JP2019180024A - Monitoring device - Google Patents

Abstract

To set a suitable shooting target in automatic tracking shooting by means of a camera.SOLUTION: An object detector 5 detects a mobile object in a monitoring area, and outputs detection results containing the position of the mobile object. A control section 7 controls an imaging part 6 on the basis of the detection results. Evaluation means 74 evaluates a predetermined feature amount for each detected mobile object, and finds a tracking shooting object degree indicating the tracking shooting objectivity. When only one mobile object is detected by the object detector 5, tracking shooting object setting means 76 sets the mobile object as the tracking shooting object regardless of the tracking shooting objectivity, and sets a mobile object of high tracking shooting objectivity preferentially as the tracking shooting object when multiple mobile objects are detected.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a monitoring apparatus that changes the shooting direction in accordance with the position of an object that moves in a monitoring area and tracks the object.

  Conventionally, a system that detects a moving object by scanning a monitoring area using an area sensor device such as a laser sensor, changes the shooting direction of the camera according to the position of the detected object, and tracks the object is known. Yes.

  As a method for determining the tracking imaging target when the laser sensor detects a plurality of objects in the system, there is a method of setting the most recently detected object as the tracking imaging target (Patent Document 1 below) or the closest object to the important object. There has been proposed a method (Patent Document 2 below) in which an object is a subject for tracking imaging.

JP 2014-175844 A JP 2014-175843 A

  In the conventional system, it is assumed that the detected object is an object (person or vehicle) to be tracked. However, the object detected by the laser sensor is not necessarily only the object to be tracked. That is, an object having high probability of being a person or a vehicle, that is, an object having a high likelihood of being photographed, is detected, while an object having low probability of being a person or a vehicle, that is, an object having a low likelihood of being photographed can be detected.

  For this reason, if the tracking imaging target is determined without taking into consideration the difference in the imaging target, there is a possibility that an object with a low intruder level may be tracked even though an object more likely to be an intruder exists. On the other hand, when taking into consideration the likelihood of shooting, if the condition for determining that the degree of likelihood of shooting exceeds the threshold is the target for tracking shooting, the likelihood of shooting was evaluated low immediately after detection of an object, etc. There is a risk that tracking images will not be taken for intruders.

  The present invention has been made to solve the above-described problems, and preferably sets a tracking imaging target in a detected object, particularly monitoring that appropriately sets a tracking imaging target in a situation where a plurality of objects are detected. An object is to provide an apparatus.

  (1) A monitoring apparatus according to the present invention is an apparatus for tracking and shooting a moving object in a monitoring area, and detects the moving object in the monitoring area and outputs a detection result including the position of the moving object. A tracking unit that evaluates a predetermined feature amount for each of the detected moving objects, a detection unit, an imaging unit capable of changing a shooting direction, a control unit that controls the imaging unit based on the detection result An evaluation means for determining a tracking shooting target level indicating the degree of target objectivity, and when only one moving object is detected by the object detection unit, the moving object is tracked shooting target regardless of the tracking shooting target level On the other hand, when a plurality of the moving objects are detected, an imaging target setting unit that preferentially sets a moving object having a high tracking imaging target degree as a tracking imaging target is provided.

  (2) In the monitoring apparatus according to (1), the imaging target setting unit may select a tracking imaging target for a plurality of detected moving objects each time a moving object is newly detected in the monitoring area. It can be set as the structure which resets.

  (3) In the monitoring device according to (1) and (2) above, the evaluation unit increases the tracking photographing target degree as the size of the moving object based on at least the detection result is closer to a predetermined reference. In this way, the moving object can be evaluated.

  (4) In the monitoring device according to (1) to (3) above, the shooting target setting unit may be configured to select a current tracking object among the moving objects when the tracking shooting target degrees are the same for a plurality of moving objects. A moving object can be set as the tracking imaging target.

  (5) In the monitoring device according to (1) to (4), the evaluation unit determines whether the moving object is an intruding object that satisfies a predetermined alert condition based on the feature amount. The tracking shooting target degree of the moving object determined as the intruding object can be higher than the tracking shooting target degree when the moving object is not determined as the intruding object.

  According to the present invention, it is possible to suitably set a tracking imaging target for a detected object, and particularly to appropriately set a tracking imaging target in a situation where a plurality of objects are detected.

1 is a schematic diagram illustrating a schematic configuration of a monitoring system according to an embodiment of the present invention. It is a block diagram which shows the schematic structure of the monitoring apparatus which concerns on embodiment of this invention. It is a general | schematic flowchart of the control regarding the tracking imaging | photography of the monitoring apparatus which concerns on embodiment of this invention. It is a schematic diagram explaining the process example by a tracking imaging | photography target setting means. It is a schematic diagram explaining the process example by a tracking imaging | photography target setting means.

  Hereinafter, as an embodiment of the present invention (hereinafter referred to as an embodiment), a monitoring system 1 including a monitoring device according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram illustrating a schematic configuration of a monitoring system 1 according to the embodiment. The monitoring system 1 includes a monitoring device 2 and a monitoring center 3. The monitoring device 2 and the monitoring center 3 are connected to be communicable.

  The monitoring device 2 is installed in a place, a building, or the like where the monitoring area 4 to be monitored is set, and performs tracking imaging of a moving object (person, vehicle, etc.) in the monitoring area 4. The monitoring device 2 includes an object detection unit 5, an imaging unit 6, and a control unit 7, and at least the object detection unit 5 and the imaging unit 6 are installed at a position facing the monitoring region 4. For example, the monitoring area 4 is set outdoors, and the object detection unit 5 and the imaging unit 6 are installed on an outer wall surface of a building, a pole erected adjacent to the monitoring area 4, or the like. On the other hand, the control unit 7 is installed at a predetermined location in the monitoring region 4 or in the vicinity of the monitoring region 4 and is connected to the object detection unit 5 and the imaging unit 6 via, for example, a LAN. The control unit 7 can be installed in a location close to the object detection unit 5 and the imaging unit 6, the object detection unit 5 and the imaging unit 6 are installed outdoors, and the control unit 7 is installed indoors. It can also be placed at a position separated from the object detection unit 5 and the imaging unit 6. In addition, each function of the control unit 7 may be provided in the object detection unit 5 or the imaging unit 6.

  The monitoring area 4 is set in a semicircular shape having a radius of several tens of meters [m] (for example, 20 m) with the monitoring device 2 as the center. In the monitoring area 4 set in this way, a general-purpose camera does not have a sufficiently high resolution of an object detected at a position distant from the camera, so that sufficient object information cannot be obtained. Therefore, it is necessary to appropriately perform zoom control. Will arise. The monitoring area is not limited to this example, and is appropriately determined by security planning.

  The object detection unit 5 detects a moving object in the monitoring area 4 and outputs a detection result including the position of the moving object. Further, when the object detection unit 5 detects an abnormal event (for example, an intrusion of a suspicious person or a vehicle into the monitoring region 4) occurring in the monitoring region 4, the object detection unit 5 transmits tracking information described later to the control unit 7.

  The imaging unit 6 performs camera control in accordance with a camera control command from the control unit 7, and performs imaging while following the movement of an object that has entered the monitoring area 4.

  The control unit 7 generates a camera control command as a control instruction to the imaging unit 6 based on the tracking information of the object.

  The monitoring center 3 is a facility operated by a security company or the like, and usually a center device composed of one or a plurality of computers is installed. The monitoring center 3 is connected to one or a plurality of monitoring devices 2 via a network. In the monitoring center 3, for example, various devices are controlled by the center device, the abnormal signal received from the monitoring device 2 is recorded, the abnormal information and the captured image captured by the imaging unit 6 are displayed on the display, and the monitoring staff Is monitoring the monitoring area.

  FIG. 2 is a block diagram showing a schematic configuration of the monitoring device 2. Hereinafter, the configuration of the monitoring device 2 shown in FIG. 2 will be described.

  The object detection unit 5 includes an area sensor device. For example, a reflected light reflected by an object (a person, a vehicle, or the like) on the optical path by performing spatial scanning on the monitoring region 4 with a predetermined period using a beam-like search signal. Is detected, the position of an object existing in the monitoring area 4 is detected. Further, the object detection unit 5 can calculate the moving speed and moving direction of the object using the position detection results at a plurality of times.

  The object detection unit 5 includes a communication unit 51, a storage unit 52, a detection unit 53, a tracking unit 54, and a control unit 55.

  The communication unit 51 is connected to the control unit 7, receives a security start signal and a security release signal output from the control unit 7, and inputs the signals to the control unit 55. Further, when the detection unit 53 determines that the moving object exists in the monitoring area 4, the communication unit 51 transmits a detection signal including its own address information to the control unit 7. For example, tracking information is transmitted to the control unit 7 as a detection signal.

  The storage means 52 is a storage device composed of an HDD (Hard Disk Drive), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and various setting information, a program for operating the object detection unit 5, and the like Remember. For example, the storage unit 52 stores address information for specifying the object detection unit 5 itself. Further, the storage means 52 acquires monitoring area information indicating the monitoring area 4 set as a range to be monitored by the object detection unit 5, reference data generated by the detection means 53, and acquired by the detection means 53. The measurement data for the past predetermined period and tracking information of the moving object (intruding object) are stored.

  Here, the reference data is data that is compared with the current measurement data in order to extract a moving object that newly appears in the monitoring area 4 in the object extraction process for detecting a moving object. Specifically, the reference data is generated from measurement data acquired at any past time from the start of scanning by the detection means 53 to the present. For example, existing objects such as planting and outer walls acquired by scanning in a state where there is no moving object in the monitoring area 4 are used as the reference data. The reference data can be stored in the form of a table in which distances are associated with angles (directions), for example.

  The tracking information is information used for tracking processing for tracking a moving object that newly appears in the monitoring area 4 over a plurality of periods, and includes the detection position, size, shape, and the like of the moving object. The tracking information is also used when the evaluation unit 74 obtains the tracking shooting target degree. The tracking information includes an identifier (object ID) for distinguishing moving objects, a position, a size and a shape where the object first appears in the monitoring area for each moving object (object ID), a position in each period until now, The size and shape are associated with each other in time series. Further, the tracking information may be associated with the type information (vehicle, person, etc.) of the moving object and the elapsed time (tracking time) after the first detection of the moving object.

  The detecting means 53 is basically means for periodically scanning the monitoring area 4 to detect an object existing in the monitoring area 4 and to calculate the position of the object. In this embodiment, the detection means 53 is configured using a laser sensor, and emits laser light as an exploration signal. For example, the laser sensor is installed so that the laser beam emission direction is horizontal or has a certain depression angle so that the detection target in the monitoring region 4 is irradiated with the laser beam.

  Specifically, the detection unit 53 repeats scanning at a predetermined period (for example, 60 milliseconds) with respect to a horizontal angle range facing the monitoring region 4 with the laser sensor as the center. The distance measurement by the detection means 53 is performed using a time of flight (TOF method) every predetermined angle step (for example, 0.25 °) within the scanning angle range. That is, the time required from the emission of the laser pulse to the reception of light is measured, and the distance to the object reflecting the laser is calculated from the time and the speed of light.

  The measurement data by the detection means 53 is represented by the scanning angle (azimuth) and distance, and the position of the laser beam reflection point on the object with the laser sensor as the viewpoint is given by the measurement data. Specifically, the measurement data is information including a collection of a plurality of measurement point data in which an angle (direction) of laser beam transmission / reception is associated with a distance to a reflection point. If the reflected light does not return within a predetermined time, it can be considered that there is no object within the distance that can be irradiated with the laser light, and the detection means 53 uses predetermined pseudo data (for example, a monitoring region) as the distance. 4 is set to a distance value to the outer circumference of 4, an appropriate value more than the effective measurement distance by the laser beam, and the like.

  The detection unit 53 compares the current measurement data with the reference data and detects a moving object that appears in the monitoring area 4. Specifically, the difference between the distance value for each scanning angle obtained from the current measurement data and the distance value for each angle stored in the reference data is calculated for each corresponding angle, and the angle at which the distance value has changed The measurement point of the current measurement data at is the detection point. In the detection point group, adjacent detection points whose distance values are considered to be changed by the same object to be measured are grouped as distance measurement data and detected as a moving object. Further, as the size of the moving object, the length in the real space between the end points, that is, the width of the moving object at the present time is calculated from the angle and distance of the end points among the grouped detection points. Further, as the shape of the moving object, the current linearity of the moving object is calculated based on the variation in distance at the grouped detection points. Specifically, the variation in distance is large when there is unevenness on the surface of the object. Therefore, when the variation in distance is large, the shape has low linearity. The size and shape of the moving object may be calculated using the same method in the evaluation unit 74 described later.

  The detection means 53 is not limited to a laser sensor, and can be configured using various sensors that can detect the position of an object, such as an ultrasonic sensor.

  The tracking unit 54 generates and updates tracking information by associating the moving objects detected in the previous period and the current period, and uses this to track the moving object. The association is performed according to distance and size. That is, when the distance between the objects detected in both cycles is within the threshold value and the variation in size is within the threshold value, the moving objects in both cycles are associated as the same object.

  The control means 55 is composed of a microcomputer composed of a CPU (Central Processing Unit), ROM, RAM and the like and its peripheral circuits, and the microcomputer reads the program from the storage means 52 and executes it to control the object detection unit 5.

  When a guard start signal is input from the control unit 7 via the communication unit 51, the control unit 55 outputs a drive signal to the detection unit 53 to start driving the detection unit 53. Thereby, the emission of the laser beam in the detection unit 53, the driving of the scanning mirror that changes the scanning angle of the laser beam, and the like are started. On the other hand, the control means 55 outputs a drive stop signal to the detection means 53 when the security release signal is input from the control section 7 and stops the drive of the detection means 53 when the scanning at that time ends. Thereby, the emission of the laser light and the driving of the scanning mirror are stopped.

  The imaging unit 6 can change the shooting direction in order to perform tracking shooting of a moving object. Further, the imaging unit 6 can perform zoom control in order to obtain an object image with sufficient resolution for an object or the like that is far from the monitoring device 2. That is, the imaging unit 6 of the present embodiment is configured using a camera (PTZ camera) that can control pan, tilt, and zoom (PTZ), and is a control unit based on tracking information of a moving object detected by the object detection unit 5. In response to the instruction in FIG. 7, the moving object is imaged by performing PTZ control so that the moving object is within the angle of view, in particular, at the center of the angle of view. The camera of the imaging unit 6 is installed at a position facing the monitoring region 4 together with the laser sensor of the object detection unit 5 as described above. Here, the imaging unit 6 can be installed at the same position as the object detection unit 5, or can be installed at a position shifted in the vertical direction with respect to the object detection unit 5, or in another place near the object detection unit 5. It may be installed.

  The imaging unit 6 includes camera driving means 61, imaging means 62, communication means 63, and storage means 64.

  The camera drive means 61 includes a drive mechanism that changes the shooting direction (pan, tilt) of the camera and a drive mechanism that changes the angle of view by driving the zoom lens of the camera, and based on a control instruction from the control unit 7. The drive mechanism is operated to perform pan / tilt control and zoom control.

  The imaging means 62 is configured by a camera using an imaging element, for example, and images a monitoring area and a moving object.

  The communication unit 63 receives a camera control signal from the control unit 7. Further, the communication unit 63 transmits the image captured by the imaging unit 62 to the monitoring center 3 via the control unit 7.

  The storage unit 64 is a storage device including an HDD, a ROM, a RAM, and the like, and stores captured images. The storage means 64 stores the home position of the camera (the angle of view when no moving object is detected).

  The control unit 7 is communicably connected to the object detection unit 5 and the imaging unit 6, outputs a control signal to them, and receives a detection signal and a captured image from them. The control unit 7 is communicably connected to the remote monitoring center 3, operates by receiving a control signal from the monitoring center 3 to the monitoring device 2, and monitors abnormal signals and captured images detected with respect to the monitoring area 4. To the center 3. For example, communication between the control unit 7 and the monitoring center 3 can be performed via a virtual dedicated network (VPN) constructed on a wide area network (WAN) such as the Internet.

  In addition, for example, the user performs an operation for starting or canceling monitoring of the monitoring area 4 using the operation unit provided in the monitoring device 2, or receives an instruction to start or cancel monitoring from the monitoring center 3. Thus, the control unit 7 sets the monitoring state of the monitoring region 4 to start or release, and transmits a security start signal or a security release signal to the object detection unit 5.

  The control unit 7 includes a communication unit 71, a storage unit 72, a camera control unit 73, an evaluation unit 74, a type determination unit 75, and a tracking shooting target setting unit 76. The control unit 7 includes a microcomputer including a CPU, a ROM, a RAM, and peripheral circuits thereof, and the microcomputer reads out and executes a program from the storage unit 72 so that the storage unit 72, the camera control unit 73, the evaluation unit 74, It functions as a type determination unit 75, a tracking shooting target setting unit 76, and the like.

  The communication unit 71 performs communication between the object detection unit 5 and the imaging unit 6 and the control unit 7 in the monitoring device 2 and communication with the monitoring center 3. For example, the communication unit 71 transmits a security start signal or a security release signal to the object detection unit 5. In addition, an abnormal signal generated when an abnormality is detected with respect to the monitoring area 4 and a captured image are transmitted to the monitoring center 3.

  The storage unit 72 is a storage device including an HDD, a ROM, a RAM, and the like, and stores various setting information, a program for operating the control unit 7, and the like. For example, the storage unit 72 stores tracking information of the object. Further, the relative position between the object detection unit 5 and the imaging unit 6 is also stored in the storage unit 72 in advance.

  The camera control unit 73 generates a signal for giving a control instruction (control amount of PTZ and its speed) to the image capturing unit 6 based on the detection position and the moving speed obtained from the tracking information of the object. In the control of the shooting direction (pan, tilt), it is preferable that the object appears at the center of the angle of view, and in the zoom control, the object appears at a predetermined size. The zoom control is performed based on the position of the detected object (distance to the object). Basically, as the distance from the imaging unit 6 to the object increases, the zoom magnification is controlled to zoom in, while the distance is It controls to zoom out by decreasing the zoom magnification as it gets closer. Furthermore, it is preferable to consider the moving speed of the object in zoom control. Specifically, a higher-speed object is zoomed out and photographed.

  The evaluation unit 74 evaluates a predetermined feature amount for each moving object detected by the object detection unit 5 and obtains a tracking shooting target degree indicating the degree of the target of the tracking shooting. The tracking shooting target degree may be defined by a numerical value such as “0 to 100%”, or may be defined by a level and a stage such as “high / medium / low”. This evaluation can be performed when a new moving object is detected or every predetermined time.

  In this embodiment, a person or a vehicle is a target for tracking shooting, and an index such as the size or shape of the moving object is used as a feature value to be evaluated, and the probability that the moving object is a person or a vehicle (humanity, vehicle-likeness). ) To obtain the tracking shooting target degree.

  The evaluation unit 74 refers to the tracking information stored in the storage unit 72, acquires the size and shape of the moving object to be evaluated, and compares it with the characteristics that a person or vehicle generally has. For example, distance measurement data indicating a person has characteristics that the width of the object is within a predetermined range (for example, 20 cm to 100 cm), the surface of the object is uneven, and the linearity is low (the variation in distance is more than a predetermined value). The evaluation unit 74 evaluates the tracking shooting target degree (personality) higher as the width and shape of the moving object match the characteristics of the person. The distance measurement data indicating the vehicle has characteristics that the width of the object is within a predetermined range (for example, 1 m to 5 m), the object surface is highly linear, and the two straight lines are orthogonal to each other. The higher the tracking shooting target degree (likeness of a car), the higher the width and shape of the moving object matches the characteristics of the vehicle.

  In addition, you may use a moving speed as a feature-value to evaluate. In this case, the evaluation unit 74 calculates the moving speed of the moving object from the movement history included in the tracking information, and evaluates the tracking shooting target degree higher as the moving speed matches the characteristics of the person or the vehicle. For example, when a person is a subject for tracking shooting, the tracking speed is evaluated so that the tracking speed is closer to 10 km / h or less. When a vehicle is a subject for tracking shooting, the moving speed is 30 to 30 per hour. Evaluation is made so that the closer to 60 km, the higher the tracking shooting target level becomes.

  The type determination unit 75 determines the type of the moving object based on the detection result of the object detection unit 5. In this embodiment, the type determination unit 75 determines at least a vehicle and a person as the type of the detected object. For example, the type determination unit 75 determines the type based on the size, shape, and moving speed of the detected object. For example, if the detected object has a size greater than or equal to a predetermined size and a shape including a right angle, and the moving speed is equal to or higher than the predetermined value, the type of the detected object can be determined as a car. Further, the type of the moving object may be determined based on the above-described tracking photographing degree of humanity or vehicle-likeness being a predetermined value (for example, “50%”, “medium”) or more.

  The tracking shooting target setting unit 76 is a shooting target setting unit of the present invention, and sets an object to be tracked shooting target based on the tracking shooting target level of the detected object. When only one moving object is detected by the object detection unit 5, the tracking shooting target setting unit 76 sets the moving object as a tracking shooting target regardless of the tracking shooting target level, while detecting a plurality of moving objects. In such a case, a moving object having a high tracking shooting target degree is set as a tracking shooting target with priority. For example, among the plurality of moving objects, the one with the highest tracking shooting target degree can be set as the tracking shooting target.

  The tracking shooting target setting means 76 can also set the tracking shooting target by combining the tracking shooting target level and other criteria. For example, when there are a plurality of moving objects having the highest degree of tracking shooting target, the tracking shooting target can be selected from among the plurality of moving objects according to other criteria.

  For example, the tracking shooting target setting unit 76 sets the currently moving object as the tracking shooting target among the moving objects when the tracking shooting target level is the same for a plurality of moving objects (“movement priority”). ")." Incidentally, it is possible to determine whether the object is currently moving or stationary based on the tracking information.

  In addition, regarding the type determined by the type determination unit 75, a priority (shooting priority) for setting a moving object as a tracking shooting target is determined in advance, and the shooting priority is considered in addition to the tracking shooting target level. The tracking shooting target can be selected. For example, when the tracking shooting target level is the same for a plurality of moving objects, an object with a high shooting priority can be set as the tracking shooting target.

  In addition, the latest or oldest detected object among the plurality of moving objects can be preferentially set as the tracking imaging target. Note that giving priority to the most recently detected moving object is referred to as “back priority”, and giving priority to the oldest detected moving object is referred to as “first priority”.

  The tracking shooting target setting unit 76 can perform tracking shooting target setting processing in synchronization with the timing at which the evaluation unit 74 sets the tracking shooting target level. For example, a new moving object is detected in the monitoring area. Each time it is detected, the tracking shooting target for the detected moving object is reset.

  FIG. 3 is a schematic flowchart of control related to tracking imaging of the monitoring device 2. When a moving object is detected by the object detection unit 5, the monitoring device 2 starts control related to tracking imaging (step S1), and the evaluation unit 74 uses tracking information (size, shape, moving speed, etc.) of the moving object. Based on this, the tracking shooting target degree is evaluated (step S2). When there are a plurality of objects detected by the object detection unit 5 (in the case of “Yes” in step S3), the tracking imaging target setting unit 76 performs tracking based on the tracking imaging target degree of the plurality of objects. An imaging target is set (step S4). Specifically, an object having the highest tracking shooting target level is set as a tracking shooting target. On the other hand, when the number of objects detected by the object detection unit 5 is one (in the case of “No” in step S3), the object is set as a tracking imaging target regardless of the tracking imaging target degree of the object. (Step S5). In this way, when the object to be tracked and photographed among the objects detected by the object detector 5 is set, the camera control means 73 is based on the detection position of the object set as the object to be tracked and photographed. A control instruction including PTZ control is given to the image capturing unit 6, and the image capturing unit 6 performs PTZ control of the camera to track and photograph an object (step S6).

  4 and 5 are schematic diagrams for explaining an example of processing by the tracking imaging target setting means 76. FIG. Here, the tracking shooting target degree is defined in the range of 0 to 100 [%]. In addition, the person and the vehicle are targets for tracking shooting, and the evaluation unit 74 obtains a tracking shooting target level representing humanity and a tracking shooting target level representing car likeness for each detected object. 4 and 5 show the object IDs of the detected objects and the respective tracking shooting target degrees in a table format in association with each other, and the numerical values shown in the columns of “personality” and “vehicleness” are the tracking of humanity, respectively. This is the shooting target level and the tracking shooting target level of car-likeness.

  FIG. 4A shows a case where only one moving object is detected. The “humanity” value “40” and the “car likeness” value “20” are low values that make it difficult to say that the detected object “ID1” is either a person or a vehicle. 76 sets the object “ID1” as a tracking imaging target regardless of the tracking imaging target level.

  4B and 4C show a case where three moving objects are detected. When a plurality of moving objects are detected in this way, basically, the tracking shooting target setting unit 76 sets an object having the highest tracking shooting target degree as a tracking shooting target. Therefore, in the example of FIG. 4B, the object “ID3” having the highest value “80” out of “personality” and “vehicleness” is set as the tracking imaging target.

  On the other hand, in the example of FIG. 4C, the objects “ID2” and “ID3” have the highest values. As described above, when there are a plurality of objects having the highest value of the tracking shooting target degree, the tracking shooting target can be determined by using other determination criteria together. For example, the tracking shooting target setting unit 76 sets the tracking shooting target according to the above-described shooting priority, first priority, subsequent priority, movement priority, and the like.

  In this example, humans and vehicles are subject to tracking shooting equally, but if only humans are subject to tracking shooting, the vehicle-likeness should not be evaluated and the tracking shooting target should be set based on humanity alone. Can do. In that case, the object “ID3” is set as the tracking imaging target in the examples of FIGS.

  FIG. 5 shows an example in which the tracking priority is used as an auxiliary determination criterion while the tracking shooting target level is used as a basic determination criterion. Here, it is assumed that “vehicle” is set higher than “person” as the imaging priority. “Personality” and “Carness” in FIG. 5 are the same as those in FIG. 4, and in FIG. 5C, as described with reference to FIG. "Or" ID3 "cannot be determined. In this regard, as described with reference to FIG. 4C, the priority order is set for the object “ID2” whose type is “car” and the object “ID3” whose type is “person” using the shooting priority. Specifically, in the example of FIG. 5C, the tracking shooting target setting unit 76 sets the object “ID2” having a high shooting priority as the tracking shooting target.

  Note that when there is one detected object shown in FIG. 5A, as in the case of FIG. 4A, there is no need for selection, so the object “ID1” is used regardless of the tracking shooting target level and shooting priority. Is set as the subject for tracking shooting. In the case of FIG. 5B, only the tracking shooting target degree can be set to one object, that is, the object “ID3” as the tracking shooting target as in FIG. 4B. That is, in this case, the tracking shooting target setting unit 76 sets the tracking shooting target without considering the shooting priority.

  The monitoring device 2 using the present invention described above evaluates the tracking shooting target level of the tracking shooting for the object detected by the object detection unit 5, and when there are a plurality of detected objects, the tracking shooting is performed based on the tracking shooting target level. Determine the target sensing object. Specifically, as its basic configuration, the tracking shooting target levels of a plurality of detected objects are compared, and the object with the highest tracking shooting target level is set as the tracking shooting target. As a result, when a plurality of objects are detected, for example, it is possible to preferentially perform tracking shooting of an object that seems to be an intruder among them.

  In addition, this invention is not limited only to the above-mentioned embodiment, In the range which does not deviate from the summary of this invention, it can be variously changed.

  For example, the evaluation unit 74 may have a function of determining whether or not the moving object is an intruding object that has entered the monitoring area based on the evaluation of the feature amount with respect to the moving object. In this case, when the size or shape of the moving object satisfies a reporting standard indicating a person or a vehicle, the evaluation means 74 determines that the intrusion is abnormal and notifies the monitoring center 3 of the occurrence of the abnormality, and intrudes the moving object. Tracking processing is performed as an object. Then, the tracking imaging target level for the moving object determined as the intruding object is evaluated to be higher than the tracking shooting target level for the moving object not determined as the intruding object. The intruding object is determined not only by the feature quantity that indicates the object of tracking shooting, such as the size and shape of the object, but also by the elapsed time, moving distance, moving trajectory (moving direction, moving route, etc.) ) Etc. may be used.

  Further, the evaluation of the tracking shooting target level indicating the humanity or the car likeness of the moving object may be used in combination with the evaluation of the tracking shooting target level based on whether or not the moving object is determined to be an intruding object. For example, the evaluation unit 74 obtains the tracking shooting target degree “0 to 100%” for each detected moving object, determines whether the moving object is an intruding object that satisfies a predetermined reporting criterion, and enters the intrusion. Addition and weighting processing can be performed so as to upwardly correct the tracking shooting target degree of the moving object determined as the object.

  Moreover, it is good also as a structure which replaces with the structure reflected on tracking imaging | photography object degree directly, and uses one evaluation method mainly and uses the other auxiliary. Specifically, the tracking imaging target setting unit 76 sets a moving imaging object determined as an intruding object on the basis of prioritizing a moving object determined as an intruding object among a plurality of moving objects as a tracking imaging object. If there are multiple objects, or if there are only multiple moving objects that are not determined as intruding objects, a moving object with a large tracking shooting target obtained from the size or shape of each moving object is set as the tracking shooting target. can do. On the contrary, the tracking shooting target level “High / Medium / Low” is the highest, based on the priority setting of the tracking shooting target level determined from the size and shape of each moving object. When there are a plurality of moving objects, a moving object that is abnormally determined as an intruding object among the moving objects may be set as a tracking imaging target.

  DESCRIPTION OF SYMBOLS 1 Monitoring system, 2 Monitoring apparatus, 3 Monitoring center, 4 Monitoring area | region, 5 Object detection part, 6 Imaging part, 7 Control part, 51, 63, 71 Communication means, 52, 64, 72 Storage means, 53 Detection means, 54 Tracking means, 55 control means, 61 camera driving means, 62 imaging means, 73 camera control means, 74 evaluation means, 75 type determination means, 76 tracking imaging target setting means.

Claims (5)

In a monitoring device for tracking and shooting moving objects in the monitoring area,
An object detection unit that detects the moving object in the monitoring region and outputs a detection result including a position of the moving object;
An imaging unit capable of changing the shooting direction;
A control unit that controls the imaging unit based on the detection result;
For each detected moving object, an evaluation unit that evaluates a predetermined feature amount and obtains a tracking shooting target degree that indicates the degree of likelihood of tracking shooting,
When only one moving object is detected by the object detection unit, the moving object is set as a tracking shooting target regardless of the tracking shooting target degree, and when a plurality of moving objects are detected, Shooting target setting means for preferentially setting a moving object having a high tracking shooting target level as a tracking shooting target;
A monitoring device comprising:   The said imaging | photography target setting means resets the tracking imaging | photography target in the said several detected moving object, whenever a new moving object is detected in the said monitoring area | region, The said imaging | photography target setting means is characterized by the above-mentioned. Monitoring device. The evaluation means evaluates the moving object so that the tracking imaging target degree becomes higher as the size of the moving object based on at least the detection result is closer to a predetermined reference;
The monitoring device according to claim 1 or 2, wherein   The imaging target setting means sets the currently moving object among the moving objects as the tracking imaging target when the tracking imaging target degrees are the same for a plurality of the moving objects. The monitoring device according to any one of claims 1 to 3. The evaluation unit determines whether or not the moving object is an intruding object that satisfies a predetermined reporting condition based on the feature amount, and the tracking shooting target degree of the moving object when it is determined as the intruding object, Making it higher than the tracking shooting target level when it is not determined as the intruding object,
The monitoring device according to any one of claims 1 to 4, wherein

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