JP2019053483A - Intruder tracking device and intruder tracking method - Google Patents

Abstract

To provide an intruder tracking device capable of supporting disciplined tracking by guards in a case where intrusion into the premises occurs, and an intruder tracking method.SOLUTION: An intruder tracking device 10 comprises: an intruder position acquisition part 11 for acquiring positional information of an intruder whose intrusion into the premises is detected; a guard position acquisition part 12 for acquiring positional information of deployed guards; a facility information database 13 storing facility information including positional information of facilities inside of the premises and importance levels that are set corresponding to the facilities, and road information inside of the premises; an intrusion target estimation part 14 for estimating a target of the intruder on the basis of the positional information of the intruder and the facility information; an intrusion route calculation part 15 for calculating an intrusion route to the target for the intruder on the basis of the estimated target and the road information; an encircling route derivation part 16 for deriving an encircling route on the basis of the intrusion route and the positional information of the guards; and a notification part 17 for notifying the guards of the derived encircling route.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to an intruder tracking apparatus and an intruder tracking method for tracking an intruder to an important facility such as a nuclear power plant.

  A general intruder detection device detects an intruder based on a monitoring camera image, a monitoring sensor, or the like, and notifies the user of the occurrence of the intruder.

  In particular, for intruder detection, intruder detection and notification to users continue even in environments where it is difficult to detect people, such as at night, from the viewpoint of promptly securing intruders and ensuring the safety of important facilities. We need to be able to do it.

  Conventionally, a technique for detecting an intruder with high accuracy based on image analysis combining an infrared camera and a high-sensitivity color camera in a dark environment such as at night has been proposed.

  In addition, regarding the notification of the occurrence of intruders in the facility to the user, the intruders and the guards are displayed on the map of the site in order to provide the user with judgment materials for grasping the escape route of the intruders and arranging the guards. A technique is disclosed in which the position of an intruder can be visually confirmed by superimposing and displaying the position of the worker.

Japanese Patent Laid-Open No. 11-284888

  Intruder detection devices based on image analysis of surveillance cameras such as those described above continue to enter the site due to factors such as the orientation of the intruder's face and body, the attachment and detachment of sunglasses and masks, or obstructions. However, there are many cases that cannot be detected. For this reason, the current image analysis technology has a limit in continuously detecting intruders.

  And in order to track and secure intruders in a wide area such as a power plant, it is indispensable that an appropriate instruction from the monitoring room to the security guard and the security guard judge and act on their own. However, with only the location information of intruders and guards displayed on the map of the site, in the situation where the situation changes momentarily and the situation is tense, each guard will immediately make an appropriate and appropriate judgment. It was very difficult to do.

  The present invention has been made in consideration of such circumstances, and an intruder tracking device and an intruder capable of supporting a rapid tracking under the control of a guard when an intrusion into a site occurs. It aims to provide a tracking method.

  An intruder tracking device according to an embodiment of the present invention acquires an intruder position acquisition unit that acquires position information of an intruder in which an intrusion has been detected and position information of a guard arranged in the site. A security guard position acquisition unit, facility information including location information of facilities in the site and importance set in association with each of the facilities, and a facility information database for storing road information in the site, An intrusion destination estimation unit that estimates the intruder's destination based on the intruder's location information and the facility information; and an intrusion to the intruder's destination based on the estimated destination and the road information An intrusion route calculation unit for calculating a route, an encircling route deriving unit for deriving an enclosing route based on the calculated intrusion route and the position information of the guard, and notifying the guard of the derived enclosing route And a notification unit And wherein the door.

  The intruder tracking method according to the embodiment of the present invention includes a step of acquiring position information of an intruder in which intrusion into a site is detected, a step of acquiring position information of a guard arranged in the site, The facility information including the location information of the facility in the site and the importance set in association with each of the facilities, the step of storing the road information in the site in the facility information database, and the location information of the intruder Calculating the destination of the intruder based on the facility information, calculating the intrusion route to the destination of the intruder based on the estimated destination and the road information, and The method includes a step of deriving an enclosing route based on the intrusion route and position information of the guard, and a step of notifying the guard of the derived enclosing route.

  According to the embodiments of the present invention, an intruder tracking device and an intruder tracking method capable of supporting quick tracking under the control of a guard when an intrusion into a site occurs are provided.

The block diagram which shows the structure of the intruder tracking device which concerns on 1st Embodiment. The figure explaining an example of the positional information acquired in an intruder position acquisition part. (A) The figure which shows the cross section of the facility A in a site, (B) The positional information corresponding to the facility A, (C) The figure which shows the cross section of the facility B in a site, (D) The positional information corresponding to the facility B. Site map showing facility importance set for facilities on site. (A), (B) The figure which shows the facility information hold | maintained in a facility information database. The figure explaining the estimation method of the destination by an intrusion destination estimation part, when making the facility with the highest facility importance the candidate of an intrusion destination. The figure explaining the estimation method of the destination by an intrusion destination estimation part, when making into a candidate the facility which has the facility importance more than the threshold value designated by the user. The figure explaining the estimation method of the destination by an intrusion destination estimation part, when setting all the facilities with which the facility importance is set as a candidate. The figure which shows the intrusion path | route calculated by the intrusion path | route calculation part. The figure which shows the surrounding path | route of each guard derived by the surrounding path | route derivation | leading-out part about the intrusion path | route calculated by the intrusion path | route calculation part. The figure which shows the surrounding path | route of each guard derived by the surrounding path | route derivation | leading-out part, when the intrusion path | route calculated by the intrusion path | route calculation part is two. The figure which shows an example of the notification to the portable terminal which a guard carries. The flowchart which shows the intruder tracking method which concerns on 1st Embodiment. The block diagram which shows the structure of the intruder tracking apparatus which concerns on 2nd Embodiment. The figure explaining the re-estimation of the destination by the intrusion destination estimation part in the intruder tracking device which concerns on 2nd Embodiment. The block diagram which shows the structure of the intruder tracking apparatus which concerns on 3rd Embodiment. The figure explaining the method of pinpointing the position of an intruder based on the installation position of the surveillance camera preserve | saved at a coordinate conversion table preservation | save part, its angle, and its expansion rate.

(First embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
The intruder tracking device 10 according to the first embodiment stores facility information including facility importance in a site such as a power plant in a database, and based on the location information and facility information of the intruder, Estimate the destination and calculate the intruder's intrusion route. Then, based on the calculated intrusion route and the position information of the guard, a surrounding route that blocks the intruder from the destination is derived, and the surrounding route is notified to the guard.

  With this configuration, when an intruder is generated in a wide site such as a power plant, it is possible to support quick tracking under the control of guards.

A specific configuration will be described.
As shown in FIG. 1, the intruder tracking device 10 according to the first embodiment includes an intruder position acquisition unit 11, a guard position acquisition unit 12, a facility information database 13, an intrusion destination estimation unit 14, and an intrusion The route calculation unit 15, the surrounding route derivation unit 16, and the notification unit 17 are provided. Here, a case where an intruder has occurred in the site of a nuclear power plant with a high security level will be described as an example.

  A large number of intrusion detection devices (not shown) for detecting intruders such as a monitoring camera and an infrared sensor for analyzing inspected images and detecting intruders are arranged in the site of the nuclear power plant. . When an intruder is detected by these intruder detection devices, detection information such as monitoring camera and sensor position information is transmitted to the intruder position acquisition unit 11.

  The intruder position acquisition unit 11 acquires the position information of the intruder in which intrusion is detected by the intrusion detection device. The intruder location information is information that can uniquely identify the location of the intruder in the site, such as latitude / longitude information and coordinates (for example, (X, Y) coordinates set in the site) ).

  Further, as shown in FIG. 2, the site may be divided into a plurality of sections, and a section number may be assigned to each section in advance, and the location information of the intruder may be indicated by the section number. In the example of FIG. 2, the section number D-19 is the location information of the intruder. Further, the location information of the intruder may be indicated by text information such as “front entrance of the facility A on the site” or “near the facility C in contact with the XX road”. The intruder position acquisition unit 11 acquires position information of each intruder when a plurality of intruders are detected.

  The intruder position acquisition unit 11 may acquire by adding range information such as a radius of 5 m from the detection position according to the reliability of the position information of the intruder detected by the intrusion detection device.

  The guard position acquisition unit 12 acquires position information of guards arranged in the site. The position information of the guard is information that can uniquely identify the position of the guard in the site, and is indicated by latitude / longitude information and coordinate information set in the site. Similarly to the intruder position acquisition unit 11, the position information of the guard may be indicated by section information, text information, or the like.

  As a method of acquiring the position information of the guard, a terminal device that can be acquired by the guard is used. As a method for acquiring the self position, a method using GPS, a mobile phone base station, Wi-Fi, or the like is used. The guard position acquisition unit 12 acquires position information of all the guards arranged via a terminal device carried by the guard.

  The facility information database 13 is a database for storing facility information including location information of facilities in the site and facility importance set in association with each facility.

  The facility location information is information for designating the location of the facility within the site. One piece of facility location information is specified corresponding to each facility. Even if the location of the facility is designated by one coordinate using latitude / longitude information or coordinate information set in the site, It may be specified using partition information set by dividing the site.

  The location information of each facility can also be specified as an area. FIG. 3 shows an example of a method of designating a facility area by setting a plurality of in-site coordinates along the outer periphery of the facility for one facility. For example, for the facility A having a quadrangular cross section, the location information of the facility A is represented using four in-site coordinates (FIGS. 3A and 3B). Similarly, for the facility B having a triangular cross section, the location information of the facility B is represented using three in-site coordinates (FIGS. 3C and 3D).

  Further, the area may be specified by holding the center coordinates and radius information of the facility as the location information of the facility.

  The facility importance is an index indicating the importance of the facility, and is set by the user for each facility. As a method of setting the facility importance, there are a method of setting in 1 to 10 steps (the higher the numerical value, the higher the importance), and a method of setting easily using three steps of high, medium, and low.

  FIG. 4 is a site map 18 showing the facility importance set for each facility in the site. The importance is set by the user for each facility using an index of 1 to 10 levels. Note that the facility importance may not be set for facilities with low importance.

  The facility importance level set corresponding to each of the facility location information and the facility is stored in the facility information database 13 as facility information in association with the facility ID and facility name for mutually identifying the facility.

  5A and 5B are diagrams illustrating an example of facility information stored in the facility information database 13. In this manner, the facility information database 13 stores facility location information and facility importance in association with the facility ID and the facility name.

  In the facility information database 13, road information that can pass within the site is also stored together with the facility information. The road information includes a route that is assumed to be an intruder along with a normal route set in the site. As a method for discriminating between facility information and road information, a method of changing the ID range between facility information and road information, a method of undesignating facility importance for road information, or the like is used.

  The intrusion destination estimation unit 14 estimates the intruder's destination based on the location information of the intruder acquired by the intruder location acquisition unit 11 and the facility information having facility importance. Specifically, the destination candidate is selected from the importance of the facility, and the destination of the intruder is estimated based on the distance between the position of the intruder and the destination candidate.

  In addition, as a method of selecting a destination candidate from the importance of the facility, a method of selecting a candidate with the highest facility importance as a candidate, a method of selecting a facility having a facility importance equal to or higher than the threshold specified by the user as a candidate Alternatively, there is a method of selecting all facilities set with facility importance as candidates.

  The method of destination estimation by the intrusion destination estimation unit 14 will be described with three specific examples.

  FIG. 6 is a diagram for explaining a destination estimation method by the intrusion destination estimation unit 14 when a facility having the highest facility importance is set as a candidate for the intrusion destination.

  Two facilities A and B whose facility importance is set to 9 that is the largest in the facility are candidates for the intrusion destination. The linear distance between the intruder position 30 of the intruder acquired by the intruder position acquisition unit 11 and the facility A is X1, and the linear distance between the intruder position 30 and the facility B is X2. When the facility information database 13 stores facility location information as an area, the facility coordinates used for calculating the straight line distance include the center coordinates of the facility, the coordinates closest to the intruder, the coordinates of the facility entrance, and the like. Use as appropriate.

  When both linear distances are compared, since X1 is shorter, the facility A is estimated as an intrusion destination. If there is only one facility having the highest facility importance, the facility is estimated as the destination of the intruder.

  Further, the destination may be estimated as an intruder's destination by comparing the distance considering the height difference in the site and the distance of the actually movable road instead of comparing the straight line distances. In this case, height difference information and actually movable road information are stored in the facility information database 13 in advance.

  Next, FIG. 7 is a diagram illustrating a destination estimation method by the intrusion destination estimation unit 14 when a facility having a facility importance level equal to or higher than the threshold specified by the user is selected as an intrusion destination candidate. . Here, a facility having a facility importance of 6 or more is set as a candidate for an intrusion destination.

  The straight line distance between the facility whose facility importance is set to 6 or more and the intruder position 30 are calculated and compared, respectively, and the facility C having the smallest distance is estimated as the destination of the intruder. The specified threshold value can be arbitrarily specified as long as it is a value within the range of the facility importance level stored in the facility information database 13.

  Next, FIG. 8 is a diagram for explaining a destination estimation method by the intrusion destination estimation unit 14 when all the facilities for which facility importance is set are candidates.

  The straight line distances between all the facilities where the facility importance level is set and the intruder position 30 are obtained, and the values obtained by multiplying the straight line distance by the inverse of the facility importance level are calculated. Comparing the calculated values, the facility C having the smallest value is estimated as the destination of the intruder. Moreover, as a calculation formula, you may compare using the value which multiplied the reciprocal of the square of the facility importance to the linear distance, or the value which multiplied the inverse of the facility importance to the square of the linear distance. You may compare.

  Note that the estimated destination is not necessarily limited to one, and a plurality of higher-level facilities can be estimated as intrusion destinations from the calculated results.

Returning to FIG. 1, the description will be continued.
The intrusion route calculation unit 15 calculates the intrusion route to the intruder's destination based on the destination estimated by the intrusion destination estimation unit 14 and the road information in the site stored in the facility information database 13. .

  Specifically, the intrusion route calculation unit 15 calculates an intrusion route having the shortest distance when moving from the intruder position to the estimated destination using the road information in the facility information database 13. As a shortest path calculation method, calculation is performed using a Dijkstra method or an A-star algorithm for solving the shortest path problem. Further, the intrusion route calculation unit 15 may select two or more as intrusion routes from routes having a short distance when moving from the intruder position to the estimated destination.

  FIG. 9 is a diagram illustrating an intruder's intrusion route calculated by the intrusion route calculation unit 15. Here, it is assumed that the facility A is estimated as the destination by the intrusion destination estimation unit 14.

  When the intruder moves from the intruder position 30 to the facility A which is the estimated destination, an intrusion route 31 having the shortest moving distance is calculated using the road information in the facility information database 13.

  The encircling route deriving unit 16 (FIG. 1) derives the encircling route of the guard who blocks the intruder from the destination based on the calculated intrusion route and the position information of the guard.

  Specifically, the encircling route deriving unit 16 calculates a route in which the distance between the guard and any point on the intrusion route is the shortest. Then, after the security guard arrives at the intrusion route, a route that is directed toward the intruder position along the intrusion route is obtained as the enclosing route. An encircling route is calculated for each of a plurality of guards.

  In addition, it is not necessary to set the end point of the siege route of all guards to the intruder position, and the top few names with a small distance to the intruder location set the route to the intruder location as the siege route, while others The guards may set the route to the estimated intrusion destination as the siege route. Thereby, it is possible to strengthen the security around the destination as well as tracking the intruder.

  Moreover, about some guards, the security to important facilities other than the destination can be strengthened by setting the route to the important facility that passes through the intrusion route as the encircling route. Furthermore, by setting the encirclement route of some guards as the final destination up to the road junction on the intrusion route, the route of the intruder to the destination can be obstructed and the escape route can be limited.

  FIG. 10 is a diagram showing an encircling route of a security guard derived by the encircling route deriving unit 16 for the intruding route calculated by the intruding route calculating unit 15.

For guards located guard position 40 _1, it is calculated shortest path to reach any point in the penetration path 31 of the intruder, the path to direct the direction of the intruder location 30 along the penetration path It is derived as surrounded path 41 _1. In a similar manner, the other guards located guard position ₄₀ 2-40 _4, encloses the path ₄₁ 2-41 ₄ is derived.

  In this way, when an intruder is detected, the tracking of the guard is immediately required to block the intruder from the destination and drive the intruder, so that the tracking of the guard can be performed quickly. Is possible. As a result, the possibility of securing the intruder can be increased and the intruder can be driven to the outer periphery of the site.

  Further, a case where two intrusion routes are selected by the intrusion route calculation unit 15 will be described. When a plurality of intrusion routes are set, the encircling route deriving unit 16 determines a guard to be assigned to each of the intrusion routes based on the distance calculated from each of the intrusion routes and the position information of the guards. A siege path is derived.

  As a method of assigning a plurality of guards to one of the two intrusion routes, there is a method of comparing the distance between the position of the guard and the two intrusion routes and assigning the one with the shortest distance.

  Alternatively, the number of guards is set in advance so that the number of guards assigned to the two intrusion routes is equal. Then, it is possible to use a method of allocating the guards to any of the intrusion routes so that the sum of the distances to the guards and the intrusion route to be assigned becomes the smallest among the conditions that satisfy the set number of people. Instead of setting them equally, the ratio of the number of guards to be assigned may be changed according to the distance between the two intrusion routes.

  FIG. 11 is a diagram illustrating an encircling route of the guards derived by the encircling route deriving unit 16 when there are two intrusion routes calculated by the intruding route calculating unit 15.

For guards located guard position 40 _{1-40 6,} the path towards the shortest distance is smaller between the position and the two entry pathway 31 _1, 31 any point ₂ guards are assigned. For each security guard, the route that reaches the assigned intrusion route 31 with the shortest distance and is directed toward the intruder position 30 along the intrusion route becomes the encircling route.

  The notification unit 17 (FIG. 1) notifies the security guard's surrounding route derived by the surrounding route deriving unit 16 to a portable device carried by the security guard or a display device placed in a monitoring room.

  In addition, the position of the intruder, the position of the guard, the estimated destination of the intruder, and the encircling route may be displayed superimposed on the site map for notification.

  FIG. 12 is a diagram illustrating an example of notification to the mobile terminal 20 carried by the security guard. A site map is displayed on the screen of the mobile terminal 20 carried by the security guard, and the location of the intruder, the position of the security guard, the estimated intrusion destination, the intrusion route, and the surrounding route on the site map. The surrounding paths derived by the deriving unit 16 are displayed in an overlapping manner.

  In addition, it is also possible to highlight the position of the guard and the surrounding route corresponding to the guard to be notified, and display the other guard positions and the surrounding route without highlighting.

  In this way, it is possible to intuitively grasp the surrounding route and tracking status at a glance without reading a text document by gathering information such as the surrounding route on the map in the site and graphically displaying and notifying it. it can. For this reason, it becomes useful information in an urgent situation during intruder tracking, and it helps the security guard to make an appropriate judgment alone when the monitoring room or the like is disconnected.

  FIG. 13 is a flowchart showing the intruder tracking method according to the first embodiment (see FIG. 1 as appropriate).

  The intruder position acquisition unit 11 acquires intruder position information (S10). On the other hand, the guard position acquisition unit 12 acquires the position information of the guard (S11).

  The intrusion destination estimation unit 14 estimates the intruder's destination based on the location information of the intruder and the facility information including the importance of the facility stored in the facility information database 13 (S12).

  The intrusion route calculation unit 15 calculates the intruder's intrusion route based on the estimated destination and the road information stored in the facility information database 13 (S13).

  The encircling route deriving unit 16 derives an encircling route of the guard who shields the intruder from the destination based on the calculated intrusion route and the position information of the guard (S14). The notification unit 17 notifies each guard of the derived siege route (S15).

  Then, when the intruder's position information is acquired starting from the top S10 at every certain time, S11 to S15 are executed to perform processing from estimation of the intrusion destination to derivation of the encircling route and notification. Try again.

  As described above, the intruder tracking device 10 according to the first embodiment uses the facility information database 13 in which facility information including facility importance is stored when an intruder is detected. Estimate the ground. Then, an intrusion route is calculated from the estimated destination of the intruder, and an enclosing route that surrounds the intruder while blocking the intruder from the destination is obtained, and the guard is notified. Thereby, even if an intruder occurs in a wide site, it is possible to support a quick tracking with the security officer's command.

  In addition, by estimating the destination, even if the intruder cannot be detected from the surveillance camera etc. due to some reason, it is highly likely that following the siege route will lead to the discovery and securing of the intruder. It can be used as a judgment material for the behavior of security guards, such as hardening security.

(Second Embodiment)
FIG. 14 is a configuration diagram showing the configuration of the intruder tracking device 10 according to the second embodiment. In FIG. 14, portions having the same configuration or function as those of the first embodiment (FIG. 1) are denoted by the same reference numerals, and redundant description is omitted.

  The intruder tracking device 10 according to the second embodiment further includes an intruder movement history storage unit 22.

  The intruder movement history storage unit 22 stores the detected position information of the intruder together with time information as a movement history as needed. If there are multiple intruders, the movement history is managed for each intruder.

  The intrusion destination estimation unit 14 re-estimates the destination based on the already estimated destination and the movement history of the intruder. Specifically, the distance between the intruder's actual travel route known from the travel history and the estimated destination is compared, and if the distance to the destination exceeds a reference value, the intruder's The destination is re-estimated assuming that the destination is not the estimated destination.

  FIG. 15 is a diagram for explaining the resetting of the destination by the intrusion destination estimation unit 14. It is assumed that the initial destination estimated by the intrusion destination estimation unit 14 is the facility A.

After a predetermined time elapses, if an intruder moves 30 ₁ → 30 ₂ → 30 _3, the intruder position 30 ₂ whose distance to the destination is reduced in the intruder movement path 32 and facilities C distance is D1, the distance between the current intruder positions 30 ₃ and facilities C further becomes D2.

  At this time, the intrusion destination estimation unit 14 compares the values of D2 and D1, and when the distance of D2 is larger than the reference value (for example, 300 m) than D1, (D2-D1> 300 m), It is determined that the destination of the intruder is not the facility C. Then, the intrusion destination estimation unit 14 newly reestimates the destination of the intruder to the facility D.

  When re-estimating, a facility in which the distance between the intruder's position and the new destination has never become larger than the reference value using the intruder movement history is targeted.

  Further, instead of determining only with the reference value, a new destination may be re-estimated when the distance between the position of the intruder and the destination continues to increase within a certain time. Alternatively, a new destination may be re-estimated when the distance between the intruder's position and the destination becomes larger than a certain distance within a certain time.

  As described above, the intruder tracking device 10 according to the second embodiment reestimates the destination based on the estimated destination and the movement history of the intruder, so that the destination of the intruder has an error. Can be corrected. As a result, the destination can be estimated with high accuracy, and it is possible to quickly secure an intruder.

(Third embodiment)
FIG. 16 is a configuration diagram showing the configuration of the intruder tracking device 10 according to the third embodiment. In FIG. 16, parts having the same configuration or function as those of the first embodiment (FIG. 1) are denoted by the same reference numerals, and redundant description is omitted.

  The intruder tracking device 10 according to the third embodiment further includes a coordinate conversion table storage unit 23 and an intruder detection unit 24.

  The coordinate conversion table storage unit 23 stores in advance, for each monitoring camera deployed in the site, a coordinate conversion table that can be converted from the installation position of the monitoring camera, the angle information thereof, and the magnification rate into the position information in the site. To do. Rectangular information circumscribing the intruder may be included as the coordinate conversion table. Camera IDs for mutual identification are assigned to surveillance cameras in the site.

  The intruder detection unit 24 detects an intruder from the video information of the surveillance camera. As a method for detecting a person, a detection method based on image analysis using HOG (Histograms of Oriented Gradients) features and SVM (Support Vector Machine), a detection method based on estimation of a three-dimensional structure using a stereo camera, and an infrared camera Any method can be used as long as it can be realized by a surveillance camera installed in the site, such as a detection method based on a thermal image using a camera.

  The intruder detection unit 24 determines that the detected person is an intruder when the person is not authorized or is in a section where no person should be present.

  When an intruder is detected, the surveillance camera installation position, horizontal and vertical angle information indicating the direction in which the surveillance camera is facing, the enlargement rate of the surveillance camera, and the intruder's whole body obtained by person detection are circumscribed. Rectangular information to be output to the intruder position acquisition unit 11. Note that when the surveillance camera 25 automatically adjusts the enlargement ratio of the surveillance camera so that the intruder falls within the prescribed rectangle, the rectangle information circumscribing the intruder is not essential.

  The intruder position acquisition unit 11 collates the detected installation position of the monitoring camera, its angle, and its enlargement ratio with the coordinate conversion table, and acquires position information on the intruder's site.

  FIG. 17 is a diagram for explaining a method for specifying the position of the intruder based on the installation position of the monitoring camera 25 stored in the coordinate conversion table storage unit 23, its angle, and its enlargement ratio.

Figure range 50 in 17 (portion of the triangle) shows an example of a range that can detect an intruder determined by the angle of the monitoring camera 25 ₁ installed in the facility E. Range 51 shows an example of a range that can detect an intruder determined by magnification of the monitoring camera 25 _1. The monitoring camera 25 _1, the angle corresponding to the range 50, and if an intruder when the enlargement rate corresponding to the range 51 is detected, the intruder understood to be present in a range overlapping the range 50 and the range 51.

  Therefore, if a range in which an intruder can be detected is stored in advance as a coordinate conversion table according to the installation position of each monitoring camera 25, its angle, and its enlargement ratio, the installation position of the monitoring camera when an intruder is detected is stored. By comparing the angle and the enlargement ratio with the coordinate conversion table, it is possible to specify the position information of the intruder.

  Intruder detection is performed continuously, but in normal situations where no intruder is detected, the frequency of detection is reduced to reduce the operational load of the system. An operation may be performed in which detection is performed intermittently in preference to person detection.

  In addition, since the structure after the intrusion destination estimation part 14 becomes the same as that of 1st Embodiment, it abbreviate | omits.

  As described above, according to the intruder tracking device 10 of the third embodiment, the position of the intruder can be acquired with high accuracy, and it is possible to support quick tracking with the security guard in charge.

  According to the intruder tracking device of each embodiment described above, when an intruder is detected, the intruder's destination is estimated using the facility information database in which the facility information including the facility importance is stored. Then, an intrusion route is calculated from the estimated destination of the intruder, and an enclosing route that surrounds the intruder while blocking the intruder from the destination is obtained, and the guard is notified. Thereby, even if an intruder occurs in a wide site, it is possible to support a quick tracking with the security officer's command.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  The function of each unit constituting the intruder tracking device 10 includes a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory) as well as an external storage device such as an HDD (Hard Disk Drive) and an optical disk device. The specified program code held in the memory circuit is an electronic device such as a processor such as an FPGA (Field Programmable Gate Array), PLD (programmable logic device), GPU (Graphics Processing Unit), or CPU (Central Processing Unit). It may be realized by executing in a circuit, and is not limited to such software processing, for example, it may be realized by hardware processing using an electronic circuit such as ASIC, and software processing and hardware processing may be performed. A combination may be realized.

  DESCRIPTION OF SYMBOLS 10 ... Intruder tracking apparatus, 11 ... Intruder position acquisition part, 12 ... Security guard position acquisition part, 13 ... Facility information database, 14 ... Intrusion destination estimation part, 15 ... Intrusion route calculation part, 16 ... Surrounding route derivation part , 17 ... Notification section, 18 ... Site map, 20 ... Mobile terminal, 22 ... Intruder movement history storage section, 23 ... Coordinate conversion table storage section, 24 ... Intruder detection section, 25 ... Surveillance camera, 30 ... Intruder Position, 31 ... Intrusion path, 32 ... Intruder movement path, 40 ... Security guard position, 41 ... Surrounding path, 50 ... Intruder position range determined by angle of surveillance camera, 51 ... Intrusion determined by surveillance camera magnification Range of person positions.

Claims (7)

An intruder location acquisition unit that acquires location information of an intruder where an intrusion into the site is detected;
A guard position acquisition unit that acquires position information of guards arranged on the site;
Facility information including location information of facilities in the site and importance set in association with each of the facilities, and a facility information database for storing road information in the site,
An intrusion destination estimation unit that estimates the intruder's destination based on the intruder's location information and the facility information;
An intrusion route calculation unit for calculating an intrusion route to the destination of the intruder based on the estimated destination and the road information;
An encircling route deriving unit for deriving an encircling route based on the calculated intrusion route and the position information of the guard;
An intruder tracking device comprising: a notifying unit that notifies the security guard of the derived encircling route.   The encircling route derived by the encircling route deriving unit is a route that causes the security guard to reach the intrusion route and to travel toward the intruder along the intrusion route. The intruder tracking device according to 1. The intrusion route calculation unit calculates a plurality of intrusion routes to the intruder's destination,
The encircling route deriving unit determines the guard assigned to each of the intrusion routes based on a distance calculated from each of the intrusion routes and the position information of the guards, and determines the enclosing route of the guards. The intruder tracking device according to claim 1, wherein the intruder tracking device is derived.   The notification unit displays the intruder's position information, the guard's position information, the intruder's destination, and the siege route in a superimposed manner on a map in a site, and notifies the map. The intruder tracking device according to any one of claims 1 to 3. An intruder movement history storage unit for storing the detected location information of the intruder as needed and storing it as a movement history;
The said intrusion destination estimation part re-estimates a destination based on the estimated destination and the said movement log | history of the said intruder, The Claim 1 characterized by the above-mentioned. Intruder tracking device. An intruder detection unit for detecting the intruder from video information of a surveillance camera;
A coordinate conversion table storage unit that stores in advance a coordinate conversion table that can be converted from the installation position, angle, and magnification of the monitoring camera into position information in the site for each monitoring camera deployed in the site; prepare for,
The intruder position acquisition unit compares the detected installation position of the monitoring camera, its angle, and its enlargement ratio with the coordinate conversion table, and acquires the position of the intruder in the premises. The intruder tracking device according to any one of claims 1 to 5. Obtaining location information of intruders who have detected intrusion into the premises;
Obtaining position information of guards arranged on the site;
Storing facility information including location information of facilities in the site and importance set in association with each of the facilities, and road information in the site in a facility information database;
Estimating the destination of the intruder based on the location information of the intruder and the facility information;
Calculating an intrusion route to the intruder's destination based on the estimated destination and the road information;
Deriving an encircling route based on the calculated intrusion route and position information of the guard;
Informing the security guard of the derived encircling route, and an intruder tracking method.

Images