JP4499514B2 - Object monitoring device and monitoring system - Google Patents

Description

  The present invention relates to an object monitoring device and a monitoring system using a television camera device (hereinafter abbreviated as a television camera), and more particularly, to monitor an object in a monitoring area and follow the object according to the movement of the discovered object. The present invention relates to an object monitoring apparatus and a monitoring system that control the imaging direction of a television camera to automatically track and image an object.

  An intruding object monitoring device using an image input means such as a TV camera is not a conventional method for monitoring an intruding object by visual observation by an observer. In order to always capture an intruding object within the imaging range of the camera, a camera platform (electric) mounted with the TV camera is controlled based on the detection position of the intruding object to change the imaging direction of the TV camera. Processing such as notification, warning, and image recording of an intruding object is performed. The intruding object monitoring method used to realize such an intruding object monitoring apparatus includes, for example, a plurality of frames of images obtained at different times of image signals output from the first television camera that images the monitoring area. Signals are compared to obtain a difference in luminance value for each pixel, and an image signal in an area with a large difference is detected as an intruding object. If an intruding object is detected, the second television camera , And based on the detection position of the intruding object by the first TV camera, the head mounted with the second TV camera is controlled so that the intruding object can always be captured within the imaging range of the second TV camera. There is an intruding object monitoring method.

  The intruding object monitoring method according to this prior art will be described with reference to FIGS. FIG. 13 is a diagram for explaining the processing principle of an example of an intruding object monitoring method using the first television camera. This intruding object monitoring method is called an inter-frame difference method or the like and has been widely used conventionally. In FIG. 13, 1301 is a captured image at time t0-1, 1302 is a captured image at time t0, 1303 is a captured image at time t0 + 1, and 1309 is a subtraction for calculating a subtraction between the captured image 1301 and the captured image 1302. 1310 is a subtractor that calculates the subtraction between the captured image 1302 and the captured image 1303, 1304 is a difference image that is the result of subtraction between the captured image 1301 and the captured image 1302, and 1305 is the captured image 1302 and the captured image. 1311 is a binarizer that binarizes the difference image 1304, 1312 is a binarizer that binarizes the difference image 1305, and 1306 is a binary image of the difference image 1304. A binarized image, 1307 is a binarized image of the difference image 1305, and 1313 is a binarized image 1306 and a binarized image 1307. Logical unit for calculating a logical product, 1308, shows a logical picture of the result of the logical AND of the binarized image 1306 and binarized image 1307.

  The captured image 1301 and the captured image 1302 captured at different times by the first television camera are input to the subtractor 1309, and the captured image 1302 and the captured image 1303 captured at different times are input to the subtractor 1310. The A subtractor 1309 calculates a difference in luminance value for each pixel between the captured image 1301 and the captured image 1302 and outputs the difference image 1304 to the binarizer 1311. The subtractor 1310 includes the captured image 1302 and the captured image 1303. The difference in luminance value for each pixel is calculated, and a difference image 1305 is output to the binarizer 1312. Next, the binarizer 1311 sets the difference image 1304 input from the subtractor 1309 to “0” as the luminance value for each pixel of which the luminance value is less than the predetermined threshold Th, and is equal to or higher than the predetermined threshold Th. Is binarized as “255” (the luminance value of one pixel is calculated by 8 bits), and the binarized image 1306 is output to the logical product 1313. Similarly, the binarizer 1312 uses the difference image 1305 input from the subtractor 1310 as “0” for the luminance value of each pixel that is less than the predetermined threshold Th, and is equal to or higher than the predetermined threshold Th. Is binarized as “255”, and a binarized image 1307 is output to the AND circuit 1313. A logical product 1313 calculates a logical product of luminance values for each pixel of the binarized image 1306 input from the binarizer 1311 and the binarized image 1307 input from the binarizer 1312. A logical product image 1308 is output.

  In this way, the humanoid objects 1314, 1315, and 1316 in the captured images 1301, 1302, and 1303 captured by the first television camera are the images 1317 and 1318 of the portions where the difference is generated by the subtracters 1309 and 1310. It is calculated (only the humanoid object is changed in the captured image, so the difference image is only the humanoid object), and the binarizers 1311 and 1312 are images 1319 of a cluster of luminance value “255”. , 1320 (only an image having a predetermined luminance value or more is obtained), and among the pixels constituting the images 1319 and 1320 by the AND circuit 1313, a group of pixels having the luminance value “255” in both images. An image 1321 is output. As long as the method detects an intruding object in the monitoring area, a method other than the inter-frame difference method can be applied.

  Next, the second television camera operates when an intruding object is detected from an image captured by the first television camera, and the size of the intruding object detected from the image captured by the first television camera. The mounted zoom lens and the imaging direction (head direction) are controlled based on the detection position. The control amount of the zoom lens attached to the second TV camera is, for example, that the vertical image size of the first TV camera is 240 pixels and the detected intruding object has a vertical size of 30 pixels. If there is, the zoom lens control amount of the second TV camera is set to 8 (= 240 ÷ 30) times the zoom lens control amount of the first TV camera. By setting the respective zoom lenses attached to the first TV camera and the second TV camera as described above, the intruding object detected by the first TV camera can be detected by the second TV camera. An image of the entire imaging range can be captured.

  Next, a method for determining the control amount of the pan head (electric pan head) equipped with the second television camera will be described with reference to FIG. FIG. 14 is a diagram for explaining a scene in which the second television camera 1403 tracks the intruding object 1402 detected in the imaging range 1401 of the first television camera. In FIG. 14, for the sake of simplicity, it is assumed that the first TV camera and the second TV camera are installed at the same position, and the center (optical axis) direction of the imaging range of the first TV camera; The direction of the imaging range used as a reference for the second television camera (the pan head control angle is 0 degrees pan and 0 degrees tilt) is matched, and the display is focused on the direction of only the x axis.

  In FIG. 14, 2W is the number of pixels [pix] in the horizontal direction of the captured image, and Δx is the displacement in the horizontal direction [pix when the detected intruding object is away from the center of the imaging range of the first television camera. ], Θw represents the half imaging angle [degree] of the first television camera, and θx represents the pan control angle [degree] of the pan / tilt head on which the second television camera is mounted. Here, the half imaging angle θw of the first television camera is determined by the horizontal size h [mm] of the imaging element included in the first television camera and the focal length f [mm] of the first television camera. Can be represented by the following formula (1).

  Also, under this monitoring condition, the number of pixels in the horizontal direction of the captured image is 2 W, the lateral displacement Δx of the detection position of the intruding object from the center of the imaging range of the first television camera, and the half imaging of the first television camera The angle θw and the pan control angle θx of the pan head of the second television camera have a relationship represented by the following equation (2).

  That is, the pan control angle θx of the pan / tilt head on which the second TV camera is mounted is expressed by the following equation (3).

  For example, the half imaging angle θw is 30 [degrees], the number of pixels 2W in the horizontal direction of the captured image of the first television camera is 320 [pix], and the detected intruding object from the center of the imaging range of the first television camera When the displacement Δx is set to 40 [pix], the pan control angle of the pan head of the second TV camera is 8.2 degrees. As described above, when an intruding object is detected by the first TV camera, the zoom lens attached to the second TV camera, the second lens, based on the size and the detection position of the detected intruding object, An intruding object can be tracked by the second television camera by controlling the pan / tilt head equipped with the television camera. For example, Japanese Patent Laid-Open No. 6-153051 discloses a disclosed technique related to an intruding object monitoring apparatus having two television cameras as described above.

  In the intruding object monitoring method and the intruding object monitoring apparatus according to the prior art, the intruding object can be detected only within the imaging range of the first television camera, and the intruding object is imaged with such a size that the intruding object can be accurately detected. If the imaging range of the first television camera is set as described above, the monitoring area is naturally limited. For example, in order to detect an intruding object having a horizontal width of 1.0 m or more, if the intruding object has to be detected as a block having a width of 10 pixels or more in the binarized image, the image size is set to 320 × 240 pixels, 1.0 / (10/320) = 32.0, and the monitoring area of the first TV camera can be set only up to 32 m in the horizontal direction, and further, the intruding object is controlled while controlling the zoom lens and the pan head. When tracking is performed, a monitoring area outside the imaging range of the first television camera becomes a blind spot. In addition, when an intruding object enters the blind spot due to the shadow of a building in the monitoring area or the operating limit of the pan head, the intruding object may not be tracked continuously.

  The present invention solves the above-mentioned problems, and removes the restriction of the monitoring area by sharing the monitoring area with two or more imaging devices and monitors the object in the blind spot of one imaging device. It is an object of the present invention to provide a highly reliable object monitoring apparatus and monitoring system that can remove the blind spot of one imaging apparatus by taking over tracking to another imaging apparatus.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes at least a plurality of imaging means whose imaging direction can be controlled, a detection means for detecting an object in an image obtained by each imaging means, Control means for tracking the object by controlling the imaging means based on detection information, the control means when the object being tracked by one imaging means becomes impossible to track by the imaging means, Control is performed so that the other imaging unit takes over the tracking of the object, and the imaging direction of the first imaging unit is returned to a predetermined initial position.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes at least a plurality of imaging means whose imaging direction can be controlled, a detection means for detecting an object in an image obtained by each imaging means, Control means for controlling the imaging means based on object detection information to track the object, and the control means makes it impossible for the imaging means to track the object being tracked by one imaging means. At this time, based on the position information of the object in the image obtained by the first imaging unit, the other imaging unit is configured to control to take over the tracking of the object.

  In order to achieve the above object, a monitoring system according to the present invention is a monitoring system including a plurality of monitoring devices, and each monitoring device includes at least an imaging unit capable of controlling an imaging direction and a zoom amount, Each monitoring device includes a detecting unit that detects an object in an image obtained by the imaging unit, a control unit that controls the imaging unit based on detection information of the object, and a communication unit that communicates with other monitoring devices. When the detection unit detects an object, the communication unit transmits predetermined information to another monitoring device, and the communication unit receives the predetermined information from the other monitoring device. The control means is configured to widen the imaging range of the imaging means.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes a plurality of imaging units capable of controlling at least an imaging direction and a zoom amount, and a detection unit that detects an object in an image obtained by each imaging unit. And control means for controlling the imaging means based on the detection information of the object, the control means when the object in the image obtained by one imaging means is detected, the first imaging means The imaging range of the other imaging means is widened so as to cover the imaging range.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes a plurality of imaging units capable of controlling at least an imaging direction and a zoom amount, and a detection unit that detects an object in an image obtained by each imaging unit. And control means for controlling the image pickup means based on the detection information of the object, and the control means of the other image pickup means when an object in the image obtained by one image pickup means is detected. The imaging range is widened, and when an object in the image obtained by the first imaging unit is no longer detected, the imaging range of the other imaging unit is returned to a predetermined initial range.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes a plurality of imaging units capable of controlling at least an imaging direction and a zoom amount, and a detection unit that detects an object in an image obtained by each imaging unit. And control means for controlling the imaging means based on the detection information of the object, the detection means detects the object for the entire imaging range of the imaging means, and the control means includes: When an object in the image obtained by the imaging unit is detected, the imaging range of the other imaging unit is widened.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes a plurality of imaging units capable of controlling at least an imaging direction and a zoom amount, and a detection unit that detects an object in an image obtained by each imaging unit. And control means for controlling the imaging means based on the detection information of the object, the detection means detects a displacement from the center of the imaging range of the imaging means to the object, and the control means The imaging unit is controlled based on the displacement detected by the detecting unit, and the object is tracked. When the object in the image obtained by one imaging unit is detected, the controlling unit detects another imaging unit. Is configured to widen the imaging range.

  In order to achieve the above object, an object monitoring apparatus according to the present invention includes a plurality of imaging units capable of controlling at least an imaging direction and a zoom amount, and a detection unit that detects an object in an image obtained by each imaging unit. And control means for controlling the image pickup means based on the detection information of the object, and the control means of the other image pickup means when an object in the image obtained by one image pickup means is detected. The imaging means is widened, and the control means controls the other imaging means to take over tracking of the object when the object being tracked by one imaging means becomes impossible to be tracked by the imaging means. Composed.

  According to the present invention, tracking of an intruding object that has entered the blind spot of one imaging device is performed so that the monitoring area is shared by two or more imaging devices and the limitation of the monitoring area is removed. Thus, it is possible to provide a highly reliable object monitoring device and monitoring system that can remove the blind spot of one imaging device by taking over the imaging device.

An example of an embodiment of an intruding object monitoring method and an intruding object monitoring apparatus according to the present invention will be described.
FIG. 1 is a block diagram of an intruding object monitoring apparatus using an intruding object monitoring method according to the present invention. In FIG. 1, reference numeral 101 denotes a television camera device (hereinafter abbreviated as a TV camera) that captures a required monitoring area, and reference numeral 102 denotes a zoom that is attached to the TV camera 101 and can change the imaging range and the size of a subject. A lens 103 is a pan head for panning or tilting the mounted TV camera 101, a zoom control device 116 that outputs a zoom control signal to the zoom lens 102, and 115 is a pan head control signal output to the pan head 103. The pan head control device 104 converts the image signal input from the TV camera 101 into image data of a predetermined format, and the image input I / F 106 stores the image data converted by the image input I / F 104. An image memory 108 is a CPU that controls each circuit of the intruding object monitoring device, and 109 is a CPU 108 that controls the CPU 108. The program memory 107 stores a work memory for storing required image data to be processed, 105 outputs a control signal to the zoom control device 116 and the pan head control device 115, and other intrusion object monitoring devices. The communication I / F 110 that performs data transmission outputs an output warning signal that an intruding object has been detected, and the output I / F 111 outputs an imaged image signal, an image signal of the detected intruding object, and the like. An image output I / F 112 is a data bus through which digital data is transmitted, 113 is a warning lamp that warns that an intruding object has been detected, and 114 displays an image signal output from the image output I / F 111. Indicates the monitor to be monitored.

  The television camera 101 to which the zoom lens 102 is attached is mounted on a camera platform 103 that can control pan and tilt in order to image a monitoring area wider than the imaging range of the zoom lens 102. The zoom lens 102 attached to the TV camera 101 is connected to the zoom control device 116 via a cable, the pan head 103 is connected to the pan head control device 115 via a cable, and further the zoom control device 116 and the pan head. The control device 115 is connected to the communication I / F 105. Further, the communication I / F 105 can be connected to another intruding object detection device with the external communication cable 117. The television camera 101 is connected to the image input I / F 104 with a cable, and the captured image signal is output to the image input I / F 104. The monitor monitor 114 is connected to the image output I / F 114 via a cable, and an image signal captured by the television camera 101, an image signal of the detected intruding object, and the like are input from the image output I / F 114. The warning lamp 113 is connected to the output I / F 110, and when an intruding object is detected, a lighting signal is input from the output I / F 110. Note that the image input I / F 104, the communication I / F 105, the image memory 106, the work memory 107, the CPU 108, the program memory 109, the output I / F 110, and the image output I / F 111 are connected to the data bus 112, respectively.

  The operation will be described. The television camera 101 is mounted on the camera platform 103 so that a monitoring area wider than the imaging range of the zoom lens 102 to which the camera camera 101 is attached can be imaged, and a camera platform control signal output from the camera platform control device 115 is used. Panning and tilting can be performed to move the imaging direction to a required direction. In addition, the zoom lens 102 attached to the television camera 101 can change the zoom ratio of the zoom lens 102 by a zoom control signal output from the zoom control device 116. The television camera 101 outputs an image signal obtained by capturing a required monitoring area to the image input I / F 104. The image input I / F 104 is an image in a format (for example, width 320 pix, height 240 pix, 8 bits / pix) in which a digital processing unit of the intruding object monitoring apparatus handles an image signal obtained by imaging the monitoring area input from the TV camera 101. The data is converted into data and transmitted to the image memory 106 via the data bus 112. The image memory 106 stores image data transmitted via the data bus 112.

  The CPU 108 reads required image data stored in the image memory 106 to the work memory 107 according to a program stored in advance in the program memory 109 and analyzes the image data in the work memory 107. By analyzing the image data, it is possible to obtain information such as an intruding object entering the imaging range of the TV camera 101. The CPU 108 instructs the communication I / F 105 via the data bus 112 according to the analyzed result, and causes the camera platform controller 115 to output a required camera platform control signal to the camera platform 103. Further, the CPU 108 instructs the communication I / F 105 via the data bus 112 according to the analysis result, and causes the zoom control device 116 to output a zoom control signal to the zoom lens 102. In addition, when there is one or more other intruding object monitoring devices connected by the external communication cable 117, the CPU 108 communicates with other intruding object monitoring devices from the communication I / F 105 via the external communication cable 117 and required data. Communicate. Further, the CPU 108 outputs a lighting signal from the output I / F 110 to the warning lamp 113 according to the analyzed result, and turns on the warning lamp 113. Further, the CPU 108 outputs an image signal of the processing result from the image output I / F 111 to the monitoring monitor 114 according to the analyzed result, and displays, for example, an image of the processing result on the screen.

  The communication I / F 105 receives a required control instruction from the CPU 108, converts the required control instruction into a format (for example, an RS232C communication signal) that can be recognized by the camera platform control device 115 and the zoom control device 116, and The zoom lens 102 is controlled, and a required control instruction is received from the CPU 108, and data communication is performed with one or more other intruding object monitoring devices connected by the external communication cable 117. The image output I / F 111 receives a required control instruction from the CPU 108, converts the image data into an image signal in a format (for example, an NTSC image signal) that can be displayed by the monitor monitor 114, and outputs the image signal to the monitor monitor 114. The monitoring monitor 114 displays an image of an image signal input from the image output I / F 111, for example, an intruding object detection result image. The explanation using the flowchart described below is all explained using FIG. 1 which is an example of the intruding object monitoring apparatus having the above hardware configuration.

  The operation of the first embodiment of the intruding object monitoring method according to the present invention will be described with reference to the flowcharts shown in FIGS. In the first embodiment, when the intruding object being tracked enters the blind spot of the television camera of the first intruding object monitoring apparatus, the tracking is performed by another second intruding object monitoring apparatus that monitors the blind spot monitoring area. This is a method to continue the process. When the first intruding object monitoring apparatus starts monitoring an intruding object, first, initialization processing is performed (see FIG. 2). In step 201 of initialization processing, initialization processing of the image memory 106, work memory 107, and the like is performed. In step 202 in the initial monitoring state, the zoom lens 102 mounted on the television camera 101 and the camera platform 103 on which the television camera 101 is mounted are reset to a predetermined initial position. In step 203 for setting the monitoring mode, the current monitoring mode is set to “normal”. In step 204 of the monitoring mode branch, when the monitoring mode is “normal”, the normal mode processing step 205 is selected, and when the monitoring mode is “tracking”, the tracking mode processing step 206 is selected. However, at present, step 205 of the normal mode processing is selected in accordance with the setting of the current monitoring mode “normal”.

  Next, the case where the normal mode processing step 205 is selected and the normal mode processing is started will be described (see FIG. 3). In step 301 of the intruding object detection process, for example, the intruding object detection process described above with reference to FIG. 13 is performed. In step 302 for intruding object determination, if an intruding object is detected by the intruding object detection process, it is determined that an intruding object exists, and the zoom lens and pan head control step 303 is selected. If it is not detected, it is determined that there is no intruding object, and the step 306 for receiving the tracking continuation request is selected. If it is determined that an intruding object is present, the zoom lens and pan head control step 303 is performed based on the detection result of the intruding object detection step 301, for example, according to the zoom lens and pan head control procedure described above. 102 and the pan head 103 are controlled via the communication I / F 105, the zoom control device 116, and the pan head control device 115. In step 304 for setting the monitoring mode, the current monitoring mode is changed from “normal” to “tracking”. In step 305 of the alarm / monitor display 1, the warning lamp 113 is turned on to warn of the detection of an intruding object and, for example, a message such as “find an intruding object in the normal mode and shift to the tracking mode” (message generation, In addition, an image of the intruding object is displayed on the screen of the monitoring monitor 114.

  Next, when it is determined that there is no intruding object, in the tracking continuation request reception step 306, a tracking continuation request is received from one or more other intruding object monitoring devices connected to the external communication cable 117. . In step 307 of the request reception determination, if it is determined that there is a tracking continuation request reception, the zoom lens and pan head control step 308 is selected. If it is determined that there is no tracking continuation request reception, normal mode processing is performed. The process ends, and the process returns to step 204 (see FIG. 2) of the monitoring mode branch. If it is determined that there is a tracking continuation request reception, in step 308 of the zoom lens and pan head control, for example, based on the size and position information of the intruding object when the tracking continuation request is received, The zoom lens 102 and the camera platform 103 are controlled in accordance with the platform control procedure. In step 309 for setting the monitoring mode, the current monitoring mode is set to “tracking”.

  Next, in step 206 (see FIG. 2) of the tracking mode process, step 401 (see FIG. 4) of the intruding object detection process that performs the same process as in step 301 (see FIG. 3) of the intruding object detection process that starts the normal mode process. To detect an intruding object. In step 402 for intruding object determination, step 403 for blind spot movement determination is selected when it is determined that an intruding object exists, and step 409 in the initial monitoring state is selected when it is determined that no intruding object exists. In step 403 of the blind spot movement determination, if it is determined that the position of the detected intruding object has moved to the vicinity of the preset blind spot of the TV camera, the step 404 of tracking continuation request transmission is selected, and it has not moved to the vicinity of the blind spot. If it is determined, the zoom lens and pan head control step 407 is selected. In step 404 of the tracking continuation request transmission, the tracking continuation request and the detected position data of the intruding object are transmitted to one or more other intruding object monitoring devices connected to the external communication cable 117, and the process proceeds to step 405 in the initial monitoring state. Transition. Step 405 in the initial monitoring state performs the same processing as step 202 (see FIG. 2) in the initial monitoring state, and resets the zoom lens 102 and the camera platform 103 to the initial positions. In step 406 for setting the monitoring mode, the current monitoring mode is set to “normal”.

  Next, in step 407 of the zoom lens and pan head control (because the intruding object has not moved to the blind spot), based on the detection result in step 401 of the intruding object detection process, for example, according to the zoom lens and pan head control procedure, The zoom lens 102 and the camera platform 103 are controlled via the communication I / F 105, the zoom control device 116, and the camera platform control device 115. In step 408 of the alarm / monitor display 3, the warning lamp 113 is turned on via the output I / F 110, and a message such as “tracking an intruding object” is displayed on the monitor monitor 114 via the image output I / F 111. In addition, an image of the intruding object is displayed. Furthermore, if it is determined in step 402 of the intruding object determination that no intruding object exists, the process proceeds to step 409 in the initial monitoring state. In step 409 in the initial monitoring state, the same processing as in step 202 (see FIG. 2) in the initial monitoring state is performed to reset the zoom lens 102 and the camera platform 103 to the initial positions. In step 410 for setting the monitoring mode, the current monitoring mode is set to “normal”.

  The change in the monitoring mode described with reference to FIGS. 2, 3, and 4 will be further described with reference to FIG. FIG. 10 is a diagram showing a transition between the state of the monitoring mode setting “normal” mode 1001 and the state of “tracking” mode 1002. In the state of “normal” mode 1001, an intruding object is detected, When there is a tracking continuation request, the mode transitions to the “tracking” mode 1002 (transition 1003), and when no intruding object is detected, the mode transitions to the “normal” mode 1001 (transition 1005). Further, in the state of “tracking” mode 1002, when an intruding object is not detected or when the intruding object moves to the blind spot, a transition is made to “normal” mode 1001 (transition 1004), and the intruding object is detected. If the intruding object has not moved to the blind spot, the “tracking” mode 1006 is maintained (transition 1006).

  The process flow will be described with reference to FIG. FIG. 15 shows an example in which an intruding object 1503 that has entered the monitoring area is monitored using two intruding object monitoring devices 1501 and 1502. The two intruding object monitoring devices 1501 and 1502 are external communication cables. It is assumed that data can be communicated with each other using 1509, and the intruding object 1503 moves along the movement paths 1504 and 1505. Further, there are buildings 1506 in the monitoring areas 1507 and 1508 of the two intruding object monitoring devices 1501 and 1502, respectively. The monitoring areas 1507 and 1508 are monitored by the two intruding object monitoring devices 1501 and 1502. It represents the largest possible monitoring area (a monitoring area that can be secured by controlling the camera platform). At the start of monitoring, the monitoring mode of the two intruding object monitoring devices 1501 and 1502 is “normal”, but when the intruding object 1503 is detected, the monitoring mode of the intruding object monitoring device 1501 transitions to “tracking”. While the intruding object 1503 is moving along the moving path 1504, the intruding object 1503 is tracked while controlling the zoom lens and the pan head.

  Further, when the intruding object 1503 moves to the position 1510 in the movement path, the intruding object monitoring device 1501 cannot continue tracking by the building 1506, and the intruding object monitoring device 1501 communicates with the intruding object monitoring device 1502 through external communication. A tracking continuation request is transmitted via the cable 1509. Based on the tracking continuation request from the intruding object monitoring device 1501, the intruding object monitoring device 1502 continuously tracks the intruding object 1503 that has been tracked by the intruding object monitoring device 1501. Therefore, even if the intruding object 1503 moves on the moving path 1505 (indicated by a dotted line) that is a blind spot of the intruding object monitoring device 1501, the intruding object 1503 can be continuously tracked.

  The operation of the second embodiment of the intruding object monitoring method according to the present invention will be described with reference to the flowcharts shown in FIG. 5, FIG. 6, FIG. In the second embodiment, when the first intruding object monitoring device in charge of monitoring the first monitoring area detects and tracks the intruding object, the first monitoring area is detected when an unmonitorable area occurs. This is an intruding object monitoring method in which the second intruding object monitoring apparatus in charge of monitoring the second monitoring area adjacent to the area compensates for an area that cannot be monitored by the first intruding object monitoring apparatus. The flowchart shown in FIG. 5 is obtained by adding “wide angle” to the monitoring mode selected in step 204 of the monitoring mode branch of the flowchart of the first embodiment shown and described in FIG. Accompanying the addition of “wide angle”, the monitoring mode branching step 501 instead of the monitoring mode branching step 204, the normal mode processing step 502 instead of the normal mode processing step 205, and the tracking mode processing step 206 instead of tracking. Step 504 for mode processing is added, and step 503 for wide-angle mode processing is added.

  In the flowchart of FIG. 5, the monitoring mode branching step 501 selects the normal mode processing step 502 when the monitoring mode is “normal” according to the current monitoring mode setting of the monitoring mode step 203, and performs monitoring. When the mode is “wide angle”, step 503 of the wide angle mode processing is selected, and when the monitoring mode is “tracking”, step 504 of the tracking mode processing is selected. When step 502 of the normal mode process is selected among the mode processes, the normal mode process shown in FIG. 6 is started. The flowchart representing the processing of the normal mode processing step 502 shown in FIG. 6 adds a step 601 for transmitting a field of view expansion request before the step 303 for zoom lens and pan head control in the flowchart of the normal mode processing shown in FIG. 3, step 602 for receiving a visual field expansion request and step 605 for setting a monitoring mode are provided instead of step 306 for receiving a tracking continuation request and step 309 for setting a monitoring mode in the flowchart shown in FIG.

  That is, if it is determined in step 301 of the intruding object detection process and step 302 of the intruding object determination that an intruding object is present, one or more other devices connected to the external communication cable 117 are transmitted in step 601 of the field of view expansion request transmission. A view expansion request is transmitted to the intruding object monitoring apparatus. If it is determined in step 301 of the intruding object detection process and step 302 of the intruding object determination that there is no intruding object, in step 602 of receiving a field of view expansion request, one or more other devices connected to the external communication cable 117 are received. Receives a field of view expansion request from the intruding object monitoring device. Next, in step 603 for receiving the field of view expansion request reception, if it is determined that there is a field of view expansion request reception, the zoom lens and pan head control step 604 is selected, and if it is determined that there is no field of view expansion request reception. Then, the normal mode process is terminated, and the process returns to the monitoring mode branching step 501. If it is determined that the field of view enlargement request has been received, in step 604 of the zoom lens and pan head control, the zoom lens 102 and the pan head 103 are set based on the monitoring field information of another intruding object monitoring device that has transmitted the field of view enlargement request. In step 605 for setting the monitoring mode, the current monitoring mode is set to “wide angle”.

  Control of the zoom lens 102 and the camera platform 103 in a state where the current monitoring mode is set to “wide angle” will be described with reference to FIGS. 16 and 17. FIG. 16 shows an example in which an intruding object is monitored by the first intruding object monitoring device 1601 and the second intruding object monitoring device 1602, and the first intruding object monitoring device 1601 displays the monitoring area 1603 in the first area. 2 shows that the intruding object monitoring device 1602 is monitoring the monitoring area 1604. FIG. 17 shows a state where an intruding object is detected in the monitoring of the intruding object shown in FIG. In FIG. 17, since the second intruding object monitoring device 1602 detects the intruding object 1610, the second intruding object monitoring device 1602 transmits a view expansion request to the first intruding object monitoring device 1601 in charge of the adjacent monitoring area (step 601 in FIG. 6). The zoom lens 102 and the camera platform 103 are controlled (see step 303 in FIG. 6), and the current monitoring mode setting is shifted to “tracking” (see step 304 in FIG. 6).

  Next, when the first intruding object monitoring device 1601 receives the field-of-view expansion request transmitted from the second intruding object monitoring device 1602 (see step 602 in FIG. 6), the first intruding object monitoring device 1606 performs monitoring. In order to image a new monitoring area 1608 including the area 1603 and the monitoring area 1604 of the second intruding object monitoring device 1602, the zoom lens 102 and the camera platform 103 are controlled (see step 604 in FIG. 6), and the current monitoring is performed. The mode setting is shifted to “wide angle” (see step 605 in FIG. 6). When the current monitoring mode setting shifts to “wide angle”, the process shifts to step 503 of the wide angle mode process shown in FIG. 5, and the wide angle mode process (see FIG. 7) is started. In step 701 of the intruding object detection process, the same intruding object detection process as in step 301 of the intruding object detection process described above with reference to FIG. 13 is performed. In step 702 of the intruding object determination, if an intruding object is detected by the intruding object detection process, it is determined that an intruding object exists, and step 703 of the alarm and monitor display 2 is selected, and the intruding object is detected by the intruding object detection process. If not, it is determined that there is no intruding object, and the tracking end determination step 704 is selected.

  In step 703 of the alarm / monitor display 2, the warning lamp 113 is lit to warn of finding an intruding object, and an intruding object is displayed on the screen of the monitor monitor 114 with a message such as “find an intruding object in the wide-angle mode”, for example. 1610 images are displayed. In step 704 for determining the end of tracking, if all of the intruding object monitoring devices connected by the external communication cable 117 are not in the tracking mode, step 705 in the initial monitoring state is selected, and step 202 (see FIG. In step 705 in the initial monitoring state in which the same processing as in step 2 is performed, the zoom lens 102 and the pan head 103 are reset to the initial positions. In step 706 for setting the monitoring mode, the current monitoring mode is set to “normal”. If at least one of the intruding object monitoring devices connected by the external communication cable 117 is in the tracking mode in the tracking end determination step 704, the processing returns to the wide angle mode processing and the processing shifts to the monitoring mode branching step 501. . In step 504 of the tracking mode process shown in FIG. 5, a process in which step 404 of the tracking continuation request transmission is excluded from the steps of the tracking mode process shown in FIG. 4 is performed.

  Changes in each of the “normal”, “wide-angle”, and “tracking” monitoring modes described with reference to FIGS. 5, 6, 7, and 8 will be further described with reference to FIG. FIG. 11 is a diagram showing transitions between the “normal” mode 1101 state, the “wide-angle” mode 1102 state, and the “tracking” mode 1103 state. In the “normal” mode 1101 state, When received, transition to “wide angle” mode 1102 (transition 1106), transition to “tracking” mode 1103 when an intruding object is detected (transition 1105), and “normal” when no intruding object is detected The mode 1101 remains unchanged (Transition 1104). In the state of the “wide angle” mode 1102, the mode transitions to the “normal” mode 1101 when the tracking ends (transition 1108), and the mode remains the “wide angle” mode when the tracking is not completed (transition 1107). Further, in the state of “tracking” mode 1103, when an intruding object is not detected or when the intruding object moves to the blind spot, a transition is made to “normal” mode 1101 (transition 1110), and the intruding object is detected. If the intruding object has not moved to the blind spot, the “tracking” mode 1103 remains unchanged (transition 1109).

  That is, by using the intruding object monitoring method of the present invention, in FIG. 16 and FIG. 17, when the second intruding object monitoring device 1602 shifts to the tracking mode, only a part of the original monitoring area 1604 can be monitored. Although the blind spot is generated in the second intruding object monitoring device 1602, the blind spot of the second intruding object monitoring device 1602 is expanded by expanding the monitoring range 1603 of the first intruding object monitoring device 1601 in the wide angle mode. It is possible to compensate for such a state that has occurred. In the embodiment of FIG. 16, two intruding object monitoring devices are installed on the left and right, but the same effect can be obtained even if two or more intruding object monitoring devices are arranged diagonally up and down, left and right. Needless to say.

  The operation of the third embodiment of the intruding object monitoring method according to the present invention will be described with reference to the flowchart shown in FIG. In the third embodiment, when an intruding object being tracked enters the blind spot of the television camera of the first intruding object monitoring apparatus, the tracking is performed by another second intruding object monitoring apparatus that monitors the blind spot monitoring area. If the first intruding object monitoring device in charge of a certain monitoring area detects and tracks an intruding object and cannot be monitored, the monitoring area adjacent to this monitoring area is in charge. This is a method in which an area that cannot be monitored by another second intruding object monitoring device is supplemented and monitored. FIG. 9 is a flowchart of the normal mode process shown in FIG. 6, in which the tracking continuation request reception step in the normal mode process flowchart shown in FIG. Steps 306 to 309 for setting the monitoring mode are added. The description of the operation in each step is as described above, and will be omitted.

  12 is a diagram showing transitions between the state of the monitoring mode “normal” mode 1101, the state of the “wide-angle” mode 1102, and the state of the “tracking” mode 1103. The “normal” mode 1101 shown in FIG. Transition 1201 is added instead of transition 1105 between this state and the state of “tracking” mode 1103. A transition 1201 is a transition to the “tracking” mode 1103 when an intruding object is detected in the state of the “normal” mode 1101 or when a tracking continuation request is received. Therefore, as shown in FIG. 15, even if the intruding object 1503 moves along the moving path 1505 that is the blind spot of the intruding object monitoring apparatus 1501, the intruding object 1503 can be continuously tracked. Further, as shown in FIGS. 16 and 17, when the second intruding object monitoring device 1602 shifts to the tracking mode, only a part of the original monitoring area 1604 can be monitored, and the second intruding object monitoring device 1602 has a blind spot. However, by setting the monitoring range 1603 of the first intruding object monitoring device 1601 to the wide-angle monitoring range 1608, it is possible to compensate for a state in which a blind spot has occurred.

The block diagram of the intrusion object monitoring apparatus using the intrusion object monitoring method by this invention. The 1st flowchart for demonstrating operation | movement of the 1st Example of the intruding object monitoring method by this invention. The 2nd flowchart for demonstrating operation | movement of the 1st Example of the intruding object monitoring method by this invention. The 3rd flowchart for demonstrating operation | movement of the 1st Example of the intruding object monitoring method by this invention. The 1st flowchart for demonstrating operation | movement of the 2nd Example of the intruding object monitoring method by this invention. The 2nd flowchart for demonstrating operation | movement of the 2nd Example of the intruding object monitoring method by this invention. The 3rd flowchart for demonstrating operation | movement of the 2nd Example of the intruding object monitoring method by this invention. The 4th flowchart for demonstrating operation | movement of the 2nd Example of the intruding object monitoring method by this invention. The flowchart for demonstrating operation | movement of the 3rd Example of the intruding object monitoring method by this invention. The figure explaining the state transition of the 1st Example of the intruding object monitoring method by this invention. The figure explaining the state transition of the 2nd Example of the intruding object monitoring method by this invention. The figure explaining the state transition of the 3rd Example of the intruding object monitoring method by this invention. The figure for demonstrating the difference detection between frames in an intruding object monitoring apparatus. The figure for demonstrating the controlled variable of a pan head. The figure explaining operation | movement of the two intrusion object monitoring apparatuses which monitor the movement path | route of an intrusion object. The 1st figure explaining the monitoring area allocation of two intrusion object monitoring apparatuses. FIG. 6 is a second diagram illustrating allocation of monitoring areas of two intruding object monitoring devices.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 ... Television camera apparatus, 102 ... Zoom lens, 103 ... Head, 104 ... Image input I / F, 105 ... Communication I / F, 106 ... Image memory, 107 ... Work memory, 108 ... CPU, 109 ... Program memory 110 ... Output I / F, 111 ... Image output I / F, 112 ... Data bus, 113 ... Warning lamp, 114 ... Monitoring monitor, 115 ... Pan head control device, 116 ... Zoom control device, 117 ... External communication cable, 1309, 1310 ... subtractor, 1311, 1312 ... binarizer, 1313 ... logical product, 1501, 1502, 1601, 1602 ... intruding object monitoring device.

Claims (8)

First and second television cameras that output image signals imaged at the center direction and zoom ratio of the controllable imaging range ;
Detecting means for detecting an object in an image obtained by each television camera ;
Based on the detection information of the object, and a control means for performing tracking of the object by controlling the central direction and zoom ratio of the corresponding television camera, in the object monitoring apparatus Ru provided with,
The control means includes, for each of the first and second television cameras, a normal mode in which each television camera is imaged at a preset center direction and zoom ratio, and the detection means detects an object, and from the normal mode A wide-angle mode in which an image is captured in an expanded imaging range and an object is detected by the detection means, and tracking is performed so that the detected object is contained within a predetermined size in an image obtained by each television camera. Control in either mode,
When an object is detected in an image obtained by the first television camera in the normal mode, the first television camera is shifted to the tracking mode, and the second television camera is moved to the wide-angle mode. Transition to
When the first television camera in the tracking mode becomes impossible to track, the first television camera is changed to the normal mode, and the second television camera is changed to the tracking mode. based on the position information of the object in the image obtained by one of the television camera, the object monitoring apparatus said second television camera is characterized by a Turkey be controlled to take over the tracking of the object. The first and second TV cameras control the center direction and zoom ratio of the imaging range by using an electric pan head and a zoom lens, respectively,
The control means causes the second television camera in the wide-angle mode to transition to the normal mode when the first television camera is not in the tracking mode, and in the image obtained from the second television camera. 2. The object monitoring apparatus according to claim 1, wherein when an object is detected, a predetermined alarm or screen display is performed while the wide angle mode is maintained . A monitoring system comprising a plurality of monitoring devices,
Each monitoring device includes a television camera that outputs an image signal imaged at the center direction of the controllable imaging range and a zoom ratio, detection means for detecting an object from an image obtained by the television camera , and detection of the object and a control means for performing tracking of the object by controlling the central direction and the zoom ratio based on the information, and communication means for communicating with other monitoring devices, and
Each monitoring device with the corresponding television camera, is captured in the normal mode and, extended imaging range than the normal mode for detecting an object in the detection means is captured at a preset central direction and zoom ratio wherein Control is performed in any one of a wide-angle mode in which an object is detected by the detection means and a tracking mode in which the detected object is controlled to fit within a predetermined size in an image obtained by each television camera. Is what
When an object is detected by one of the respective monitoring devices in the normal mode, the one monitoring device shifts to the tracking mode and enters the imaging range of the one monitoring device among other monitoring devices. Transmitting a field-of-view expansion request signal for transition to the wide-angle mode to the monitoring device having an adjacent imaging range by the communication means ,
When one of the monitoring devices in the tracking mode becomes unable to track, the one monitoring device changes to the normal mode, and the position information of the object in the image obtained from its own TV camera is displayed. An object monitoring system, wherein a tracking continuation request signal for taking over tracking of the object is transmitted to the monitoring device having the adjacent imaging range, and the mode is changed to a tracking mode . One of the monitoring devices in the wide-angle mode transitions to the normal mode when the other monitoring device is not in the tracking mode, and when an object is detected in an image obtained from its own TV camera, 4. The object monitoring system according to claim 3, wherein a predetermined alarm is output or a screen is displayed while the wide-angle mode is maintained . The television camera of each monitoring device controls the center direction and the zoom ratio of the imaging range by means of an electric pan head and a zoom lens provided respectively.
The object monitoring system according to claim 3 , wherein the detection unit of each monitoring device detects the object from the obtained image by a difference method. A television camera that outputs an image signal picked up with a center direction and a zoom ratio of a controllable imaging range, a detection unit that detects an object from an image obtained by the television camera, and the center based on detection information of the object In an object monitoring method using a plurality of monitoring devices including a control unit that controls a direction and a zoom ratio to track the object, and a communication unit that communicates with another monitoring device.
Each monitoring device captures the corresponding TV camera in a normal mode in which the image is picked up in a preset center direction and zoom ratio, and the detection means detects an object, and in the image pickup range expanded from the normal mode, the detection is performed. The control is performed in any one of a wide-angle mode in which an object is detected by the means and a tracking mode in which the detected object is controlled to fit within a predetermined size in an image obtained by each television camera. Done
When an object is detected by one of the respective monitoring devices in the normal mode, the one monitoring device shifts to the tracking mode and enters the imaging range of the one monitoring device among other monitoring devices. Transmitting a field-of-view expansion request signal for transition to the wide-angle mode to the monitoring device having an adjacent imaging range by the communication means,
When one of the monitoring devices in the tracking mode becomes unable to track, the one monitoring device changes to the normal mode, and the position information of the object in the image obtained from its own TV camera is displayed. An object monitoring method comprising: transmitting a tracking continuation request signal for taking over tracking of the object to the monitoring apparatus having the adjacent imaging range based on the transition mode to the tracking mode .   An interface for inputting image signals taken from the first and second television cameras whose center direction and zoom ratio can be controlled, and a signal for controlling the center direction and zoom ratio of each television camera. A computer having an interface, a CPU, and a memory,
  A detection process for detecting an object in an image obtained by each television camera and stored in the memory;
  In an object monitoring program for performing control processing for tracking the object by controlling the center direction and zoom ratio of the corresponding television camera based on the detection information of the object,
  The control processing includes, for each of the first and second television cameras, a normal mode in which each television camera is imaged at a preset center direction and zoom ratio, and the detection unit detects an object, and the normal mode A wide-angle mode in which an image is captured in an expanded imaging range and an object is detected by the detection means, and tracking is performed so that the detected object is contained within a predetermined size in an image obtained by each television camera. And control in either mode,
  When an object is detected in an image obtained by the first television camera in the normal mode, the first television camera is shifted to the tracking mode, and the second television camera is moved to the wide-angle mode. Transition to
  When the first television camera in the tracking mode becomes impossible to track, the first television camera is changed to the normal mode, and the second television camera is changed to the tracking mode. An object monitoring program that controls, based on position information of an object in an image obtained by the first television camera, that the second television camera takes over the tracking of the object. 3. The object monitoring apparatus according to claim 2, wherein the detection means is provided in each of the corresponding first and second television cameras.