JP3513104B2 - Speed measurement system, speed measurement method, speed measurement program, image processing system, image processing method, and image processing program - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed measuring system, a speed measuring method and a speed measuring system for measuring the speed of a moving body such as a train.
Measurement program, image processing system for storing images of moving objects such as trains so that they can be accurately extracted , and image processing method
And it relates to an image processing program.

[0002]

2. Description of the Related Art Conventionally, there has been known an image processing system for monitoring and recording an ITV camera in order to inspect the appearance of a train entering a vehicle warehouse or the like. When a train arrives, it does not run at a constant speed but changes speed.

In order to deal with this, a speed sensor is arranged so that the desired vehicle image in the image information picked up by the television camera can be taken out and compared with the image at the normal time.

[0004]

There is no problem when the installation positions of the speed sensor and the TV camera are the same, but the installation positions of the speed sensor and the TV camera must be different due to the construction limit of the building. In many cases, it takes time to extract the desired vehicle image from the captured image information.

The present invention has been made to solve the problems of the conventional image processing system as described above.
An object thereof is to provide a speed measuring system and a speed measuring method capable of appropriately measuring the speed at the position of the TV camera when the installation positions of the speed sensor and the TV camera are different. Another object of the present invention is to provide an image processing system and an image processing method capable of easily taking out a desired moving body image in captured image information. Also,
A speed measurement program that causes a computer to perform speed measurement.
Image processing program that causes the computer and computer to perform image processing.
The purpose is to provide a program.

[0006]

A velocity measuring system according to the present invention comprises a velocity sensor for detecting the velocity of a moving body, and
The moving object can be imaged while the speed sensor is detecting the speed.
An effective position, which is installed at a position different from the speed sensor and which captures an image of the moving body, speed information detected by the speed sensor, sampling interval time of the speed information, the speed sensor and the speed sensor. Based on the distance information to the television camera, the sampling number detecting means for detecting the sampling number before and after the moving body reaches the television camera from the speed sensor, and the sampling number detected by the sampling number detecting means. Based on the above, there is provided conversion means for converting speed information detected by the speed sensor into speed information of the moving body at the position of the television camera.

According to the speed measuring method of the present invention, the speed information detected by the speed sensor for detecting the speed of the moving body, the sampling interval time of the speed information, and the speed sensor detect the speed.
It is installed at a position where the moving body can be imaged when the moving body is taken out, and is installed at a position different from the speed sensor, and based on the distance information between the speed sensor and the television camera that images the moving body. A sampling number detecting step of detecting a sampling number before and after the moving object reaches the television camera from the speed sensor; and a sampling number detected by the sampling number detecting step, which is detected by the speed sensor. Converting the speed information into speed information of the moving body at the position of the television camera.

In the image processing system according to the present invention, a speed sensor for detecting the speed of the moving body and the speed sensor
It is a position where the same moving object can be imaged during detection.
Te, wherein the speed sensor is installed in different positions, the distance between the TV camera for imaging the moving object, the speed information detected by the speed sensor, the sampling interval of the speed information time and said speed sensor and said television camera Based on the information, a sampling number detecting means for detecting the sampling number before and after the moving body from the speed sensor to the television camera, and the television camera based on the sampling number detected by the sampling number detecting means Identifying means for identifying frame number information of the moving body in the image information captured by the storage means and storage control means for storing the frame number information identified by the identifying means in association with the corresponding image information. It is characterized by having. Thus, based on the speed information detected by the speed sensor, the sampling interval time of the speed information, and the distance information between the speed sensor and the TV camera, the number of samplings before and after the moving body from the speed sensor to the TV camera are detected. Based on the detected sampling number, the frame number information of the image of the moving body in the image information captured by the television camera is specified, and the specified frame number information is stored in association with the corresponding image information. It Image processing method according to the present invention, the speed information detected by the speed sensor for detecting the speed of the moving body, the sampling interval and the speed sensor of the speed information rate test
It is installed at a position where the moving body can be imaged when the moving body is taken out, and is installed at a position different from the speed sensor, and based on the distance information between the speed sensor and the television camera that images the moving body. A sampling number detecting step of detecting a sampling number before and after the moving object reaches the television camera from the speed sensor; And a storing step of storing the frame number information specified by the specifying step in association with the corresponding image information. Characterize.

A speed measuring program according to the present invention is a program for detecting speed of a moving object, speed information detected by a speed sensor, a sampling interval time of the speed information, and the speed set.
The sensor can detect the speed of the moving object while the speed is being detected.
Based on the distance information between the speed sensor and the TV camera for imaging the moving object is installed in a position different from the speed sensor to a location, to around the moving body reaches the said television camera from the speed sensor A sampling number detecting step for detecting the sampling number of the moving object, and based on the sampling number detected by the sampling number detecting step, the speed information detected by the speed sensor is converted into speed information of the moving body at the position of the television camera. And a conversion step to perform. The image processing program according to the present invention includes speed information detected by a speed sensor for detecting the speed of a moving body, sampling interval time of the speed information, and speed detection by the speed sensor.
The front and rear of the moving body based on the distance information between the speed sensor and the television camera installed at a position different from the speed sensor at a position where the moving body can be imaged while Based on the sampling number detected by the sampling number detecting step for detecting the sampling number from the speed sensor to the television camera, and the sampling number detected by the sampling number detecting step, the movement in the image information imaged by the television camera. It is characterized by executing a specifying step of specifying frame number information of a body imaged, and a storing step of storing the frame number information specified by the specifying step in association with the corresponding image information.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a speed measuring system, a speed measuring method, an image processing system and an image processing method according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows a system for detecting a train abnormality based on an image captured by a surveillance camera. In this system, for example, in order to image the train 2 moving in the arrow X direction on the lead-in line 1 reaching the garage, TV cameras 3-1 3-2, 3-n are installed along the lead-in line 1. In addition, the speed sensor 4 is installed.

The television cameras 3-1, 3-2 and 3-n are
Image information captured by the control console 6 is controlled by the control console 6 via the camera control devices 5-1, 5-2, and 5-n.
It is sent to the control console 6 via -1, 5-2 and 5-n. The television cameras 3-1, 3-2, and 3-n are provided to image different parts (for example, pantograph part, window part, wheel part, etc.).

The control console 6 is provided at a maintenance center or the like, and the control console 6 has a display device 8 for monitoring a captured image, an input device 7 for inputting commands and data, Storage device 9 for storing image information and the like
Are connected.

The control console 6 is composed of a computer, and this computer has a sampling number detecting means 6
1, the conversion unit 62, the specifying unit 63, and the storage control unit 64. The sampling number detecting means 61 constitutes a speed measuring system and an image processing system, and includes the speed information detected by the speed sensor 4, the sampling interval time t of the speed information (here, t = 1/30 sec) and the speed sensor. 4 and TV cameras 3-1, 3-2, 3-n
Based on the distance information between the speed sensor 4 and the television cameras 3-1, 3-2, the front and rear of each vehicle of the train 2 that is a moving body.
The number of samplings up to 3-n is detected.

The converting means 62 constitutes a speed measuring system, and based on the sampling number detected by the sampling number detecting means 61, the speed information detected by the speed sensor 4 is transferred to the television cameras 3-1 and 3-2. , 3-n
Is converted into speed information of each vehicle of the train 2 which is a moving body at the position.

The specifying means 63 constitutes an image processing system, and based on the sampling number detected by the sampling number detecting means 61, the television cameras 3-1 and 3 are provided.
-2, 3-n specifies the frame number information of the image of each vehicle of the train 2, which is the moving body, in the image information captured.

The storage control means 64 constitutes an image processing system, and stores the frame number information specified by the specifying means 63 in the storage device 9 in association with the corresponding image information.

Each of the above means is realized by the computer in the control console 6 executing a program corresponding to the flowchart shown in FIG. The operations of the speed measurement system and the image processing system will be described below with reference to the flowchart of FIG.

First, the television cameras 3-1, 3-2, 3-
n between the speed sensor 4 and D (D1 to Dn: these are shorter than the length of one vehicle), the speed sensor 4
Sampling interval t for speed detection by (here, t =
1/30 sec) is acquired (S1). Originally, the processes are sequentially performed for the television cameras 3-1, 3-2, and 3-n, but here, only the television camera 3-1 will be described.

As shown in FIG. 3, the distance between the speed sensor 4 and the television camera 3-1 is D. As shown by the alternate long and short dash line in FIG. 3, the front of the first vehicle 21 of the train 2 is the speed sensor 4
After passing through, the speed detection by the speed sensor 4 is started, and the image is picked up by the television camera 3-1 at the same time by receiving it via the control console 6 and the camera control device 5-1.
The head of the first vehicle 21 reaches the position of the television camera 3-1 as shown by the solid line in FIG. 3 after a few seconds.

The speed information obtained by the speed sensor 4 is
As shown in FIG. 4, speed information A1 of the first vehicle 21, vehicle break portion B1 (speed information is missing), second vehicle speed information A2, vehicle break portion B2 (speed information is missing),
・ ・ And it is obtained continuously.

Then, as shown in FIG. 4, the speed information A1 of the first vehicle 21 is composed of five samplings V1 to V5, and the speed information A2 of the second vehicle 21 is composed of five samplings V6 to V10. The speed information after the third vehicle continues. It should be noted that the speed information is missing at the break portion of the vehicle.

The speed information Vi obtained as described above
(Initial i = 1) is acquired (S2). And the above V1
Is multiplied by the sampling interval t to obtain the moving distance at the first sampling, which is calculated by the speed sensor 4 and the television camera 3.
It is detected whether the distance D is -1 or more (S3). Here, if the moving distance is not the distance D or more, i is incremented by 1 (S4), and the process returns to step (S2).

Then, the speed information Vi (here, i = 2)
Is acquired (S2). The above V2 is multiplied by the sampling interval t to obtain the moving distance at the time of the second sampling, and in addition to the moving distance at the time of the first sampling, it is detected whether this is equal to or more than the distance D between the speed sensor 4 and the television camera 3-1. (S3). Here, if the movement distance is not equal to or more than the distance D, i is incremented by 1 (S4), and the step (S
Return to 2).

In this way, if i is incremented and the total movement distance up to some sampling times becomes equal to or more than the distance D, the process branches to YES, and the above i is the sampling number Nk.
(S5). Then, k is incremented by 1 (S6), and it is detected whether k exceeds the number of vehicles in the train 2 (S7). If k does not exceed the number of vehicles in the train 2, the process returns to step (S2) and the same process as above is performed.

In the example of FIG. 4, V1t + V2t + ... +
V6t ≧ D, and for the next second vehicle, V6t +
V7t + ... + V11t ≧ D. And N1 =
6, N2 = 5, ... K as above
When the number exceeds the number of vehicles in the train 2, the process proceeds to step (S8).

In step S8, Nk = N1, N
Speed information is assigned to each vehicle based on 2, ... In the example of FIG. 4, since N1 = 6, the head of the first vehicle 21 reaches the position of the TV camera 3-1 when the speed information is V6, and after that at the position of the TV camera 3-1. The first vehicle 21 has traveled based on the speed information V7, V8, ..., And the identification information of the first vehicle and the speed information V7, V8 ,. To be done.

Since N2 = 5, the speed information is V
At 11, the connecting portion between the first vehicle 21 and the second vehicle reaches the position of the TV camera 3-1. At the position of the TV camera 3-1, the subsequent speed information V12, V13 ,.
.. means that the second vehicle has traveled, and the identification information of the second vehicle and the speed information V12, V13, ... Are associated and stored in the storage device 9.

Similarly, the identification information of each vehicle and the speed information are associated with each other and stored in the storage device 9. However, speed information until all the final vehicles have passed the position of the TV camera 3-1 cannot be obtained. That is, when the end of the final vehicle passes the speed sensor 4, speed information cannot be obtained.
It has not passed position 1.

Therefore, the television cameras 3-1, 3-2, 3
A speed sensor is installed on the moving direction side of the train from -n (right side in FIGS. 1 and 3). Contrary to the example of FIG. 4, the speed information when the last vehicle passes is updated to the older one (to the leading vehicle side), the speed information is multiplied by the sampling interval t, and the sum is created. Find sampling points that exceed. The speed information of the section one sampling interval older than this becomes the speed information at the end of the last vehicle in the TV camera 3-1.

Similarly, the speed information when the connecting portion between the last vehicle and the preceding vehicle has passed is updated to the older one (to the leading vehicle side), multiplied by the sampling interval t, and the sum is obtained. Create and obtain sampling points exceeding D.
The speed information from the sampling point obtained here to the sampling point of the speed information at the end is the TV camera 3-1.
It becomes the speed information of the final vehicle in. This speed information is also stored in the storage device 9 in association with the identification information of the final vehicle.

Next, in step (S9), Nk = N
The frame number information of the image obtained from the television camera 3-1 based on 1, N2, ... Is assigned to each vehicle. In the example of FIG. 4, since N1 = 6, the head of the first vehicle 21 reaches the position of the TV camera 3-1 when the speed information is V6, and after that at the position of the TV camera 3-1. The vehicle travels according to the speed information V7, V8 ,.

Since N2 = 5, the speed information is V
At 11, the connecting portion between the first vehicle 21 and the second vehicle reaches the position of the TV camera 3-1. At the position of the TV camera 3-1, the subsequent speed information V12, V13 ,.
・ ・ It means that you have run.

That is, in terms of the sampling section, assuming that the missing section of speed information is one sampling section, the head of the first vehicle 21 reaches the position of the television camera 3-1 in the seventh sampling section. is doing. Therefore, from the frame number information of the image of the time corresponding to the eighth sampling section to the frame number information of the image of the time corresponding to the sampling section of the speed information V11, the identification information of the first vehicle 21 (including the train number information) And stored in the storage device 9 (S10).

Similarly, the identification information (including the train number information) of all the vehicles is associated with the frame number information of the image showing the vehicle and stored in the storage device 9 (S10). The sampling section for the last vehicle is
It is obtained in the same manner as when the speed information of the final vehicle is obtained.

Thus, the identification information of all the vehicles (including the train number information) is stored in the storage device 9 in association with the frame number information of the image showing the vehicles. Therefore, for example, when the identification information (including the train number information) of all the vehicles of the train 2 at the normal time is associated with the frame number information of the image showing the vehicle and stored in the storage device 9, By inputting the image call and the identification information (including the train number information) of the desired vehicle from the input device 7, it is possible to display, for example, multiple images of the normal time and the comparison target on the display device 8. As a result, it is possible to visually check the image displayed on the display device 8 and find the failure location of the vehicle. Further, it is also possible to detect an abnormal portion by taking out an image to be compared with a normal state and performing image analysis.

In the above description, the television camera 3-1
The other TV cameras 3-2 and 3-n have been described.
Is similarly processed. In the speed measurement and the image processing, the TV cameras 3-1, 3-2, 3-n
Although the basic processing was performed using the speed sensor 4 provided on the downstream side of the vehicle, the basic processing was performed using the speed sensor used in the speed measurement and the image processing of the final vehicle, and the TV was used in the speed measurement and the image processing of the leading vehicle. Cameras 3-1, 3-2, 3-
The speed sensor 4 provided on the downstream side of n may be used. Further, the monitoring target is not limited to the train, and can be a moving body.

[0037]

As described above, according to the speed measuring system , the speed measuring method, and the speed measuring program according to the present invention, the speed information detected by the speed sensor, the sampling interval time of the speed information, the speed sensor, and the television. Based on the distance information to the camera, the number of samplings before and after the moving object from the speed sensor to the TV camera is detected, and the speed information detected by the speed sensor is based on the detected sampling number. Since it is converted into the speed information of the moving body in, the speed can be appropriately measured even if the speed sensor and the television camera are installed at different positions.

As described above, according to the image processing system , the image processing method, and the image processing program of the present invention, the speed information detected by the speed sensor, the sampling interval time of the speed information, the speed sensor, and the television camera Based on the distance information of, the number of samplings before and after the moving body from the speed sensor to the TV camera is detected,
Based on the detected sampling number, the frame number information of the image of the moving body in the image information captured by the television camera is specified, and the specified frame number information is stored in association with the corresponding image information. Even if the speed sensor and the TV camera are installed at different positions, it is possible to properly extract the corresponding image information from the frame number information.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a system to which the present invention is applied, which detects a train abnormality based on an image captured by a surveillance camera.

FIG. 2 is a flowchart for explaining the operation of the system shown in FIG.

3 is a diagram showing a positional relationship between a speed sensor and a television camera in the system of FIG.

4 is a diagram for explaining allocation of speed information obtained in the system of FIG. 1, sampling intervals and vehicles.

[Explanation of symbols]

1 lead-in line 2 train 3-1, 3-2, 3-n TV camera 4 speed sensor 5-1, 5-2, 5-n camera control device 6 control console 7 input device 8 display device 9 storage device 61 number of samples Detection means 62 Conversion means 63 Identification means 64 Storage control means

Front page continued (58) Fields surveyed (Int.Cl. ⁷ , DB name) G08G 1/00-9/02 B61L 1/00-29/32 H04N 7/18

Claims (6)

(57) [Claims] 1. A speed sensor for detecting the speed of a moving body, and an image of the moving body when the speed sensor detects the speed.
An imageable position, a television camera installed at a position different from the speed sensor and capturing an image of the moving body, speed information detected by the speed sensor, a sampling interval time of the speed information, and the speed sensor. Sampling number detecting means for detecting the number of samplings before and after the moving body reaches the television camera from the speed sensor based on the distance information to the television camera, and the sampling number detected by the sampling number detecting means. And a conversion means for converting the speed information detected by the speed sensor into the speed information of the moving body at the position of the television camera. 2. The speed information detected by a speed sensor for detecting the speed of a moving body, the sampling interval time of the speed information, and the same movement when the speed sensor detects the speed.
A television camera which is installed at a position where the body can be imaged and which is different from the speed sensor, and which images the moving body;
A sampling number detection step of detecting a sampling number before and after the moving body reaches the television camera from the speed sensor based on distance information with the speed sensor, and a sampling number detected by the sampling number detection step. And a conversion step of converting the speed information detected by the speed sensor into speed information of the moving body at the position of the television camera. 3. A speed sensor for detecting the speed of the moving body, and an image of the moving body when the speed sensor detects the speed.
An imageable position, a television camera installed at a position different from the speed sensor and capturing an image of the moving body, speed information detected by the speed sensor, a sampling interval time of the speed information, and the speed sensor. Sampling number detecting means for detecting the number of samplings before and after the moving body reaches the television camera from the speed sensor based on the distance information to the television camera, and the sampling number detected by the sampling number detecting means. On the basis of the image information captured by the television camera, identification means for identifying the frame number information of the moving body imaged, and the frame number information identified by the identifying means is stored in association with the corresponding image information. An image processing system, comprising: 4. The speed information detected by a speed sensor for detecting the speed of a moving body, the sampling interval time of the speed information, and the same movement when the speed sensor detects the speed.
A television camera which is installed at a position where the body can be imaged and which is different from the speed sensor, and which images the moving body;
A sampling number detection step of detecting a sampling number before and after the moving body reaches the television camera from the speed sensor based on distance information with the speed sensor, and a sampling number detected by the sampling number detection step. Based on the identification information, the identification step of identifying the frame number information of the moving body in the image information captured by the television camera, and the frame number information identified by the identification step is stored in association with the corresponding image information. An image processing method, comprising: 5. The speed information detected by a speed sensor for detecting the speed of a moving object, the sampling interval time of the speed information, and the same movement when the speed sensor is detecting the speed.
Based on the distance information between the speed sensor and a television camera that is installed at a position where the body can be imaged and is different from the speed sensor, the front and rear of the moving body are separated from the television by the speed sensor. A sampling number detection step of detecting the number of samplings to reach the camera, and based on the sampling number detected by the sampling number detection step, the speed information detected by the speed sensor is set to the moving object at the position of the television camera. And a conversion step of converting the speed information into a speed measurement program. 6. The speed information detected by a speed sensor for detecting the speed of a moving body, the sampling interval time of the speed information, and the same movement when the speed sensor is detecting the speed.
Based on the distance information between the speed sensor and a television camera that is installed at a position where the body can be imaged and is different from the speed sensor, the front and rear of the moving body are separated from the television by the speed sensor. A sampling number detection step of detecting the sampling number until reaching the camera, and a frame in which the moving body is imaged in the image information imaged by the television camera based on the sampling number detected by the sampling number detection step. An image processing program, comprising: a specifying step of specifying number information; and a storing step of storing the frame number information specified by the specifying step in association with corresponding image information.