape corresponding to the outer shape of the target T _A. For example, if the outer shape of the target T _A is rectangular, the second mark C ₂ can be a rectangular frame body corresponding to the outer shape of the target T _A. Second mark C ₂ may have a shape corresponding to a portion of the outline of the target T _A. For example, if the target T _A has a rectangular shape may be in terms of four arranged in a position corresponding to the four corners.

  In step S6, for example, the image processing unit 6 of the obstacle detection unit 5 performs arithmetic processing. The processing here can be performed for the long-distance camera 2B in the same procedure as in step S3. Therefore, detailed description is omitted.

Next, a step of displaying the second mark _{C 2} on the second image _{J 2} (step S7). In step S7, it displays the second mark C ₂ on the second image J ₂ so that the arrangement which is calculated in step S6. The image processing section 6 applies the second size of the mark _{C 2} calculated in step S6 (Tx, Ty), on the second image _{J 2,} displays a second mark _{C 2.} The position for displaying the second mark C ₂ (the display position on the image (x, y)) is the user can arbitrarily set. For example, the center of the image, so that the second mark C ₂ is displayed, it may determine the display position of the second mark C _2. Incidentally, FIG. 5 is illustrated as a first image _{J 1} and the second image _{J 2,} first image _{J 1} and the second image _{J 2,} a different image, each image, the target _{T A} each other, are different sizes, the first mark C ₁ and the second mark C _2, the different sizes.

Next, a step of adjusting the angle of view of the long-distance camera 2B is performed (step S8). Specifically, on the second image J _2, so that the second mark C ₂ and the target T _A displayed matches adjusts the angle of view of the long distance camera 2B. For example, an operator may adjust manually, or a signal may be output from the obstacle detection unit 5 to drive the actuator and adjust automatically.

In step S8, for example, the focal length f of the long-distance camera 2B, the installation pitching angle θ _{1 of} the long-distance camera 2B, and the installation pan angle θ ₂ of the long-distance camera 2B are adjusted. The focal length f can be changed by moving the position of the lens 22 of the long-distance camera 2B. Further, for example, by inclining the support base for supporting the long-range camera 2B, it is possible to adjust the installation pitching angle theta _1. Further, for example, the installation pan angle θ ₂ can be adjusted by rotating and moving the support base that supports the long-distance camera 2B around the axis extending in the vertical direction.

As described above, according to this angle-of-view adjustment method, both the first shooting area R _2A shot by the short distance camera _2A and the second shooting area R _2B shot by the long distance camera 2B are used. common area R _2C to set the target T _a, using the same target T _a, it is possible to perform the angle adjustment in the short-range camera 2A, and a view angle in the far camera 2B contained . Thus, the target T _A to be used in the view angle of the short-range camera 2A, there is no need to arrange separately the target T _A to be used in the view angle of the long-range camera 2B, procedures in view angle Can be simplified. Furthermore, by capturing the same target T _A, easily compare the image data of the obtained target T _A short distance camera 2A, and the image data of the target T _B acquired in long distance camera 2B can do. Therefore, it is possible to improve the detection accuracy of the object based on the acquired image data.

  For example, when one target is prepared for the short-distance camera 2A, one target is prepared for the long-distance camera 2B, and a total of two targets are prepared and the angle of view is adjusted. Since the installation location of the target is different for each camera, there is a possibility that an installation error will occur in each camera. In this case, each camera captures a different target and adjusts the angle of view. Therefore, the detection position of the same object in the common area that is simultaneously captured by both cameras, including installation errors for each target. There is a possibility that the accuracy of image processing (object detection) in the image processing unit 6, integration processing in the integration processing unit 9, and determination processing may be affected.

In contrast, using the same target T _A that is allocated to the common area R _2C, when adjusting the angle of view of the short-range cameras 2A and far camera 2B as installation errors of the target T _A Therefore, only one common installation error occurs. Also, look at the same target T _A, it is possible to adjust the angle of view, in the object detection by image processing in a subsequent stage, with the short-range camera 2A and long range camera 2B, detection of the same object The difference in position is reduced.

(Field angle adjustment method; Second Embodiment)
Next, an angle of view adjustment method during maintenance will be described as a second embodiment. The maintenance time is, for example, a periodic inspection that is performed after the obstacle detection device 1 has been used for a certain period of time. In the description of the field angle adjustment method during maintenance, the same description as the above field angle adjustment method is omitted. Further, the angle adjusting method at the time of maintenance, for example, the vehicle M is disposed at the same position as the view angle adjusting method performed before use, direct the vehicle M in the same direction, placing the target T _A at the same position.

  As shown in FIG. 4, similarly to the procedure in the angle-of-view adjustment method before use, first, the processes of steps S1 to S4 are performed.

Next, as shown in FIG. 8 (a), a step of measuring a target _{T A} and the first deviation amount between the first mark _{C 1} in the above first image _{J 1} (step S21). Arrangement of the first mark C ₁ is, for example, the same as the first time. As a first shift amount, for example, may be measured and the center point of the target T _A, the deviation amount of the position of the center point of the first mark C ₁ [mm] and a corner portion of the target T _A, the corresponding may be measured a deviation amount between the positions of the first mark C ₁ of the corner, it may measure the amount of deviation of position between the other corresponding. The measurement of the first deviation amount can be performed, for example, by performing arithmetic processing in the image processing unit 6.

  Next, a step of storing the first deviation amount is performed (step S22). The obstacle detection unit 5 stores data related to the first deviation amount measured in step S21 in the storage unit of the obstacle detection unit 5.

  Next, a step of determining whether or not the first deviation amount is greater than or equal to a determination threshold value is performed (step S23). The obstacle detection unit 5 includes a determination unit that determines whether or not the first deviation amount is greater than or equal to a determination threshold value. The determination unit of the obstacle detection unit 5 determines whether or not the first deviation amount measured in step S21 is greater than or equal to a determination threshold value (first determination threshold value). This determination threshold is a threshold for determining whether or not the field angle adjustment of the short-distance camera 2A is necessary, and can be determined based on, for example, experimental data and past data.

  In step S23, when the first deviation amount is equal to or larger than the determination threshold (step S23; YES), the process proceeds to step S5, and after performing the step of adjusting the angle of view of the short-distance camera 2A, the process proceeds to step S6. . On the other hand, when the first deviation amount is less than the determination threshold value (step S23; NO), the process proceeds to step S6 without executing the step of adjusting the angle of view in step S5.

Then, after performing the steps S6, S7 shown in FIG. 4, as shown in FIG. 8 (b), the target _{T A} and the second deviation amount between the second mark _{C 2} of the above second image _{J 2} A step of measuring is performed (step S31). A second shift amount, for example, the center point of the target T _A, the deviation amount of the position of the center point of the second mark C ₂ [mm] may be measured, and the corner portions of the target T _A, the corresponding may be measured displacement amount of the position of the second corner of the mark C _2, it may be measured displacement amount of the position each other other corresponding. The measurement of the second deviation amount can be performed, for example, by performing arithmetic processing in the image processing unit 6.

  Next, a step of storing the second deviation amount is performed (step S32). The obstacle detection unit 5 stores data related to the second deviation amount measured in step S31 in the storage unit of the obstacle detection unit 5.

  Next, a step of determining whether or not the second deviation amount is greater than or equal to a determination threshold value is performed (step S33). The obstacle detection unit 5 includes a determination unit that determines whether or not the second deviation amount is greater than or equal to a determination threshold value. The determination unit of the obstacle detection unit 5 determines whether or not the second deviation amount measured in step S31 is greater than or equal to a determination threshold (second determination threshold). This determination threshold is a threshold for determining whether or not the angle of view of the long-distance camera 2B needs to be adjusted, and can be determined based on, for example, experimental data or past data.

  In step S33, when the second deviation amount is equal to or larger than the determination threshold (step S33; YES), the process proceeds to step S8, and after performing the step of adjusting the angle of view of the long-distance camera 2B, the process proceeds to step S8. . On the other hand, when the second deviation amount is less than the determination threshold value (step S33; NO), the process ends without performing the step of adjusting the angle of view in step S8.

  According to such a view angle adjustment method, the view angle of the short-distance camera 2A can be adjusted in step S5 only when the first deviation amount is equal to or larger than the determination threshold value, and the first deviation amount is less than the determination threshold value. In this case, it is possible to prevent the angle of view of the short-distance camera 2A from being adjusted. Thereby, for example, when the first deviation amount is less than the determination threshold and the angle is small, the angle of view adjustment is not performed. Therefore, it is possible to prevent the first deviation amount from being largely changed by the angle of view adjustment. In this case, the object detection in the subsequent image processing can be executed in consideration of the first shift amount stored in the storage unit. Therefore, it is possible to accurately detect an object while maintaining a slight first shift amount. Since there is no need to perform unnecessary field angle adjustment, the procedure can be simplified.

  In addition, the field angle of the long-distance camera 2B can be adjusted in step S8 only when the second deviation amount is equal to or greater than the determination threshold value. When the second deviation amount is less than the determination threshold value, the long-distance camera It is possible to prevent the 2B angle of view from being adjusted. Thereby, for example, when the second deviation amount is less than the determination threshold value and is small, the angle of view adjustment is not performed. Therefore, it is possible to prevent the second deviation amount from being largely changed by the angle of view adjustment. In this case, the object detection in the subsequent image processing can be executed in consideration of the second shift amount stored in the storage unit. Therefore, it is possible to accurately detect an object while maintaining a slight second deviation amount. Since there is no need to perform unnecessary field angle adjustment, the procedure can be simplified.

(Field angle adjusting method; Third Embodiment)
Next, as a third embodiment, an angle of view adjustment method during maintenance will be described. In the description of the third embodiment, the same description as in the first and second embodiments is omitted.

In the view angle method, after view angle for the first time (e.g., prior to use), the position of the target T _A on the first image J _1, allowed to store data such as the size in the storage unit. Similarly, after view angle for the first time, the position of the target T _A on the second image J _2, allowed to store data such as the size in the storage unit.

When the angle of view adjustment method is performed during the next maintenance, the shift amounts K ₁ and K ₂ are detected as compared with the first (previous) data, and the first shift amount on the first image J ₁ is detected. a step of comparing the K ₁ and the second shift amount _{K 2} of on the second image _{J 2.}

First, the second shift amount K ₂ on the second image J ₂ shown in FIG. 9A and the first shift amount K ₁ on the first image J ₁ shown in FIG. 9B. Comparison with will be described. 9 (a) is a second image J ₂ taken by the long-range camera 2B, a diagram illustrating a target T _A and the second mark C ₂ displayed on the second image J _2. FIG. 9 (b), a first image J ₁ taken by the short distance camera 2A, a diagram illustrating a target T _A and the first mark C ₁ which is displayed on the first image J _1.

9 (a), the position where the second mark C ₂ is displayed is the same as the position of the target T _A after view angle for the first time, a data stored in the storage unit. Before maintenance after use for a certain period after view angle for the first time, if there is no change in the angle of view of the short-range camera 2A, the target T _A and the second mark displayed on the second image J ₂ C ₂ and the position is likely to match.

In FIG. 9 (a), the display position of the view angle before the target T _A during maintenance is offset from the position after the angle adjustment of the first (second mark C _2). On the second image J ₂ is shifted to the right obliquely upward. At this time, on the second image J _2, as a display of a second shift amount K _2, it may be displayed arrow.

In FIG. 9 (b), the position where the first mark C ₁ is displayed is the same as the position of the target T _A after view angle for the first time, a data stored in the storage unit. Before maintenance after use for a certain period after view angle for the first time, if there is no change in the angle of view of the short-range camera 2A, the target T _A and the first mark is displayed on the first image J ₁ C ₁ and the position is likely to match.

9 (b), the display position of the view angle before the target T _A during maintenance is offset from the position after the angle adjustment of the first (first mark C _1). On the first image J ₁ is shifted to the right obliquely upward. At this time, the first image J on _1, as the display showing the first shift amount K _1, may be displayed arrow.

For example, the image processing unit 6 compares the first shift amount _{K 1} in the above first image _{J 1,} and a second shift amount _{K 2} of on the second image _{J 2.} For example, the obstacle detection unit 5, a first direction of displacement amount K ₁ in the above first image J _1, and a second direction shift amount K ₂ of on the second image J ₂ is coincident Determine whether or not. In the cases shown in FIGS. 9A and 9B, the direction in which the arrows indicating the shift amounts K ₁ and K ₂ are the same, the obstacle detection unit 5 is the _first on the first image J ₁ . 1 determines the direction of the displacement amount K _1, and the second direction displacement amount K ₂ of on the second image J ₂ are identical.

  As shown in FIGS. 9A and 9B, when the shift is in the same direction, in the short distance camera 2A and the long distance camera 2B, the influence of the shift of the installation pitching angle and the installation pan angle. There is a possibility that the installation position of the vehicle M at the time of the current view angle adjustment, the orientation of the vehicle M, and the like are deviated from those at the previous view angle adjustment. In this case, the determination unit of the obstacle detection unit 5 can determine that the angle of view is not adjusted.

Next, the second shift amount K ₂ on the second image J ₂ shown in FIG. 9C and the first shift amount K on the first image J ₁ shown in FIG. 9D. Comparison with ₁ will be described. 9 (c) is a second image J ₂ taken by the long-range camera 2B, a diagram illustrating a target T _A and the second mark C ₂ displayed on the second image J _2. FIG. 9 (b), a first image J ₁ taken by the short distance camera 2A, a diagram illustrating a target T _A and the first mark C ₁ which is displayed on the first image J _1.

Since FIG. 9C is the same as FIG. 9A, description thereof is omitted here. In FIG. 9 (d), the position where the first mark _{C 1} is displayed is the same as FIG. 9 (b).

In FIG. 9 (d), the display position of the view angle before the target T _A during maintenance is offset from the position after the angle adjustment of the first (first mark C _1). On the first image J ₁ is shifted to the right obliquely downward. At this time, the first image J on _1, as the display showing the first shift amount K _1, may be displayed arrow.

For example, the image processing section 6 includes a first shift amount _{K 1} in the above first image _{J 1,} compared with the second shift amount _{K 2} of on the second image _{J 2,} on the first image _{J 1} determining a first direction of the displacement amount K _1, a second direction displacement amount K ₂ of on the second image J ₂ is, whether or not the match. In the cases shown in FIGS. 9C and 9D, since the directions in which the arrows indicating the shift amounts K ₁ and K ₂ are different, the obstacle detection unit 5 performs the first shift on the first image J _1. It determines the direction of the quantity K _1, and the second direction displacement amount K ₂ of on the second image J ₂ do not match.

  As shown in FIGS. 9C and 9D, when the shifts are in different directions, at least one of the installation pitching angle and the installation pan angle in at least one of the short distance camera 2A and the long distance camera 2B. May be off. As a cause of deviation of the installation pitching angle and the installation pan angle, the influence of vibration caused by the traveling of the vehicle M can be considered. In this case, the determination unit of the obstacle detection unit 5 can determine to adjust the angle of view. In this case, a step of adjusting the angle of view of the short-distance camera 2A (step S4) and a step of adjusting the angle of view of the long-distance camera 2B (step S8) are executed.

Further, for example, a first shift amount _{K 1} in the above first image _{J 1,} in the step of comparing the second shift amount _{K 2} of on the second image _{J 2,} the displacement amount _K 1, _{K 2} size The length (the length of the arrow) may be compared. Further, "the outer shape of the target T _A in the first image J ₁ magnification change of the first mark C ₁ contour", "the outer shape and the second mark of the outline of the target T _B in the second image J ₂ The “magnification of change” may be compared. Thereby, it is possible to determine whether the angle of view of the camera is deviated compared to the previous adjustment of the angle of view, or whether the angle of view of the camera is not deviated but is deviated due to other reasons. For example, the magnification changes in outer shape, when the first image J ₁ differs in the second image J ₂ is, by the influence of the vibration of the vehicle M, there is a possibility that there is a problem in the adjustment of the focal length f.

(Field angle adjustment method; modification)
Next, an obstacle detection device and an angle-of-view adjustment method according to a modification will be described with reference to FIGS. 10 and 11. In the description of the modification, the same description as in the first to third embodiments is omitted.

  The obstacle detection device 1 according to the modification shown in FIG. 10 is different from the obstacle detection device 1 of the above embodiment shown in FIG. 2 in place of the short-distance camera 2A and the long-distance camera 2B. The point is that one camera 2 is provided, and that no 3DLR is provided. Further, the obstacle detection unit 5 of the obstacle detection apparatus 1 is different from the obstacle detection unit 5 of the obstacle detection apparatus 1 in that the 3DLR processing unit 7 is not provided.

  In the field angle adjustment method according to the modification, as shown in FIG. 11, the operator sets an existing object as a target (step S11). This existing object is present in the imaging area of the camera 2. The dimension (for example, height) of this existing object is known, and the distance from the camera 2 to the existing object is also known. This existing object is an object whose reference length is known. The reference length of an existing object is, for example, the width of a road or the width of a rail.

  In step S11, an existing object having a known angle with respect to the horizontal plane of the placement surface on which the object is placed is set as a target. For example, an object whose angle is known in the longitudinal direction and the horizontal direction of the reference length of the object is set as a target. The angle of the placement surface on which the object is placed with respect to the horizontal plane is stored in the storage unit of the obstacle detection device 1.

  In step S11, the existing object whose amount of deviation between the center of the camera coordinates of the camera 2 and the center of the existing object is known is set as a target. Note that the center of the existing object may coincide with the center of the camera coordinates of the camera 2.

  In step 11, for example, the operator performs an operation input using the operation unit 16, specifies an existing object, and sets the object as a target. The obstacle detection unit 5 recognizes an existing object as a target based on information input from the operation unit 16.

  Next, the obstacle detection unit 5 reads the distance from the camera 2 to the target (step S12). The obstacle detection unit 5 reads data (known data) related to the distance to the target stored in the storage unit.

  Next, a step of calculating the mark arrangement is performed (step S13). The mark is a mark indicating a display target of the target on the image. The image here is an image taken using the camera 2.

  Next, a step of displaying a mark on the image is performed (step S14). In step S14, marks are displayed on the image so as to have the arrangement calculated in step S13. The image processing unit 6 displays the mark on the image by applying the mark size calculated in step S13.

  Next, a step of adjusting the angle of view of the camera 2 is performed (step S15). Specifically, the angle of view of the camera 2 is adjusted so that the displayed mark matches the target on the image.

  According to such an angle-of-view adjustment method, a known object existing in the imaging region of the camera 2 is set as a target, and the dimensions of the target 2 and the distance from the camera 2 are used as the known data of the target. The angle of view can be adjusted. As a result, it is not necessary to bother to place a target object, and the procedure for adjusting the angle of view in the obstacle detection device can be simplified.

  In the step of setting an existing object as a target (step S11), the existing object whose angle with respect to the horizontal plane of the mounting surface on which the object is mounted is known is set as the target. Thus, in the subsequent step of calculating the mark arrangement, the mark arrangement can be calculated based only on the distance from the camera to the target, which is known data.

  In the step of setting an existing object as a target (step S11), the known object whose amount of deviation from the center of the camera coordinates of the camera 2 is known is set as the target. This eliminates the need to measure the amount of deviation between the center of the camera coordinates and the center of the target. Alternatively, the angle-of-view adjustment in the obstacle detection device 1 can be performed based on the known deviation amount of the center of the object with respect to the camera coordinates.

  The present invention is not limited to the above-described embodiments, and various modifications as described below are possible without departing from the gist of the present invention.

  For example, in the angle-of-view adjustment method of the above-described embodiment, the processing procedure can be changed as appropriate and executed. In the above embodiment, as shown in FIG. 4, after performing steps S3 to S5 to adjust the angle of view of the short-distance camera 2A, steps S6 to S8 are performed and the angle of view of the long-distance camera 2B. However, after performing steps S6 to S8 to adjust the angle of view of the long-distance camera 2B, steps S3 to S5 may be performed to adjust the angle of view of the short-distance camera 2A. .

Also, run the step of calculating the placement of the second mark C2 steps and S6 calculating a first arrangement of the marks C ₁ in step S3 in advance, the calculation result may be stored in the storage unit. Then, in step S4, the first display mark C ₁ to read first on the image J ₁ data from the storage unit, similarly in step S7, the second mark on the read second image J ₂ data from the storage unit C ₂ may be displayed.

  In the above embodiment, the angle of view adjustment method in the monitoring system including the short-distance camera 2A and the long-distance camera 2B is described. However, in the monitoring system including three or more types of cameras having different shooting areas. An angle of view adjustment method can also be applied. In this case, the present invention can be applied to any two of the three or more types of cameras.

  Moreover, although the said embodiment demonstrated the case where the obstruction detection system was mounted in the vehicle, you may mount an obstruction detection system in moving bodies other than a vehicle. For example, an obstacle detection system may be mounted on a robot, an airplane, a ship, a railroad, or the like. Moreover, you may install an obstruction detection system in another place and an object, without mounting in a moving body. For example, an obstacle detection system may be installed in a factory, a store, a hospital, an airport, a station, a building around a traveling road, or the like to detect an object that may be dangerous as an obstacle. The object is not limited to a stationary object, and may be a moving object, a person, or an animal. Further, the obstacle is not limited to a dangerous object, and may be an object that becomes an obstacle or an object that meets a specific condition.

1 Obstacle detection device (monitoring system)
2 cameras,
2A Camera for short distance 2B Camera for long distance 3 3DLR (3D laser radar)
DESCRIPTION OF SYMBOLS 4 Wheel speed sensor 5 Obstacle detection unit 6 Image processing part 7 3 DLR processing part 8 Linear calculation part 9 Integrated processing part 10 System control part 15 Display part 16 Operation part 17 Vehicle control part 18 Alarm 19 Brake 21 Imaging element 22 Lens a Element size b Field of view f Focal length C1 First mark C2 Second mark D Axis extending in the horizontal direction E Axis extending in the front-rear direction of the vehicle J ₁ First image J ₂ Second image K ₁ First shift amount K ₂ second shift amount L ₂ optical axis L _TA distance M vehicle R _2A first imaging region R _2B second imaging region R _2C common region T _a target theta ₁ installed pitching angle theta ₂ installed pan angle from the vehicle to the target

Claims (9)

A short-distance camera for photographing the first photographing region and a second photographing region including a part of the first photographing region and a region farther from the reference position than the first photographing region. An angle-of-view adjustment method in a surveillance system comprising a long-distance camera for photographing
Setting a target in a common area included in both the first imaging area and the second imaging area;
Calculating an arrangement of a first mark indicating a display target of the target on a first image photographed by the short distance camera;
Displaying the first mark on the first image in a calculated arrangement;
Adjusting the angle of view of the near-field camera so that the display of the target is aligned with the first mark on the first image;
Calculating an arrangement of a second mark indicating a display target of the target on a second image taken by the long-distance camera;
Displaying the second mark on the second image in a calculated arrangement;
Adjusting the angle of view of the long-distance camera so that the display of the target is aligned with the second mark on the second image. The monitoring system further includes a laser radar that irradiates a laser to an area including the common area,
The angle of view adjustment method is:
Further comprising measuring a distance from the reference position to the target using the laser radar;
The step of calculating the placement of the first mark calculates the placement of the first mark in consideration of the distance to the target,
The field angle adjustment method according to claim 1, wherein the step of calculating the arrangement of the second marks calculates the arrangement of the second marks in consideration of a distance to the target. Measuring a first shift amount that is a shift amount between the target and the first mark on the first image;
The angle of view adjustment method according to claim 1, further comprising: storing the first shift amount in a storage unit of the monitoring system. Determining whether the first deviation amount is equal to or greater than a first determination threshold;
The angle-of-view adjustment method according to claim 3, further comprising the step of adjusting the angle of view of the short-distance camera again when the first shift amount is equal to or greater than a first determination threshold. Measuring a second shift amount that is a shift amount between the target and the second mark on the second image;
The angle of view adjustment method according to any one of claims 1 to 4, further comprising: storing the second shift amount in a storage unit of the monitoring system. Determining whether the second deviation amount is greater than or equal to a second determination threshold;
The angle of view adjustment method according to claim 5, further comprising: adjusting the angle of view of the long-distance camera again when the second shift amount is equal to or greater than a second determination threshold. A method for adjusting an angle of view in a surveillance system including a camera,
A step of setting an existing object that is present in a shooting region by the camera, has a known dimension and a distance from the camera, and can determine a reference length as a target;
Calculating an arrangement of marks indicating a display target of the target on an image taken by the camera;
Displaying the mark on the image so as to have a calculated arrangement;
Adjusting the angle of view of the camera to match the display of the target with the mark on the image,
The step of calculating the mark arrangement is a field angle adjustment method of calculating the mark arrangement based on a distance from the camera to the target, which is known data.   8. The angle-of-view adjustment method according to claim 7, wherein in the step of setting the existing object as a target, the existing object having a known angle with respect to a horizontal plane of a mounting surface on which the object is mounted is set as a target. .   In the step of setting the existing object as a target, the center of the camera coordinates of the camera and the center of the existing object coincide with each other, or the deviation amount between the center of the existing object is known The angle-of-view adjustment method according to claim 7, wherein the object is set as the target.

Images