JP2018192844A - Monitoring device, monitoring system, monitoring program, and storage medium - Google Patents

Abstract

To provide a monitoring system which counts objects in a virtual monitoring area without directly monitoring an area to be monitored.SOLUTION: A monitoring system provided with a first and a second stereoscopic cameras SC1 and SC2 and a server comprises an imaging part CAM which creates stereoscopic images using the first and second stereoscopic cameras and a communication part COM which transmits information of the stereoscopic images to the server. The server comprises a monitoring line setting part MLS which accepts a stop line setting for a railway crossing and a first and a second monitoring lines setting for blocking bars at the time of blocking in the stereoscopic images of the first and second stereoscopic cameras, monitoring part MON which analyzes the stereoscopic images, recognizes objects passing the monitoring line and counts objects that enter or exit the monitored area and an alarm output part WOT which outputs a prescribed alarm if it is found, as a result of analysis of the stereoscopic images, that the number of objects in the monitored area is not zero when the fact that the blocking bars are lowered is recognized.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a monitoring device, a monitoring system, a monitoring program, and a storage medium, and more particularly to a monitoring device, a monitoring system, a monitoring program, and a storage medium that automatically set a monitoring line and a monitoring surface.

  Surveillance cameras have been used in the past, but are increasingly connected to a network due to the widespread use of the Internet line and monitored by remote servers. In addition, the number of pixels of the camera has increased, and the recorded images can be analyzed afterwards to recognize accidents and crimes. This is the current state of surveillance cameras, but the most common usage is to install unmanned surveillance cameras in buildings, and security personnel such as security companies monitor the images of surveillance cameras at remote locations to help in crime prevention. Is. Security officers actually observe a large number of images from surveillance cameras on a large number of display devices to recognize suspicious objects (suspicious persons and suspicious objects), and if necessary, dispatch security guards to suspicious persons. There are warnings.

  Security officers, however, will see images of surveillance cameras in various locations and buildings, but in the images, public areas such as roads, parks, walkways, or adjacent unrelated There are buildings and grounds, and it is often impossible to immediately understand where is okay and where it can be considered a suspicious person. In some cases, security officers may not be aware if a suspicious person enters a private land with no partitions or an area where entry is not permitted. In recent years, there are terrorism and crimes, and the installation of surveillance cameras is increasing rapidly. However, such a situation increases the burden on security personnel to be monitored and induces surveillance mistakes.

  As conventional techniques for monitoring camera automation, there are an image processing apparatus, an image processing system, and a program (see Patent Document 1). This is because "a gaze area is set in the entire view image of the monitoring area, the moving object is detected by analyzing the image of the set gaze area by the image analysis means, and the zoom camera of the camera unit is operated based on the detection. In this case, the spatial relationship information between the gaze partial image and the whole view image and the temporal relationship information indicating the transition on the time axis in the whole view image of the gaze partial image are created. The related information is added to the image and stored in the image storage unit.At the time of search, the entire related image and the gaze partial image are searched using the related information, and both images are displayed on the display unit. Technology.

JP 2010-233185 A

  In the above-described conventional technique, after setting a monitoring area, a moving body in the monitoring area is zoomed as a suspicious object and photographed. This is a technique for automatically tracking a suspicious person and zooming, but “automatic setting of a monitoring area” cannot be performed. Further, when the monitoring area is wide or when a plurality of moving objects enter the monitoring area, there is a demerit that processing cannot be performed in time unless it is a high-speed computing device, making it impossible to capture suspicious objects. As described above, in the prior art, in order to set the monitoring area, it is indispensable for a human to set, and there is no automatic movement setting technique. Whether or not the surveillance area to be set can be properly set in the surveillance area setting by the surveillance camera setter also depends on whether the surveillance camera setter knows the skill of the surveillance camera and the situation of the building or site. Will do. With such a human setting, it is not easy to eliminate a monitoring area setting error.

  In addition, surveillance cameras may mistakenly recognize changes in weather such as light and rain as suspicious persons or suspicious objects, whether in automatic recognition or human observation. It is not solved by fundamentally.

  By the way, in the prior art of monitoring devices other than cameras, there is one in which a monitoring line is set between a set of a light beam transmitter and a light beam receiver. It is a device that issues an alarm as a suspicious person when an object blocks the monitoring line. This is still widely used as a night security system. However, in this prior art, once the monitoring line machine is installed, it is necessary to move the machine itself in order to change the monitoring line. Therefore, the monitoring line can be easily moved or changed. There was a drawback that it was difficult. In addition, there is a drawback in that a set of transmitters and receivers is required for the number of monitoring lines.

  In addition to the above facilities, the objects to be monitored include roads, railroad tracks, railroad crossings, and the like. In particular, there are more than tens of thousands of railroad crossings in Japan, and it is a dangerous area where accidents occur frequently. There are cases where a surveillance camera is set for a level crossing, but most maintenance personnel monitor camera images, and those that automatically detect an object have not been developed. Currently, it is an aging society, and there are many personal accidents due to delays in the migration of elderly people and infant pedestrians, and elderly drivers getting stuck in cars and bicycles. Reducing accidents in such crossing areas is an urgent issue, but no effective system has been developed.

  Accordingly, an object of the present invention relates to a monitoring device, a monitoring system, a monitoring program, and a storage medium that solve the above-described problems, and in particular, a virtual constructed by two monitoring cameras without directly monitoring a monitoring area. It is to provide a monitoring device, a monitoring system, a monitoring program, and a storage medium that count objects in various monitoring areas (dangerous areas such as railroad crossings).

In order to solve the above-described problems, the monitoring system (device) according to the first invention
A monitoring system including first and second stereo cameras and a server,
The first stereo camera is
An imaging unit that captures a stereo image;
A communication unit for transmitting the stereo image to the server;
Have
The second stereo camera is
An imaging unit that captures a stereo image;
A communication unit for transmitting the stereo image to the server;
Have
The server is
A communication unit for receiving the stereo images transmitted from the first and second stereo cameras, and
A monitoring line setting unit for receiving setting of first and second monitoring lines corresponding to a stop line for a crossing or a blocking bar at the time of blocking in the stereo images in the first and second stereo cameras;
Analyzing the stereo image, recognizing an object passing through the received first and second monitoring lines, and entering and exiting the object into a monitoring area between the first monitoring line and the second monitoring line A monitoring unit for measuring the number;
When analyzing the stereo image and recognizing that the crossing bar is lowered, when the number of objects in the monitoring area is not zero, a predetermined alarm (e-mail transmission, warning sound output or transmission, An alarm output unit that outputs image output, warnings to supervisors, warnings to drivers, reports to security companies and police, etc.,
Having
It is characterized by that.

The monitoring system (apparatus) according to the second invention is
A monitoring system including first and second stereo cameras and a server,
The first stereo camera is
An imaging unit that captures a stereo image;
A position measurement unit (such as GPS) that measures the position of the device itself;
A direction measuring unit (such as a triaxial geomagnetic sensor) that measures the direction of the imaging unit of the device itself;
A communication unit that transmits the stereo image, the position, and the direction to the server;
Have
The second stereo camera is
An imaging unit that captures a stereo image;
A position measurement unit (such as GPS) that measures the position of the device itself;
A direction measuring unit (such as a triaxial geomagnetic sensor) that measures the direction of the imaging unit of the device itself;
A communication unit that transmits the stereo image, the position, and the direction to the server;
Have
The server is
A communication unit that receives the stereo image, the position, and the direction transmitted from the first and second stereo cameras;
An acquisition unit that acquires civil engineering information relating to a crossing of the position and / or a road in the first and second stereo cameras;
Based on the position, the direction, and the civil engineering information in the first and second stereo cameras, the coordinates of the stop line for the crossing in the stereo image or the block of the blocking bar at the time of blocking are obtained, and the coordinates in the stereo image A monitoring line setting unit for setting first and second monitoring lines corresponding to the coordinates;
Analyzing the stereo image, recognizing an object passing through the set first and second monitoring lines, and entering and exiting the object into a monitoring area between the first monitoring line and the second monitoring line A monitoring unit for measuring the number;
When analyzing the stereo image and recognizing that the crossing bar is lowered, when the number of objects in the monitoring area is not zero, a predetermined alarm (e-mail transmission, warning sound output or transmission, An alarm output unit that outputs image output, warnings to supervisors, warnings to drivers, reports to security companies and police, etc.,
Having
It is characterized by that.

A monitoring system (apparatus) according to the third invention is
The server is
Analyzing the recognized object, further specifying a target type (person (child, adult, etc.), car, bicycle, stroller, animal, etc.),
The monitoring unit is
Measure the number of types of objects in the monitoring area,
It is characterized by that.

  As described above, the solution of the present invention has been described as a system (apparatus). However, the present invention can also be realized as a method, a program, and a storage medium storing the program, which are substantially equivalent to these. It should be understood that these are included in the scope of the invention. Each step of the following methods and programs uses an arithmetic processing unit such as a CPU or DSP as needed for data processing. The input data, processed / generated data, etc. It is stored in a storage device such as an HDD or a memory.

For example, the monitoring program according to the fourth aspect of the present invention that causes the present invention to be executed as a program and that causes a computer to execute the method is as follows:
One or a plurality of arithmetic processing units are caused to function as the monitoring system according to the first to third aspects of the invention.

In addition, for example, a computer-readable recording medium program according to the fifth invention, which realizes the present invention as a computer-readable recording medium,
A storage medium storing the monitoring program of the fourth invention.

  According to the present invention, it is possible to count objects in a virtual monitoring area (dangerous area such as a railroad crossing) constructed by two monitoring cameras without directly monitoring the monitoring area. It becomes possible to monitor.

FIG. 1 is a block diagram showing an overview of a monitoring system according to an embodiment of the present invention. FIG. 2 is a sequence diagram showing an example of processing executed in the system shown in FIG. FIG. 3 is a flowchart showing an example of processing executed by the server of the system shown in FIG. FIG. 4 is a schematic diagram of a place monitored by the monitoring system according to an embodiment of the present invention. FIG. 5 is a schematic diagram of an actual location monitored by the monitoring system according to an embodiment of the present invention and recognition of the location in the system. FIG. 6 is a schematic diagram of a monitoring zone recognized by the monitoring system according to an embodiment of the present invention. FIG. 7 is a schematic diagram for explaining the aggregation method of the target type of this system. FIG. 8 is a schematic diagram for explaining the aggregation method of the target type of this system. FIG. 9 is a schematic diagram for explaining the types of objects of the present system.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing an overview of a monitoring system according to an embodiment of the present invention. As shown in the figure, the monitoring system MS1 includes a stereo camera SC1 and a server SV1. The server SV1 includes a control unit (CPU, arithmetic processing unit, processor) CON, an input unit (not shown), an output unit (not shown), a communication unit COM, a storage unit MEM, and a display unit DIS. The stereo camera SC includes a control unit (CPU, arithmetic processing unit, processor, not shown) and a communication unit COM, and further includes an input unit (not shown), an output unit (not shown), and a storage unit (see FIG. And a display unit (not shown). A stereo camera captures a plurality (usually two) of images with a plurality (usually two) of cameras (imaging units). Usually, the optical axes of two cameras are parallel, and an object is photographed simultaneously. The two images thus taken are called stereo images, and further, images obtained by performing various processes from these two images, post-processing information sets, and combinations of these are also included in the stereo images. It may be a trinocular stereo image taken by a camera with three or more eyes. In addition, it is preferable to use a high-performance camera capable of photographing with light in a slight environment even at night.

  The stereo camera SC1 has an imaging unit CAM that captures a stereo image, a position measurement unit (such as GPS) that measures the position of its own device, and a direction measurement unit DIM (3-axis geomagnetic sensor that measures the direction of the imaging unit of its own device. And the communication unit COM that transmits the stereo image, the position, and the direction to the server.

  The stereo camera SC2 has the same components as the stereo camera SC2, and can perform the same processing unless otherwise specified. The difference is that the shooting location is shooting a crossing bar and a stop line from another side of the same level crossing.

  The server SV1 receives the stereo image, the position, and the direction transmitted from the first and second stereo cameras, respectively, the crossing of the position in the first and second stereo cameras, Based on the acquisition unit ACQ for acquiring civil engineering information on the road, the position and the direction in the first and second stereo cameras, and the civil engineering information, a stop line for the railroad crossing in the stereo image or at the time of interruption The coordinates of the blocking bar are obtained, the monitoring line setting unit MLS for setting the first and second monitoring lines corresponding to the coordinates in the stereo image, the stereo image is analyzed, and the set first and second monitoring lines are analyzed. A monitoring unit MON for recognizing an object passing through two monitoring lines and measuring the number of objects entering and exiting the monitoring area between the first monitoring line and the second monitoring line; When analyzing the stereo image and recognizing that the railroad crossing bar has been lowered, when the number of objects in the monitoring area is not zero, a predetermined alarm (e-mail transmission, warning sound output or transmission, An alarm output unit WOT for outputting image output, warning to a supervisor, warning to a driver, notification to a security company or police, etc.,

  In addition, the control unit CON calculates a distance between a specific area (such as a part where the target exists) in the stereo image (two images) and the own apparatus using a known stereo image distance analysis technique or the like. A calculation unit DE is included. The distance calculation unit, the monitoring line setting unit, and the like may be realized by software, but it is possible to perform processing at higher speed when realized as hardware by circuitization. The display unit DIS can display information stored in the apparatus and generated information. Based on the distance calculated by the distance calculation unit, the three-dimensional coordinates where the object is located can be accurately recognized, and the height, shape, and size of the object can be recognized.

  Each functional unit included in the control unit of the server SV1 is preferably realized by a program module read into the memory space of the control unit. Stereo cameras SC1 and SC2 do not show a control unit, but each function unit is realized by a program module read into the memory space of the control unit, or each function is implemented by a built-in GPS unit or camera unit. Can be realized. Normally, the PC operates as the apparatus by downloading software that causes the processor to function as each unit of the apparatus from a storage unit or a website, and installing and starting the software on the PC. In addition, each function part provided in the control part is merely a set of functionally integrated steps, and a plurality of function parts can be combined into one function part, or a part of them can be used for other functions. It can be incorporated into a part or divided into other independent functional parts.

  In this way, the generated / extracted information, intermediate data, and acquired data are transmitted to the outside, displayed on the display unit, and the generated / extracted information, intermediate data, acquired data, etc. are stored in the storage unit. It should be noted that this can be done in other manners described later as well. The apparatus is a computer such as a general-purpose computer, a special purpose computer, a server, a personal computer such as a PC or a smartphone, or a program module that implements (executes) the functions and processing procedures (methods) of the apparatus on the computer. It is preferable to construct this apparatus on a computer by holding it in a CPU or storage unit of the computer or reading it from an external server or storage, and the same applies to each of the following embodiments. In addition, each functional unit may be distributed to separate computers and devices connected via a network. Moreover, the form which makes a some function part one, or makes a part of process step another function part may be sufficient. Further, in this embodiment, the server and the stereo camera are defined as separate ones, but some or all of the functions of the server may be included in the stereo camera.

  The control unit further includes a target specifying unit SD that analyzes the recognized target and specifies the type of the target. And a monitoring part measures the number according to the kind of object in the said monitoring area | region.

  FIG. 2 is a sequence diagram showing an example of processing executed in the system shown in FIG. As shown in the figure, the four devices of the stereo cameras SC1, SC2, server SV1, and CIM information server CIM1 perform processing in cooperation. Once the civil engineering information in the CIM information server CIM1 and other servers is stored in the server SV1, the cooperation with the CIM information server CIM1 can be made unnecessary.

  In step S11 of the stereo cameras SC1 and SC2, the imaging unit CAM captures a stereo image. Incidentally, although imaging may be performed continuously, it is preferable to thin out frames or to execute still images at intervals of several seconds in order to reduce the communication amount and the processing amount. Next, in step S12, the position measurement unit POM measures the position of the own device. Next, in step S13, the direction measuring unit DIM measures the direction of the imaging unit of the own device. Next, in step S14, the communication unit COM transmits the stereo image, position, and direction to the server. At this time, it is preferable to transmit together the imaging setting values (view angle, zoom, number of pixels, etc.) of the camera. In addition, a stereo image, a position, and a direction may be transmitted collectively, and may be transmitted separately.

  Thereafter, the process proceeds to the server SV1. In step V11 of the server SV1, the communication unit COM receives a stereo image, a position, and a direction transmitted from the stereo camera. Next, in step V12, the acquisition unit ACQ transmits the railroad crossing regarding the position or the civil engineering information of the road (may be transportation facility information) to the CIM information server CIM1. Alternatively, the acquisition unit ACQ may read and acquire the civil engineering information related to the received position from the storage unit MEM in its own device.

  Thereafter, the processing moves to the CIM information server CIM1. In step R11 of the CIM information server CIM1, civil engineering information relating to the position is received. In step R12, site information (latitude, longitude, site shape, area, and, in the case of a rectangle, four corner coordinates, etc.) is read based on the position (address, latitude, longitude, and other absolute coordinates). In step R13, the read site information is transmitted to server SV1.

  Thereafter, the process returns to the server SV1. The server SV1 receives the site information, and then in step V13, the monitoring line setting unit MLS forms at least a part of the site outline in the stereo image based on the position, direction, and site information. A line (each coordinate of the boundary) is obtained, and the boundary line is set as a monitoring line in the stereo image. In step V14, the monitoring unit MON analyzes the stereo image and recognizes an object that passes through the set monitoring line. Finally, in step V15, the monitoring unit MON or the alarm output unit WOT outputs a predetermined alarm when the number of targets in the monitoring area sandwiched between the monitoring lines is not zero when the blocking bar is lowered (electronic Sending emails, outputting and sending warning voices, reporting to security companies and police, etc.). Or you may transmit the image | photographed image to a railway operator's portable terminal.

  Note that some further determination condition may be added between steps V14 and V15. For example, this server has a function for obtaining the height of an object that has passed through the monitoring line, and using this function, only those having a height of 40 cm to 150 cm (only for children) and 150 cm to 190 cm (that is, adults) are stepped. You may make it go to V15 and exclude it otherwise. This makes it possible to effectively exclude small animals such as dogs, cats, birds, and insects that do not fall under these.

  Also, install a Doppler sensor near the camera, measure the heart rate of the target that has passed through the monitoring line, advance only to the range of human heart rate, go to step V15, and exclude others Also good. This makes it possible to effectively exclude small animals such as dogs, cats, birds, and insects.

  FIG. 3 is a flowchart showing an example of processing executed by the server of the system shown in FIG. As shown in the figure, in step V21, an image (video) taken with a stereo camera in which the locations where the monitoring line 1 and the monitoring line 2 are to be set is captured. In step V22, the monitoring line 1 and the monitoring line 2 are set in the image. Next, in step V23, the acquired image is analyzed, the object (person, car, thing, etc.) passing through the monitoring lines 1 and 2 is recognized, and the entry / exit of the object is measured. Next, in step V24, the recognized target is analyzed, and the type of the target (person (child, adult, etc.), car, bicycle, stroller, animal, etc.) is specified. Subsequently, in step V25, the number of objects existing in the area between the monitoring line 1 and the monitoring line 2 is counted. Next, in step V26, it is determined by an image or an external control signal whether the breaker (bar) has been lowered. When the circuit breaker (bar) is not lowered, the process returns to Step V23 and Steps V23 to V26 are repeated. If the circuit breaker (bar) is down, the process proceeds to step V27. Next, in Step V27, it is determined whether or not there are objects in the monitoring area (that is, whether or not the number of objects is zero). If there is an object in the monitoring area, it is considered that there is an abnormality, and the process proceeds to Step V29 to output a warning, emergency stop, and video. If there is no target in the monitoring area, it is considered safe and the process proceeds to step V29. If the condition of step V27 is not satisfied, the process proceeds directly to step V29. If satisfied, the process proceeds to step V29 via step V28, where it is determined whether the breaker (bar) is raised, and the breaker (bar) is raised. Then, the process proceeds to step V30, the object (number) existing in the area is cleared, and the process returns to step V23. In addition, information on raising / lowering of the breaker (bar breaker) (possible to enter the railroad crossing, entry not allowed) is obtained from the railway information server RWIS via the network, and information on the number of objects in the monitoring area is not zero ( Danger information, warning information, etc.), on the contrary, is preferably transmitted from the present system to the railway information server RWIS or a railway vehicle approaching the railroad crossing. At this time, if there is image information captured by the camera or a camera capturing the crossing part, the image information may be transmitted in the same manner.

  FIG. 4 is a schematic diagram of a place monitored by the monitoring system according to an embodiment of the present invention. As shown in the figure, the area around the railroad crossing composed of a road RD and a crossing line RL is a monitoring target. In the upper scene SCN1, the blocking bar is raised, and a pedestrian or vehicle can pass through. The lower scene SCN2 is a state in which the blocking bar is descending and pedestrians and vehicles cannot pass (impossible to enter). In both the scenes SCN1 and SCN2, there is a stop line SP1 on the left side of the road RD across the track RL, and there is a stop line SP2 on the right side. Similarly, on the left side of the road RD, there is a breaker SHM1 and a breaker bar SHB1 attached to it, and on the right side of the track RL, there is a breaker SHM2 and a breaker bar SHB2 attached to it. Stereo camera SC1 images stop line SP1 and blocking bar SHB1 on the left side of road RD. Stereo camera SC2 images stop line SP2 and blocking bar SHB2 on the left side of road RD.

FIG. 5 is a schematic diagram of an actual location monitored by the monitoring system according to an embodiment of the present invention and recognition of the location in the system. As shown in the figure, the scene SCN2 is in a state in which the blocking bar is down and pedestrians and vehicles cannot pass. In this system, the monitoring line ML1 and the monitoring line ML2 are set automatically or manually. The monitoring line is preferably set between the descending blocking bar and the track in the railroad crossing (a position approximately 30-50 cm away from the blocking bar is preferable). As shown in the scene R-SCN1, which is recognition in the system, a virtual monitoring zone ZN1 (region within a railroad crossing) is formed between the monitoring line ML1 and the monitoring line ML2. The stereo cameras SC1 and SC2 and each part of the present system constitute a people counter PEC1 and a people counter PEC2, which are virtual target counting devices. The people counter PEC1 and the people counter PEC2 count the number of ins (entering into the zone) and outs (exiting from the zone) that pass through the respective monitoring lines ML1 and ML2. In addition, the people counter PEC1 and the people counter PEC2 can measure the height of the object, and thereby can determine whether the object is an adult or a child. Furthermore, by matching with the image information method II (actual image, shape information, feature amount information, etc.) in this system, it is possible to determine whether the target is a vehicle, a human being, a bicycle, a stroller, etc. It is possible to count separately. Moreover, this system can measure the number of objects in the monitoring zone by adding and subtracting the number of ins and outs of the people counter PEC1 and people counter PEC2. That is, the monitoring zone can be monitored by monitoring two monitoring lines without directly monitoring the monitoring zone.
Number of people in the zone = People counter PEC1 and People counter PEC2

  FIG. 6 is a schematic diagram of a monitoring zone recognized by the monitoring system according to an embodiment of the present invention. As shown in the scene R-SCN1, which is recognition in the system, a virtual monitoring zone ZN1 (region within a railroad crossing) is formed between the monitoring line ML1 and the monitoring line ML2. In scene R-SCN1, the number of people in the zone is zero. In the scene R-SCN11 which is recognition in the system, there are two subjects who have entered the monitoring zone from the left over the monitoring line ML1 and two subjects who have entered the monitoring zone from the right across the monitoring line ML2. By adding and subtracting the number of ins and outs of the people counter PEC1 and people counter PEC2, the number of objects in the monitoring zone is counted as four.

  Next, in the scene R-SCN12 which is recognition in the system, two subjects who have entered the monitoring zone from the left after crossing the monitoring line ML1 leave the monitoring zone via the monitoring line ML2, and are further monitored from the right. The two subjects who entered the monitoring zone over the line ML2 exited the monitoring zone over the monitoring line ML1. Furthermore, only the target SBJ1 that has entered the monitoring zone from the left across the monitoring line ML1 exists in the monitoring zone. This system. By adding and subtracting the number of ins and outs of the people counter PEC1 and people counter PEC2, the number of objects in the monitoring zone is counted as one. At this time, if the blocking bar is down, the number of people in the zone is not zero, so it is considered dangerous, and a warning or emergency stop signal is output to an external system (such as a railway information server).

  FIG. 7 is a schematic diagram for explaining the aggregation method of the target type of this system. As shown in the figure, the people counter PEC1 counts the target entry number as in 1 and the exit number as out 1. Similarly, the people counter PEC2 counts the target entry number as in 2 and the exit number as out 2. And the number is recorded according to the kind as a vehicle and a person by making the object into large classification MGR1. Further, the number is recorded for each type of vehicle, motorcycle / bicycle in more detail as NBR1 as a small classification. In addition, people of large classifications also record numbers by type as adults and children in more detail. The classification of adults and children is preferably judged by height. Further, it is preferable to determine the type of vehicle from an image database. And finally, when the number of objects in the zone is zero when the blocking bar descends, when it is confirmed that the blocking bar goes up later, the number in the zone is cleared and the process is performed. Finish.

FIG. 8 is a schematic diagram for explaining the aggregation method of the target type of this system. As shown in the figure, the people counter PEC1 counts the target entry number as in 1 and the exit number as out 1. Similarly, the people counter PEC2 counts the target entry number as in 2 and the exit number as out 2. In the figure, a child target SBJ2 and a car target SBJ3 are present in the monitoring zone. As described above, this is obtained by adding and subtracting the number of ins and outs of the people counter PEC1 and people counter PEC2.
Number in zone: 2
(= In 1 + In 2-Out 1-Out 2)
As described above, when the number of objects in the zone is not zero when the blocking bar is lowered, the system outputs a signal such as a warning or an emergency stop.

  FIG. 9 is a schematic diagram for explaining the types of objects of the present system. As shown in the figure, it is possible to measure and record the major classification and the minor classification in yet another type. That is, in this example, it is possible to recognize and record vehicles, things, people, and animals by type as major classifications. As sub-categories, vehicles can be recognized and recorded by type, such as cars, bikes / bicycles, things can be strollers, walker, people can be adults and children, animals can be dogs / cats, birds, mice, etc. It is. This is only an example, and the classification stage can be set to three or more stages, or can be recognized and recorded by other types.

  Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications and corrections based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, the processes and functions included in each unit and each step can be rearranged so as not to be logically contradictory, and a plurality of means / units and steps can be combined or divided into one. Is possible. Alternatively, it should be noted that some components, functions, processes, steps, etc. of the apparatus, method, program, etc. according to the present invention can be located in a remote server or the like.

ACQ acquisition unit CAM imaging unit CIM1 CIM information server COM communication unit CON control unit DE distance calculation unit DIM direction measurement unit DIS display unit II image information method MEM storage unit MGR1 large classification ML1 monitoring line ML2 monitoring line MLS monitoring line setting unit MON monitoring Part MS1 Monitoring system PEC1 People counter PEC2 People counter POM Position measurement part RD Road RL Line RWIS Railway information server SBJ1 Target SBJ2 Target SBJ3 Target SC1, SC2 Stereo camera SCN1 Scene SCN2 Scene SD Target specific part SHB1 Shutter bar SHM1 Shutter bar SHM1 SHM2 Breaker SP1 Stop line SP2 Stop line WOT Alarm output unit ZN1 Monitoring zone

Claims (5)

A monitoring system including first and second stereo cameras and a server,
The first stereo camera is
An imaging unit that captures a stereo image;
A communication unit for transmitting the stereo image to the server;
Have
The second stereo camera is
An imaging unit that captures a stereo image;
A communication unit for transmitting the stereo image to the server;
Have
The server is
A communication unit for receiving the stereo images transmitted from the first and second stereo cameras, and
A monitoring line setting unit for receiving setting of first and second monitoring lines corresponding to a stop line for a crossing or a blocking bar at the time of blocking in the stereo images in the first and second stereo cameras;
Analyzing the stereo image, recognizing an object passing through the received first and second monitoring lines, and entering and exiting the object into a monitoring area between the first monitoring line and the second monitoring line A monitoring unit for measuring the number;
Analyzing the stereo image, and recognizing that the crossing bar is down, when the number of objects in the monitoring area is not zero, an alarm output unit that outputs a predetermined alarm;
Having
A monitoring system characterized by that. A monitoring system including first and second stereo cameras and a server,
The first stereo camera is
An imaging unit that captures a stereo image;
A position measuring unit for measuring the position of the own device;
A direction measuring unit that measures the direction of the imaging unit of the device itself;
A communication unit that transmits the stereo image, the position, and the direction to the server;
Have
The second stereo camera is
An imaging unit that captures a stereo image;
A position measuring unit for measuring the position of the own device;
A direction measuring unit that measures the direction of the imaging unit of the device itself;
A communication unit that transmits the stereo image, the position, and the direction to the server;
Have
The server is
A communication unit that receives the stereo image, the position, and the direction transmitted from the first and second stereo cameras;
An acquisition unit that acquires civil engineering information relating to a crossing of the position and / or a road in the first and second stereo cameras;
Based on the position, the direction, and the civil engineering information in the first and second stereo cameras, the coordinates of the stop line for the crossing in the stereo image or the block of the blocking bar at the time of blocking are obtained, and the coordinates in the stereo image A monitoring line setting unit for setting first and second monitoring lines corresponding to the coordinates;
Analyzing the stereo image, recognizing an object passing through the set first and second monitoring lines, and entering and exiting the object into a monitoring area between the first monitoring line and the second monitoring line A monitoring unit for measuring the number;
Analyzing the stereo image, and recognizing that the crossing bar is down, when the number of objects in the monitoring area is not zero, an alarm output unit that outputs a predetermined alarm;
Having
A monitoring system characterized by that. The monitoring system according to claim 1 or 2,
The server is
Analyzing the recognized target and specifying the type of target, further comprising a target specifying unit,
The monitoring unit is
Measure the number of types of objects in the monitoring area,
A monitoring system characterized by that.   A monitoring program for causing one or more arithmetic processing units to function as the monitoring system according to any one of claims 1 to 3.   A computer-readable storage medium storing the monitoring program according to claim 4.

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