JP2020160882A - Specific object tracking device and specific object tracking system - Google Patents

Abstract

To provide a specific object tracking device for achieving both wide area and extensive tracking and detailed tracking as a viewpoint of a space and achieving continuous tracking as a viewpoint of time in order to make tracking of the specific object more effective.SOLUTION: In a specific object tracking system, specific object tracking devices are interconnected via N (N is an integer equal to or larger than 2) sensor devices each comprising a sensor and any optional connection means. When it is determined that tracking continuation of a tracking target object is not allowed in the connected n-th (n is an integer of 1≤n<N) sensor device, an (n+1)-th sensor device is selected and tracking continuation of the tracking target object is requested.SELECTED DRAWING: Figure 1

Description

The present invention relates to a specific object tracking device that tracks a specific object to be monitored.

In order to realize a society where people can live safely and with peace of mind, there is a need for a surveillance system for early resolution of crimes and a monitoring system for children and the elderly. In particular, it is necessary to quickly find out specific objects to be investigated and monitored, such as stolen vehicles and missing persons, and to continuously monitor and track the subsequent situation.

For example, tracking a vehicle on which a criminal is on board or a stolen vehicle can lead to the arrest of the criminal, and can secure an opportunity to judge the criminal fairly. In addition, by continuing the pursuit, it is possible to inform people that they cannot escape, reduce the willingness to commit a crime, and reduce the number of people who actually commit a crime.

Furthermore, by monitoring the situation of the wandering elderly and those who are about to jump out onto the roadway and taking immediate action, it is possible to reduce the risk of such persons being involved in criminal cases such as traffic accidents and kidnappings.

In order to make the tracking of a specific object more effective, it is necessary to realize both wide-area and wide-range tracking and detailed tracking from the viewpoint of space. It is also necessary to realize continuous tracking in terms of time.

Here, wide-area / wide-range tracking refers to tracking when the tracking target moves significantly. For example, when tracking a fleeing criminal, it is assumed that the criminal will flee farther to avoid the chase, so wide area and wide range tracking is required.

On the other hand, detailed tracking refers to tracking without omission from the perspective of space. When tracking a criminal who escapes in the same way as above, in addition to the wide area and wide range tracking as described above, the criminal does not always escape along the road or passage, so there is no omission in the tracking range. Is required.

In addition, continuous tracking refers to tracking without omission in terms of time. Even if it is possible to track a wide area, a wide range, and details of the tracking target, if there is a time when it cannot be tracked, the tracking up to that point will be nullified. For example, when tracking a criminal who escapes using a vehicle, continuous tracking is required because it becomes impossible to track the criminal if he / she gets out of the vehicle and escapes during a time that cannot be tracked.

As a method of identifying an object to be searched and tracked / monitored, a traveling locus identification device that identifies a traveling locus of a target vehicle based on characteristic information regarding the appearance of the target vehicle has been proposed. This travel locus identification device arranges a plurality of sensors on the road, determines whether or not the travel locus identification device, which is a center device, has the same feature information from a plurality of feature information acquired by the sensors, and is the same. When there is characteristic information, the passing time of the sensor from which the characteristic information is acquired is acquired to specify the traveling locus (see Patent Document 1).

In addition, a vehicle search system that recognizes the vehicle number information of surrounding vehicles to increase the detection rate of the vehicle to be searched and searches for the vehicle to be detected in real time, and a vehicle search device and a vehicle search center device that constitute the system have been proposed. ing. In this vehicle search system, when a vehicle search device is mounted on a vehicle to acquire vehicle number information of surrounding vehicles and the vehicle number information matching the search information is acquired, the information is transmitted to the vehicle search via a roadside communication device. It is transmitted to the device (see Patent Document 2).

In particular, realizing both detailed tracking in terms of space and continuous tracking in terms of time also contributes to improvement in tracking accuracy. Since the information obtained from the sensor used for tracking changes greatly depending on space and time, it is difficult to identify that the targets captured by the sensor are the same tracking target. For example, considering the use of a camera as a sensor, it is difficult to identify the same object because the lighting conditions change when the position of the target changes significantly even in the same time zone. Moreover, even if the positions are the same, the lighting conditions will change if the tracking time changes significantly. Furthermore, especially when the tracking target is a person, if the tracking time changes significantly, it will be identified as the same object due to changes in clothes due to changing clothes or putting on and taking off jackets, and changes in appearance due to putting on and taking off hats and glasses. It becomes difficult to do.

Japanese Patent Application Laid-Open No. 2008-217432 JP-A-2007-305155

In the traveling locus identification device described in Patent Document 1, wide-area tracking is possible by arranging sensors at a wide range of a plurality of points. However, in order to arrange more sensors to enable detailed tracking, the installation cost of the sensors and the processing load of the traveling locus identification device, which is the center device, are drastically increased, so that detailed tracking is realized. That is difficult.

In the vehicle search system described in Patent Document 2, by mounting the vehicle search device on a moving vehicle, restrictions on the installation position of the sensor are reduced, and wide-area tracking and detailed tracking from the viewpoint of space are compatible. .. However, the information regarding the tracking target is processed by the vehicle search center device and then transmitted from the vehicle search center device to the vehicle search device mounted on each vehicle. Although it is possible for each vehicle search device that has received information about the tracking target to search for the target, it is difficult to continuously track the tracking target in terms of time.

The present invention realizes both detailed tracking in a wide range from the viewpoint of space and continuous tracking from the viewpoint of time toward the realization of a safe and secure road environment / society in the road traffic environment. Provide a specific object tracking device capable of.

The specific object tracking device in the present invention is a communication unit that communicates with N sensor devices (N is an integer in which 2 ≦ N), each of which is provided with a sensor, and is connected to each other via an arbitrary connection means. Sensing information acquisition that acquires the sensing information acquired by the access control unit that switches the sensor device that the communication unit communicates with, and the nth sensor device that is connected via the communication unit (n is an integer where 1 ≦ n <N). Unit, a tracking target object search unit that detects a tracking target object with the sensing information acquired by the sensing information acquisition unit, a tracking data generation unit that generates tracking data related to the tracking target object detected by the tracking target object search unit, the nth It is composed of a tracking continuation possibility determination unit for determining whether or not tracking can be continued by the sensor device and a tracking request target selection unit for selecting the n + 1 sensor device for requesting continuation of tracking. The tracking request target selection unit in the specific object tracking device of the present invention is selected by the tracking request target selection unit when the tracking continuation possibility determination unit determines that the tracking continuation in the nth sensor device is not possible. A tracking request signal of the tracking target object for the n + 1th sensor device is sent to the access control unit. The access control unit in the specific object tracking device of the present invention is characterized in that the connection destination is switched to the n + 1 sensor device in response to the acquired tracking request signal, and the tracking request signal is transmitted via the communication unit. ..

The specific object tracking device in another embodiment of the present invention is interconnected with M sensor devices (M is an integer in which 2 ≦ M) each of which has a sensor, and communicates with the sensor device via an arbitrary connecting means. Acquires sensing information acquired by the communication unit, the access control unit that switches the sensor device that the communication unit communicates with, and the sensor device of the mth (m is an integer where 1 ≦ m <M) connected via the communication unit. Sensoring information acquisition unit, tracking target object search unit that detects the tracking target object with the sensing information acquired by the sensing information acquisition unit, tracking data generation unit that generates tracking data related to the tracking target object detected by the tracking target object search unit, Tracking continuity determination unit that determines whether tracking can be continued with the mth sensor device, tracking request target selection unit that selects the tracking continuation of the m + 1 sensor device that requests continuation of tracking, and other specific object tracking that requests tracking assistance. It consists of a rescue request target selection department that selects equipment. In the tracking request target selection unit in the specific object tracking device of another form of the present invention, the tracking continuation possibility determination unit determines that the tracking continuation in the mth sensor device is not possible, and the tracking request target selection unit determines that the tracking continuation is not possible. When the m + 1 sensor device that requests the continuation of tracking of the tracking target object is selected, the tracking request signal of the tracking target object for the m + 1 sensor device selected by the tracking request target selection unit is sent to the access control unit. .. Alternatively, the rescue request target selection unit in the specific object tracking device of another form of the present invention is determined by the tracking continuation possibility determination unit that the tracking continuation by the m-th sensor device is not possible, and the tracking request target selection When the m + 1 sensor device that requests the continuation of tracking of the tracked object is not selected by the unit, the access control unit sends the rescue request signal for tracking the tracked object to the other specific object tracking device selected by the rescue request target selection unit. Send to. The access control unit in the specific object tracking device of another embodiment of the present invention switches the connection destination to the m + 1 sensor device according to the acquired tracking request signal, and sends a tracking request signal via the communication unit, or It is characterized in that the connection destination is switched to another specific object tracking device according to the acquired rescue request signal, and the rescue request signal is sent via the communication unit to request tracking and rescue of the tracked object.

According to the specific object tracking device of the present invention, both detailed tracking in a wide area in terms of space and continuous tracking in terms of time can be realized.

Block diagram of the specific object tracking system 1000 according to the first embodiment of the present invention. A flowchart showing a processing procedure of the specific object tracking device 100 in the specific object tracking system 1000 of the first embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S111 of the specific object tracking device 100 according to the first embodiment of the present invention. Image when the estimated course of the tracked object 135 is not included in the blind spot of the sensor 152A Image when the estimated course of the tracked object 135 is included in the blind spot of the sensor 152A Image when the detection position of the tracked object 135 does not change in the sensing range of the sensor 152A Image when the detection position of the tracked object 135 changes in the sensing range of the sensor 152A Image when the detection size of the tracked object 135 in the sensing range of the sensor 152A changes A flowchart showing a detailed procedure of the processing step S112 of the specific object tracking device 100 according to the first embodiment of the present invention. Block diagram of the specific object tracking system 2000 according to the second embodiment of the present invention. A flowchart showing a processing procedure of the specific object tracking device 200 in the specific object tracking system 2000 according to the second embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S211 of the specific object tracking device 200 according to the second embodiment of the present invention. Image when the estimated course of the tracked object 235 and the planned path of the vehicle which is the sensor device 251A are the same. Image when the estimated course of the tracked object 235 and the planned path of the vehicle which is the sensor device 251A are different. Image when the detection position of the tracked object 235 does not change in the sensing range of the sensor 252A Image when the detection position of the tracked object 235 changes in the sensing range of the sensor 252A Image when the detection size of the tracked object 235 in the sensing range of the sensor 252A changes A flowchart showing a detailed procedure of the processing step S212 of the specific object tracking device 200 according to the second embodiment of the present invention. Block diagram of the specific object tracking device 300 according to the third embodiment of the present invention. Block diagram of the specific object tracking system 3000 according to the third embodiment of the present invention. A flowchart showing a processing procedure of the specific object tracking device 300 in the specific object tracking system 3000 according to the third embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S311 of the specific object tracking device 300 according to the third embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S312 of the specific object tracking device 300 according to the third embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S315 of the specific object tracking device 300 according to the third embodiment of the present invention. Block diagram of the specific object tracking system 4000 according to the fourth embodiment of the present invention. A flowchart showing a processing procedure of the specific object tracking device 400 in the specific object tracking system 4000 according to the fourth embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S411 of the specific object tracking device 400 according to the fourth embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S415 of the specific object tracking device 400 according to the fourth embodiment of the present invention. Block diagram of the specific object tracking system 5000 according to the fifth embodiment of the present invention. A flowchart showing a processing procedure of the specific object tracking device 500 in the specific object tracking system 5000 according to the fifth embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S511 of the specific object tracking device 500 according to the fifth embodiment of the present invention. A flowchart showing a detailed procedure of the processing step S515 of the specific object tracking device 500 according to the fifth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the shape, size, and arrangement relation of each component are only shown schematicly to the extent that the present invention can be fully understood. Moreover, the numerical conditions of each component are merely preferable examples. Therefore, the present invention is not limited to the illustrated examples, and many modifications or modifications that can achieve the effects of the present invention can be made without departing from the scope of the configuration of the present invention. Further, for each component, any suitable known element or the like that realizes the functions described below can be used. Further, common components and similar components in each figure are designated by the same reference numerals, and duplicate description thereof will be omitted. When distinguishing individual components of the same component, A, B, C, ... Are added to the reference numerals.

(First Embodiment)
The specific object tracking system 1000, which is the first embodiment of the present invention, will be described with reference to FIG. The specific object tracking system 1000 includes a specific object tracking device 100 and a plurality of sensor devices 151. FIG. 1 is a block diagram of a specific object tracking system 1000. The specific object tracking system 1000 is configured by connecting the specific object tracking device 100 and a plurality of sensor devices 151A, 151B, 151C, ..., For example, via a connecting means such as a communication network. In the following description, when the specific object tracking device 100 connects to the sensor device 151A for the purpose of communication, it is described that the specific object tracking device 100 accesses the sensor device 151A. The connection state that is not accessed is described as being linked between the specific object tracking device 100 and the sensor device 151A.

In this embodiment, an example in which the sensor device 151 is a fixed point installation type will be described. An example of fixed-point installation of the sensor device 151 corresponds to the case where it is installed on a telephone pole, a street light, an outer wall of a building, or the like arranged on the roadside. An example in which the specific object tracking device 100 in the present embodiment is a fixed point installation type like the sensor device 151 will be described. As an example of fixed point installation of the specific object tracking device 100, the case where it is installed in a central station such as an information management center is applicable.

The sensor device 151 is a device that generates sensing information 156 from the image data acquired by the sensor 152 described later. The sensor device 151 includes a sensor 152, a control unit 153, and a transmission / reception unit 154.

The sensor 152 is a moving image camera called a PTZ (pan / tilt / zoom) camera. However, the sensor 152 is not limited to a moving image camera, and may be a still image camera that captures a still image, a distance measuring sensor such as a LIDAR (Light Detection and Langing or Laser Imaging Detection and Ranger) or a millimeter-wave radar. good. Further, the sensor 152 does not have to be a single sensor, and a plurality of types of the above-mentioned sensors may be used in combination, or a GPS (Global Positioning System) sensor for acquiring position information as world coordinates may be provided together.

The sensor 152 sends the acquired image data, the distance to the subject, and the relative positional relationship to the control unit 153.

The control unit 153 generates sensing information 156 from the image data acquired from the sensor 152, the distance to the subject, and the relative positional relationship. The control unit 153 generates the sensor device information 157 from the information (type, number, and sensing range) of the sensor 152 and the installation position information of the sensor device 151. The control unit 153 uses a sensor control signal 108 acquired from the sensor control unit 123 of the specific object tracking device 100, which will be described later, via the transmission / reception unit 154 to rotate, elevate, or tilt the sensor 152, and obtain an imaging magnification. (Zoom) and control. The control unit 153 sends the generated sensing information 156 and the sensor device information 157 to the transmission / reception unit 154.

The transmission / reception unit 154 is connected to the communication unit 121 of the specific object tracking device 100, which will be described later, via a connection means such as a communication network. The transmission / reception unit 154 transmits the sensing information 156 and the sensor device information 157 generated by the control unit 153 to the communication unit 121 of the specific object tracking device 100. The transmission / reception unit 154 acquires the sensor control signal 108 from the sensor control unit 123 of the specific object tracking device 100 via the communication unit 121 and sends it to the control unit 153.

The sensing information 156 includes image data acquired by the sensor 152, a distance between the sensor 152 and the subject, and a relative positional relationship.

The sensor device information 157 includes information (type, number, and sensing range) of the sensor 152 and installation position information of the sensor device 151.

The sensor device 151 may be connected to the specific object tracking device 100 via a connecting means such as a communication network, and the existing sensor device can be diverted.

The specific object tracking device 100 accesses the sensor device 151 in a predetermined order, acquires sensing information 156 from the accessing sensor device 151, and searches for the tracking target object 135. For example, when the tracking target object 135 cannot be detected by the sensing information 156A acquired from the sensor device 151A, the access destination is changed to the next sensor device 151B and the tracking target object 135 is searched by the sensing information 156B. Until the tracked object 135 is detected, the sensor device 151 to be accessed is sequentially changed, and the search for the tracked object 135 by each sensor device 151 is repeated.

When the specific object tracking device 100 detects the tracking target object 135, the specific object tracking device 100 tracks the tracking target object 135 with the sensing information 156A acquired from the sensor device 151 (for example, the sensor device 151A). When the specific object tracking device 100 determines that the tracking by the sensor device 151A cannot be continued, the specific object tracking device 100 selects the sensor device 151G capable of continuing the tracking of the tracking target object 135 from the sensor devices 151B, 151C, ... Around the sensor device 151A. Request tracking of the tracking object 135 and continue tracking the tracking object 135.

The specific object tracking device 100 acquires sensor device information 157A, 157B, 157C, ... From all the sensor devices 151A, 151B, 151C, ... Linked via a connecting means such as a communication network. The acquired sensor device information 157 is stored in the sensor device information storage unit 142, which will be described later.

The specific object tracking device 100 includes a sensing information acquisition unit 111, a tracking target object search unit 112, an operation mode control unit 113, a communication unit 121, an access control unit 122, a sensor control unit 123, a tracking data generation unit 131, and a tracking continuation possibility determination. It is composed of a unit 132, a tracking request target selection unit 133, a tracking object information storage unit 141, and a sensor device information storage unit 142.

The sensing information acquisition unit 111 acquires the sensing information 156 from the accessed sensor device 151 via the communication unit 121. The sensing information acquisition unit 111 sends the acquired sensing information 156 to the tracking target object search unit 112.

The tracking object search unit 112 acquires the tracking object information 105 stored in the tracking object information storage unit 141, and collates the sensing information 156 acquired from the sensing information acquisition unit 111 with the tracking object information 105. Search for tracked object 135. The tracking target object search unit 112 generates a sensor control signal 108 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 152 when searching for the tracking target object 135. Is sent to the sensor control unit 123.

The tracking object information 105 includes information such as a number plate (vehicle number), vehicle type, and body color if the tracking object 135 is a vehicle, and age, gender, facial photograph, and the like if the tracking object 135 is a person. It is information such as an image or feature amount extraction data based on the image.

The tracking target object search unit 112 searches for a subject from the moving image included in the sensing information 156, and obtains information such as a license plate (vehicle number), vehicle type, and vehicle body color for each detected vehicle, and a feature amount for each detected person. Information such as the extracted data is extracted as identification information for identifying the subject.

The tracking target object search unit 112 collates the identification information for identifying the subject extracted from the sensing information 156 with the tracking target object information 105 regarding the tracking target object 135, and extracts a subject that matches the tracking target object information 105. Detects the tracked object 135.

Here, the position of the tracking target object 135 can be converted into world coordinates from the relative positional relationship between the sensor 152 included in the sensing information 156 and the tracking target object 135 which is the subject. When the sensor 152 includes a GPS sensor, the position of the sensor 152, that is, the sensor device 151 can be acquired as world coordinates. Since the mounting states (position, angle, etc.) of the sensor device 151 and the sensor 152 are known, it is possible to convert the position of the tracked object 135 from the world coordinates of the sensor device 151 to the world coordinates. In the following description, it is particularly limited whether the positions of the sensor device 151 and the tracking object 135 are relative positions between the sensor device 151 and the tracking object 135, or are the world coordinates converted as described above. Instead, simply write it as location information.

The tracking target object search unit 112 newly adds the detection coordinates in the imaging region in the sensing information 156 of the detected tracking target object 135 to the tracking target object information 105, and the search result information 117 which is the search result of the tracking target object 135. Is sent to the operation mode control unit 113. The search result information 117 includes the detection availability result of the tracking target object 135, the position information of the sensor device 151 and the tracking target object 135, the sensing information 156, and the tracking target object information 105.

The operation mode control unit 113 acquires the search result information 117 from the tracking target object search unit 112, sets and saves the operation mode according to the detection status of the tracking target object 135 by the tracking target object search unit 112. The operation modes to be set are a search mode in which the tracking target object search unit 112 searches for the tracking target object 135, and a tracking in which the tracking target object search unit 112 repeatedly detects the tracking target object 135 and tracks the tracking target object 135. One of the modes.

When the operation mode control unit 113 acquires the search result information 117 from the tracking target object search unit 112, the operation mode control unit 113 confirms whether the set operation mode is the search mode or the tracking mode.

When the set operation mode is the search mode, the operation mode control unit 113 confirms the detection status of the tracked object 135 by the tracked object search unit 112 based on the search result information 117. When the tracking target object 135 is detected by the tracking target object search unit 112, the operation mode control unit 113 switches the operation mode from the search mode to the tracking mode and resets it, and the sensing information in the sensing information acquisition unit 111. Continue to acquire 156. When the tracking target object 135 is not detected by the tracking target object search unit 112, the operation mode control unit 113 generates an access control signal 124 for changing the access target sensor device 151 and sends it to the access control unit 122. ..

When the set operation mode is the tracking mode, the operation mode control unit 113 sends the search result information 117 of the tracking target object 135 acquired from the tracking target object search unit 112 to the tracking data generation unit 131.

The communication unit 121 accesses and communicates with the transmission / reception unit 154 of the sensor device 151 set as an access target by the access control unit 122. The communication unit 121 acquires the sensing information 156 and the sensor device information 157 from the sensor device 151 via the transmission / reception unit 154 of the sensor device 151, sends the sensing information 156 to the sensing information acquisition unit 111, and the sensor device information 157 to the sensor device information. Each is sent to the storage unit 142. The communication unit 121 transmits the sensor control signal 108 acquired from the sensor control unit 123 to the transmission / reception unit 154 of the sensor device 151.

The communication means and communication method between the communication unit 121 and the communication unit 154 of the sensor device 151 are not particularly limited. For example, a wireless communication line such as a wireless LAN (Local Area Network) communication or a mobile phone line, or a wired communication line such as a fixed telephone line or an optical fiber line can be used.

The access control unit 122 acquires the access control signal 124 generated by the operation mode control unit 113 or the tracking request target selection unit 133, and controls which sensor device 151 the specific object tracking device 100 accesses. The switching means of the sensor device 151 to be accessed, the connection method with the sensor device 151, etc. are not particularly limited, and an identification number or a unique code may be assigned to each sensor device 151. can do.

The sensor control unit 123 acquires the sensor control signal 108 generated by the tracking target object search unit 112 or the tracking data generation unit 131, and is a sensor device via the communication unit 121 and the transmission / reception unit 154 of the accessing sensor device 151. It is sent to the control unit 153 of 151.

The tracking data generation unit 131 captures the history of the position information associated with the tracking of the tracking target object 135 included in the search result information 117 acquired from the tracking target object search unit 112 via the operation mode control unit 113 and an image at a new angle. The tracking data 107 including the created image or new information such as the feature amount data extracted from the image is generated and sent to the tracking object information storage unit 141.

The tracking data generation unit 131 extracts feature data in an arbitrary image frame in the search result information 117 acquired from the tracking target object search unit 112 via the operation mode control unit 113. The tracking data generation unit 131 not only searches for a feature amount that matches or is similar to the feature amount data in subsequent image frames to track the tracked object 135, but also tracks it at a higher speed by using a kernelized correlation filter. It is also possible to track the target object 135 and generate tracking data 107.

The tracking data generation unit 131 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 152 so that the tracking target object 135 does not deviate from the imaging region when the tracking data 107 is generated. A sensor control signal 108 is generated and sent to the sensor control unit 123.

The tracking continuation possibility determination unit 132 determines whether or not the tracking by the accessing sensor device 151 (for example, the sensor device 151A) can be continued. The tracking continuation possibility determination unit 132 tracks the state of the tracking target object 135 and the sensing range of the sensor 152A by the tracking data 107 acquired from the tracking data generation unit 131 and the sensor device information 157 acquired from the sensor device information storage unit 142. The course of the tracking target object 135 is estimated from the change history of the detection position of the target object 135. For example, when the tracking object 135 is a vehicle, the course of the tracking object 135 is estimated from the state of whether the tracking object 135 is in the straight lane or the right turn (or left turn) lane. The tracking continuation possibility determination unit 132 sends the estimated course of the tracking target object 135 to the tracking request target selection unit 133.

The tracking continuation possibility determination unit 132 is a sensor device based on the relationship between the estimated course and the sensing range of the sensor 152A included in the sensor device 151A, and the change history of the detection position and the detection size of the tracking target object 135 in the sensing range of the sensor 152A. It is determined whether or not tracking can be continued at 151A.

When it is determined that the tracking can be continued by the sensor device 151A, the search (detection) of the tracking target object 135 by the sensing information 156A is repeated. When it is determined that the tracking continuation by the sensor device 151A is not possible, the tracking continuation possibility determination unit 132 sends the determination result to the tracking request target selection unit 133.

For example, when the estimated course of the tracked object 135 is included in the blind spot of the sensor 152A, or the detection size of the tracked object 135 in the sensing range of the sensor 152A changes small (or large), the magnification of the sensor 152A is changed. However, if it is assumed that the tracking target object 135 cannot be detected, the tracking continuation possibility determination unit 132 determines that the tracking continuation by the sensor device 151A is not possible.

The tracking request target selection unit 133 estimates the tracking target object 135 estimated by the tracking continuation possibility determination unit 132 with the sensor device information 157B, 157C, ... Regarding other sensor devices 151B, 151C, ... From the sensor device information storage unit 142. The course is acquired, and the sensor device 151G as a tracking request candidate for the tracking target object 135 is selected from the estimated course of the tracking target object 135 and the positional relationship of each sensor device. The tracking request target selection unit 133 sends the tracking data 107 acquired from the tracking object information storage unit 141 to the selected sensor device 151G, and acquires the detection availability result of the tracking object 135 from the sensor device 151G. When the tracking target object 135 can be detected by the sensor device 151G, the sensor device 151G is selected as the request target.

Here, if the determination result in the tracking continuation possibility determination unit 132 is negative, the tracking request target selection unit 133 generates an access control signal 124 that changes the access destination sensor device 151 to the sensor device 151G, and access control is performed. It is sent to the unit 122. If the determination result in the tracking continuation possibility determination unit 132 is acceptable, the tracking request target selection unit 133 generates the tracking request candidate information 137 of the sensor device 151G selected as the request target and stores it in the sensor device information storage unit 142. To do.

If the tracking request target selection unit 133 fails to detect the tracking target object 135 by the sensor device 151G, the tracking request target selection unit 133 reselects the sensor device 151 as a tracking request candidate, and another sensor device as a new tracking request candidate. Select 151H.

The tracking object information storage unit 141 stores the tracking data 107 generated by the tracking data generation unit 131 in addition to the tracking object information 105.

The sensor device information storage unit 142 contains information (type and number) of sensors 152 included in all sensor devices 151 linked to the specific object tracking device 100, as well as information such as installation position information and sensing range of the sensor device 151. The sensor device information 157 including the above is stored.

With reference to FIG. 2, the tracking processing procedure of the tracking target object 135 of the specific object tracking device 100 in the specific object tracking system 1000 of the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure of the specific object tracking device 100 in the specific object tracking system 1000.

When the search for the tracked object 135 by the specific object tracking device 100 is started (S100), the specific object tracking device 100 acquires the sensor device information 157 from all the linked sensor devices 151 by the communication unit 121. (S100-1). The specific object tracking device 100 stores each acquired sensor device information 157 in the sensor device information storage unit 142 (S100-2).

The specific object tracking device 100 accesses the access target sensor device 151 set by the access control unit 122 by the communication unit 121. The sensor device 151 accessed by the specific object tracking device 100 is selected by the access control unit 122 based on the access control signal 124. The initial setting to be accessed at the start of the search is the sensor device 151A. When the sensor device 151A is selected based on the access control signal 124, the access control unit 122 sets the operation mode to the search mode by the operation mode control unit 113 (S101).

The specific object tracking device 100 acquires the sensing information 156A from the accessing sensor device 151A by the sensing information acquisition unit 111 (S102). The sensing information acquisition unit 111 sends the acquired sensing information 156A to the tracking target object search unit 112 (S102).

The tracking object search unit 112 acquires the tracking object information 105 from the tracking object information storage unit 141, collates the sensing information 156A acquired from the sensing information acquisition unit 111 with the tracking object information 105, and tracks the tracking object 135. Search for (S103).

The tracking target object search unit 112 generates a sensor control signal 108 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 152A when searching for the tracking target object 135. , Is sent to the sensor control unit 123 (S103).

The search for the tracked object 135 by the tracked object search unit 112 will be specifically described with respect to the case where the tracked object 135 is a vehicle and the case where the tracked object 135 is a person.

When the tracked object 135 is a vehicle, the tracked object search unit 112 searches for the vehicle included in the acquired sensing information 156A, and for each detected vehicle, the license plate (vehicle number), vehicle type, vehicle body color, etc. Information is extracted as identification information for identifying the vehicle. The tracking target object search unit 112 collates the extracted identification information with the acquired tracking target object information 105, extracts a vehicle that matches the tracking target object information 105, and detects the tracking target object 135.

When the tracked object 135 is a person, the tracked object search unit 112 searches for the person included in the acquired sensing information 156A, and displays an image or image such as age, gender, and facial photograph for each detected person. Information such as feature amount extraction data based on is extracted as identification information for identifying a person. The tracking target object search unit 112 collates the extracted identification information with the acquired tracking target object information 105, extracts a person matching the tracking target object information 105, and detects the tracking target object 135.

Next, the specific object tracking device 100 confirms whether the set operation mode is the search mode or the tracking mode by the operation mode control unit 113 (S104).

When the operation mode confirmed by the operation mode control unit 113 in step S104 is the search mode as set in step S101 (search mode in S104), the operation mode control unit 113 is the tracking target object search unit in step S103. It is confirmed whether the tracked object 135 can be detected by the search in 112 (S105).

When the tracking target object 135 can be detected (detected in S105), the operation mode control unit 113 switches the operation mode from the search mode to the tracking mode (S106). After that, the process returns to step S102.

When the tracking target object 135 cannot be detected (not detected in S105), the operation mode control unit 113 generates an access control signal 124 for changing the access target sensor device 151 and sends it to the access control unit 122 (S107). ). Then, the process proceeds to step S120.

When the operation mode confirmed by the operation mode control unit 113 in step S104 is the tracking mode (tracking mode in S104), the operation mode control unit 113 searches for the tracking target object 135 acquired from the tracking target object search unit 112. 117 is sent to the tracking data generation unit 131. The tracking data generation unit 131 generates tracking data 107 from the acquired search result information 117 and stores it in the tracking target object information storage unit 141 (S110).

Next, the specific object tracking device 100 determines whether the tracking target object 135 can be continuously tracked by the sensor device 151A by the tracking continuation possibility determination unit 132 (S111), and the sensor device by the tracking request target selection unit 133. When the tracking continuation at 151A is not possible, the selection of the target for which the tracking continuation is requested (S112) is executed in parallel.

With reference to FIGS. 3 to 8, a detailed procedure of the tracking continuation possibility determination (S111) by the sensor device 151A in the tracking continuation possibility determination unit 132 will be described. FIG. 3 is a flowchart showing a detailed processing procedure of the tracking continuation possibility determination (S111) in the sensor device 151A in the tracking continuation possibility determination unit 132. FIG. 4 is an image when the estimated course of the tracked object 135 is not included in the blind spot of the sensor 152A, and FIG. 5 is an image when the estimated course of the tracked object 135 is included in the blind spot of the sensor 152A. FIG. 6 is an image when the detection position of the tracking object 135 does not change in the sensing range of the sensor 152A, FIG. 7 is an image when the detection position of the tracking object 135 changes in the sensing range of the sensor 152A, and FIG. This is an image when the detection size of the tracked object 135 changes in the sensing range of the sensor 152A.

The tracking continuation possibility determination unit 132 acquires the tracking data 107 from the tracking data generation unit 131 and the tracking object information storage unit 141 (S111-1).

The tracking continuation possibility determination unit 132 estimates the course of the tracking target object 135 from the acquired tracking data 107 (S111-2). It is determined whether or not the tracking of the tracking target object 135 by the sensor device 151A can be continued by comparing the estimated estimated course of the tracking target object 135 with the blind spot of the sensor 152A (S111-3).

Alternatively, the tracking continuation possibility determination unit 132 extracts the change history of the detection position and size of the tracking target object 135 from the tracking data 107 (S111-4). It is determined whether or not the tracking of the tracking target object 135 by the sensor device 151A can be continued by comparing the extracted change history with the sensing range of the sensor 152A (S111-5).

In the determination in step S111-3, for example, when the estimated course of the tracking object 135 is not included in the blind spot of the sensor 152A as shown in FIG. 4, it is determined that the tracking continuation by the sensor device 151A is possible. Here, the blind spot of the sensor 152A refers to an area where the sensor 152A cannot be sensed, which is generated when the outer wall of the building where the sensor device 151A is installed is included in the sensing range of the sensor 152A. On the other hand, when the estimated course of the tracked object 135 is included in the blind spot of the sensor 152A as shown in FIG. 5, it is determined that the tracking continuation by the sensor device 151A is not possible.

In the determination in step S111-5, for example, as shown in FIG. 6, if the detection position and size of the tracking target object 135 in the sensing range of the sensor 152A do not change, the tracking can be continued by the sensor device 151A. Is determined. On the other hand, as shown in FIG. 7, it is assumed that the detection position of the tracked object 135 in the sensing range of the sensor 152A moves in the horizontal direction (or the vertical direction) and deviates from the sensing range of the sensor 152A (enters the blind spot). In this case, or as shown in FIG. 8, the detection size of the tracking target object 135 in the sensing range of the sensor 152A is small (or large), and the tracking target object 135 is detected even if the magnification of the sensor 152A is changed ( If it is assumed that the identification) cannot be performed, it is determined that the tracking continuation by the sensor device 151A is not possible.

When both the determination result in step S111-3 and the determination result in step S111-5 are acceptable, the tracking continuation possibility determination unit 132 determines that the tracking target object 135 can be continuously tracked by the sensor device 151A. Judgment (S111-6), if both the determination result in step S111-3 and the determination result in step S111-5, or one of them is negative, the tracking target object 135 is tracked by the sensor device 151A. It is determined that the continuation is not possible (S111-6).

When the tracking continuation possibility determination unit 132 determines that the tracking continuation of the tracking target object 135 by the sensor device 151A is possible (possible in S111-6), the tracking continuation possibility determination unit 132 uses the communication unit 121 for sensing information. The acquisition unit 111 continues to acquire the new sensing information 156A, returns to step S102, and repeats the search and detection of the tracking target object 135 to track the tracking target object 135.

When the tracking continuation possibility determination unit 132 determines that the tracking continuation of the tracking target object 135 by the sensor device 151A is not possible (No in S111-6), the tracking continuation possibility determination unit 132 is tracking by the sensor device 151A. The determination result that the continuation is not possible is sent to the tracking request target selection unit 133.

With reference to FIG. 9, a detailed procedure of candidate selection (S112) of another sensor device 151 requesting continuation of tracking by the sensor device 151A in the tracking request target selection unit 133 will be described. FIG. 9 is a flowchart showing a detailed processing procedure of candidate selection (S112) of another sensor device 151 in the tracking request target candidate selection unit 133.

The tracking request target selection unit 133 confirms whether the tracking request candidate information 137 is stored in the tracking object information storage unit 141 (S112-1).

When the tracking request candidate information 137 is not stored in the tracking object information storage unit 141 (nothing in S112-1), the respective sensor device information 157B, 157C, ... Is acquired from the other sensor devices 151B, 151C, ... (S112-2).

Further, the tracking request target selection unit 133 acquires the estimated course of the tracking target object 135 estimated in step S111-2 from the tracking continuation possibility determination unit 132 (S112-3).

Then, the relationship between the acquired estimated course of the tracked object 135 and the sensing range of each sensor device 151B, 151C, ... Obtained from the sensor device information 157B, 157C, ... Obtained in step 112-2 is compared. , The sensor device 151G including the estimated course of the tracked object 135 in the sensing range is selected as the request candidate sensor device (S112-4).

The tracking request target selection unit 133 sends tracking data 107 to the sensor device 151G selected as a request candidate via the communication unit 121 (S112-5). The tracking request target selection unit 133 acquires and confirms the detection availability result of the tracking target object 135 by the sensor device 151G (S112-6).

If the tracking target object 135 is not detected by the sensor device 151G (No in S112-6), the sensor device as a request candidate is selected again in step S112-4. When the tracking target object 135 is detected by the sensor device 151G (S112-6 is acceptable), the sensor device 151G is selected again as the request candidate sensor device (S112-7).

The tracking request target selection unit 133 confirms the presence or absence of the determination result in step S111 by the tracking continuation possibility determination unit 132 (S112-8). When there is no determination result in step S111 (not S112-8 = determination “possible” in S111), the tracking request target selection unit 133 uses the information of the sensor device 151G as the tracking request candidate information 137 as the sensor device information storage unit. It is stored in 142 (S112-9).

When there is a determination result in step S111 (yes in S112-8 = determination “no” in S111), the tracking request target selection unit 133 generates an access control signal 124 that changes the access target to the sensor device 151G. It is sent to the access control unit 122 (S112-10). Then, the process proceeds to step S120.

When the tracking target object 135 cannot be detected (not detected in S105), the specific object tracking device 100 is a sensor device that is accessed by the access control unit 122 based on the access control signal 124 generated by the operation mode control unit 113. Change 151 (S120). For example, when the sensor device 151A cannot detect the tracking target object 135, the sensor device 151 to be accessed next by the specific object tracking device 100 is selected by the access control unit 122 in a predetermined order predetermined.

In the specific object tracking device 100, when the tracking continuation possibility determination unit 132 determines that the tracking continuation by the sensor device 151A is not possible (S111), and the tracking request target selection unit 133 selects the request candidate sensor device 151G. In (S112), the sensor device 151 accessed by the access control unit 122 based on the access control signal 124 generated by the tracking request target selection unit 133 is changed to the sensor device 151G (S120).

The specific object tracking device 100 is not limited to the fixed point installation type described in the present embodiment, and may be a moving body installation type mounted on a moving body such as a vehicle, for example.

(Effect of the first embodiment)
Since the specific object tracking system 1000 of the present embodiment is composed of the specific object tracking device 100 and a plurality of fixed point installation type sensor devices 151, it is widely possible to install a plurality of sensor devices 151 on, for example, a building or a roadside. Detailed tracking in various areas is possible. Further, the specific object tracking device 100 of the present embodiment changes the access target to the peripheral sensor devices 151B, 151C, ... When the tracking by the accessing sensor device 151A cannot be continued, and the other sensor devices 151B, 151C. Since the tracking is continued with, ..., continuous tracking in terms of time is also possible.

The specific object tracking device 100 of the present embodiment autonomously executes a series of processing operations related to the detection and tracking of the tracked object 135 and the request for tracking to another sensor device 151. Therefore, it is not necessary for the operator or the like of the specific object tracking device to bear the processing operation related to the detection and tracking of the tracking target object 135 or the request for tracking to another sensor device 151.

(Second Embodiment)
The specific object tracking system 2000, which is the second embodiment of the present invention, will be described with reference to FIG. The specific object tracking system 2000 includes a specific object tracking device 200 and a plurality of sensor devices 251. FIG. 10 is a block diagram of the specific object tracking system 2000. The present embodiment differs from the specific object tracking system 1000 in the first embodiment in that the sensor device 251 is a moving body such as a vehicle. An example in which the specific object tracking device 200 in the present embodiment is a fixed point installation type like the specific object tracking device 100 in the first embodiment will be described. As an example of fixed point installation of the specific object tracking device 200, the case where it is installed in a central station such as an information management center is applicable.

The sensor device 251 is a vehicle as described above, and the sensor device 251 may be referred to as a vehicle 251 in the following description.

The sensor device 251 is a device that generates sensing information 156 from the image data acquired by the sensor 252 described later. Similar to the sensor device 151 in the first embodiment, the sensor device 251 is composed of a sensor 252, a control unit 253, and a transmission / reception unit 254 (not shown in FIG. 10).

The sensor 252 is a moving image camera such as a drive recorder. However, the sensor 252 is not limited to the moving image camera, and may be a still image camera that captures a still image, a distance measuring sensor such as LIDAR or a millimeter wave radar, or the like. Further, the sensor 252 does not have to be a single sensor, and a plurality of types of the above-mentioned sensors may be used in combination, or a GPS sensor for acquiring position information as world coordinates may be provided together.

The sensor 252 sends the acquired image data, the distance to the subject, and the relative positional relationship to the control unit 253. The control unit 253 generates sensing information 256 from the image data acquired from the sensor 252, the distance to the subject, and the relative positional relationship. The control unit 253 generates the sensor device information 257 from the information (type, number, and sensing range) of the sensor 252 and the installation position information of the sensor device 251. The control unit 253 uses the sensor control signal 208 acquired from the sensor control unit 223 of the specific object tracking device 200, which will be described later, via the transmission / reception unit 254 to rotate the sensor 252 (pan), elevation or depression (tilt), and imaging magnification. (Zoom) and control. The control unit 253 sends the generated sensing information 256 and the sensor device information 257 to the transmission / reception unit 254.

The transmission / reception unit 254 is connected to the communication unit 221 of the specific object tracking device 200, which will be described later, via a connection means such as a communication network. The transmission / reception unit 254 sends the sensing information 256 and the sensor device information 257 generated by the control unit 253 to the communication unit 221 of the specific object tracking device 200. The transmission / reception unit 254 acquires the sensor control signal 208 from the sensor control unit 223 of the specific object tracking device 200 via the communication unit 221 and sends it to the control unit 253.

The sensing information 256 includes image data acquired by the sensor 252, a distance between the sensor 252 and the subject, and a relative positional relationship.

The sensor device information 257 includes information (type, number, and sensing range) of the sensor 252, position information of the sensor device 251 and a planned route.

The specific object tracking device 200 accesses the sensor device 251 in a predetermined order, acquires sensing information 256 from the sensor device 251 and searches for the tracking target object 235. For example, when the tracking target object 235 cannot be detected by the sensing information 256A acquired from the sensor device 251A, the access destination is changed to the next sensor device 251B and the tracking target object 235 is searched by the sensing information 256B. Until the tracked object 235 is detected, the sensor device 251 to be accessed is sequentially changed, and the search for the tracked object 235 by each sensor device 251 is repeated.

When the specific object tracking device 200 detects the tracking target object 235, the specific object tracking device 200 tracks the tracking target object 235 with the sensing information 256A acquired from the sensor device 251 (for example, the sensor device 251A). When the specific object tracking device 200 determines that the tracking by the sensor device 251A cannot be continued, the specific object tracking device 200 selects the sensor device 251G capable of continuing the tracking of the tracking target object 235 from the sensor devices 251B, 251C, ... Around the sensor device 251A. The tracking of the tracking target object 235 is requested, and the tracking of the tracking target object 235 is continued.

The specific object tracking device 200 acquires sensor device information 257A, 257B, 257C, ... From all the sensor devices 251A, 251B, 251C, ... Linked via a connecting means such as a communication network. The acquired sensor device information 257 is stored in the sensor device information storage unit 242, which will be described later. Unlike the sensor device 151 in the first embodiment, the sensor device 251 in this embodiment is a moving body (vehicle), so that the position information of the sensor device 251 changes from moment to moment.

The specific object tracking device 200 periodically acquires the sensor device information 257 from the accessing sensor device 251 and updates the position information thereof. Further, the sensor device information 257 is periodically acquired for the other linked sensor devices 251 and the position information is updated.

The specific object tracking device 200 includes a sensing information acquisition unit 211, a tracking target object search unit 212, an operation mode control unit 213, a communication unit 221 and an access control unit 222, a sensor control unit 223, a tracking data generation unit 231 and a tracking continuation possibility determination. It is composed of a tracking request target selection unit 233, a tracking object information storage unit 241 and a sensor device information storage unit 242.

The sensing information acquisition unit 211 acquires the sensing information 256 from the accessed sensor device 251 via the communication unit 221. The sensing information acquisition unit 211 sends the acquired sensing information 256 to the tracking target object search unit 212.

The tracking object search unit 212 acquires the tracking object information 205 stored in the tracking object information storage unit 241 and collates the sensing information 256 acquired from the sensing information acquisition unit 211 with the tracking object information 205. Search for tracked object 235. The tracking target object search unit 212 generates a sensor control signal 208 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 252 when searching for the tracking target object 235. Is sent to the sensor control unit 223.

The tracked object information 205 includes information such as a number plate (vehicle number), vehicle type, and body color if the tracked object 235 is a vehicle, and age, gender, facial photograph, etc. if the tracked object 235 is a person. It is information such as an image or feature amount extraction data based on the image.

The tracking target object search unit 212 searches for a subject from the moving image included in the sensing information 256, and obtains information such as a license plate (vehicle number), vehicle type, and vehicle body color for each detected vehicle, and a feature amount for each detected person. Information such as the extracted data is extracted as identification information for identifying the subject.

The tracking target object search unit 212 collates the identification information for identifying the subject extracted from the sensing information 256 with the tracking target object information 205 regarding the tracking target object 235, and extracts a subject that matches the tracking target object information 205. Detects the tracked object 235.

Here, the position of the tracked object 235 can be converted into world coordinates from the relative positional relationship between the sensor 252 included in the sensing information 256 and the tracked object 235 that is the subject. When the sensor 252 includes a GPS sensor, the position of the sensor 252, that is, the sensor device 251 can be acquired as world coordinates. Since the mounting state (position, angle, etc.) of the sensor 252 in the sensor device (vehicle) 251 is known, it is possible to convert the position of the tracked object 235 from the world coordinates of the sensor device 251 to the world coordinates. In the following description, it is particularly limited whether the positions of the sensor device 251 and the tracking object 235 are relative positions between the sensor device 251 and the tracking object 235, or are the world coordinates converted as described above. Instead, simply write it as location information.

The tracking target object search unit 212 newly adds the detection coordinates in the imaging region in the sensing information 256 of the detected tracking target object 235 to the tracking target object information 205, and the search result information 217 which is the search result of the tracking target object 235. Is sent to the operation mode control unit 213. The search result information 217 includes the detection availability result of the tracking target object 235, the position information of the sensor device 251 and the tracking target object 235, the sensing information 256, and the tracking target object information 205.

The operation mode control unit 213 acquires the search result information 217 from the tracking target object search unit 212, and sets and saves the operation mode according to the detection status of the tracking target object 235 by the tracking target object search unit 212. The set operation modes are a search mode in which the tracking target object search unit 212 searches for the tracking target object 235, and a tracking target object search unit 212 repeatedly detecting the tracking target object 235 to track the tracking target object 235. One of the modes.

When the operation mode control unit 213 acquires the search result information 217 from the tracking target object search unit 212, the operation mode control unit 213 confirms whether the set operation mode is the search mode or the tracking mode.

When the set operation mode is the search mode, the operation mode control unit 213 confirms the detection status of the tracked object 235 by the tracked object search unit 212 based on the search result information 217. When the tracking target object 235 is detected by the tracking target object search unit 212, the operation mode control unit 213 switches the operation mode from the search mode to the tracking mode and resets it, and the sensing information in the sensing information acquisition unit 211 is reset. Continue to acquire 256. When the tracking target object 235 is not detected by the tracking target object search unit 212, the operation mode control unit 213 generates an access control signal 224 for changing the access target sensor device 251 and sends it to the access control unit 222.

When the set operation mode is the tracking mode, the operation mode control unit 213 sends the search result information 217 of the tracking target object 235 acquired from the tracking target object search unit 212 to the tracking data generation unit 231.

The communication unit 221 accesses and communicates with the transmission / reception unit 254 of the sensor device 251 set as an access target by the access control unit 222. The communication unit 221 acquires the sensing information 256 and the sensor device information 257 from the sensor device 251 via the transmission / reception unit 254 of the sensor device 251 and transmits the sensing information 256 to the sensing information acquisition unit 211 and the sensor device information 257 to the sensor device information. It is sent to the storage unit 242, respectively. The communication unit 221 transmits the sensor control signal 208 acquired from the sensor control unit 223 to the transmission / reception unit 254 of the sensor device 251.

The communication means and communication method between the communication unit 221 and the communication unit 254 of the sensor device 251 are not particularly limited. For example, a wireless communication line such as a wireless LAN communication or a mobile phone line, or a wired communication line such as a fixed telephone line or an optical fiber line can be used.

The access control unit 222 acquires the access control signal 224 generated by the operation mode control unit 213 or the tracking request target selection unit 233, and controls which sensor device 251 the specific object tracking device 200 accesses. The switching means of the sensor device 251 to be accessed, the connection method with the sensor device 251 and the like are not particularly limited, and an identification number or a unique code may be assigned to each sensor device 251. can do.

The sensor control unit 223 acquires the sensor control signal 208 generated by the tracking target object search unit 212 or the tracking data generation unit 231, and the sensor device via the transmission / reception unit 254 of the communication unit 221 and the accessing sensor device 251. It is sent to the control unit 253 of 251. The sensor 252 of the accessing sensor device 251 cannot control the rotation angle (pan), elevation angle or depression angle (tilt), imaging magnification (zoom), etc. as in the general drive recorder as an example in the present embodiment. In this case, the sensor control signal 208 is invalidated in the sensor control unit 223 or the control unit 253 of the sensor device 251.

The tracking data generation unit 231 captures the history of the position information associated with the tracking of the tracking target object 235 included in the search result information 217 acquired from the tracking target object search unit 212 via the operation mode control unit 213, and images at a new angle. The tracking data 207 including the created image or new information such as the feature amount data extracted from the image is generated and sent to the tracking object information storage unit 241.

The tracking data generation unit 231 extracts feature data in an arbitrary image frame in the search result information 217 acquired from the tracking target object search unit 212 via the operation mode control unit 213. The tracking data generation unit 231 not only searches for a feature amount that matches or is similar to the feature amount data in subsequent image frames to track the tracked object 235, but also tracks the tracked object 235 at a higher speed by using a kernelized correlation filter. It is also possible to track the target object 235 and generate tracking data 207.

The tracking data generation unit 231 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 252 so that the tracking target object 235 does not deviate from the imaging region when the tracking data 207 is generated. A sensor control signal 208 is generated and sent to the sensor control unit 223.

The tracking continuation possibility determination unit 232 determines whether or not the tracking by the accessing sensor device 251 (for example, the sensor device 251A) can be continued. The tracking continuation possibility determination unit 232 uses the tracking data 207 acquired from the tracking object information storage unit 241 to determine the tracking target object 235 from the state of the tracking target object 235 and the change history of the detection position of the tracking target object 235 in the sensing range of the sensor 252A. Estimate the course of 235. For example, when the tracking target object 235 is a vehicle, the course of the tracking target object 235 is estimated from the state of whether the tracking target object 235 is in the straight lane or the right turn (or left turn) lane. The tracking continuation possibility determination unit 232 sends the estimated course of the tracking target object 235 to the tracking request target selection unit 233.

Further, the tracking continuation possibility determination unit 232 acquires the scheduled route of the sensor device 251A being accessed from the sensor device information storage unit 242. The tracking continuation possibility determination unit 232 is a sensor device based on the relationship between the estimated course of the tracking target object 235 and the planned path of the sensor device 251A, or the change history of the detection position and the detection size of the tracking target object 235 in the sensing range of the sensor 252A. It is determined whether or not tracking can be continued at 251A.

When it is determined that the tracking can be continued by the sensor device 251A, the search (detection) of the tracking target object 235 by the sensing information 256A is repeated. When it is determined that the tracking continuation by the sensor device 251A is not possible, the tracking continuation possibility determination unit 232 sends the determination result to the tracking request target selection unit 233.

For example, when the estimated course of the tracked object 235 and the planned path of the sensor device 251A are different, or the detection size of the tracked object 235 in the sensing range of the sensor 252A changes small (or large), the magnification of the sensor 252A If it is assumed that the tracking target object 235 cannot be detected even if the value is changed, the tracking continuation possibility determination unit 232 determines that the tracking continuation by the sensor device 251A is not possible.

The tracking request target selection unit 233 estimates the tracking target object 235 estimated by the tracking continuation possibility determination unit 232 with the sensor device information 257B, 257C, ... Regarding other sensor devices 251B, 251C, ... From the sensor device information storage unit 242. The course is acquired, and the sensor device 251G as a tracking request candidate for the tracking target object 235 is selected from the relationship between the estimated course of the tracking target object 235 and the current position and planned path of each sensor device 251. The tracking request target selection unit 233 sends the tracking data 207 acquired from the tracking object information storage unit 241 to the selected sensor device 251G, and acquires the detection availability result of the tracking object 235 from the sensor device 251G. When the tracking target object 235 can be detected by the sensor device 251G, the sensor device 251G is selected as the request target.

Here, if the determination result in the tracking continuation possibility determination unit 232 is negative, the tracking request target selection unit 233 generates an access control signal 224 that changes the access destination sensor device 251 to the sensor device 251G, and access control is performed. It is sent to the unit 222. If the determination result in the tracking continuation possibility determination unit 232 is acceptable, the tracking request target selection unit 233 generates tracking request candidate information 237 regarding the sensor device 251G selected as the request target and stores it in the sensor device information storage unit 242. To do. If the detection of the tracking target object 235 by the sensor device 251G is unsuccessful, the sensor device 251 as a tracking request candidate is selected again, and another sensor device 251H is selected as a new tracking request candidate.

The tracking object information storage unit 241 stores the tracking data 207 generated by the tracking data generation unit 231 in addition to the tracking object information 205.

The sensor device information storage unit 242 includes information (type and number) of sensors 252 included in all sensor devices 251 linked to the specific object tracking device 200, as well as position information of the sensor device 251 and a planned route and sensing range. The sensor device information 257 including the information of the above is stored.

With reference to FIG. 11, the tracking processing procedure of the tracking target object 235 of the specific object tracking device 200 in the specific object tracking system 2000 in the present embodiment will be described. FIG. 11 is a flowchart showing a processing procedure of the specific object tracking device 200 in the specific object tracking system 2000.

When the search for the tracked object 235 by the specific object tracking device 200 is started (S200), the specific object tracking device 200 receives sensor device information 257 from all the linked sensor devices 251 via the communication unit 221. Acquire (S200-1). The specific object tracking device 200 stores each acquired sensor device information 257 in the sensor device information storage unit 242 (S200-2).

The specific object tracking device 200 accesses the access target sensor device 251 set by the access control unit 222 by the communication unit 221. The sensor device 251 accessed by the specific object tracking device 200 is selected by the access control unit 222 based on the access control signal 224. The initial setting to be accessed at the start of the search is the sensor device 251A. When the sensor device 251A is selected based on the access control signal 124, the access control unit 222 sets the operation mode to the search mode by the operation mode control unit 213 (S201).

The specific object tracking device 200 acquires the sensing information 256A and the sensor device information 257A from the accessing sensor device 251A by the sensing information acquisition unit 211 (S202). The sensing information acquisition unit 211 stores (overwrites) the acquired sensor device information 257A in the sensor device information storage unit 242 (S202-1). The sensing information acquisition unit 211 sends the acquired sensing information 256A to the tracking target object search unit 212 (S202-2).

The tracking object search unit 212 acquires the tracking object information 205 from the tracking object information storage unit 241 and collates the sensing information 256A acquired from the sensing information acquisition unit 211 with the tracking object information 205 to match the tracking object 235. Search for (S203).

The tracking target object search unit 212 generates a sensor control signal 208 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 252A when searching for the tracking target object 235. , Is sent to the sensor control unit 223 (S203).

The search for the tracked object 235 by the tracked object search unit 212 will specifically describe the case where the tracked object 235 is a vehicle and the case where the tracked object 235 is a person.

When the tracked object 235 is a vehicle, the tracked object search unit 212 searches for the vehicle included in the acquired sensing information 256A, and for each detected vehicle, the license plate (vehicle number), vehicle type, vehicle body color, etc. Information is extracted as identification information for identifying the vehicle. The tracking target object search unit 212 compares the extracted identification information with the acquired tracking target object information 205, extracts a vehicle that matches the tracking target object information 205, and detects the tracking target object 235.

When the tracked object 235 is a person, the tracked object search unit 212 searches for the person included in the acquired sensing information 256A, and displays an image or image such as age, gender, and facial photograph for each detected person. Information such as feature amount extraction data based on is extracted as identification information for identifying a person. The tracking target object search unit 212 compares the extracted identification information with the acquired tracking target object information 205, extracts a person matching the tracking target object information 205, and detects the tracking target object 235.

Next, the specific object tracking device 200 confirms whether the recorded operation mode is the search mode or the tracking mode by the operation mode control unit 213 (S204).

When the operation mode confirmed by the operation mode control unit 213 in step S204 is the search mode as set in step S201 (search mode in S204), the operation mode control unit 213 is the tracking target object search unit in step S203. It is confirmed whether the tracked object 235 can be detected by the search in 212 (S205).

When the tracking target object 235 can be detected (detected by S205), the operation mode control unit 213 switches the operation mode from the search mode to the tracking mode (S206). After that, the process returns to step S202.

When the tracking target object 235 cannot be detected (not detected in S205), the operation mode control unit 213 generates an access control signal 224 for changing the access target sensor device 251 and sends it to the access control unit 222 (S207). .. Then, the process proceeds to step S220.

When the operation mode confirmed by the operation mode control unit 213 in step S204 is the tracking mode (tracking mode in S204), the operation mode control unit 213 obtains the search result information of the tracking object 135 acquired from the tracking object search unit 212. 217 is sent to the tracking data generation unit 231. The tracking data generation unit 231 generates tracking data 207 from the acquired search result information 217 and stores it in the tracking target object information storage unit 241 (S210).

Next, the specific object tracking device 200 determines whether the tracking target object 235 can be continuously tracked by the sensor device 251A by the tracking continuation possibility determination unit 232 (S211), and the sensor device by the tracking request target selection unit 233. When the tracking continuation at 251A is not possible, the selection of the target for which the tracking continuation is requested (S212) is executed in parallel.

The detailed procedure of the tracking continuation possibility determination (S211) in the sensor device 251A in the tracking continuation possibility determination unit 232 will be described with reference to FIGS. 12 to 14. FIG. 12 is a flowchart showing a detailed processing procedure of the tracking continuation possibility determination (S211) in the sensor device 251A in the tracking continuation possibility determination unit 232. FIG. 13 is an image when the estimated course of the tracked object 235 and the planned route of the sensor device 251A (= vehicle 251A) are the same, and FIG. 14 shows the estimated course of the tracked object 235 and the planned route of the sensor device 251A. An image of different cases, FIG. 15 is an image when the detection position of the tracking object 235 does not change in the sensing range of the sensor 252A, and FIG. 16 is an image when the detection position of the tracking object 235 changes in the sensing range of the sensor 252A. The image, FIG. 17, is an image when the detection size of the tracked object 235 changes in the sensing range of the sensor 252A.

The tracking continuation possibility determination unit 232 acquires tracking data 207 from the tracking data generation unit 231 and the tracking object information storage unit 241 (S21-1).

The tracking continuation possibility determination unit 232 estimates the course of the tracking target object 235 from the acquired tracking data 207 (S211-2). The estimated course of the tracked object 235 estimated and the planned path of the sensor device 251A are compared to determine whether or not the tracking of the tracked object 235 by the sensor device 251A can be continued (S211-3).

Alternatively, the tracking continuation possibility determination unit 232 extracts the change history of the detection position and the detection size of the tracking target object 235 from the tracking data 207 (S211-4). It is determined whether or not the tracking of the tracking target object 235 by the sensor device 251A can be continued by comparing the extracted change history with the sensing range of the sensor 252A (S211-5).

The determination in step S211-3 indicates that the tracking continuation by the sensor device 251A is possible when the estimated course of the tracked object 235 and the planned path of the sensor device 251A are the same as shown in FIG. 13, for example. judge. On the other hand, when the estimated course of the tracked object 235 and the planned path of the sensor device 251A are different as shown in FIG. 14, it is determined that the tracking continuation by the sensor device 251A is not possible.

In the determination in step S211-5, for example, as shown in FIG. 15, if the detection position and size of the tracking target object 235 in the sensing range of the sensor 252A do not change, the tracking can be continued by the sensor device 251A. Is determined. On the other hand, as shown in FIG. 16, it is assumed that the detection position of the tracked object 235 in the sensing range of the sensor 252A moves in the horizontal direction (or the vertical direction) and deviates from the sensing range of the sensor 252A (enters the blind spot). In this case, or as shown in FIG. 17, the detection size of the tracking target object 235 in the sensing range of the sensor 252A is small (or large), and the tracking target object 235 is detected even if the magnification of the sensor 252A is changed ( If it is assumed that the identification) cannot be performed, it is determined that the tracking continuation by the sensor device 251A is not possible.

When both the determination result in step S211-3 and the determination result in step S211-5 are acceptable, the tracking continuation possibility determination unit 232 determines that the tracking target object 235 can be continuously tracked by the sensor device 251A. Judgment (S211-6), if both the judgment result in step S211-3 and the judgment result in step S211-5, or one of them is negative, the tracking target object 235 is tracked by the sensor device 251A. It is determined that the continuation is not possible (S211-6).

When the tracking continuation possibility determination unit 232 determines that the tracking continuation of the tracking target object 235 by the sensor device 251A is possible (possible in S211-6), the tracking continuation possibility determination unit 232 performs sensing information via the communication unit 221. The acquisition unit 211 continues to acquire the new sensing information 256A, returns to step S202, and repeats the search and detection of the tracking target object 235 to track the tracking target object 235.

When the tracking continuation possibility determination unit 232 determines that the tracking continuation of the tracking target object 235 by the sensor device 251A is not possible (No in S211-6), the tracking continuation possibility determination unit 232 is tracking by the sensor device 251A. The determination result that the continuation is not possible is sent to the tracking request target selection unit 233.

With reference to FIG. 18, a detailed procedure of candidate selection (S212) of another sensor device 251 requesting continuation of tracking by the sensor device 251A in the tracking request target selection unit 233 will be described. FIG. 18 is a flowchart showing a detailed processing procedure of candidate selection (S212) of another sensor device 251 in the tracking request target candidate selection unit 233.

The tracking request target selection unit 233 confirms whether the tracking request candidate information 237 is stored in the tracking object information storage unit 241 (S212-1).

When the tracking request candidate information 237 is not stored in the tracking object information storage unit 241 (nothing in S212-1), the respective sensor device information 257B, 257C, ... Is acquired from the other sensor devices 251B, 251C, ... (S212-2).

Further, the tracking request target selection unit 233 acquires the estimated course of the tracking target object 235 estimated in step S211-2 from the tracking continuation possibility determination unit 232 (S212-3).

Then, the positional relationship between the acquired estimated course of the tracked object 235 and the sensor devices 251B and 251C obtained from the sensor device information 257B, 257C, ... Obtained in step 212-2 is compared, and the tracked object is tracked. The sensor device 251G located in the estimated course of 235 is selected as the request candidate sensor device (S212-4).

The tracking request target selection unit 233 sends tracking data 207 to the sensor device 251G selected as a request candidate via the communication unit 221 (S212-5). The tracking request target selection unit 233 acquires and confirms the detection availability result of the tracking target object 235 by the sensor device 251G (S212-6).

If the tracking target object 235 is not detected by the sensor device 251G (No in S212-6), the sensor device to be the request candidate is selected again in step S212-4. When the tracking target object 235 is detected by the sensor device 251G (S212-6 is acceptable), the sensor device 251G is selected again as a request candidate sensor device (S212-7).

The tracking request target selection unit 233 confirms the presence or absence of the determination result in step S211 by the tracking continuation possibility determination unit 232 (S212-8). When there is no determination result in step S211 (not S212-8 = determination "OK" in S211), the tracking request target selection unit 233 stores the information of the sensor device 251G as the tracking request candidate information 237. It is stored in 242 (S212-9).

When there is a determination result in step S211 (Yes in S212-8 = Judgment "No" in S211), the tracking request target selection unit 233 generates an access control signal 224 to switch the access target to the sensor device 251G for access. It is sent to the control unit 222 (S212-10). Then, the process proceeds to step S220.

When the tracked object 235 cannot be detected (not detected in S205), the specific object tracking device 200 is a sensor that is accessed by the access control unit 222 based on the access control signal 224 generated by the tracked object search unit 212. The device 251 is changed (S220). For example, when the sensor device 251A cannot detect the tracking target object 235, the sensor device 251 to be accessed next by the specific object tracking device 200 is selected by the access control unit 222 in a predetermined order predetermined.

In the specific object tracking device 200, the tracking continuation possibility determination unit 232 determines that the tracking continuation by the sensor device 251A is not possible (S211), and the tracking request target selection unit 233 selects the sensor device 251G which is a request candidate. In the case (S212), the sensor device 251 accessed by the access control unit 222 based on the access control signal 224 generated by the tracking request target selection unit 233 is changed to the sensor device 251G (S220).

The specific object tracking device 200 is not limited to the fixed point installation type described in the present embodiment, and may be a moving body installation type mounted on a moving body such as a vehicle, for example.

(Effect of the second embodiment)
Since the specific object tracking system 2000 of the present embodiment is composed of the specific object tracking device 200 and the sensor device 251 which is a plurality of moving bodies, detailed tracking in a wide range is possible. Further, the specific object tracking device 200 of the present embodiment changes the access target to the peripheral sensor devices 251B, 251C, ... When the tracking by the accessing sensor device 251A cannot be continued, and the other sensor devices 251B, 251C. Since the tracking is continued with, ..., continuous tracking in terms of time is also possible.

The specific object tracking device 200 of the present embodiment autonomously executes a series of processing operations related to the detection and tracking of the tracking target object 235 and the request for tracking to another sensor device 251. Therefore, the processing operation related to the detection and tracking of the object to be tracked 235 or the request for tracking to another sensor device 251 is performed by the operator of the specific object tracking device 200, the driver of the vehicle which is the sensor device 251 or its passengers. Does not have to bear. Further, the driver of the vehicle which is the sensor device 251 and its passengers do not change the scheduled route or detour from the planned route in order to continue the tracking by the sensor device 251.

(Third Embodiment)
The specific object tracking system 3000, which is the third embodiment of the present invention, will be described with reference to FIGS. 19 and 20. The specific object tracking system 3000 is composed of a plurality of specific object tracking subsystems 3001. The specific object tracking subsystem 3001 is composed of a specific object tracking device 300 and a plurality of sensor devices 351. In the following description of the present embodiment, when the specific object tracking subsystem 3001 and the specific object tracking device 300 are individually distinguished, the reference numerals A, B, C, ... Are added to the specific object tracking subsystem 3001A. It is described as 3001B, ..., Specific object tracking device 300A, 300B, ..., And so on. Further, when distinguishing each of the sensor device 351 and the sensor 352 included in the sensor device 351, the reference numeral of the specific object tracking subsystem 3001 (or the specific object tracking device 300) to which the sensor device 351 and the sensor 352 belong is used. The sensor devices are designated as 351AA, 351AB, ... With a combined reference numeral.

FIG. 19 is a block diagram of the specific object tracking device 300. FIG. 20 is a block diagram of a specific object tracking system 3000 composed of a plurality of specific object tracking devices 300 and a plurality of sensor devices 351.

In this embodiment, an example in which the sensor device 351 is a fixed point installation type will be described. An example of fixed-point installation of the sensor device 351 corresponds to a case where it is installed on a telephone pole, a street light, an outer wall of a building, or the like arranged on the roadside. An example in which the specific object tracking device 300 in the present embodiment is a fixed point installation type like the sensor device 351 will be described. As an example of fixed point installation of the specific object tracking device 300, the case where it is installed in a central station such as an information management center is applicable.

The sensor device 351 is a device that generates sensing information 356 from the image data acquired by the sensor 352 described later. Similar to the sensor device 151 in the first embodiment, the sensor device 351 includes a sensor 352, a control unit 353, and a transmission / reception unit 354 (not shown in FIG. 20).

The sensor 352 is a moving image camera called a PTZ camera, like the sensor 152 in the first embodiment. However, the sensor 352 is not limited to the moving image camera, and may be a still image camera that captures a still image, a distance measuring sensor such as LIDAR or a millimeter wave radar, or the like. Further, the sensor 352 does not have to be a single sensor, and a plurality of types of the above-mentioned sensors may be used in combination, or a GPS sensor for acquiring position information as world coordinates may be provided together.

The sensor 352 sends the acquired image data, the distance to the subject, and the relative positional relationship to the control unit 353.

The control unit 353 generates sensing information 356 from the image data acquired from the sensor 352, the distance to the subject, and the relative positional relationship. The control unit 353 generates sensor device information 357 from the information (type, number, and sensing range) of the sensor 352 and the installation position information of the sensor device 351. The control unit 353 uses the sensor control signal 308 acquired from the sensor control unit 323 of the specific object tracking device 300, which will be described later, via the transmission / reception unit 354 to rotate the sensor 352 (pan), elevation or depression angle (tilt), and imaging magnification. (Zoom) and control. The control unit 353 sends the generated sensing information 356 and the sensor device information 357 to the transmission / reception unit 354.

The transmission / reception unit 354 is connected to the communication unit 321 of the specific object tracking device 300, which will be described later, via a connection means such as a communication network. The transmission / reception unit 354 sends the sensing information 356 and the sensor device information 357 generated by the control unit 353 to the communication unit 321 of the specific object tracking device 300. The transmission / reception unit 354 acquires the sensor control signal 308 from the sensor control unit 323 of the specific object tracking device 300 via the communication unit 321 and sends it to the control unit 353.

The sensing information 356 includes image data acquired by the sensor 352, a distance between the sensor 352 and the subject, and a relative positional relationship.

The sensor device information 357 includes information (type, number, and sensing range) of the sensor 352 and installation position information of the sensor device 351.

The sensor device 351 may be connected to the specific object tracking device 300 via a connecting means such as a communication network, and the existing sensor device can be diverted.

Similar to the specific object tracking device 100 in the first embodiment, the specific object tracking device 300 accesses the sensor devices 351 in a predetermined order, acquires sensing information 356 from the sensor device 351 and obtains the tracking target object 335. Search. For example, when the tracking target object 335 cannot be detected by the sensing information 356AA acquired from the sensor device 351AA, the access destination is changed to the next sensor device 351AB and the tracking target object 335 is searched by the sensing information 356AB. Until the tracked object 335 is detected, the sensor device 351 to be accessed is sequentially changed, and the search for the tracked object 335 by each sensor device 351 is repeated.

When the specific object tracking device 300 detects the tracking target object 335, the specific object tracking device 300 tracks the tracking target object 335 with the sensing information 356AA acquired from the sensor device 351 (for example, the sensor device 351AA). When the specific object tracking device 300A determines that the tracking by the sensor device 351AA cannot be continued, the sensor device 351AG capable of continuing the tracking of the tracking target object 335 is selected from the sensor devices 351AB, 351AC, ... Around the sensor device 351AA. The tracking of the tracking target object 335 is requested, and the tracking of the tracking target object 335 is continued.

The specific object tracking device 300A acquires sensor device information 357AA, 357AB, 357AC, ... From all the sensor devices 351AA, 351AB, 351AC, ... Linked via a communication network or the like. The acquired sensor device information 357 is stored in the sensor device information storage unit 342, which will be described later.

The specific object tracking subsystem 3001A is configured by connecting the specific object tracking device 300A and a plurality of sensor devices 351AA, 351AB, 351AC, ..., For example, via a connecting means such as a communication network. The specific object tracking system 3000 is configured by connecting a plurality of specific object tracking subsystems 3001A, 3001B, 3001C, ..., For example, via a connecting means such as a communication network.

At this time, for example, in the specific object tracking device 300A constituting the specific object tracking subsystem 3001A, it is determined that the tracking by the sensor device 351AA cannot be continued, and the tracking target object 335 is tracked from the peripheral sensor devices 351AB, 351AC, etc. There may be a case where the sensor device 351 capable of continuing the above cannot be selected. In such a case, the specific object tracking device 300A accesses the specific object tracking devices 300B, 300C, ... Of the other specific object tracking subsystems 3001B, 3001C, ..., And requests help. The specific object tracking device 300A consults whether the tracking target object 335 can be tracked by other specific object tracking subsystems 3001B, 3001C, ..., And when it receives a reply that it is possible, the specific object tracking device is concerned. A rescue request signal is sent to the 300G to request the tracking target object 335 to continue tracking.

The specific object tracking device 300 includes a sensing information acquisition unit 311, a tracking target object search unit 312, an operation mode control unit 313, a communication unit 321 and an access control unit 322, a sensor control unit 323, a tracking data generation unit 331, and a tracking continuation possibility determination. It is composed of a tracking request target selection unit 333, a rescue request target selection unit 334, a tracking object information storage unit 341, a sensor device information storage unit 342, an own device information storage unit 343, and a peripheral device information storage unit 344.

The sensing information acquisition unit 311 acquires the sensing information 356 from the accessed sensor device 351 via the communication unit 321. The sensing information acquisition unit 311 sends the acquired sensing information 356 to the tracking target object search unit 312.

The tracking object search unit 312 acquires the tracking object information 305 stored in the tracking object information storage unit 341, and collates the sensing information 356 acquired from the sensing information acquisition unit 311 with the tracking object information 305. Search for tracked object 335. The tracking target object search unit 312 generates a sensor control signal 308 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 352 when searching for the tracking target object 335. Is sent to the sensor control unit 323.

The tracking object information 305 includes information such as a number plate (vehicle number), vehicle type, and body color if the tracking object 335 is a vehicle, and age, gender, facial photograph, etc. if the tracking object 335 is a person. It is information such as an image or feature amount extraction data based on the image.

The tracking target object search unit 312 searches for a subject from the moving image included in the sensing information 356, and obtains information such as a license plate (vehicle number), vehicle type, and vehicle body color for each detected vehicle, and a feature amount for each detected person. Information such as the extracted data is extracted as identification information for identifying the subject.

The tracking target object search unit 312 collates the identification information for identifying the subject extracted from the sensing information 356 with the tracking target object information 305 regarding the tracking target object 335, and extracts a subject matching the tracking target object information 305. Detects the tracked object 335.

Here, the position of the tracked object 335 can be converted into world coordinates from the relative positional relationship between the sensor 352 included in the sensing information 356 and the tracked object 335 that is the subject. When the sensor 352 includes a GPS sensor, the position of the sensor 352, that is, the sensor device 351 can be acquired as world coordinates. Since the mounting state (position, angle, etc.) of the sensor device 351 and the sensor 352 is known, it is possible to convert the position of the tracked object 335 from the world coordinates of the sensor device 351 to the world coordinates. In the following description, it is particularly limited whether the positions of the sensor device 351 and the tracking object 335 are relative positions between the sensor device 351 and the tracking object 335, or are the world coordinates converted as described above. Instead, simply write it as location information.

The tracking target object search unit 312 newly adds the detection coordinates in the imaging region in the sensing information 356 of the detected tracking target object 335 to the tracking target object information 305, and the search result information 317 which is the search result of the tracking target object 335. Is sent to the operation mode control unit 313. The search result information 317 includes the detection availability result of the tracking target object 335, the position information of the sensor device 351 and the tracking target object 335, the sensing information 356, and the tracking target object information 305.

The operation mode control unit 313 acquires the search result information 317 from the tracking target object search unit 312, and sets and saves the operation mode according to the detection status of the tracking target object 335 by the tracking target object search unit 312. The set operation modes are a search mode in which the tracking target object search unit 312 searches for the tracking target object 335, and a tracking target object search unit 312 repeatedly detects the tracking target object 335 to track the tracking target object 335. One of the modes.

When the operation mode control unit 313 acquires the search result information 317 from the tracking target object search unit 312, the operation mode control unit 313 confirms whether the set operation mode is the search mode or the tracking mode.

When the set operation mode is the search mode, the operation mode control unit 313 confirms the detection status of the tracked object 335 by the tracked object search unit 312 based on the search result information 317. When the tracking target object 335 is detected by the tracking target object search unit 112, the operation mode control unit 313 switches the operation mode from the search mode to the tracking mode and resets it, and the sensing information in the sensing information acquisition unit 311. Continue to acquire 356. When the tracking target object 335 is not detected by the tracking target object search unit 312, the operation mode control unit 313 generates an access control signal 324 for changing the access target sensor device 351 and sends it to the access control unit 322.

Sete When the recorded operation mode is the tracking mode, the operation mode control unit 313 transfers the search result information 317 of the tracking target object 335 acquired from the tracking target object search unit 312 to the tracking data generation unit 331. Send out.

The communication unit 321 accesses and communicates with the transmission / reception unit 354 of the sensor device 351 set as an access target by the access control unit 322. The communication unit 321 acquires the sensing information 356 and the sensor device information 357 from the sensor device 351 via the transmission / reception unit 354 of the sensor device 351 and transmits the sensing information 356 to the sensing information acquisition unit 311 and the sensor device information 357 to the sensor device information. It is sent to the storage unit 342, respectively. The communication unit 321 transmits the sensor control signal 308 acquired from the sensor control unit 323 to the transmission / reception unit 354 of the sensor device 351.

The communication means and communication method between the communication unit 321 and the communication unit 354 of the sensor device 351 are not particularly limited. For example, a wireless communication line such as a wireless LAN communication or a mobile phone line, a wired communication line such as a fixed telephone line or an optical fiber line, or a wired communication line such as a fixed telephone line or an optical fiber line can be used.

The access control unit 322 acquires the access control signal 324 generated by the operation mode control unit 313 or the tracking request target selection unit 333, and controls which sensor device 351 the specific object tracking device 300 accesses. The switching means of the sensor device 351 to be accessed, the connection method with the sensor device 351 and the like are not particularly limited, and an identification number or a unique code may be assigned to each sensor device 351. can do.

The sensor control unit 323 acquires the sensor control signal 308 generated by the tracking target object search unit 312 or the tracking data generation unit 331, and is a sensor device via the communication unit 321 and the transmission / reception unit 354 of the accessing sensor device 351. It is sent to the control unit 353 of 351.

The tracking data generation unit 331 captures the history of the position information associated with the tracking of the tracking target object 335 included in the search result information 317 acquired from the tracking target object search unit 312 via the operation mode control unit 313, and images at a new angle. Tracking data 307 including the image information obtained or new information such as feature amount data extracted from the image is generated and sent to the tracking object information storage unit 341.

The tracking data generation unit 331 extracts feature amount data in an arbitrary image frame in the search result information 317 acquired from the tracking target object search unit 312 via the operation mode control unit 313. The tracking data generation unit 331 not only searches for a feature amount that matches or is similar to the feature amount data in subsequent image frames to track the tracked object 335, but also tracks it at a higher speed by using a kernelized correlation filter. It is also possible to track the target object 335 and generate tracking data 307.

The tracking data generation unit 331 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 352 so that the tracking target object 335 does not deviate from the imaging region when the tracking data 307 is generated. A sensor control signal 308 is generated and sent to the sensor control unit 323.

The tracking continuation possibility determination unit 332 determines whether or not the tracking by the accessing sensor device 351 (for example, the sensor device 351AA) can be continued. The tracking continuation possibility determination unit 332 uses the tracking data 307 acquired from the tracking object information storage unit 341 to determine the tracking target object 335 based on the state of the tracking target object 335 and the change history of the detection position of the tracking target object 335 in the sensing range of the sensor 352AA. Estimate the course of 335. For example, when the tracking target object 335 is a vehicle, the course of the tracking target object 335 is estimated from the state of whether the tracking target object 335 is in the straight lane or the right turn (or left turn) lane. The tracking continuation possibility determination unit 332 sends the estimated course of the tracking target object 335 to the tracking request target selection unit 333.

The tracking continuation possibility determination unit 332 is a sensor device based on the relationship between the estimated course and the sensing range of the sensor 352AA included in the sensor device 351AA, or the change history of the detection position and the detection size of the tracking target object 335 in the sensing range of the sensor 352AA. It is determined whether or not the tracking can be continued at 351AA.

When it is determined that the tracking can be continued by the sensor device 351AA, the search (detection) of the tracking target object 335 from the sensing information 356AA is repeated. When it is determined that the tracking continuation by the sensor device 351AA is not possible, the determination result is sent to the tracking request target selection unit 333.

For example, when the estimated course of the tracked object 335 is included in the blind spot of the sensor 352AA, or the detection size of the tracked object 335 in the sensing range of the sensor 352AA changes small (or large), the magnification of the sensor 352AA is changed. However, if it is assumed that the tracking target object 335 cannot be detected, it is determined that the tracking continuation by the sensor device 351AA is not possible.

The tracking request target selection unit 333 estimates the tracking target object 335 estimated by the tracking continuation possibility determination unit 332 with the sensor device information 357AB, 357AC, ... Regarding other sensor devices 351AB, 351AC, ... From the sensor device information storage unit 342. The course is acquired, and the sensor device 351AG as a tracking request candidate for the tracking target object 335 is selected from the estimated course of the tracking target object 335 and the positional relationship of each sensor device. The tracking request target selection unit 333 sends the tracking data 307 acquired from the tracking object information storage unit 341 to the selected sensor device 351AG, and acquires the detection availability result of the tracking object 335 from the sensor device 351AG. When the tracking target object 335 can be detected by the sensor device 351AG, the sensor device 351AG is selected as the request target.

Here, if the determination result in the tracking continuation possibility determination unit 332 is negative, the tracking request target selection unit 333 generates an access control signal 324 that changes the access destination sensor device 351 to the sensor device 351AG, and access control is performed. It is sent to unit 322. If the determination result in the tracking continuation possibility determination unit 332 is acceptable, the tracking request target selection unit 333 generates tracking request candidate information 337 regarding the sensor device 351AG selected as the request target and stores it in the sensor device information storage unit 342. To do.

If the tracking request target selection unit 333 fails to detect the tracking target object 335 by the sensor device 351AG, the tracking request target selection unit 333 reselects the sensor device 351 as a tracking request candidate, and another sensor device as a new tracking request candidate. Select 351AH.

The rescue request target selection unit 334 accesses the specific object tracking devices 300B, 300C, ... Of the other specific object tracking subsystems 3001B, 3001C, ..., And provides information on each specific object tracking device 300B, 300C, ... Acquires peripheral device information 309B, 309C, ... Including information about specific object tracking subsystems 3001B, 3001C, ... To which the specific object tracking device 300 belongs, and an estimated course of the tracking target object 335 estimated by the tracking continuation possibility determination unit 332. Then, the specific object tracking device 300G to be requested for tracking relief of the tracking target object 335 is selected from the relationship between the estimated course of the tracking target object 335 and the sensing range of each specific object tracking subsystem.

The rescue request target selection unit 334 sends the tracking data 307 acquired from the tracking object information storage unit 341 to the selected specific object tracking device 300G, and acquires the detection availability result of the tracking target object 335 from the specific object tracking device 300G. To do. When the tracking target object 335 can be detected by the specific object tracking device 300G, the specific object tracking device 300G is selected as the rescue request target. If the detection of the tracked object 335 by the specific object tracking device 300G is unsuccessful, the specific object tracking device 300 to be the rescue request target is reselected, and the specific object tracking device 300H to be the new rescue request target is selected. To do.

Here, when the determination result in the tracking continuation possibility determination unit 332 is negative and none of the sensor devices 351 is selected as the request target in the tracking request target selection unit 333, the rescue request target selection unit 334 provides relief. A rescue request signal for the specific object tracking device 300G selected as the request target is generated and transmitted. When the determination result of the tracking continuation possibility determination unit 332 is acceptable, or when the sensor device 351 is selected as the request target by the tracking request target selection unit 333, the information regarding the specific object tracking device 300G is provided as the rescue request candidate information 338. Is stored in the peripheral device information storage unit 344. In addition to the tracking object information 305, the tracking object information storage unit 341 stores tracking data 307 generated by the tracking data generation unit 331.

The sensor device information storage unit 342 includes information (type and number) of sensors 352 included in all sensor devices 351 linked to the specific object tracking device 300, as well as information such as installation position information and sensing range of the sensor device 351. The sensor device information 357 including the above is stored.

The own device information storage unit 343 stores information about the specific object tracking subsystem 3001 to which the own device belongs as the own device information 306, in addition to the sensor device information 357 stored in the sensor device information storage unit 342.

Peripheral device information storage unit 344 provides information on other specific object tracking devices 300B, 300C, ..., As well as information on specific object tracking subsystems 3001B, 3001C, ... To which the respective specific object tracking devices 300B, 300C, ... , Peripheral device information 309B, 309C, ...

With reference to FIG. 21, the tracking processing procedure of the tracking target object 335 of the specific object tracking device 300 by the specific object tracking system 3000 in the present embodiment will be described. FIG. 21 is a flowchart showing a processing procedure of the specific object tracking device 300 in the specific object tracking system 3000.

When the search for the tracked object 335 by the specific object tracking device 300 is started (S300), the specific object tracking device 300 acquires the sensor device information 357 from all the linked sensor devices 351 by the communication unit 321. (S300-1). The specific object tracking device 300 stores each acquired sensor device information 357 in the sensor device information storage unit 342 (S300-2).

The specific object tracking device 300 accesses the access target sensor device 351 set by the access control unit 322 by the communication unit 321. The sensor device 351 accessed by the specific object tracking device 300 is selected by the access control unit 322 based on the access control signal 324. The initial setting to access at the start of the search is the sensor device 351AA. The access control unit 322 sets the operation mode to the search mode by the operation mode control unit 313 (S301).

The specific object tracking device 300 acquires the sensing information 356AA from the accessing sensor device 351AA by the sensing information acquisition unit 311 (S302). The sensing information acquisition unit 311 sends the acquired sensing information 356AA to the tracking target object search unit 312 (S302).

The tracking target object search unit 312 acquires the tracking target object information 305 from the tracking object information storage unit 341, collates the sensing information 356AA acquired from the sensing information acquisition unit 311 with the tracking target object information 305, and tracks the tracking target object 335. (S303).

The tracking target object search unit 312 generates a sensor control signal 308 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 352AA when searching for the tracking target object 335. , Is sent to the sensor control unit 323 (S303).

The search for the tracked object 335 by the tracked object search unit 312 will specifically describe the case where the tracked object 335 is a vehicle and the case where the tracked object 335 is a person.

When the tracked object 335 is a vehicle, the tracked object search unit 312 searches for the vehicle included in the acquired sensing information 356AA, and for each detected vehicle, the license plate (vehicle number), vehicle type, vehicle body color, etc. Information is extracted as identification information for identifying the vehicle. The tracking target object search unit 312 collates the detected identification information with the acquired tracking target object information 305, extracts a vehicle that matches the tracking target object information 305, and detects the tracking target object 335.

When the tracked object 335 is a person, the tracked object search unit 312 searches for the person included in the acquired sensing information 356AA, and for each detected person, the image or image such as age, gender, and facial photograph is displayed. Information such as feature amount extraction data based on is extracted as identification information for identifying a person. The tracking target object search unit 312 collates the extracted identification information with the acquired tracking target object information 305, extracts a person matching the tracking target object information 305, and detects the tracking target object 335.

Next, the specific object tracking device 300 confirms whether the set operation mode is the search mode or the tracking mode by the operation mode control unit 313 (S304).

When the operation mode confirmed by the operation mode control unit 313 in step S304 is the search mode as set in step S301 (search mode in S304), the operation mode control unit 313 is the tracking target object search unit in step S303. It is confirmed whether the tracked object 335 can be detected by the search in 312 (S305).

When the tracking target object 335 can be detected (detected by S305), the operation mode control unit 313 switches the operation mode from the search mode to the tracking mode (S306). After that, the process returns to step S302.

When the tracking target object 335 cannot be detected (not detected in S305), the operation mode control unit 313 generates an access control signal 324 for changing the access target sensor device 351 and sends it to the access control unit 322 (S307). .. After that, the process proceeds to step S320.

When the operation mode confirmed by the operation mode control unit 313 in step S304 is the tracking mode (tracking mode in S304), the operation mode control unit 313 searches for the tracking target object 335 acquired from the tracking target object search unit 312. 317 is sent to the tracking data generation unit 331. The tracking data generation unit 331 generates tracking data 307 from the acquired search result information 317 and stores it in the tracking target object information storage unit 341 (S310).

Next, the specific object tracking device 300A determines whether the tracking target object 335 can be continuously tracked by the sensor device 351AA by the tracking continuation possibility determination unit 332 (S311), and the sensor device by the tracking request target selection unit 333. When the tracking continuation at 351AA is not possible, the selection of the target for which the tracking continuation is requested (S312) is executed in parallel.

A detailed procedure of the tracking continuation possibility determination (S311) by the sensor device 351AA in the tracking continuation possibility determination unit 332 will be described with reference to FIGS. 22 and 4 to 8 again. FIG. 22 is a flowchart showing a detailed processing procedure of the tracking continuation possibility determination (S311) in the sensor device 351AA in the tracking continuation possibility determination unit 332.

The tracking continuation possibility determination unit 332 acquires the tracking data 307 from the tracking data generation unit 331 and the tracking object information storage unit 341 (S311-1).

The tracking continuation possibility determination unit 332 estimates the course of the tracking target object 335 from the acquired tracking data 307 (S311-2). The estimated course of the tracked object 335 estimated and the blind spot of the sensor 352AA are compared to determine whether or not the tracking of the tracked object 335 by the sensor device 351AA can be continued (S311-3).

Alternatively, the tracking continuation possibility determination unit 332 extracts the change history of the detection position and size of the tracking target object 335 from the tracking data 307 (S311-4). The extracted change history is compared with the sensing range of the sensor 352AA to determine whether or not the tracking of the tracking target object 335 by the sensor device 351AA can be continued (S311-5).

In the determination in step S311-3, for example, when the estimated course of the tracking object 335 is not included in the blind spot of the sensor 352AA as shown in FIG. 4, it is determined that the tracking continuation by the sensor device 351AA is possible. .. Here, the blind spot of the sensor 352AA refers to an area where the sensor 352AA cannot be sensed, which is generated when the outer wall of the building where the sensor device 351AA is installed is included in the sensing range of the sensor 352AA. On the other hand, when the estimated course of the tracked object 335 is included in the blind spot of the sensor 352AA as shown in FIG. 5, it is determined that the tracking continuation by the sensor device 351AA is not possible.

In the determination in steps S311-5, for example, if the detection position and size of the tracked object 335 in the sensing range of the sensor 352AA do not change as shown in FIG. 6, the tracking can be continued by the sensor device 351AA. Judge that there is. On the other hand, as shown in FIG. 7, the detection position of the tracked object 335 in the sensing range of the sensor 352AA moves in the horizontal direction (or the vertical direction), and may deviate from the sensing range of the sensor 352AA (enter the blind spot). Assumed, or as shown in FIG. 8, the detection size of the tracking target object 335 in the sensing range of the sensor 352AA is small (or large), and even if the magnification of the sensor 352AA is changed, the tracking target object 335 When it is assumed that the detection (identification) cannot be performed, it is determined that the tracking continuation by the sensor device 351AA is not possible.

The tracking continuation possibility determination unit 332 states that the tracking continuation of the tracking target object 335 by the sensor device 351AA is possible when both the determination result in step S311-3 and the determination result in step S311-5 are acceptable. Judgment (S311-6), and if both or one of the judgment result in step S311-3 and the judgment result in step S311-5 is negative, the tracking target object 335 is tracked by the sensor device 351AA. It is determined that the continuation is not (S311-6).

When the tracking continuation possibility determination unit 332 determines that the tracking continuation of the tracking target object 335 by the sensor device 351AA is possible (possible in S311-6), the tracking continuation possibility determination unit 332 performs sensing information via the communication unit 321. The acquisition of the new sensing information 356AA by the acquisition unit 311 is continued, and the process returns to step S302 to repeat the search and detection of the tracking target object 335 by the search unit 310 to track the tracking target object 335.

When the tracking continuation possibility determination unit 332 determines that the tracking continuation of the tracking target object 335 by the sensor device 351AA is not possible (No in S311-6), the tracking continuation possibility determination unit 332 tracks the tracking with the sensor device 351AA. The determination result that the continuation is not possible is sent to the tracking request target selection unit 333.

With reference to FIG. 23, a detailed procedure of target selection (S312) of another sensor device 351 requesting continuation of tracking by the sensor device 351AA in the tracking request target selection unit 333 will be described. FIG. 23 is a flowchart showing a detailed processing procedure of target selection (S312) of another sensor device 351 in the tracking request target selection unit 333.

The tracking request target selection unit 333 confirms whether the tracking request candidate information 337 is stored in the tracking object information storage unit 341 (S312-1).

When the tracking request candidate information 337 is not stored in the tracking object information storage unit 341 (nothing in S312-1), the respective sensor device information 357AB, 357AC, ... Is acquired from the other sensor devices 351AB, 351AC, ... (S312-2).

Further, the tracking request target selection unit 333 acquires the estimated course of the tracking target object 335 estimated in step S311-2 from the tracking continuation possibility determination unit 332 (S312-3).

Then, the relationship between the acquired estimated course of the tracked object 335 and the sensing range of each sensor device 351AB, 351AC, ... Obtained from each sensor device information 357AB, 357AC, ... Obtained in step 312-2 is compared. , The sensor device 351AG including the estimated course of the tracked object 335 in the sensing range is selected as the request candidate sensor device (S312-4).

The tracking request target selection unit 333 sends tracking data 307 to the sensor device 351AG selected as a request candidate via the communication unit 321 (S321-5). The tracking request target selection unit 333 acquires and confirms the detection availability result of the tracking target object 335 by the sensor device 351AG (S312-6).

When the tracking target object 335 is not detected by the sensor device 351AG (No in S312-6), the tracking request target selection unit 333 reselects the sensor device as a request candidate in step S312-4, and reselects the sensor device as a request candidate, and the specific object tracking device 300A The determination result that the tracking continuation is not continued is sent to the relief request target selection unit 334.

When the tracking object 335 is detected by the sensor device 351AG (S312-6 is possible), the sensor device 351AG is selected again as the request candidate sensor device (S321-7).

The tracking request target selection unit 333 confirms the presence or absence of the determination result of step S311 by the tracking continuation possibility determination unit 332 (S312-8), and there is no determination result of step S311 (not S312-8 = determination of S311 "possible". In the case, the information of the sensor device 351AG is stored in the sensor device information storage unit 342 as the tracking request candidate information 337 (S321-9).

When there is a determination result in step S311 (Yes in S312-8 = Judgment "No" in S311), the tracking request target selection unit 333 generates an access control signal 324 that changes the access target to the sensor device 351AG. It is sent to the access control unit 322 (S312-10). After that, the process proceeds to step S320.

When the tracking target object 335 cannot be detected (not detected by S305), the specific object tracking device 300 is a sensor that is accessed by the access control unit 322 based on the access control signal 324 generated by the tracking target object search unit 312. The device 351 is changed (S320). For example, when the sensor device 351AA cannot detect the tracking target object 335, the sensor device 351 to be accessed next by the specific object tracking device 300 is selected by the access control unit 322 in a predetermined order predetermined.

In the specific object tracking device 300, the tracking continuation possibility determination unit 332 determines that the tracking continuation by the sensor device 351AA is not possible (S311), and the tracking request target selection unit 333 selects the sensor device 351AG as a request candidate. In the case (S312), the sensor device 351 accessed by the access control unit 322 based on the access control signal 324 generated by the tracking request target selection unit 333 is changed to the sensor device 351AG (S320).

With reference to FIG. 24, a detailed procedure of target selection (S315) of another specific object tracking device 300 requesting rescue for tracking by the specific object tracking device 300A in the rescue request target selection unit 334 will be described. FIG. 24 is a flowchart showing a detailed processing procedure of target selection (S315) of another specific object tracking device 300 in the rescue request target selection unit 334.

The rescue request target selection unit 334 confirms whether the rescue request candidate information 338 is stored in the peripheral device information storage unit 344 (S315-1).

When the rescue request candidate information 338 is not stored in the peripheral device information storage unit 344 (nothing in S315-1), the peripheral device information 309B, 309C, ... From the other specific object tracking devices 300B, 300C, ... (S315-2).

Further, the rescue request target selection unit 334 acquires the estimated course of the tracking target object 335 acquired in step S312-3 (S315-3).

Then, the relationship between the estimated course of the acquired tracked object 335 and the sensing range of the specific object tracking devices 300B, 300C, ... Obtained from the peripheral device information 309B, 309C, ... Acquired in step 315-2 is compared. Then, the specific object tracking device 300G including the estimated course of the tracking target object 335 in the sensing range is selected as the specific object tracking device for the rescue request target (S315-4).

The rescue request target selection unit 334 sends tracking data 307 to the specific object tracking device 300G selected as the rescue request target via the communication unit 321 (S315-5). The rescue request target selection unit 334 acquires and confirms the detection availability result of the tracking target object 335 by the specific object tracking device 300G (S315-6).

If the tracking target object 335 is not detected by the specific object tracking device 300G (No in S315-6), the selection of the specific object tracking device 300 to be the rescue request target is redone in step S315-4. When the tracking target object 335 is detected by the specific object tracking device 300G (S315-6 is possible), the specific object tracking device 300G is selected again as the specific object tracking device to be the target of the rescue request (S315-7).

The relief request target selection unit 334 confirms the determination result of step S312 by the tracking request target selection unit 333 (S315-8). If there is no determination result in step S312 (not S315-8 = the tracking request target is selected in S312), the rescue request target selection unit 334 uses the information of the specific object tracking device 300G as the rescue request candidate information 338 as the peripheral device. It is stored in the information storage unit 344 (S315-9).

If there is a determination result in step S312 (Yes in S315-8 = Cannot select the tracking request target in S312), the rescue request target selection unit 334 generates a rescue request signal for the selected specific object tracking device 300G ( S315-10). After that, the process proceeds to step S325.

In the rescue request target selection unit 334, the tracking continuation possibility determination unit 332 determines that the tracking continuation by the sensor device 351AA is not possible, and another sensor device 351 capable of continuing the tracking by the sensor device 351AA in the tracking request target selection unit 333 If not selected, the rescue request signal for the other specific object tracking device 300G generated by the rescue request target selection unit 334 is sent to the other specific object tracking device 300G via the communication unit 321 (S325).

The specific object tracking device 300 is not limited to the fixed point installation type described in the present embodiment, and may be a moving body installation type mounted on a moving body such as a vehicle, for example.

(Effect of Third Embodiment)
The specific object tracking system 3000 of the present embodiment is composed of a plurality of specific object tracking subsystems 3001. Since each of the specific object tracking subsystems 3001 is composed of the specific object tracking device 300 and a plurality of fixed point installation type sensor devices 351, if a plurality of sensor devices 351 are installed in, for example, a building or a roadside, a wide area can be used. Detailed tracking is possible.

Further, the specific object tracking device 300A of the present embodiment changes the access target to the peripheral sensor devices 351AB, 351AC, ... When the tracking by the accessing sensor device 351AA cannot be continued, and the other sensor devices 351AB, 351AC. Since the tracking is continued with, ..., continuous tracking in terms of time is also possible.

Further, in the specific object tracking system 3000 of the present embodiment, for example, when tracking by the specific object tracking subsystem 3001A cannot be continued by all the sensor devices 351AA, 351AB, ... Belonging to the specific object tracking subsystem 3001A, etc. Since the specific object tracking subsystem 3001 (for example, the specific object tracking subsystem 3001B) is requested for help and the tracking is continued, detailed and continuous tracking in a wide range of time is possible. ..

The specific object tracking device 300 of the present embodiment autonomously executes a series of processing operations related to the detection and tracking of the tracking target object 335 and the request for tracking to another sensor device 351. In addition, the specific object tracking device 300 of the present embodiment autonomously executes a series of processing operations related to a request for help to another specific object tracking device 300. Therefore, the operator of the specific object tracking device, etc., performs the processing operation related to the detection and tracking of the tracking target object 335, the request for tracking to another sensor device 351 or the request for relief to the other specific object tracking device 300. Does not have to bear.

(Fourth Embodiment)
The specific object tracking system 4000, which is the fourth embodiment of the present invention, will be described with reference to FIG. 25. The specific object tracking system 4000 is composed of a plurality of specific object tracking devices 400. FIG. 25 is a block diagram of the specific object tracking system 4000. The specific object tracking device 400 in the present embodiment is different from the specific object tracking device in the first to third embodiments in that it is integrated with the sensor device 451 including the sensor 452. The case where the specific object tracking device 400 and the sensor device 451 are integrated means that the specific object tracking device 400 is added to the sensor device 451 and the specific object tracking device 400 incorporates the sensor device 451. Also includes. Alternatively, the case where the specific object tracking device 400 includes the sensor 452 itself is also included.

The specific object tracking device 400 in the present embodiment is a fixed point installation type. An example of fixed-point installation of the specific object tracking device 400 corresponds to a case where it is installed on a telephone pole, a street light, an outer wall of a building, or the like arranged on the roadside.

The sensor device 451 is a device that generates sensing information 456 from the image data acquired by the sensor 452 described later. The sensor device 451 is composed of a sensor 452 and a control unit 453.

The sensor 452 is a moving image camera called a PTZ camera, like the sensor 152 in the first embodiment. However, the sensor 452 is not limited to the moving image camera, and may be a still image camera that captures a still image, a distance measuring sensor such as LIDAR or a millimeter wave radar, or the like. Further, the sensor 452 does not have to be a single sensor, and a plurality of types of the above-mentioned sensors may be used in combination, or a GPS sensor for acquiring position information as world coordinates may be provided together.

The sensor 452 sends the acquired image data, the distance to the subject, and the relative positional relationship to the control unit 453.

The control unit 453 generates sensing information 456 from the image data acquired from the sensor 452, the distance to the subject, and the relative positional relationship. The control unit 453 generates the sensor device information 457 from the information (type, number, and sensing range) of the sensor 452 and the installation position information of the sensor device 451. The control unit 453 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 452 by the sensor control signal 408 acquired from the sensor control unit 423 of the specific object tracking device 400 described later. To do. The control unit 453 sends the generated sensing information 456 to the sensing information acquisition unit 411 of the specific object tracking device 400 described later, and the sensor device information 457 to the own device information storage unit 443 of the specific object tracking device 400 described later. ..

The sensing information 456 includes image data acquired by the sensor 452, a distance between the sensor 452 and the subject, and a relative positional relationship.

The sensor device information 457 includes information (type, number, and sensing range) of the sensor 452 and installation position information of the sensor device 451, that is, the specific object tracking device 400.

When the specific object tracking device 400 detects the tracking target object 435, the specific object tracking device 400 tracks the tracking target object 435 with the sensing information 456 acquired from the sensor device 451.

When the specific object tracking device 400A determines that the tracking by the sensor device 451A cannot be continued, the specific object tracking device 400G capable of continuing the tracking of the tracking target object 435 is selected from the surrounding specific object tracking devices 400B, 400C, ... Request tracking and rescue of the tracking object 435 and continue tracking the tracking object 435.

The specific object tracking device 400A acquires peripheral device information 409B, 409C, ... From all the specific object tracking devices 400B, 400C, ... Linked via a connecting means such as a communication network. The acquired peripheral device information 409 is stored in the peripheral device information storage unit 444, which will be described later. Peripheral device information 409 is sensor device information 457 generated by each of the specific object tracking devices 400B, 400C, ....

The specific object tracking device 400 includes a sensing information acquisition unit 411, a tracking target object search unit 412, a communication unit 421, an access control unit 422, a sensor control unit 423, a tracking data generation unit 431, a tracking continuation possibility determination unit 432, and a rescue request target. It is composed of a selection unit 434, a tracking object information storage unit 441, a self-device information storage unit 443, and a peripheral device information storage unit 444.

The sensing information acquisition unit 411 acquires the sensing information 456 from the sensor device 451. The sensing information acquisition unit 411 sends the acquired sensing information 456 to the tracking target object search unit 412.

The tracking object search unit 412 acquires the tracking object information 405 stored in the tracking object information storage unit 441, and collates the sensing information 456 acquired from the sensing information acquisition unit 411 with the tracking object information 405. Search for tracked object 435. The tracking target object search unit 412 generates a sensor control signal 408 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 452 when searching for the tracking target object 435. Is sent to the sensor control unit 423.

The tracked object information 405 includes information such as a number plate (vehicle number), vehicle type, and body color if the tracked object 435 is a vehicle, and age, gender, facial photograph, etc. if the tracked object 435 is a person. It is information such as an image or feature amount extraction data based on the image.

The tracking target object search unit 412 searches for a subject from the moving image included in the sensing information 456, and provides information such as a license plate (vehicle number), vehicle type, and body color for each detected vehicle, and a feature amount for each detected person. Information such as the extracted data is extracted as identification information for identifying the subject.

Here, the position of the tracked object 435 can be converted into world coordinates from the relative positional relationship between the sensor 452 included in the sensing information 456 and the tracked object 435 that is the subject. When the sensor 452 includes a GPS sensor, the position of the sensor 452, that is, the sensor device 451 can be acquired as world coordinates. Since the mounting state (position, angle, etc.) of the sensor 452 in the sensor device 451 is known, it is possible to convert the position of the tracked object 435 from the world coordinates of the sensor device 451 to the world coordinates. In the following description, it is particularly limited whether the position of the sensor device 451 or the tracking object 435 is a relative position between the sensor device 451 and the tracking object 435, or the world coordinates converted as described above. Instead, simply write it as location information.

The tracking target object search unit 412 collates the identification information for identifying the subject extracted from the sensing information 456 with the tracking target object information 405 regarding the tracking target object 435, and determines a subject that matches the tracking target object information 405. It is extracted and the tracked object 435 is detected.

The tracking target object search unit 412 newly adds the detection coordinates in the imaging region in the sensing information 456 of the detected tracking target object 435 to the tracking target object information 405, and the search result information 417 which is the search result of the tracking target object 435. Is sent to the tracking data generation unit 431. The search result information 417 includes a detection availability result of the tracking target object 435, position information of the sensor device 451 and the tracking target object 435, sensing information 456, and tracking target object information 405.

When the tracking target object search unit 412 cannot detect the tracking target object 435, it newly acquires sensing information 456 and repeats the search for the tracking target object 435.

The communication unit 421 accesses and communicates with the communication unit 421B of another specific object tracking device 400B set as an access target by the access control unit 422. The communication unit 421 acquires the peripheral device information 409B by the communication unit 421B of the other specific object tracking device 400B and sends it to the peripheral device information storage unit 444.

The communication means and communication method with the other specific object tracking devices 400B, 400C, ... By the communication unit 421 are not particularly limited. For example, a wireless communication line such as a wireless LAN communication or a mobile phone line can be used.

The specific object tracking device 400A acquires peripheral device information 409B, 409C, ... From other specific object tracking devices 400B, 400C, ... Linked by the communication unit 421. The specific object tracking device 400A sends the acquired peripheral device information 409B, 409C, ... To the peripheral device information storage unit 444. Further, the specific object tracking device 400A sends the own device information 406A regarding the specific object tracking device 400A stored in the own device information storage unit 443 to the other specific object tracking devices 400B, 400C, ... By the communication unit 421. To do. The own device information 406A is the sensor device information 457A generated by the sensor device 451A.

The access control unit 422 acquires the access control signal 424 generated by the rescue request target selection unit 434, and controls which specific object tracking device 400 the specific object tracking device 400 accesses. The means for switching access to the other specific object tracking device 400, the connection method with the other specific object tracking device 400, and the like are not particularly limited, and an identification number is assigned to each specific object tracking device 400. Or, a unique code or the like can be added.

The sensor control unit 423 acquires the sensor control signal 408 generated by the tracking target object search unit 412 or the tracking data generation unit 431 and sends it to the control unit 453 of the sensor device 451.

The tracking data generation unit 431 extracts from the history of the position information associated with the tracking of the tracking target object 435 included in the search result information 417 acquired from the tracking target object search unit 412, the image information captured at a new angle, or the image thereof. Tracking data 407 including new information such as feature amount data is generated and sent to the tracking object information storage unit 441.

The tracking data generation unit 431 extracts feature data in an arbitrary image frame in the search result information 417 acquired from the tracking target object search unit 412. The tracking data generation unit 431 not only searches for feature data that matches or is similar to the feature data in subsequent image frames to track the tracked object 435, but also uses a kernelized correlation filter to speed up the process. It is also possible to track the tracked object 435 and generate tracking data 407.

The tracking data generation unit 431 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 452 so that the tracking target object 435 does not deviate from the imaging region when the tracking data 407 is generated. A sensor control signal 408 is generated and sent to the sensor control unit 423.

The tracking continuation possibility determination unit 432 determines whether or not the tracking by the specific object tracking device 400A can be continued. The tracking continuation possibility determination unit 432 uses the tracking data 407 acquired from the tracking object information storage unit 441 to determine the tracking target object 435 from the state of the tracking target object 435 and the change history of the detection position of the tracking target object 435 in the sensing range of the sensor 452A. Estimate the course of 435. For example, when the tracking target object 435 is a vehicle, the course of the tracking target object 435 is estimated from the state of whether the tracking target object 435 is in the straight lane or the right turn (or left turn) lane.

The tracking continuation possibility determination unit 432 is a specific object tracking device 400A based on the relationship between the estimated course and the sensing range of the sensor 452A, or the change history of the detection position and the detection size of the tracking target object 435 in the sensing range of the sensor 452A. Judge whether tracking can be continued. For example, when the estimated course of the tracking object 435 is included in the blind spot of the sensor 452A, or when the detection size of the tracking object 435 in the sensing range of the sensor 452A changes small (or large), the magnification of the sensor 452A is changed. However, if it is assumed that the tracking target object 435 cannot be detected, it is determined that the tracking continuation by the specific object tracking device 400A is not possible.

When it is determined that the tracking can be continued by the specific object tracking device 400A, the search (detection) of the tracking target object 435 from the sensing information 456A is repeated. When it is determined that the tracking continuation by the specific object tracking device 400A is not possible, the determination result is sent to the rescue request target selection unit 434.

The rescue request target selection unit 434 has peripheral device information 406B, 406C, ... Regarding other specific object tracking devices 400B, 400C, ... From the peripheral device information storage unit 444, and the tracking target object 435 estimated by the tracking continuation possibility determination unit 432. The estimated course of the tracking target object 435 is acquired, and the specific object tracking device 400G to be the rescue request target of the tracking target object 435 is selected from the positional relationship between the estimated course of the tracking target object 435 and each specific object tracking device 400B, 400C, .... The rescue request target selection unit 434 sends the tracking data 407 acquired from the tracking object information storage unit 441 to the selected specific object tracking device 400G, and acquires the detection availability result of the tracking target object 435 from the specific object tracking device 400G. To do. When the tracking target object 435 can be detected by the specific object tracking device 400G, the specific object tracking device 400G is selected as the rescue request target.

Here, if the determination result in the tracking continuation possibility determination unit 432 is negative, the rescue request target selection unit 434 generates a rescue request signal for the specific object tracking device 400G, and the specific object tracking device via the communication unit 421. Send to 400G. If the determination result in the tracking continuation possibility determination unit 432 is acceptable, the rescue request candidate information 438 of the specific object tracking device 400G selected as the rescue request target is generated and stored in the peripheral device information storage unit 444. If the detection of the tracked object 435 by the specific object tracking device 400G is unsuccessful, the selection of the specific object tracking device 400 to be the rescue request target is restarted, and the other specific object tracking device 400H to be the new rescue request target is restarted. To select.

In addition to the tracking object information 405, the tracking object information storage unit 441 stores tracking data 407 generated by the tracking data generation unit 431.

The own device information storage unit 443 contains sensor device information 457 including information (type, number, and sensing range) of the sensor 452 included in the sensor device 451 and own device information 406 including installation position information of the specific object tracking device 400. It is stored.

In the peripheral device information storage unit 444, the own device information 406B, 406C, ... Generated by the other specific object tracking devices 400B, 400C, ... Are stored as peripheral device information 409B, 409C, .... The peripheral device information storage unit 444 also stores the rescue request candidate information 438 generated by the rescue request target selection unit 434.

With reference to FIG. 26, a procedure for tracking a specific object by the specific object tracking system 4000 in the present embodiment will be described. FIG. 26 is a flowchart showing a processing procedure of the specific object tracking device 400 in the specific object tracking system 4000.

When the search for the tracked object 435 by the specific object tracking device 400 is started (S400), the specific object tracking device 400 acquires the sensor device information 457 from the sensor device 451 (S400-1). The specific object tracking device 400 stores the acquired sensor device information 457 in the sensor device information storage unit 442 (S400-2).

The specific object tracking device 400 acquires the sensing information 456 from the sensor device 451 by the sensing information acquisition unit 411 (S401). The sensing information acquisition unit 411 sends the acquired sensing information 456 to the tracking target object search unit 412.

The tracking target object search unit 412 acquires the tracking target object information 405 from the tracking object information storage unit 441, collates the sensing information 456 acquired from the sensing information acquisition unit 411 with the tracking target object information 405, and tracks the tracking target object 435. Search for (S402). The tracking target object search unit 412 generates a sensor control signal 408 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 452 when searching for the tracking target object 435. , Is sent to the sensor control unit 423 (S402).

The search for the tracked object 435 by the tracked object search unit 412 will be specifically described with respect to the case where the tracked object 435 is a vehicle and the case where the tracked object 435 is a person.

When the tracked object 435 is a vehicle, the tracked object search unit 412 searches for the vehicle included in the acquired sensing information 456, and for each detected vehicle, the license plate (vehicle number), vehicle type, vehicle body color, etc. Information is extracted as identification information for identifying the vehicle. The tracking target object search unit 412 collates the extracted identification information with the acquired tracking target object information 405, extracts a vehicle that matches the tracking target object information 405, and detects the tracking target object 435.

When the tracked object 435 is a person, the tracked object search unit 412 searches for the person included in the acquired sensing information 456, and for each detected person, the image or image such as age, gender, and facial photograph is displayed. Information such as feature amount extraction data based on is extracted as identification information for identifying a person. The tracking target object search unit 412 collates the extracted identification information with the acquired tracking target object information 405, extracts a person who matches the tracking target object information 405, and detects the tracking target object 435.

The tracking target object search unit 412 confirms whether the tracking target object 435 can be detected (S403). When the tracking target object 435 can be detected (detected by S403), the tracking target object search unit 412 generates the search result information 417 which is the search result of the tracking target object 435 and sends it to the tracking data generation unit 431. If the tracked object 435 cannot be detected (not detected in S403), the process is repeated from step S401.

The tracking data generation unit 431 generates tracking data 407 from the search result information 417 of the tracking target object 435 acquired from the tracking target object search unit 412, and stores the tracking data 407 in the tracking target object information storage unit 441 (S410).

Next, the specific object tracking device 400A determines whether the tracking target object 435 can be continuously tracked by the specific object tracking device 400A by the tracking continuation possibility determination unit 432 (S411), and the rescue request target selection unit 434 determines. When it is not possible to continue tracking with the specific object tracking device 400A, the selection of the target for requesting tracking relief (S415) is executed in parallel.

The detailed procedure of the tracking continuation possibility determination (S411) by the specific object tracking device 400A in the tracking continuation possibility determination unit 432 will be described with reference to FIGS. 27 and 4 to 8 again. FIG. 27 is a flowchart showing a detailed processing procedure of the tracking continuation possibility determination (S411) in the specific object tracking device 400A in the tracking continuation possibility determination unit 432.

The tracking continuation possibility determination unit 432 acquires tracking data 407 from the tracking data generation unit 431 and the tracking object information storage unit 441 (S411-1).

The tracking continuation possibility determination unit 432 estimates the course of the tracking target object 435 from the acquired tracking data 407 (S411-2). The estimated course of the tracked object 435 estimated and the blind spot of the sensor 452A are compared to determine whether or not the tracking of the tracked object 435 by the specific object tracking device 400A can be continued (S411-3).

Alternatively, the tracking continuation possibility determination unit 432 extracts the change history of the detection position and size of the tracking target object 435 from the tracking data 407 (S411-4). By comparing the extracted change history with the sensing range of the sensor 452A, it is determined whether or not the tracking of the tracking target object 435 by the specific object tracking device 400A can be continued (S411-5).

In the determination in step S411-3, for example, when the estimated course of the tracked object 435 is not included in the blind spot of the sensor 452A as shown in FIG. 4, the tracking continuation by the specific object tracking device 400A is possible. judge. Here, the blind spot of the sensor 452A refers to an area where the sensor 452A cannot be sensed, which is generated when the outer wall or the like of the building in which the specific object tracking device 400A is installed is included in the sensing range of the sensor 452A. On the other hand, when the estimated course of the tracked object 435 is included in the blind spot of the sensor 452A as shown in FIG. 5, it is determined that the tracking continuation by the specific object tracking device 400A is not possible.

In the determination in steps S411-5, for example, if the detection position and size of the tracked object 435 in the sensing range of the sensor 452A do not change as shown in FIG. 6, the tracking continuation by the specific object tracking device 400A is performed. Judge that it is possible. On the other hand, as shown in FIG. 7, the detection position of the tracked object 435 in the sensing range of the sensor 452A moves in the horizontal direction (or the vertical direction), and may deviate from the sensing range of the sensor 452A (enter the blind spot). Assumed, or as shown in FIG. 8, the detection size of the tracked object 435 in the sensing range of the sensor 452A is small (or large), and even if the magnification of the sensor 452A is changed, the tracked object 435 When it is assumed that the detection (identification) cannot be performed, it is determined that the continuation of tracking by the specific object tracking device 400A is not possible.

When both the determination result in step S411-3 and the determination result in step S411-5 are acceptable, the tracking continuation possibility determination unit 432 can continue tracking the tracking target object 435 with the specific object tracking device 400A. If it is determined that there is (S411-6), and if both or one of the determination result in step S411-3 and the determination result in step S411-5 is negative, the tracking target by the specific object tracking device 400A It is determined that the continuation of tracking of the object 435 is not possible (S411-6).

When the tracking continuation possibility determination unit 432 determines that the tracking continuation of the tracking target object 435 by the specific object tracking device 400A is possible (possible in S411-6), the specific object tracking device 400A returns to step S401 and is the tracking target. The search and detection of the object 435 are repeated to track the object 435 to be tracked.

When the tracking continuation possibility determination unit 432 determines that the tracking continuation of the tracking target object 435 by the specific object tracking device 400A is not possible (No in S411-6), the tracking continuation possibility determination unit 432 is the specific object tracking device. The determination result that the tracking continuation at 400A is not possible is sent to the relief request target selection unit 434.

With reference to FIG. 28, a detailed procedure of target selection (S415) of other specific object tracking devices 400B, 400C, ... Requesting rescue for tracking by the specific object tracking device 400A in the rescue request target selection unit 434 will be described. .. FIG. 28 is a flowchart showing a detailed processing procedure of target selection (S415) of another specific object tracking device 400 in the rescue request target selection unit 434.

The rescue request target selection unit 434 confirms whether the rescue request candidate information 438 is stored in the peripheral device information storage unit 444 (S415-1).

When the rescue request candidate information 438 is not stored in the peripheral device information storage unit 444 (nothing in S415-1), the peripheral device information 409B, 409C, ... Are acquired from the peripheral device information storage unit 444 (S415). -2).

Further, the rescue request target selection unit 434 acquires the estimated course of the tracking target object 435 estimated in step S411-2 from the tracking continuation possibility determination unit 432 (S415-3).

Then, the relationship between the estimated course of the acquired tracked object 435 and the sensing range of the specific object tracking devices 400B, 400C, ... Obtained from the peripheral device information 409B, 409C, ... Acquired in step 415-2. By comparison, the specific object tracking device 400G including the estimated course of the tracking target object 435 in the sensing range is selected as the rescue request target device (S415-4).

The rescue request target selection unit 434 sends tracking data 407 to the specific object tracking device 400G selected as the rescue request target via the communication unit 421 (S415-5). The rescue request target selection unit 434 acquires and confirms the detection availability result of the tracking target object 435 by the specific object tracking device 400G (S415-6).

If the tracking target object 435 is not detected by the specific object tracking device 400G (No in S415-6), the rescue request target device is selected again in step S415-4. When the tracking target object 435 is detected by the specific object tracking device 400G (S415-6 is possible), the specific object tracking device 400G is selected again as the rescue request target device (S415-7).

The rescue request target selection unit 434 confirms the presence or absence of the determination result of step S411 by the tracking continuation possibility determination unit 432 (S415-8), and there is no determination result of step S411 (not S415-8 = determination of S411 "Yes". In the case of "), the information of the specific object tracking device 400G is stored in the peripheral device information storage unit 444 as the rescue request candidate information 438 (S415-9).

If there is a determination result in step S411 (Yes in S415-8 = Judgment "No" in S411), the rescue request target selection unit 434 generates a rescue request signal for the selected specific object tracking device 400G (S415-10). ). After that, the process proceeds to step S425.

In the specific object tracking device 400, the tracking continuation possibility determination unit 432 determines that the tracking continuation by the specific object tracking device 400A is not possible (S411), and the rescue request target selection unit 434 determines that the rescue request target specific object tracking device 400G When selected (S415), a rescue request signal is sent to the specific object tracking device 400G to request tracking and rescue of the tracked object 435 (S425).

(Effect of Fourth Embodiment)
Since the specific object tracking system 4000 of the present embodiment is composed of a plurality of fixed point installation type specific object tracking devices 400, if the specific object tracking device 400 is installed on, for example, a building or a roadside, detailed tracking can be performed over a wide area. It is possible. Further, the specific object tracking device 400 of the present embodiment continues tracking with the surrounding specific object tracking devices 400B, 400C, ... When the tracking with the specific object tracking device 400A cannot be continued, so that it is continuous in terms of time. Tracking is also possible.

The specific object tracking device 400 of the present embodiment autonomously executes a series of processing operations related to the detection and tracking of the tracked object 435 and the request for help to the other specific object tracking device 400. Therefore, it is not necessary for the operator or the like of the specific object tracking device to bear the processing operation related to the detection and tracking of the tracking target object 435 or the request for tracking to the other specific object tracking device 400.

(Fifth Embodiment)
The specific object tracking system 5000, which is the fifth embodiment of the present invention, will be described with reference to FIG. 29. The specific object tracking system 5000 is composed of a plurality of specific object tracking devices 500. FIG. 29 is a block diagram of the specific object tracking system 5000. The specific object tracking device 500 in the present embodiment is integrated with the sensor device 551 like the specific object tracking device 400 in the fourth embodiment.

The specific object tracking device 500 in the present embodiment is different from the specific object tracking device 400 in the fourth embodiment in that each of them is a moving body installation type installed in, for example, a vehicle.

The sensor device 551 is a device that generates sensing information 556 from the image data acquired by the sensor 552 described later. The sensor device 556 is composed of a sensor 552 and a control unit 553, similarly to the sensor device 451 in the fourth embodiment.

The sensor 552 is a moving image camera such as a drive recorder. However, the sensor 552 is not limited to the moving image camera, and may be a still image camera that captures a still image, a distance measuring sensor such as LIDAR or a millimeter wave radar, or the like. Further, the sensor 552 does not have to be a single sensor, and a plurality of types of the above-mentioned sensors may be used in combination, or a GPS sensor for acquiring position information as world coordinates may be provided together.

The sensor 552 sends the acquired image data, the distance to the subject, and the relative positional relationship to the control unit 553.

The control unit 553 generates sensing information 556 from the image data acquired from the sensor 552, the distance to the subject, and the relative positional relationship. The control unit 553 generates sensor device information 557 from the information (type, number, and sensing range) of the sensor 552 and the installation position information of the sensor device 551. The control unit 553 controls the rotation angle (pan), elevation angle or depression angle (tilt), and imaging magnification (zoom) of the sensor 552 by the sensor control signal 508 acquired from the sensor control unit 523 of the specific object tracking device 500 described later. To do. The control unit 553 sends the generated sensing information 556 to the sensing information acquisition unit 511 of the specific object tracking device 500 described later, and the sensor device information 557 to the own device information storage unit 543 of the specific object tracking device 500 described later. ..

The sensing information 556 includes image data acquired by the sensor 552, a distance between the sensor 552 and the subject, and a relative positional relationship.

The sensor device information 557 includes information (type, number, and sensing range) of the sensor 552 and position information of the sensor device 551, that is, the specific object tracking device 500.

When the specific object tracking device 500 detects the tracking target object 535, the specific object tracking device 500 tracks the tracking target object 535 with the sensing information 556 acquired from the sensor device 551.

When the specific object tracking device 500A determines that the tracking by the sensor device 551A cannot be continued, the specific object tracking device 500G capable of continuing the tracking of the tracking target object 535 is selected from the surrounding specific object tracking devices 500B, 500C, ... Request tracking and rescue of the tracking object 535 and continue tracking the tracking object 535.

The specific object tracking device 500A acquires peripheral device information 509B, 509C, ... From all the specific object tracking devices 500B, 500C, ... Linked via a connecting means such as a communication network. The acquired peripheral device information 509 is stored in the peripheral device information storage unit 544, which will be described later. Peripheral device information 509 includes information (type and number) of sensors 552B, 552C, ... Included in the specific object tracking devices 500B, 500C, ..., Position information and sensing range of the specific object tracking devices 500B, 500C, ... Information is included.

The specific object tracking device 500 acquires the sensor device information 557 from the sensor device 551. The acquired sensor device information 557 is stored in the sensor device information storage unit 542, which will be described later. The sensor device information 557 includes information (type and number) of the sensor 552 included in the sensor device 551, as well as information such as position information of the sensor device 552, a planned route, and a sensing range of the sensor 552. Unlike the specific object tracking device 400 in the fourth embodiment, the specific object tracking device 500 in the present embodiment is installed on a moving body (vehicle), so that the position information of the specific object tracking device 500 changes from moment to moment. To do.

The specific object tracking device 500 periodically acquires peripheral device information 509 from another linked specific object tracking device 500, and particularly updates its position information.

The specific object tracking device 500 includes a sensing information acquisition unit 511, a tracking target object search unit 512, a communication unit 521, an access control unit 522, a sensor control unit 523, a tracking data generation unit 531, a tracking continuation possibility determination unit 532, and a rescue request target. It is composed of a selection unit 534, a tracking object information storage unit 541, a self-device information storage unit 543, and a peripheral device information storage unit 544.

The sensing information acquisition unit 511 acquires the sensing information 556 from the sensor device 551. The sensing information acquisition unit 511 sends the acquired sensing information 556 to the tracking target object search unit 512.

The tracking object search unit 512 acquires the tracking object information 505 stored in the tracking object information storage unit 541, and collates the sensing information 556 acquired from the sensing information acquisition unit 511 with the tracking object information 505. Search for tracked object 535. The tracking target object search unit 512 generates a sensor control signal 508 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 552 when searching for the tracking target object 535. Is sent to the sensor control unit 523.

The tracked object information 505 includes information such as a number plate (vehicle number), vehicle type, and body color if the tracked object 535 is a vehicle, and age, gender, facial photograph, etc. if the tracked object 535 is a person. It is information such as an image or feature amount extraction data based on the image.

The tracking target object search unit 512 searches for a subject from the moving image included in the sensing information 556, and obtains information such as a license plate (vehicle number), vehicle type, and vehicle body color for each detected vehicle, and a feature amount for each detected person. Information such as the extracted data is extracted as identification information for identifying the subject.

The tracking target object search unit 512 compares the identification information extracted from the sensing information 556 with the tracking target object information 505 regarding the tracking target object 535, extracts a subject matching the tracking target object information 505, and extracts the tracking target object. 535 is detected.

Here, the position of the tracked object 535 can be converted into world coordinates from the relative positional relationship between the sensor device 551 and the tracked object 535. When the sensor 552 includes a GPS sensor, the position of the sensor device 551 can be acquired as world coordinates. Since the mounting state (position, angle, etc.) of the sensor 552 in the sensor device 551 is known, it is possible to convert the position of the tracked object 535 from the world coordinates of the sensor device 551 to the world coordinates. In the following description, it is particularly limited whether the position of the sensor device 551 or the tracking object 535 is a relative position between the sensor device 551 and the tracking object 535, or the world coordinates converted as described above. Instead, simply write it as location information.

The tracking target object search unit 512 newly adds the detection coordinates in the imaging region in the sensing information 556 of the detected tracking target object 535 to the tracking target object information 505, and the search result information 517 which is the search result of the tracking target object 535. Is sent to the tracking data generation unit 531. The search result information 517 includes a detection availability result of the tracking target object 535, position information of the sensor device 551 and the tracking target object 535, sensing information 556, and tracking target object information 505.

When the tracking target object search unit 512 cannot detect the tracking target object 535, the tracking target object search unit 512 newly acquires sensing information 556 and repeats the search for the tracking target object 535.

The communication unit 521 acquires peripheral device information 509B, 509C, ... From other specific object tracking devices 500B, 500C, ... Linked to the specific object tracking device 500A. The communication means 521 sends the acquired peripheral device information 509B, 509C, ... To the peripheral device information storage unit 544. Further, the communication unit 521 transmits the own device information 506A regarding the specific object tracking device 500A stored in the own device information storage unit 543 to the other specific object tracking devices 500B, 500C, .... The own device information 506A is the sensor device information 557A generated by the sensor device 551A.

The communication means and communication method with other specific object tracking devices 500B, 500C, ... By the communication unit 521 are not particularly limited. For example, a wireless communication line such as a wireless LAN communication or a mobile phone line, or a wired communication line such as a fixed telephone line or an optical fiber line can be used.

The access control unit 522 acquires the access control signal 524 generated by the rescue request target selection unit 534, and controls which specific object tracking device 500 the specific object tracking device 500 accesses. The means for switching access to the other specific object tracking device 500, the connection method with the other specific object tracking device 500, and the like are not particularly limited, and an identification number is assigned to each specific object tracking device 500. Or, a unique code or the like can be added.

The sensor control unit 523 acquires the sensor control signal 508 generated by the tracking target object search unit 512 or the tracking data generation unit 531 and sends it to the control unit 553 of the sensor device 551. When the sensor 552 of the sensor device 551 cannot control the rotation angle (pan), elevation angle or depression angle (tilt), imaging magnification (zoom), etc. as in a general drive recorder in the present embodiment, the sensor The sensor control signal 508 is invalidated in the control unit 523 or the control unit 553 of the sensor device 551.

The tracking data generation unit 531 extracts from the history of the position information associated with the tracking of the tracking target object 535 included in the search result information 517 acquired from the tracking target object search unit 512, and the image information captured at a new angle or the image thereof. The tracking data 507 including new information such as the feature amount data is generated and sent to the tracking object information storage unit 541.

The tracking data generation unit 531 extracts feature data in an arbitrary image frame in the search result information 517 acquired from the tracking target object search unit 512. The tracking data generation unit 531 not only searches for feature data that matches or is similar to the feature data in subsequent image frames to track the tracked object 535, but also uses a kernelized correlation filter to speed up the process. It is also possible to track the tracked object 535 and generate tracking data 507.

The tracking data generation unit 531 generates a sensor control signal 508 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 552 when generating the tracking data 507. It is sent to the control unit 523.

The tracking continuation possibility determination unit 532 determines whether or not the tracking by the specific object tracking device 500A can be continued. The tracking continuation possibility determination unit 532 uses the tracking data 507 acquired from the tracking object information storage unit 541 to determine the tracking target object 535 from the state of the tracking target object 535 and the change history of the detection position of the tracking target object 535 in the sensing range of the sensor 552A. Estimate the course of 535. For example, when the tracking object 535 is a vehicle, the course of the tracking object 535 is estimated from the state of whether the tracking object 535 is in the straight lane or the right turn (or left turn) lane.

The tracking continuation possibility determination unit 532 acquires the scheduled route of the specific object tracking device 500A from the own device information storage unit 543. Based on the relationship between the estimated course of the tracked object 535 and the planned path of the specific object tracking device 500A, or the change history of the detection position and detection size of the tracked object 535 in the sensing range of the sensor 552A, the specific object tracking device 500A Judge whether tracking can be continued.

When it is determined that the tracking can be continued by the specific object tracking device 500A, the search (detection) of the tracking target object 535 by the sensing information 556A is repeated. When it is determined that the tracking continuation by the specific object tracking device 500A is not possible, the determination result is sent to the rescue request target selection unit 534.

For example, when the estimated course of the tracked object 535 and the planned path of the specific object tracking device 500A are different, or the detection size of the tracked object 535 in the sensing range of the sensor 552A changes small (or large), the sensor 552A changes. When it is assumed that the tracking target object 535 cannot be detected even if the magnification of is changed, the tracking continuation possibility determination unit 532 determines that the tracking continuation by the specific object tracking device 500A is not possible. ..

The rescue request target selection unit 534 includes peripheral device information 509B, 509C, ... Regarding other specific object tracking devices 500B, 500C, ... From the peripheral device information storage unit 544, and the tracking target object 535 estimated by the tracking continuation possibility determination unit 532. The specific object tracking device 500G, which is a candidate for the rescue request target of the tracking target object 535, is selected from the estimated course of the tracking target object 535 and the positional relationship of the specific object tracking devices 500B, 500C, ....

The rescue request target selection unit 534 sends the tracking data 507 acquired from the tracking object information storage unit 541 to the selected specific object tracking device 500G, and acquires the detection availability result of the tracking target object 535 from the specific object tracking device 500G. To do. When the tracking target object 535 can be detected by the specific object tracking device 500G, the specific object tracking device 500G is selected as the rescue request target.

Here, if the determination result in the tracking continuation possibility determination unit 532 is negative, the rescue request target selection unit 534 generates a rescue request signal for the specific object tracking device 500G, and the specific object tracking device via the communication unit 521. Send to 500G. If the determination result in the tracking continuation possibility determination unit 532 is valid, the rescue request candidate information 538 of the specific object tracking device 500G selected as the rescue request target is generated and stored in the peripheral device information storage unit 544. If the detection of the tracking target object 535 by the specific object tracking device 500G is unsuccessful, the rescue request target selection unit 534 starts over from the extraction of the specific object tracking device 500 to be the rescue request target, and sets a new rescue request target. Another specific object tracking device 500H is extracted.

The tracking object information storage unit 541 stores the tracking data 507 generated by the tracking data generation unit 531 in addition to the tracking object information 505.

The sensor device information storage unit 542 stores sensor device information 557 including information (type, number, and sensing range) of the sensor 552 included in the sensor device 551.

The own device information storage unit 543 stores the sensor device information 557 including the information (type, number, and sensing range) of the sensor 551 included in the sensor device 551, and the own device information 506 including the position information of the specific object tracking device 500. .. Since the specific object tracking device 500 in the present embodiment is installed on the moving body as described above, the position information of the specific object tracking device 500 included in the own device information 506 is periodically updated.

The peripheral device information storage unit 544 stores the own device information 506B, 506C, ... Generated by the other specific object tracking devices 500B, 500C, ... As the peripheral device information 509B, 509C, .... The peripheral device information storage unit 544 also stores the rescue request candidate information 538 generated by the rescue request target selection unit 534.

With reference to FIG. 30, a procedure for tracking a specific object by the specific object tracking system 5000 in the present embodiment will be described. FIG. 30 is a flowchart showing a processing procedure of the specific object tracking device 500 in the specific object tracking system 5000.

When the search for the tracked object 535 by the specific object tracking device 500 is started (S500), the specific object tracking device 500 acquires the sensor device information 557 from the sensor device 551 (S500-1). The specific object tracking device 500 stores the acquired sensor device information 557 in the sensor device information storage unit 542 (S500-2).

The specific object tracking device 500 acquires the sensing information 556 from the sensor device 551 by the sensing information acquisition unit 511 (S501). The sensing information acquisition unit 511 sends the acquired sensing information 556 to the tracking target object search unit 512.

The tracking object search unit 512 acquires the tracking object information 505 from the tracking object information storage unit 541, collates the sensing information 556 acquired from the sensing information acquisition unit 511 with the tracking object information 505, and tracks the tracking object 535. (S502). The tracking target object search unit 512 generates a sensor control signal 508 for controlling the rotation angle (pan) and elevation angle or depression angle (tilt) and imaging magnification (zoom) of the sensor 552 when searching for the tracking target object 535. , Is sent to the scrutiny control unit 523 (S502).

The search for the tracked object 535 by the tracked object search unit 512 will specifically describe the case where the tracked object 535 is a vehicle and the case where the tracked object 535 is a person.

When the tracked object 535 is a vehicle, the tracked object search unit 512 searches for the vehicle included in the acquired sensing information 556, and for each detected vehicle, the license plate (vehicle number), vehicle type, vehicle body color, etc. Information is extracted as identification information for identifying the vehicle. The tracking target object search unit 512 collates the extracted identification information with the acquired tracking target object information 505, extracts a vehicle that matches the tracking target object information 505, and detects the tracking target object 535.

When the tracked object 535 is a person, the tracked object search unit 512 searches for the person included in the acquired sensing information 503, and for each detected person, the image or image such as age, gender, and facial photograph is displayed. Information such as feature amount extraction data based on is extracted as identification information for identifying a person. The tracking target object search unit 512 collates the extracted identification information with the acquired tracking target object information 505, extracts a person who matches the tracking target object information 505, and detects the tracking target object 535.

The tracking target object search unit 512 confirms whether the tracking target object 535 can be detected (S503). When the tracking target object 535 can be detected (detected by S503), the tracking target object search unit 512 generates search result information 517, which is the search result of the tracking target object 535, and sends it to the tracking data generation unit 531. If the tracked object 535 cannot be detected (not detected in S503), the process is repeated from step S501.

The tracking data generation unit 531 generates tracking data 507 from the search result information 517 of the tracking target object 535 acquired from the tracking target object search unit 512, and stores the tracking data 507 in the tracking target object information storage unit 541 (S510).

Next, the specific object tracking device 500A determines whether the tracking target object 535 can be continuously tracked by the specific object tracking device 500A by the tracking continuation possibility determination unit 532 (S511), and the rescue request target selection unit 534 determines. When the tracking continuation by the specific object tracking device 500A is impossible, the selection of the target for which the tracking continuation is requested (S515) is executed in parallel.

The detailed procedure of the tracking continuation possibility determination (S511) by the specific object tracking device 500A in the tracking continuation possibility determination unit 532 will be described with reference to FIGS. 31 and 13 to 17 again. FIG. 31 is a flowchart showing a detailed processing procedure of the tracking continuation possibility determination (S511) in the specific object tracking device 500A in the tracking continuation possibility determination unit 532.

The tracking continuation possibility determination unit 532 acquires tracking data 507 from the tracking data generation unit 531 and the tracking object information storage unit 541 (S511-1).

The tracking continuation possibility determination unit 532 estimates the course of the tracking target object 535 from the acquired tracking data 507 (S511-2). It is determined whether or not the tracking of the tracking target object 535 by the specific object tracking device 500A can be continued by comparing the estimated course of the estimated tracking target object 535 with the planned route of the specific object tracking device 500A (S511-3). ..

Alternatively, the tracking continuation possibility determination unit 532 extracts the change history of the detection position and size of the tracking target object 535 from the tracking data 507 (S511-4). By comparing the extracted change history with the sensing range of the sensor 552A, it is determined whether or not the tracking of the tracking target object 535 by the specific object tracking device 500A can be continued (S511-5).

In the determination in step S511-3, for example, when the estimated course of the tracked object 535 and the planned path of the specific object tracking device 500A are the same as shown in FIG. 13, the tracking is continued by the specific object tracking device 500A. Is determined to be acceptable. On the other hand, when the estimated course of the tracked object 535 and the planned route of the specific object tracking device 500A are different as shown in FIG. 14, it is determined that the tracking continuation by the specific object tracking device 500A is not possible.

In the determination in steps S511-5, for example, if the detection position and size of the tracked object 535 in the sensing range of the sensor 552A do not change as shown in FIG. 15, the tracking continuation by the specific object tracking device 500A is performed. Judge that it is possible. On the other hand, as shown in FIG. 16, the detection position of the tracked object 535 in the sensing range of the sensor 552A moves in the horizontal direction (or the vertical direction), and may deviate from the sensing range of the sensor 552A (enter the blind spot). Assumed, or as shown in FIG. 17, the detection size of the tracking target object 535 in the sensing range of the sensor 552A is small (or large), and the detection of the tracking target object 535 even if the magnification of the sensor 552A is changed. When it is assumed that (identification) cannot be performed, it is determined that the continuation of tracking by the specific object tracking device 500A is not possible.

When both the determination result in step S511-3 and the determination result in step S511-5 are acceptable, the tracking continuation possibility determination unit 532 can continue tracking the tracking target object 535 with the specific object tracking device 500A. If it is determined that there is (S511-6), and if both or one of the determination result in step S511-3 and the determination result in step S511-5 is negative, the tracking target by the specific object tracking device 500A It is determined that the continuation of tracking of the object 535 is not possible (S511-6).

When the tracking continuation possibility determination unit 532 determines that the tracking target object 535 can be continuously tracked by the specific object tracking device 500A (possible in S511-6), the specific object tracking device 500A returns to step S501 and is the tracking target. The search and detection of the object 535 are repeated to track the object 535 to be tracked.

When the tracking continuation possibility determination unit 532 determines that the tracking continuation of the tracking target object 535 by the specific object tracking device 500A is not possible (No in S511-6), the tracking continuation possibility determination unit 532 is the specific object tracking device. The determination result that the tracking continuation at 500A is not possible is sent to the relief request target selection unit 534.

With reference to FIG. 32, a detailed procedure of target selection (S515) of other specific object tracking devices 500B, 500C, ... Requesting relief for tracking by the specific object tracking device 500A in the rescue request target selection unit 534 will be described. .. FIG. 32 is a flowchart showing a detailed processing procedure of target selection (S515) of another specific object tracking device 500 in the rescue request target selection unit 534.

The rescue request target selection unit 534 confirms whether the rescue request candidate information 538 is stored in the peripheral device information storage unit 544 (S515-1).

When the rescue request candidate information 538 is not stored in the peripheral device information storage unit 544 (nothing in S515-1), the own device information 506B, 506C, ... From the other specific object tracking devices 500B, 500C, ... Is acquired as peripheral device information 509B, 509C, ... (S515-2). In the present embodiment, since any of the specific object tracking devices 500 is installed on a moving body such as a vehicle, the position information thereof changes from moment to moment. Therefore, instead of acquiring the peripheral device information 509B, 509C, ... Stored in the peripheral device information storage unit 544, the peripheral device information 509B, 509C, ... From the other specific object tracking devices 500B, 500C, ... To get.

Further, the rescue request target selection unit 534 acquires the estimated course of the tracking target object 535 estimated in step S511-2 from the tracking continuation possibility determination unit 532 (S515-3).

Then, the relationship between the estimated course of the acquired tracked object 535 and the sensing range of the specific object tracking devices 500B, 500C, ... Obtained from the peripheral device information 509B, 509C, ... Acquired in step 515-2. By comparison, the specific object tracking device 500G including the estimated course of the tracking target object 535 in the sensing range is selected as the rescue request target device (S515-4).

The rescue request target selection unit 534 sends tracking data 507 to the specific object tracking device 500G selected as the rescue request target via the communication unit 521 (S515-5). The rescue request target selection unit 534 acquires and confirms the detection availability result of the tracking target object 535 by the specific object tracking device 500G (S515-6).

If the tracking target object 535 is not detected by the specific object tracking device 500G (No in S515-6), the rescue request target device is selected again in step S515-4. When the tracking target object 435 is detected by the specific object tracking device 500G (S515-6 is possible), the specific object tracking device 500G is selected again as the rescue request target device (S515-7).

The rescue request target selection unit 534 confirms the presence or absence of the determination result of step S511 by the tracking continuation possibility determination unit 532 (S515-8), and there is no determination result of step S511 (not S515-8 = determination of S511 "OK". In the case of "), the information of the specific object tracking device 400G is stored in the peripheral device information storage unit 544 as the rescue request candidate information 538 (S515-9).

If there is a determination result in step S511 (Yes in S515-8 = Judgment "No" in S511), the rescue request target selection unit 534 generates a rescue request signal for the selected specific object tracking device 500G (S515-). 10). Then, the process proceeds to step S525.

In the specific object tracking device 500, the tracking continuation possibility determination unit 532 determines that the tracking continuation by the specific object tracking device 500A is not possible (S511), and the rescue request target selection unit 534 determines that the rescue request target specific object tracking device 500G When selected (S515), a rescue request signal is sent to the specific object tracking device 500G to request tracking relief of the tracked object 535 (S525).

(Effect of Fifth Embodiment)
Since the specific object tracking system 5000 of the present embodiment is composed of a plurality of specific object tracking devices 500, detailed tracking in a wide range is possible. Further, the specific object tracking device 500A of the present embodiment continues tracking with the surrounding specific object tracking devices 500B, 500C, ... When the tracking with the specific object tracking device 500A cannot be continued, so that it is continuous in terms of time. Tracking is also possible.

The specific object tracking device 500 of the present embodiment autonomously executes a series of processing operations related to the detection and tracking of the tracked object 535 and the request for tracking and rescue to another specific object tracking device 500. Therefore, the operator of the specific object tracking device 500, the driver of the vehicle, and its passengers bear the processing operation related to the detection and tracking of the object to be tracked 535 or the request for relief to the other specific object tracking device 500. There is no need. Further, the driver of the vehicle and his / her passengers do not change the planned route or detour from the planned route in order to continue the tracking by the specific object tracking device 500.

Explanation of usage pattern

In the specific object tracking systems 1000 to 5000 described in each embodiment of the present invention described above,
Although the detection and tracking of a single tracking target object 135 to 535 has been described as an example, it is also possible to detect and track two or more tracking target objects 135 to 535 in parallel.

In the specific object tracking system 1000 to 5000 described in each embodiment of the present invention, when the tracked object 135 to 535 tracked by the specific object tracking device 100 to 500 is a criminal such as a criminal vehicle or a wanted criminal. In addition, you can report to the police in your jurisdiction.

Further, the specific object tracking devices 100 to 500 described in each embodiment of the present invention are being tracked in response to an emergency search request from the police or the like in charge or a report such as the occurrence of a missing person from a facility such as an elderly home. It is also possible to end the tracking of the tracking object 135 to 535 and start searching and tracking the tracking object 135'to 535' based on the new tracking object information 105'to 505' requested by the urgent request.

In such a case, in the specific object tracking device 100 to 500, the tracked object 135'to 535', which is a criminal such as a criminal vehicle or a wanted criminal, is arrested or detained by the police, etc. When all information about the objects to be tracked 135'to 535' is transferred (provided) to, or when a notification of securing a missing person etc. is received from a facility such as a nursing home, the search is performed. It is also possible to end the search / tracking of the tracked object 135'to 535' being tracked. When the search / tracking of the objects 135'to 535'to be tracked is completed by the specific object tracking devices 100 to 500, the operation mode of the sensor devices 151 to 551 being accessed by the access control units 122 to 522 is set to the standby mode. It is done by changing to and canceling access.

100, 200, 300, 400, 500 Specific object tracking device 105, 205, 305, 405, 505 Tracking target object information 106, 206, 306, 406, 506 Own device information 107, 207, 307, 407, 507 Tracking data 108 , 208, 308, 408, 508 Sensor control signal 309, 409, 509 Peripheral device information 111, 211, 311, 411, 511 Sensing information acquisition unit 112, 212, 312, 412, 512 Tracked object search unit 113, 213, 313 Operation mode control unit 117, 217, 317, 417, 517 Search result information 121, 221, 321, 421, 521 Communication unit 122, 222, 322, 422, 522 Access control unit 123, 223, 223, 423, 523 Sensor Control unit 124, 224, 324, 424, 524 Access control signal 131, 231, 331, 431, 533 Tracking data generation unit 132, 232, 332, 432, 532 Tracking continuation availability judgment unit 133, 233, 333 Tracking request target selection Department 334, 434, 534 Relief Request Target Selection Department 135, 235, 335, 435, 535 Tracking Target Object 137, 237, 337 Tracking Request Candidate Information 338, 438, 538 Relief Request Candidate Information 141, 241, 341, 441, 541 Tracking object information storage unit 142, 242, 342 Sensor device information storage unit 343, 443, 543 Own device information storage unit 344, 444, 544 Peripheral device information storage unit 151, 251, 351, 451, 551 Sensor device 152, 252, 352, 452, 552 Sensor 153, 253, 353, 453, 555 Control unit 154, 254, 354 Transmission / reception unit 156, 256, 356, 456, 556 Sensing information 157, 257, 357, 457, 557 Sensor device information 1000, 2000 3000, 4000, 5000 Specific object tracking system

Claims (14)

A communication unit that is connected to each other with N sensor devices (N is an integer in which 2 ≦ N) each includes a sensor via an arbitrary connection means and communicates with the sensor device, and the sensor that the communication unit communicates with. An access control unit that switches devices, a sensing information acquisition unit that acquires sensing information acquired by the nth sensor device (n is an integer in which 1≤n <N) connected via the communication unit, and the sensing information. A tracking target object search unit that detects a tracking target object with the sensing information acquired by the acquisition unit, a tracking data generation unit that generates tracking data related to the tracking target object detected by the tracking target object search unit, and the nth sensor. It is composed of a tracking continuation possibility determination unit that determines whether tracking can be continued by the device and a tracking request target selection unit that selects the n + 1 sensor device that requests continuation of tracking.
The tracking request target selection department
When the tracking continuation possibility determination unit determines that the tracking continuation by the nth sensor device is not possible, the tracking target object with respect to the n + 1 sensor device selected by the tracking request target selection unit. A tracking request signal is sent to the access control unit,
The access control unit
A specific object tracking device characterized in that a connection destination is switched to the n + 1 sensor device in response to the acquired tracking request signal, and the tracking request signal is transmitted via the communication unit. The specific object tracking device according to claim 1.
Further, a tracking object information storage unit for storing information about the tracking object and a sensor device information storage unit for storing information about the connected sensor device are provided.
The tracking request target selection department
When it is determined by the tracking continuation possibility determination unit that the tracking continuation by the nth sensor device is possible, the tracking request candidate information regarding the n + 1 sensor device selected by the tracking request target selection unit is input. A specific object tracking device characterized in that it is stored in the sensor device information storage unit. A communication unit that is connected to each other with M sensor devices (M is an integer in which 2 ≦ M is 2 ≦ M) and each of which has a sensor, and communicates with the sensor device, and the sensor that the communication unit communicates with. An access control unit that switches devices, a sensing information acquisition unit that acquires sensing information acquired by a sensor device of the mth (m is an integer where 1 ≦ m <M) connected via the communication unit, and the sensing information. A tracking target object search unit that detects a tracking target object with the sensing information acquired by the acquisition unit, a tracking data generation unit that generates tracking data related to the tracking target object detected by the tracking target object search unit, and the m-th sensor. A tracking continuation possibility determination unit that determines whether or not tracking can be continued by the device, a tracking request target selection unit that selects the sensor device of the m + 1 requesting continuation of tracking, and another specific object tracking device that requests tracking assistance are selected. Consists of the relief request target selection department
The tracking request target selection department
The m + 1 sensor device in which the tracking continuation possibility determination unit determines that the tracking continuation in the mth sensor device is not possible, and the tracking request target selection unit requests the tracking continuation of the tracking target object. Is selected, a tracking request signal for the tracking target object for the m + 1 sensor device selected in the tracking request target selection is sent to the access control unit.
The relief request target selection department
The m + 1 sensor device that the tracking continuation possibility determination unit determines that the tracking continuation by the mth sensor device is not possible, and the tracking continuation of the tracking target object is requested by the previous term tracking request target selection unit. When is not selected, a rescue request signal for tracking the tracked object for the other specific object tracking device selected by the rescue request target selection unit is sent to the access control unit.
The access control unit
The connection destination is switched to the m + 1 sensor device according to the acquired tracking request signal, and the tracking request signal is transmitted via the communication unit.
Or
A specific object tracking device characterized in that the connection destination is switched to the other specific object tracking device in response to the acquired rescue request signal, and the rescue request signal is transmitted via the communication unit. The specific object tracking device according to claim 3.
Further, a tracking object information storage unit that stores information about the object to be tracked, a sensor device information storage unit that stores information about the connected sensor device, and a peripheral device information storage unit that stores information about the other specific object tracking device. Prepare,
The tracking request target selection department
When the tracking continuation possibility determination unit determines that the tracking continuation by the mth sensor device is possible, the tracking request candidate information regarding the m + 1 sensor device selected by the tracking request target selection unit is input. Stored in the sensor device information storage unit
The relief request target selection department
Relief request candidate information regarding the other specific object tracking device selected by the rescue request target selection unit when the tracking continuation possibility determination unit determines that the tracking continuation by the mth sensor device is possible. Is stored in the peripheral device information storage unit. The specific object tracking device according to any one of claims 1 to 4.
Further, an operation mode control unit for setting and saving an operation mode of the specific object tracking device according to the search result of the tracked object in the tracking object search unit is provided.
The operation mode control unit
When the tracked object is detected in the tracked object search unit, the operation mode is switched from the search mode to the tracking mode and set.
When the operation mode is the tracking mode, the search result in the tracking target object search unit is sent to the tracking data generation unit.
When the operation mode is the search mode and the tracking target object is not detected by the tracking target object search unit, a switching signal of the sensor device to be connected is generated and sent to the access control unit. A specific object tracking device characterized by the fact that. A specific object tracking device that is integrated with a sensor device equipped with a sensor.
The specific object tracking device is
Access to switch between a communication unit that is connected to a plurality of other specific object tracking devices via an arbitrary connection means and communicates with the other specific object tracking device, and the other specific object tracking device that the communication unit communicates with. A control unit, a sensing information acquisition unit that acquires sensing information acquired by the sensor device, a tracking object search unit that detects a tracking object with the sensing information acquired by the sensing information acquisition unit, and tracking of the tracking object. A rescue request target selection that selects a tracking data generation unit that generates data, a tracking continuation possibility determination unit that determines whether or not tracking can be continued by the sensor device, and the other specific object tracking device that requests tracking and rescue of the tracking target object. Consists of parts
The relief request target selection department
When it is determined by the tracking continuation availability determination unit that the tracking continuation by the sensor device is not possible, a rescue request signal for the other specific object tracking device selected by the rescue request target selection unit is generated. Send to the access control unit
The access control unit
It is characterized in that the connection destination is switched to the other specific object tracking device according to the acquired rescue request signal, and the rescue request signal is sent via the communication unit to request tracking and rescue of the tracked object. Specific object tracking device. The specific object tracking device according to claim 6.
It further includes a tracking object information storage unit that stores information about the tracked object and a peripheral device information storage unit that stores information about the other specific object tracking device.
The relief request target selection department
When it is determined by the tracking continuation possibility determination unit that the tracking continuation by the sensor device is possible, the rescue request candidate information regarding the other specific object tracking device selected by the rescue request target selection unit is provided in the vicinity. A specific object tracking device characterized in that it is stored in a device information storage unit. The specific object tracking device according to any one of claims 1 to 7.
The tracking continuation possibility determination unit
Either when the estimated course of the tracked object estimated from the tracking data is different from the planned route of the sensor device or the specific object tracking device, or when it becomes difficult to detect the tracked object in the sensing information. A specific object tracking device, characterized in that it is determined that the tracking continuation by the specific object tracking device is not possible due to compatibility with one or both. The specific object tracking device according to any one of claims 1 to 5.
The tracking request target selection department
The tracking target object can be detected by the other specific object tracking device estimated to be capable of tracking the tracking target object from the relative position history with the tracking target object and the tracking data sent from the own device. A specific object tracking device, characterized in that either one or both of the other specific object tracking devices confirmed to be selected as targets for requesting tracking of the tracking target object. The specific object tracking device according to any one of claims 4 to 7.
The relief request target selection department
The tracking target object can be detected by the other specific object tracking device estimated to be capable of tracking the tracking target object from the relative position history with the tracking target object and the tracking data sent from the own device. A specific object tracking device characterized in that one of the other specific object tracking devices confirmed to exist is selected as a target for requesting tracking of the tracking target object. The specific object tracking device according to any one of claims 1 to 3 or 8 to 9.
A specific object tracking system in which N sensor devices (N is an integer in which 2 ≦ N) each having a sensor are connected to each other via an arbitrary connecting means to the specific object tracking device.
The tracking continuation possibility determination unit of the specific object tracking device does not allow the tracking continuation of the nth (n is an integer in which 1 ≦ n <N) responsible for detecting and tracking the tracking target object in the sensor device. When it is determined that, a series of processes related to the request for tracking to the n + 1 sensor device selected by the tracking request target selection unit and the switching of the connection destination are autonomously processed by the specific object tracking device. A specific object tracking system featuring. A specific object tracking system composed of K specific object tracking subsystems (K is an integer in which 2 ≦ K) are connected to each other via a first connection means.
The specific object tracking subsystem is
The specific object tracking device according to any one of claims 4 to 5 or claims 8 to 10 and M pieces (M is 2 ≦ M) connected to each other via a second connecting means. It consists of a sensor device (an integer)
The specific object tracking device included in the specific object tracking subsystem of the kth (k is an integer in which 1 ≦ k <K) is
It is determined by the tracking continuation possibility determination unit that the tracking continuation by the sensor device of the mth (m is an integer where 1 ≦ m <M) is not possible, and the tracking request target selection unit determines the tracking target object. When the m + 1 sensor device that requests the continuation of tracking is selected, the tracking request to the m + 1 sensor device selected by the tracking request target selection unit and the switching of the connected sensor device are performed. A series of processing,
Or
It is determined by the tracking continuation possibility determination unit that the tracking continuation by the sensor device of the mth (m is an integer where 1 ≦ m <M) is not possible, and the tracking request target selection unit determines the tracking target object. A series of processes related to a request for relief to the other specific object tracking device selected by the rescue request target selection unit when the sensor device of the m + 1 requesting continuation of tracking is not selected.
A specific object tracking system characterized by autonomously processing any of the processes. A specific object configured by connecting J (an integer in which J is 2 ≦ J) of the specific object tracking devices according to any one of claims 6 to 7 or claim 10 to each other via an arbitrary connection means. It ’s a tracking system,
The tracking continuation possibility determination unit of the specific object tracking device of the jth (j is an integer where 1 ≦ j <J) responsible for detecting and tracking the tracking target object determines whether the tracking continuation by the specific object tracking device is not possible. When it is determined that there is, a series of processes related to the request for tracking relief to the other specific object tracking device of the j + 1 selected by the rescue request target selection unit is autonomously processed by the j specific object tracking device. A specific object tracking system characterized by being done. The specific object tracking device according to any one of claims 1 to 10.
The sensor device is a specific object tracking device including a moving image camera as the sensor.

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