JP6110183B2 - Crime prevention system - Google Patents

Description

  The present invention relates to a crime prevention system for improving the safety and security of local communities.

  In recent years, criminal acts called snatching crimes have increased rapidly. A snatching crime is a criminal who rides a vehicle such as a motorbike or motorcycle (hereinafter referred to as a motorcycle), approaching from behind the victim, stealing the victim's belongings and running away. It is a crime (theft) to do. In particular, such snatching crimes are often caused by pedestrians walking on the streets during busy hours. At present, there are no measures to prevent the occurrence of snatching crimes, etc., on such a living road, and the current situation is that the rapid increase in criminal acts cannot be stopped.

  On the other hand, security cameras (surveillance cameras) are often installed on busy roads (streets) for the purpose of deterring criminal acts. Therefore, it is conceivable to install such a security camera on the living road to suppress snatching crimes. However, the installation of security cameras means that pedestrians are constantly monitored (photographed). Therefore, the problem that residents living in the vicinity of the living road (pedestrians on the living road) feel uncomfortable and the problem of privacy infringement arise.

  As a countermeasure against such a problem, for example, as in the system described in Patent Document 1, it is conceivable to perform mosaic processing, encryption processing, or the like on the video imaged by the surveillance camera. Or it is possible to apply the crime prevention system which does not use the surveillance camera described in patent document 2.

JP 2011-090581 A JP 2006-011695 A

  However, in the system described in Patent Document 1, after all, photographing is always performed by the surveillance camera, so it is difficult to completely eliminate the problems of discomfort and privacy violation. On the other hand, since the security system described in Patent Document 2 does not use a surveillance camera, the above-mentioned privacy infringement problem does not occur. However, in the crime prevention system described in Patent Document 2, it is necessary that a person (rescue person) who may become a victim of a crime always has a portable terminal. For this reason, there is an inconvenience that a portable terminal must be carried, and if the rescuer forgets to carry the portable terminal, it does not function as a security system.

  The present invention has been made in view of the above circumstances, and its purpose is to suppress the occurrence of snatching crimes while minimizing the occurrence of problems such as privacy infringement and to increase the speed of securing criminals at the time of crime occurrence. It is to provide a crime prevention system that can.

  The crime prevention system according to claim 1 includes a laser radar device, an imaging device, and a control device. Laser radar devices measure the distance to an object using a laser beam, and a plurality of laser radar devices are installed along a road. The imaging device is, for example, a monitoring camera and captures an image of a predetermined region (captures a predetermined region) in a detection area in which a distance can be measured by a laser radar device. The control device executes various processes such as an object information calculation process, an object type determination process, a movement trajectory prediction process, a first monitoring target setting process, and an imaging control process based on distance measurement data given from the laser radar apparatus.

  The object information calculation process is a process of calculating the position, width, moving speed, and moving direction of an object existing in the detection area for each predetermined detection cycle using distance measurement data provided from the laser radar device. Usually, the distance measurement data is data representing the distance and direction of the object reflected from the laser beam. Therefore, the position of the object can be calculated from the distance measurement data. The width of the object can be calculated from the number of distances measured continuously (number of continuous ranging points), the diameter of the laser beam when the object is irradiated, and the like. The moving speed and the moving direction can be calculated from the relationship between the position of the object calculated this time and the position of the object calculated last time, for example. The object type determination process is a process for determining whether the object is a pedestrian or a vehicle based on the width calculated by the object information calculation process. Vehicles such as pedestrians and motorcycles can be distinguished by this processing because their widths are greatly different.

  The movement trajectory prediction process is a process for obtaining movement trajectory information that represents a future position of the predicted object in time series. The future position of the object can be predicted based on the moving speed and moving direction calculated by the object information calculation process. The first monitoring target setting process is executed when a pedestrian and a vehicle are present in the detection area of the laser radar device, and has the following contents. That is, first, based on the future movement trajectory information of the pedestrian and vehicle existing in the detection area, whether or not the pedestrian and the vehicle may move to the same position (same position) at the same time. To be judged. If there is such a possibility, it is determined that the pedestrian is a victim candidate object that can be a victim of snatching crime, and the perpetrator candidate object whose vehicle can be a perpetrator of snatching crime These objects are set as monitoring targets. The imaging control process is a process for controlling the operation of the imaging apparatus so as to capture an area including at least one of the objects to be monitored when the monitoring target is set as described above.

  In general, many victims of snatching crimes are pedestrians, and many perpetrators are vehicles such as motorcycles. Therefore, in this means, first, each object existing in the detection area is classified into a pedestrian who may be a victim and a vehicle which may be a perpetrator. And when a pedestrian and a vehicle exist in a detection area, the movement locus | trajectory information which represented those future predicted positions in time series is calculated | required. The perpetrator of snatching crime is initially located at a distance behind the victim, but when taking away the victim's belongings, the victim is immediately approached from the distance (the distance to the victim is extremely close) (Shrink to distance). Therefore, the perpetrator changes the moving direction to the direction toward the victim and increases the moving speed so as to quickly approach the victim after a predetermined time (for example, several seconds later) at a predetermined time before the crime. If it does so, the location (same position) which cross | intersects at the same time will exist in the locus | trajectory of the movement (plan) of the victim and the perpetrator after this time.

  Focusing on this point, if the control device determines that the pedestrian and the vehicle may move to the same position at the same time based on the obtained movement trajectory information, a snatching crime may be performed. Therefore, the pedestrian (victim candidate object) and the vehicle (perpetrator candidate object) are set as monitoring targets. And a control apparatus controls operation | movement of an imaging device, and image | photographs the area | region containing at least one among each monitoring object. By performing such a process, even if the entire area of the detection area is not always photographed, if a snatching crime occurs in the detection area, the crime scene will have a very high probability. Can be taken.

  The fact that such a crime prevention system is provided itself serves as a deterrent effect for snatching crimes, and the effect of improving the safety and security of the local community is obtained. In addition, even if a snatching crime occurs, information for identifying the crime scene and, in turn, the perpetrator can be obtained from the image (video) captured by the imaging device. It becomes possible to do. Furthermore, according to the above configuration, for example, a pedestrian traveling on a road is not always photographed by an imaging device such as a surveillance camera, so that it is difficult for privacy infringement to occur. Therefore, according to this measure, while suppressing the occurrence of problems such as privacy infringement as much as possible, it is possible to suppress the occurrence of snatching crimes and to improve the speed of securing the criminal at the time of the crime occurrence. .

  As a snatching crime, pedestrians are most often damaged, but there are many cases where bicycles are damaged. In order to cope with such a case, the means described in claim 2 may be employed. That is, according to the means described in claim 2, the control device further executes the second monitoring target setting process in addition to the above-described processes. In the second monitoring target setting process, there is a possibility that the pedestrian and the vehicle move to the same position at the same time when the pedestrian and the vehicle are not present in the detection area of the laser radar device or in the first monitoring target setting process. This process is executed when it is determined that there is no vehicle and there are a plurality of vehicles in the detection area.

  That is, first, based on the movement trajectory information of a plurality of vehicles, it is determined whether or not two of them may move to the same position at the same time. If there is such a possibility, it is determined that a vehicle that is close to the same position among the two vehicles is a victim candidate object, and a vehicle that is far from the same position is It is determined that they are perpetrator candidate objects, and each of these objects is set as a monitoring target. This is because the perpetrator in the snatching crime takes an action pattern of approaching the victim from behind. By performing such processing, it is possible to deal with a case in which the bicycle is damaged (sniffing crime). Therefore, according to this means, the same operation and effect can be obtained for the case where the victim is a bicycle as in the case where the victim is a pedestrian.

  According to the means described in claim 3, in addition to the above processes, the control device further executes a crime occurrence determination process, a first perpetrator identification process, and a perpetrator location tracking process. In the crime occurrence determination process, the victim candidate object and the perpetrator candidate object set as monitoring targets using the object information (position, width, movement speed, and movement direction of the object) calculated by the object information calculation process are the same time. It is a process for determining whether or not a snatching crime has occurred based on the determination result. Specifically, if the victim candidate object and the perpetrator candidate object move to the same position at the same time, it is determined that a snatching crime has occurred, and if it does not move, a snatching crime does not occur It is judged that

  The first perpetrator identification process is a process of identifying, when it is determined that a snatching crime has occurred, that the perpetrator candidate object subject to the determination is a perpetrator of the snatching crime. The perpetrator position tracking process is a process of continuously detecting the position of the identified perpetrator over the detection areas of all laser radar devices using the object information calculated by the object information calculation process. In this way, when a snatching crime occurs, the position of the perpetrator can always be grasped and tracked. If the position of the perpetrator is grasped over all the detection areas, the perpetrator can be easily and more quickly found and secured based on the position information. Therefore, according to this means, there is an effect that the speed of securing the criminal is further increased when a snatching crime occurs.

  According to the means described in claim 4, when the control device determines that the victim candidate object and the perpetrator candidate object have moved to the same position at the same time in the crime occurrence determination processing, the control device uses the object information to Calculate the speed at which the victim candidate object approaches the victim candidate object, the speed and time at which the perpetrator candidate object runs parallel to the victim candidate object, and the speed at which the perpetrator candidate object moves away from the victim candidate object. The presence / absence of snatching crime is determined by comparing the obtained value with the assumed value of each speed and each time when snatching crime occurs. The behavior pattern of the snatcher criminal (perpetrator) can be assumed in advance based on information on similar crimes in the past. Moreover, each said speed | rate and each time are greatly concerned in the perpetrator's action pattern. Accordingly, it is possible to determine whether or not the perpetrator candidate object actually commits a snatching crime by comparing each speed and each time with their estimated values. In this way, it is possible to increase the accuracy with respect to the determination of the occurrence of snatching crimes, as compared with the determination based on whether or not the victim candidate object and the perpetrator candidate object have moved to the same position at the same time.

  According to the means described in claim 5, the emergency button operable by the victim candidate object is provided. In addition to the above processes, the control device further executes a crime occurrence detection process, a second perpetrator identification process, and a perpetrator location tracking process. The crime occurrence detection process is a process for detecting that a snatching crime has occurred in response to the operation of the emergency button. In this case, since the emergency button is operated by the victim candidate object (= victim) himself, the occurrence of the snatching crime can be detected quickly and reliably.

  In the second perpetrator identification process, when the occurrence of snatching crime is detected by the crime occurrence detection process, the victim candidate object that operates the emergency button is identified using the object information calculated by the object information calculation process, The perpetrator candidate object set as the monitoring target together with the identified victim candidate object is a process of identifying that the perpetrator of the snatching crime. The perpetrator position tracking process is a process of continuously detecting the position of the identified perpetrator over the detection areas of all laser radar devices using the object information calculated by the object information calculation process. In this way, when a snatching crime occurs, the position of the perpetrator can always be grasped and tracked. If the position of the perpetrator is grasped over all the detection areas, the perpetrator can be easily and more quickly found and secured based on the position information. Therefore, according to this means, there is an effect that the speed of securing the criminal is further increased when a snatching crime occurs.

  According to the means of claim 6, when a plurality of monitoring targets are set, the imaging control processing is a time at which each object moves to the same position for each of the plurality of monitoring targets (the movement trajectory intersects). And a shooting target setting process for setting the monitoring target with the earliest time as a shooting target. In the imaging control process, the operation of the imaging apparatus is controlled so as to capture an area including at least one of the monitoring target objects set as the imaging target. For example, when there is one imaging device for imaging a detection area of a predetermined laser radar device and only one area can be imaged, only one of the monitoring objects is imaged even if a plurality of monitoring objects are set. I can't. In such a case, according to the present means, a monitoring target that may cause a crime in the near future from the present is preferentially photographed. Therefore, according to this means, when a snatching crime occurs, the probability that the crime scene is not photographed is suppressed to a low level, and an effect of further improving the reliability as a crime prevention system can be obtained.

  According to the means described in claim 7, the alarm device for executing the alarm operation is provided. In addition to the above processes, the control device further executes an alarm control process. The alarm control process controls the operation of the alarm device so that an alarm operation is performed at a predetermined timing after the monitoring target is set. If an alarm action is performed after the monitoring target is set, the victim candidate object set as the monitoring target will determine that something dangerous is occurring in the vicinity of the victim candidate object and pay attention to the surroundings. Therefore, the possibility of belongings being taken away by a criminal approaching from behind becomes low. In addition, the perpetrator candidate object set as a monitoring target may determine that it is detected by a crime prevention system or the like that the person is trying to perform a criminal act and may discourage the crime. Therefore, according to this means, the deterrence effect of snatching crime can be further enhanced.

Schematic configuration diagram of the crime prevention system, showing the first embodiment The figure which shows the composition of the crime prevention system typically Diagram showing the detection area of the laser radar device The figure which shows the relation between the detection area of the laser radar device and the road Diagram showing the relationship between coverage and road width Diagram showing the installation of local equipment Figure 6 equivalent figure in the entrance part of the security system The figure which shows an example of the management table when an object is a pedestrian The figure which shows an example of the management table when an object is a vehicle Diagram for explaining the installation height of the laser radar device The figure which shows an example of the distance table showing the distance between each object Figure showing multiple distance lists created for each detection cycle Flow chart showing contents of first and second monitoring target setting processes Flow chart showing contents of imaging control processing The figure which shows each information which shows the movement pattern of the criminal of the snatching crime The figure for demonstrating that it cannot measure the object of the back side of the object which two laser radar apparatuses arranged side by side The figure which shows 2nd Embodiment and represents the recording of the calculated width | variety A flowchart showing a modification of the object type discrimination process FIG. 1 shows the third embodiment, and is a diagram corresponding to FIG.

Hereinafter, a plurality of embodiments of the security system will be described. In each embodiment, substantially the same components are denoted by the same reference numerals and description thereof is omitted.
(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
The crime prevention system 1 of this embodiment suppresses the occurrence of snatching crimes on the living road 2 (corresponding to a road) to be monitored, and in the unlikely event that snatching crimes occur, information useful for securing the criminal is provided, for example It is provided to the station.

  As shown in FIG. 1 and FIG. 2, the crime prevention system 1 is composed of a field device 3 and a management device 4. The local equipment 3 is attached to a plurality of utility poles 5 provided along the living road 2 to be monitored by the security system 1. The local equipment 3 includes a laser radar device 6, a monitoring camera 7, an alarm device 8, a warning light 9, an emergency button 10, a local control device 11 for controlling them, and the like. On the other hand, the management-side device 4 is installed at an arbitrary place different from the living road 2 and includes a management-side control device 12 and an operation terminal 13. The plurality of local side control devices 11 and the management side control device 12 are connected by a communication line such as Ethernet (registered trademark), for example, and are capable of data communication with each other. In the present embodiment, the plurality of on-site control devices 11 and the management-side control device 12 constitute a control device.

  The laser radar device 6 includes a light emitting unit including a laser diode that emits a laser beam (laser beam), a light receiving unit including a photodiode that receives reflected light from an object, and a control unit that controls them (none of which are shown). Etc. The laser radar device 6 emits a laser beam intermittently while rotating at a high speed in the horizontal direction (detection direction) within a range of, for example, 190 degrees, and receives the reflected wave. The interval (rotation angle resolution) at which the laser beam is emitted is, for example, 0.25 degrees. The laser radar device 6 measures the distance to the object based on the time from when the laser beam is emitted to when the reflected light is received.

  Measurement of the distance to the object (ranging) is performed based on an output signal (light reception signal) of a light receiving unit that receives reflected light. Therefore, the distance that can be measured by the laser radar device 6 varies depending on the intensity of the laser beam, the performance of the light receiving unit, the reflectance of the laser beam of the object to be measured. In this case, the laser radar device 6 has a specification that the maximum distance that can be measured is 30 m. The laser radar device 6 having such a specification can measure a distance to an object existing within a range of 30 m with an interval of 0.25 degrees within a range of 190 degrees centered on the origin. That is, the detection area in which the distance can be measured by the laser radar device 6 is a range as shown in FIG. The origin referred to here is the tip position of the light emitting part or the light receiving part of the laser radar device 6.

  If the laser radar device 6 having such a detection area is attached to a power pole along a road, the road can be monitored over a length of 60 m (= 30 m × 2). However, as shown in FIG. 3, the detection area of the laser radar device 6 has an arc shape. On the other hand, the road to be monitored by the crime prevention system 1 is generally rectangular. For this reason, as shown by hatching in FIGS. 4A and 4B, there may be a region that cannot be monitored by the laser radar device 6. The area that cannot be monitored becomes wider as the road width (road width) becomes longer. In other words, the ratio (coverage rate) at which a single laser radar device 6 can cover (monitor) a road having a length of 60 m decreases as the road width increases (see FIG. 5).

However, the road to be monitored by the crime prevention system 1 is the living road 2. In general, most of the living roads 2 have a road width of 20 m or less. As shown in FIG. 5, when the road width is 20 m or less, the coverage rate exceeds 90%. Therefore, in the crime prevention system 1 that monitors the living road 2, the detection area of the laser radar device 6 is arc-shaped so that there are only a few areas that cannot be monitored, and no major problems are caused thereby.
In this way, the living road 2 having a length of 60 m (a road having a road width of 20 m or less) can be almost covered by one laser radar device 6. Therefore, as shown in FIG. 6, if the local equipment 3 is installed so that the distance between the adjacent laser radar devices 6 is 60 m, the number of laser radar devices 6 to be prepared can be minimized and the crime prevention The system 1 can monitor almost all areas of the living road 2.

Most of the plurality of laser radar devices 6 are provided along one side of the life road 2. However, as shown in FIG. 7, among a plurality of laser radar devices (in FIG. 7, only three are denoted by reference numerals 6A to 6C), the laser radar device 6A arranged at the end is It is provided on the other side of the road 2. Specifically, the laser radar device 6A disposed at the end is disposed at a position on the diagonal line of the laser radar device 6B disposed second from the end. The reason for this arrangement will be described later.
The surveillance camera 7 (corresponding to an imaging device) captures (photographs) an image of a predetermined area and has a pan function, a tilt function, and a zoom function. By making full use of these functions, the surveillance camera 7 can capture the entire detection area of the laser radar device 6 attached to the same utility pole 5. The photographing operation by the monitoring camera 7 is controlled by the local control device 11.

  Although details will be described later, the on-site control device 11 controls the operation of the monitoring camera 7 so as to capture an image of a predetermined region in the detection area of the laser radar device 6 at a predetermined timing. Therefore, the surveillance camera 7 does not always shoot all the areas in the detection area.

  The alarm device 8 (corresponding to an alarm device) includes a sound generation unit such as a buzzer, and executes a sounding operation for generating an alarm sound from the sound generation unit. The warning light 9 (corresponding to an alarm device) includes a light emitting unit such as an LED, and executes a light emitting operation for causing the light emitting unit to emit light. The sounding operation by the alarm device 8 and the light emission operation by the warning lamp 9 (both correspond to the alarm operation) are controlled by the local control device 11. The local control device 11 controls the operation of the alarm device 8 and the warning lamp 9 so as to execute the sounding operation and the light emitting operation at a timing described later.

  The emergency button 10 includes, for example, an operation unit that can be pressed, and transmits an emergency detection signal to the local control device 11 when an operation on the operation unit is detected. Although details will be described later, when receiving the emergency detection signal, the local control device 11 determines that a crime such as snatching has occurred in the detection area, and executes various processes for dealing with the crime. Around the emergency button 10, an explanatory note is written that indicates that the button has a function of transmitting the crime occurrence to the system by operating when the snatching crime occurs. In addition, when installing the crime prevention system 1, it is good to make the presence of such an emergency button 10 known to residents in the vicinity of the living road 2 to be monitored.

The local control device 11 includes a CPU, a memory, a communication interface, and the like. The local side control apparatus 11 performs each process mentioned later by executing the control program previously memorize | stored in memory. When the local control device 11 newly detects an object existing in the detection area based on the distance measurement data provided from the laser radar device 6, it creates individual management tables to which object numbers are assigned in the order of detection. .
As shown in FIGS. 8 and 9, the management table includes an object number, an object type, a current position (X, Y coordinates), a previous position (X, Y coordinates), and a previous position (X, Y) for a predetermined object. Y coordinate), current movement speed (X, Y), previous movement speed (X, Y), current movement direction, previous movement direction, acceleration, and the like are recorded. The information recorded in the management table is regularly updated. Information recorded in the management table is obtained as follows.

  That is, the on-site control device 11 uses the distance measurement data provided from the laser radar device 6 for each detection cycle (for example, every second) to detect information (position, width, moving speed, (Movement direction and acceleration) are calculated (object information detection processing). The distance measurement data is data representing the distance and direction (angle) of the object that reflects the laser beam. The local control device 11 calculates the relative position (X, Y coordinates) of the object with respect to the origin of the laser radar device 6 based on the distance measurement data. The position of the object calculated in the latest detection cycle is recorded in the management table as the current position of the object. At this time, the position of the same object calculated in the previous detection cycle is recorded in the management table as the previous position, and the position of the same object calculated in the second previous detection cycle is recorded as the previous time position.

  The local control device 11 can also calculate the absolute position (north latitude and east longitude) of the object from the calculated relative position and the absolute position of the origin stored in advance in the memory. Further, the local control device 11 determines the width of the object (the length in the detection direction) based on the number of distances measured continuously (the number of continuous ranging points) and the diameter of the laser beam when the object is irradiated. ) Is calculated. The local control apparatus stores the calculated width of the object in its own memory.

  The moving speed and moving direction of the object can be calculated from the difference between the current position and the previous position. The moving speed and moving direction of the object calculated in the latest detection cycle are recorded in the management table as the current moving speed and the current moving direction, respectively. At this time, the moving speed and moving direction of the object calculated in the previous detection cycle are recorded in the management table as the previous moving speed and the previous moving direction, respectively. The acceleration of the object can be calculated by subtracting the current movement speed from the previous movement speed. The acceleration of the object calculated at this time is recorded in the management table as the acceleration.

  The local control device 11 determines (classifies) whether the object is a pedestrian or a vehicle based on the width of the object calculated in each of the above processes (object type determination process). Since the width of a pedestrian and a vehicle such as a motorcycle are greatly different, classification by width is possible. The local control apparatus 11 determines that the object is a pedestrian if the width of the object is less than a determination reference value (for example, 100 cm), and determines that the object is a vehicle if the width is equal to or greater than the determination reference value. The type of the object determined at this time is recorded in the management table as the object type. Note that the determination reference value may be a value that is suitable for distinguishing pedestrians (humans) and vehicles by their widths, and can be changed as appropriate.

  Note that the width of the object calculated as described above may be smaller than the actual width of the object depending on the posture of the object, but it does not become larger. Therefore, in the object determination process, even if the wide object (vehicle) is erroneously determined to be a small object (pedestrian), the small object is erroneously determined to be a wide object. There is nothing. Therefore, according to the object discrimination process, it is possible to reliably discriminate pedestrians (humans) who are often victims of snatching crimes.

  In order to reliably perform such classification, it is desirable for the laser radar device 6 to measure a portion of the pedestrian and the vehicle having the most different widths. In consideration of such points, the laser radar device 6 is preferably attached to a height at which distance measurement data capable of calculating the length (width) of the wheel of a vehicle such as a motorcycle can be obtained. Therefore, in the present embodiment, as shown in FIG. 10, the laser radar device 6 is attached to the utility pole 5 so that the origin is about 50 cm (about 50 cm above the ground) from the road surface (the ground). .

  Moreover, the local side control apparatus 11 calculates and memorize | stores each distance (in this case, linear distance) between each object which exists in a detection area for every detection period. In the present embodiment, the distance between the objects is stored using a distance list as shown in FIG. In the distance list, the object numbers of the objects existing in the detection area are registered in the order of detection in the a row and the A column, and the calculated distances from other objects are recorded. In the distance list, a column in which “-” is written is a column representing the distance between the same objects, a column representing information overlapping with other columns, and the like, and thus no distance is displayed.

  Such a distance list is stored in association with the time when it was created, and is newly created for each detection cycle (see FIG. 12). Therefore, if the distance list is checked in time series, it is possible to grasp the transition of the distance between the objects. If this is used, for example, the state where the object of object number 1 and the object of object number 2 are very close (for example, the distance between each other is within 0.5 m) has continued for a predetermined time (for example, 30 seconds) or more. Can be detected. The distance list is used in alarm control processing, crime occurrence determination processing, and the like, which will be described later.

  The local control device 11 includes an object that can be a victim of snatching crime (hereinafter referred to as a victim candidate object) and an object that can be a perpetrator (hereinafter referred to as a perpetrator candidate object). ) Is present, and if it is present, processing such as setting these objects as monitoring targets is performed. Such processing is periodically executed based on information recorded in the management table. Hereinafter, the above processing will be described with reference to the flowchart shown in FIG. In FIG. 13, the processes in steps S1 to S4 correspond to the first monitoring target setting process, and the processes in steps S5 to S8 correspond to the second monitoring target setting process.

  First, the local control device 11 includes both an object whose object type is a pedestrian (hereinafter simply referred to as a pedestrian) and an object (hereinafter simply referred to as a vehicle) that is a vehicle. It is determined whether or not (step S1). If there are pedestrians and vehicles (YES), the process proceeds to step S2. If progressing to step S2, the local side control apparatus 11 will predict the future position of a pedestrian and a vehicle, and will produce the movement locus | trajectory information which represented those future predicted positions along a time series. The future position of the object can be predicted based on the current moving speed and the current moving direction of the object. After step S2, the process proceeds to step S3, and the on-site control device 11 can move (position) to the same position (same position) at the same time based on the movement trajectory information of the pedestrian and the vehicle. Judge whether there is sex.

  The reason for making such a determination is as follows. That is, the perpetrator of the snatching crime is initially located at a distance behind the victim, but when taking away the victim's belongings, the victim immediately approaches the victim from a distance (the distance from the victim). (It must be shortened to a very close distance). Therefore, the perpetrator changes the moving direction toward the victim and increases the moving speed so as to approach the victim after a predetermined time (for example, several seconds) at a predetermined time before the crime. If it does so, the location (same position) which cross | intersects at the same time will exist in the locus | trajectory of the movement (plan) of the victim and the perpetrator after this time.

  In the present embodiment, paying attention to such points, the local control device 11 makes the above-described determination in step S3. If it is determined that the pedestrian and the vehicle may move to the same position at the same time (YES), the process proceeds to step S4. If it progresses to step S4, since it is thought that possibility of a snatching crime is high, the local side control apparatus 11 sets the pedestrian and vehicle which the locus | trajectory of a movement cross | intersects at the same time as a monitoring object. At this time, the local control apparatus 11 determines that the pedestrian is a victim candidate object and determines that the vehicle is a perpetrator candidate object. The local side control device 11 transmits the object information of each object set as the monitoring target to the other local side control device 11 and the management side control device 12 that are close together with the fact that the object information is set as the monitoring target.

  On the other hand, when there is no pedestrian or vehicle in the detection area (“NO” in step S1), or when the trajectory of the pedestrian and the vehicle scheduled to move does not intersect at the same time (“NO” in step S3). ) Proceeds to step S5. If it progresses to step S5, the local control apparatus 11 will judge whether a some vehicle exists in a detection area. When there are a plurality of vehicles (YES), the process proceeds to step S6. If progressing to step S6, the local side control apparatus 11 will produce the movement locus | trajectory information of several vehicles. After step S6, the process proceeds to step S7, and the local control device 11 moves any two of the plurality of vehicles to the same position at the same time based on the movement trajectory information of the plurality of vehicles. Determine if there is a possibility.

  The reason for making such a determination is as follows. In other words, as a snatching crime, pedestrians are most often damaged, but there are many cases where bicycles are damaged. In order to deal with such a case, when there are a plurality of vehicles in the detection area, a vehicle (bicycle) that can be a victim and a vehicle (bike etc.) that can be a perpetrator are among those vehicles. What is necessary is just to confirm whether it exists. Therefore, in this embodiment, the local side control apparatus 11 performs the determination mentioned above in step S7. If it is determined that the two vehicles may move to the same position at the same time (YES), the process proceeds to step S8.

If it progresses to step S8, since it is thought that possibility of a snatching crime is high, the local control device 11 sets two vehicles whose trajectories scheduled for movement intersect at the same time as monitoring targets. At this time, the on-site control device 11 determines that a vehicle that is close to the same position among the two vehicles is a victim candidate object, and a vehicle that is located far from the same position. Judged to be a perpetrator candidate object. This is because the perpetrator in the snatching crime takes an action pattern (action pattern) of approaching the victim from behind. In this case as well, similarly to step S4, the local side control device 11 sets the object information of each object set as the monitoring target in addition to the other local side control devices 11 and It transmits to the management side control apparatus 12.
When the monitoring target is set by the process described above, the local control device 11 performs the imaging control process, the alarm control process, the crime occurrence determination process, the crime occurrence detection process, the first perpetrator identification process, and the second perpetrator identification process. And perform the perpetrator location tracking process. Hereinafter, the contents of each processing will be described.

<Imaging control processing>
When the monitoring target is set, the local control device 11 performs the processing shown in the flowchart of FIG. First, the local control apparatus 11 determines whether there are a plurality of set monitoring targets (step T1). When there is only one monitoring target (NO), the process proceeds to step T2. In step T2, the local control device 11 sets the monitoring target as a shooting target. After step T2, the process proceeds to step T3, and the local control device 11 controls the operation of the monitoring camera 7 so as to shoot a region including the victim candidate object to be monitored set as a photographic target.

  On the other hand, when there are a plurality of monitoring targets (“YES” in step T1), the process proceeds to step T4. When the process proceeds to step T4, the local control device 11 obtains the time at which each object moves to the same position (the trajectory to be moved intersects) for each of the plurality of monitoring targets. After step T4, the process proceeds to step T5, and the local control device 11 sets the monitoring target with the earliest time as the target for shooting. In the present embodiment, the processes in steps T4 and T5 correspond to the shooting target setting process. After step T5, the process proceeds to step T3, and the local control device 11 controls the operation of the monitoring camera 7 so as to shoot a region including the victim candidate object to be monitored set as a photographic target.

<Alarm control processing>
When the monitoring target is set, the site-side control device 11 confirms the distance between the objects to be monitored using the distance list described above. The local control device 11 controls the operation of the alarm unit 8 and the warning lamp 9 so that the sounding operation and the light emitting operation are performed when the distance between the objects is within the alarm activation threshold (for example, 8 m).

<Crime occurrence judgment processing>
When the monitoring target is set, the local control device 11 uses the object information recorded in the management table and the victim candidate object and the perpetrator candidate object set as the monitoring target move to the same position at the same time. Determine whether or not. When the local control device 11 determines that the above-mentioned objects have moved to the same position at the same time, the on-site control device 11 further performs the following process on the assumption that the perpetrator candidate object has actually committed a crime. .
That is, the action pattern of the criminal (perpetrator) at the time of a snatching crime can be assumed in advance based on information on similar crimes that occurred in the past. Therefore, in the present embodiment, information (assumed value) representing the criminal motion pattern is stored in advance, and the perpetrator candidate object motion pattern is compared with the stored criminal motion pattern. It is determined whether the candidate object actually commits a crime.

  As a parameter for representing the motion pattern, information greatly related to the motion pattern of the snatcher's criminal may be used. In the present embodiment, the speed at which the perpetrator candidate object approaches the victim candidate object (hereinafter abbreviated as approaching speed), the speed at which the perpetrator candidate object runs in parallel with the victim candidate object (hereinafter abbreviated as parallel speed) , Time for the perpetrator candidate object to run parallel to the victim candidate object (hereinafter abbreviated as time to run parallel), speed at which the perpetrator candidate object moves away from the victim candidate object (hereinafter abbreviated speed and abbreviated), and perpetrator candidate The acceleration at which the object moves away from the victim candidate object (hereinafter, abbreviated acceleration) is used as the parameter.

  The snatching crimes can be broadly divided into the following three patterns. That is, the first pattern is a pattern in which the perpetrator approaches from behind the victim, quickly takes away his belongings, and escapes to the front of the victim (hereinafter referred to as the first pattern). This first pattern is a typical pattern of snatching crime. The second pattern is a pattern in which the perpetrator approaches from behind the victim, engages with the victim, steals his belongings, and escapes to the front of the victim (hereinafter referred to as the second pattern). . The third pattern is a pattern in which the perpetrator approaches from behind the victim, engages with the victim, steals his belongings, and runs away from the victim (hereinafter referred to as the third pattern). .

The action patterns of the criminal in these three patterns of snatching crimes are different. Therefore, it is necessary to store information representing the criminal action pattern for each of the three patterns. Information representing the criminal action patterns in the three patterns of snatching crimes is, for example, as shown in FIG. FIG. 15 also shows the assumed value of the operation pattern when the perpetrator candidate object is a motorcycle that is not a criminal. A motorcycle that is not a criminal may be a motorcycle that has nothing to do with the victim (hereinafter referred to as another person), a motorcycle that is an acquaintance of the victim candidate object (hereinafter referred to as an acquaintance), or the like. Further, the information (speed [m / h], time [second], and acceleration [m / h ² ]) representing the operation pattern shown in FIG. 15 is a value having a certain width.

Referring to the information representing the operation pattern shown in FIG. 15, whether the perpetrator candidate object is a criminal or not, and what kind of pattern has been picked when the criminal is a criminal, for example, are as follows: Can be detected. That is, when the approaching speed exceeds 20 k [m / h], it is understood that the person is not a criminal but another person. Moreover, when the parallel running speed is 2k to 5k [m / h], it is understood that the person is not a criminal but an acquaintance. Moreover, when the parallel running speed is 0 k [m / h], it is understood that the criminal is the second or third pattern. In this case, if the moving speed is 20 k [m / s] or more, it can be determined to be the second pattern, and if it is -20 k [m / s] or more, it can be determined to be the third pattern. In addition, when the parallel running speed is 10 k to 20 k [m / s] and the moving away acceleration is 5 k [m / h ² ] or more, it is understood that the criminal is the first pattern.

  As described above, when the local control device 11 determines that the victim candidate object and the perpetrator candidate object have moved to the same position at the same time, the perpetrator candidate object is recorded using the object information recorded in the management table. By calculating the speed, time and acceleration, and comparing the calculated values with the preliminarily stored assumptions based on the criminal's movement pattern, whether or not the perpetrator candidate object actually committed the crime, that is, snatching Determine whether a crime has occurred.

<Crime occurrence detection processing>
When receiving the emergency detection signal based on the operation of the emergency button 10, the local control device 11 detects that a snatching crime has occurred in the detection area.

<First perpetrator identification process>
When it is determined by the crime occurrence determination process that the snatching crime has occurred, the local control device 11 identifies the perpetrator candidate object that is the object of the determination as the perpetrator of the snatching crime.

<Second perpetrator identification process>
When the occurrence of snatching crime is detected by the crime occurrence detection processing, the local side control device 11 uses the object information recorded in the management table and identifies the victim candidate object that operated the emergency button 10. And the local side control apparatus 11 specifies that the perpetrator candidate object set as the monitoring target together with the identified victim candidate object is the perpetrator of the snatching crime. At this time, the local control device 11 acquires the object information of the perpetrator immediately before the detection time point. The local control device 11 analyzes the perpetrator's action pattern when the detected crime occurs based on the object information of the perpetrator. And the local side control apparatus 11 updates the information (value shown in FIG. 15) showing the operation pattern of the criminal mentioned above based on the analysis result of the operation pattern.

<Perpetrator location tracking process>
When the perpetrator of the snatching crime is identified by the first or second perpetrator identification process, the local side control device 11 cooperates with the other local side control devices 11 and the management side control device 12 as follows. Track the location of the perpetrator. That is, first, the local side control device 11 continuously detects the position of the perpetrator in the detection area of the laser radar device 6 controlled by itself using the object information recorded in the management table. At this time, the local side control device 11 transmits information (for example, absolute position) indicating the position of the perpetrator to the adjacent local side control device 11 and the management side control device 12.

  Thereafter, when the perpetrator leaves the detection area where the crime scene is located and enters the detection area of the adjacent laser radar device, the local control device 11 in the detection area continuously positions the perpetrator in the detection area. Detected. Also at this time, the local control device 11 that detects the position of the perpetrator transmits information indicating the position of the perpetrator to the other adjacent local control device 11 and the management control device 12. .

  As described above, the plurality of on-site control devices 11 operate in a coordinated manner, whereby the position of the identified perpetrator is continuously detected over the detection areas of all the laser radar devices 6. Information regarding the position of the perpetrator that is continuously detected in this way is given to the management-side control device 12. Therefore, according to such a perpetrator location tracking process, when a snatching crime occurs, the perpetrator's location in the detection area of the crime prevention system 1 can always be grasped and tracked. The location information of the perpetrator obtained by the perpetrator location tracking process is transmitted from the management control device 12 to the police station in charge.

As described above, according to the present embodiment, the following effects can be obtained.
The local control device 11 uses distance measurement data provided from the laser radar device 6 installed along the living road 2 to be monitored by the crime prevention system 1, and uses object information ( Position, width, moving speed, moving direction, etc.). The local control apparatus 11 classifies the objects present in the detection area into pedestrians and vehicles based on the object information (object type determination process).

  If both the pedestrian and the vehicle exist in the detection area, the local control device 11 may move the pedestrian and the vehicle to the same position at the same time based on the movement trajectory information. If it is determined that there is a possibility, it is considered that there is a high possibility of snatching crime, so those pedestrians (victim candidates) and vehicles (perpetrator candidates) are monitored (First monitoring target setting process). And the local side control apparatus 11 controls operation | movement of the surveillance camera 7, and image | photographs the area | region containing the pedestrian (victim candidate object) used as the monitoring object (imaging control process). By performing such a process, even if the entire area of the detection area is not always photographed, if a snatching crime occurs in the detection area, the crime scene will have a very high probability. Can be taken.

  The fact that such a security system 1 is provided itself serves as a deterrent effect of snatching crimes, and an effect that improvement of the safety and security of the local community is realized. In addition, even if a snatching crime occurs, information for identifying the crime scene and, in turn, the perpetrator can be obtained from the video taken by the surveillance camera 7, so that the criminal can be quickly detected and secured. Is possible. Furthermore, according to the configuration of the present embodiment, since the surveillance camera 7 does not always shoot pedestrians and the like passing through the living road 2, the problem of privacy violation is less likely to occur.

  Therefore, according to this embodiment, while suppressing the occurrence of problems such as privacy infringement as much as possible, it is possible to suppress the occurrence of snatching crimes and improve the speed of securing criminals at the time of crime occurrence. It is done. In addition, when installing the crime prevention system 1, it is well known that photographing with the surveillance camera 7 is performed only in a limited range and at a limited timing for the residents in the vicinity of the living road 2 to be monitored. It is good to keep. If it does in this way, it will become difficult to produce the problem that the inhabitants of the living road 2 have discomfort, and the problem of privacy violation.

  In addition, when there are a plurality of vehicles in the detection area, the local control device 11 may cause any two of the plurality of vehicles to move to the same position at the same time based on the movement trajectory information. If it is determined whether there is such a possibility, it is considered that there is a high possibility that a snatching crime will be performed. Therefore, the plurality of vehicles are set as monitoring targets. And the local side control apparatus 11 controls operation | movement of the monitoring camera 7, and image | photographs the area | region containing the vehicle (victim candidate object) which exists in the position close | similar to the said same position among the vehicles used as the monitoring object. By performing such a process, the same operation and effect can be obtained for the case where the victim is a bicycle as in the case where the victim is a pedestrian.

In the present embodiment, there is one monitoring camera 7 for photographing the detection area of one laser radar device 6. Therefore, even if a plurality of monitoring targets are set, the monitoring camera 7 can only capture one of the monitoring targets. This problem can be solved by increasing the number of surveillance cameras 7, but it is desirable that the number of surveillance cameras 7 be small in view of economics (cost). Therefore, when a plurality of monitoring targets are set, the local side control device 11 obtains a time at which the trajectory scheduled for movement intersects for each of the monitoring targets, and an area including the monitoring target pedestrian whose earliest is the time. The operation of the monitoring camera 7 is controlled so as to take a picture.
In this way, a subject to be monitored where a crime may occur in the near future from the present is preferentially photographed. Therefore, when the crime of snatching occurs while keeping the cost by reducing the number of surveillance cameras 7 of the local equipment 3 to one (one), the probability that the crime scene will not be taken is kept low, and it is trusted as the security system 1 The effect that property increases further is acquired.

  When the monitoring target is set, the local side control device 11 confirms the distance between the objects to be monitored, and when the distance falls within the alarm triggering threshold, the alarm device performs an alarm operation. 8 and the operation of the warning light 9 are controlled. If an alarm action is performed after the monitoring target is set, the victim candidate object set as the monitoring target will determine that something dangerous is occurring in the vicinity of the victim candidate object and pay attention to the surroundings. Therefore, the possibility of belongings being taken away by a criminal approaching from behind becomes low. In addition, the perpetrator candidate object set as the monitoring target may determine that the person trying to perform the criminal act is detected by the crime prevention system 1 or the like and discourage the crime. Therefore, according to this embodiment, the deterrence effect of snatching crime can be further enhanced.

If the victim candidate object and the perpetrator candidate object move to the same position at the same time after the monitoring target is set, the local side control apparatus 11 and the action pattern of the perpetrator candidate object and the actual stored in advance By comparing the movement pattern of the criminal, it is determined whether or not the crime is actually performed (crime occurrence determination process). When the local control device 11 determines that the snatching crime has occurred, the local control device 11 specifies that the perpetrator candidate object subjected to the determination is the perpetrator of the snatching crime (first perpetrator specifying process). Thereafter, the local control device 11 continuously detects the position of the identified perpetrator over the detection areas of all the laser radar devices 6 in cooperation with the other local control devices 11 and the management control device 12. (Perpetrator tracking process)
According to such an operation, when a snatching crime occurs, it is possible to always grasp and track the position of the perpetrator. If the position of the perpetrator is grasped over all the detection areas, the perpetrator can be easily and more quickly found and secured based on the position information. Therefore, according to the present embodiment, there is an effect that the speed of securing the criminal is further improved when a snatching crime occurs.

  When the local control device 11 receives the emergency detection signal based on the operation of the emergency button 10 after the monitoring target is set, the local control device 11 detects that a snatching crime has occurred in the detection area (crime occurrence detection processing). ). And the local side control apparatus 11 specifies the victim candidate object who operated the emergency button, and the perpetrator candidate object set as the monitoring target together with the identified victim candidate object is the perpetrator of the snatching crime. Is identified (second perpetrator identification process). In this case, since the emergency button 10 is operated by the victim himself, the occurrence of the snatching crime can be detected quickly and reliably. After that, since the local control device 11 performs the perpetrator tracking process described above, the perpetrator can be easily and more quickly detected and secured in this case.

  Further, when the local control device 11 detects the occurrence of snatching crime based on the emergency detection signal, the perpetrator at the time of occurrence of the detected crime is based on the object information of the perpetrator immediately before the detection time point. Analyzing the operation pattern of And the local side control apparatus 11 updates the information showing the operation pattern of the criminal memorize | stored previously based on the analysis result of the operation pattern. In this way, since the behavior pattern of the criminal when the crime is actually performed is reflected as the assumed value as needed, the accuracy of the determination as to whether or not a crime has occurred by the above-described crime occurrence determination process is increased.

  As shown in FIG. 16, when two objects (pedestrian and vehicle) are lined up along the radiation direction of the laser beam, the laser radar device 6 has a rear (distant from the laser radar device) object (vehicle). ) Cannot be measured. Accordingly, in such a case, the on-site control device 11 cannot confirm the presence of the rear object among the two objects arranged side by side. If the local control device 11 is arranged in the middle part of the living road 2 to be monitored by the crime prevention system 1, even if the presence of an object cannot be confirmed as described above, other adjacent local control devices 11. Since the presence of the object can be confirmed based on the information given from the above, no problem occurs. However, if the local control device 11 arranged at the entrance of the crime prevention system 1 cannot confirm the presence of the object as described above, there is a possibility that the presence of the object cannot be confirmed thereafter.

  As a countermeasure for such a problem, in the crime prevention system 1 of the present embodiment, as shown in FIG. 7, the laser radar device 6A arranged at the end is a diagonal line of the laser radar device 6B arranged second from the end. Located in the upper position. In this way, even if the on-site control device 11B that controls the laser radar device 6B cannot confirm the presence of the object behind the two of the two aligned objects, the on-site control device that controls the laser radar device 6A. 11A can confirm the presence of the object. Therefore, the local control device 11B can confirm the presence of the object based on the information (for example, absolute position) of the object given from the local control device 11A.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 17 and 18.
There is a possibility that the width of the object calculated based on the distance measurement data given from the laser radar device 6 changes for each calculation depending on the posture of the object. FIG. 17 shows an example of the result of calculating (measuring) the width of an object (for example, a motorcycle) having a width of about 120 cm over a plurality of times.

In FIG. 17, the result obtained each time the width is measured is indicated by a black circle, and the average value of the calculated width is about 121 cm. In this case, most of the widths calculated a plurality of times exceed the criterion value (100 cm), but there is a value (60 cm) less than the criterion value only once. Therefore, if the type of the object is determined based on the range of values less than the rarely obtained determination reference value, it is actually a pedestrian even though it is a motorcycle (vehicle). There is a risk of misjudgment.
In order to make the possibility of such an erroneous determination as close to zero as possible, an object type determination process as shown in the flowchart of FIG. 18 may be employed instead of the object type determination process described in the above embodiment. Note that the object type determination process shown in FIG. 18 is repeatedly executed at predetermined intervals.

  As shown in FIG. 18, when the object type determination process is started, it is first determined whether or not the detected object is detected for the first time in the detection area (step U1). When the object is detected for the first time (YES), the process proceeds to step U2, and it is determined whether or not the width of the object is equal to or larger than the determination reference value. When the width of the object is less than the determination reference value (NO), it is determined that the object is a pedestrian, and “pedestrian” is recorded in the object type of the management table (step U3). If the width of the object is greater than or equal to the determination reference value (YES), it is determined that the object is a vehicle, and “vehicle” is recorded as the object type in the management table (step U4). After execution of steps U3 and U4, the process proceeds to step U5.

  On the other hand, when the detected object is not the first detected object (“NO” in step U1), the process proceeds to step U5. In step U5, the width of the object detected this time is recorded, and the process proceeds to step U6. In step U6, an average value Wa of the widths of the same object recorded so far is calculated, and the process proceeds to step U7. In Step U7, it is determined whether or not the detected moving speed of the object is equal to or higher than a predetermined speed (for example, 10 km / h). When the moving speed is equal to or higher than the predetermined speed (YES), the process proceeds to Step U8.

  In step U8, a predetermined value α (for example, 10 cm) is added to the average value Wa of the width calculated in step U6, and the value after the addition is replaced with the average value Wa. After step U8, the process proceeds to step U9. If the moving speed is less than the predetermined speed (“NO” in step U7), the process proceeds to step U9. In step U9, it is determined whether or not the average value Wa is greater than or equal to the determination reference value. When the average value Wa is less than the determination reference value (NO), it is determined that the person is a pedestrian, and the management table is updated so that the object type is “pedestrian” (step U10). If the average value Wa is equal to or greater than the determination reference value (YES), it is determined that the vehicle is a vehicle, and the management table is updated so that the object type is “vehicle” (step U11).

As described above, according to the object type determination process of the present embodiment, the object type determination process determines whether the object is a pedestrian or a vehicle based on the detected average width Wa of the object. Even when the width of the object to be changed changes due to the influence of the posture of the object, the type of the object can be accurately determined.
Further, in the present embodiment, when the detected moving speed of the object is equal to or higher than the predetermined speed, the predetermined value α is added to the calculated average value Wa of the width, and then compared with the determination reference value. That is, the pedestrian and the vehicle are discriminated in consideration of not only the width of the object but also its moving speed. In general, pedestrians and vehicles have greatly different moving speeds. Therefore, according to such a discriminating method, the accuracy of discriminating the type of an object is further increased. The possibility is very low.

(Third embodiment)
Hereinafter, a third embodiment of the present invention will be described with reference to FIG.
The alarm control process of the first embodiment is performed independently by the local control device 11 in the detection area where each object to be monitored exists. However, in this case, there is room for improvement in the following points. That is, the warning lamp 9 is attached to the same utility pole 5 as the laser radar device 6. Therefore, when the victim candidate object is positioned in front of the utility pole 5 (traveling direction side), the warning lamp 9 does not enter the field of view of the victim candidate object. Even if the warning lamp 9 is caused to emit light in such a state, the victim candidate object does not notice that. Therefore, in the present embodiment, the local control device 11 in the detection area where each object to be monitored exists cooperates with the other local control devices 11 and the management control device 12 to perform the following alarm control processing. Do.

That is, when the distance between the objects falls within the alarm activation threshold, the local control device 11 determines whether or not the warning light 9 that it controls enters the field of view of the victim candidate object based on the current position of the victim candidate object. Determine whether. And if the local side control apparatus 11 judges that the warning lamp 9 which it controls enters into a visual field, the warning lamp 9 will be light-emitted.
On the other hand, as a result of the above determination, if it is determined that the warning light 9 controlled by itself does not enter the field of view, the on-site control device 11 among the other adjacent on-site control devices 11 is on the direction of travel of the victim candidate object. Data communication is performed with one or both of the local-side control device 11 and the management-side control device 12 located in the area, and the warning lamp 9 located in front of the victim candidate object is instructed to emit light. In this way, it is possible to make the victim candidate object aware of the light emitted from the warning lamp 9, so that the effect of the alarm operation can be maximized.

Further, as shown in FIG. 19, if the arrangement of the local equipment 3 is changed so that the two laser radar devices 6 face each other across the life road 2, the following alarm control processing of the present embodiment will be further performed. It is also possible to make changes such as In FIG. 19, the three on-site equipments 3 are 3A to 3C, respectively, and the signs of the on-site control device 11 and the warning lamp 9 are also changed accordingly.

  In this case, when the distance between the objects falls within the alarm activation threshold, the local control apparatus 11A determines whether the perpetrator candidate object is the left or right side of the victim candidate object based on the current positions of the victim candidate object and the perpetrator candidate object. Determine if you are approaching from the side. When the local control device 11A determines that the perpetrator candidate object is approaching from the right side of the victim candidate object, the local control device 11B, 11C of the adjacent local control devices 11B and 11C located on the right front side of the victim candidate object Data communication is performed with one or both of the control device 11B and the management-side control device 12, and the warning lamp 9B is instructed to emit light. When the local control device 11A determines that the perpetrator candidate object is approaching from the left side of the victim candidate object, the local control device 11C and the management control device 12 located on the left front side of the victim candidate object Data communication is performed with one or both, and an instruction is given to cause the warning lamp 9C to emit light.

  In this way, for example, as shown in FIG. 19, when the perpetrator candidate object (bike) is approaching from the left rear side of the victim candidate object (pedestrian), it is positioned on the front left side of the victim candidate object. The warning light 9C to be emitted emits light. Then, since the line of sight of the victim candidate object is directed to the warning light 9C that emits light, the victim candidate object can pay attention to the left side of itself. Therefore, the possibility of belongings being taken away by the perpetrator candidate object approaching from the rear left side is further reduced.

(Other embodiments)
The present invention is not limited to the embodiments described above and illustrated in the drawings, and the following modifications or expansions are possible.
The data communication between the local side control devices 11 and the data communication between the local side control device 11 and the management side control device 12 are not limited to wired ones via communication lines, and some or all of them are wireless communication. May be. However, when performing wireless communication, it is necessary to take measures to prevent the communication data from being intercepted illegally.

In the imaging control process, it is only necessary to control the operation of the monitoring camera 7 so as to capture an area including at least one of the objects to be monitored. That is, the operation of the monitoring camera 7 may be controlled so as to capture an area including the perpetrator candidate object to be monitored. Because when the perpetrator takes away the victim's belongings (when a snatching crime occurs), the distance between them is very close, so if you are shooting an area that includes at least one of the perpetrator and the victim, Naturally, it is possible to shoot the crime scene of snatching crime.
In the alarm control process, the timing at which the alarm operation is executed is not limited to that determined based on the distance between the objects, and is determined based on the elapsed time from the time when the monitoring target is set, for example. May be. That is, the alarm control process may be a process in which an alarm operation is performed at a predetermined timing after the monitoring target is set.

  The local side control device 11 is not located in its own detection area but in the detection area of another local side control device 11 when the trajectory of the movement schedule of each object set as a monitoring target intersects. There is a high possibility that the crime scene cannot be filmed. Therefore, in such a case, it is preferable that the plurality of on-site control devices 11 and the management-side control device 12 operate in cooperation as follows. That is, the local control device 11 communicates with the other local control devices 11 directly or indirectly through the management control device 12 and gives an instruction to photograph the monitored object. Then, the other on-site control device 11 that has received the instruction controls the operation of the monitoring camera 7 so as to capture an area including any one of the objects to be monitored. In this way, the crime scene of the snatching crime can be more reliably photographed by the monitoring camera 7.

  In the crime occurrence determination process, when the local control device 11 determines that the victim candidate object and the perpetrator candidate object set as monitoring targets have moved to the same position at the same time, the perpetrator candidate object is actually It may be determined that a crime has been committed, that is, a snatching crime has actually occurred.

  In the drawings, 1 is a crime prevention system, 2 is a life road (road), 6 is a laser radar device, 7 is a surveillance camera (imaging device), 8 is an alarm device (alarm device), 9 is a warning light (alarm device), 10 Is an emergency button, 11 is a local control device (control device), and 12 is a management control device (control device).

Claims (7)

A laser radar device that measures a distance to an object using a laser beam, and a plurality of laser radar devices installed along a road, and an image of a predetermined region in a detection area that can be measured by the laser radar device. A security system comprising an imaging device for imaging and a control device for executing various processes based on distance measurement data given from the laser radar device,
The controller is
Using distance measurement data given from the laser radar device, an object information calculation process for calculating the position, width, moving speed, and moving direction of an object existing in the detection area for each predetermined detection period;
Based on the calculated width, an object type determination process for determining whether the object is a pedestrian or a vehicle;
A movement trajectory prediction process for obtaining movement trajectory information representing a future position of an object predicted based on the calculated moving speed and moving direction in time series; and
If the pedestrian and the vehicle are present in the detection area, is there a possibility that the pedestrian and the vehicle may move to the same position at the same time based on the movement trajectory information of the pedestrian and the vehicle If there is a possibility, the pedestrian is determined to be a victim candidate object that can be a victim of snatching crime, and the perpetrator whose vehicle can be a perpetrator of the snatching crime A first monitoring target setting process for determining that the object is a candidate object and setting each of the objects as a monitoring target;
When the monitoring target is set, an imaging control process for controlling the operation of the imaging device so as to capture an area including at least one of the objects to be monitored;
Security system characterized by executing The controller is
When the pedestrian and the vehicle do not exist in the detection area, or when it is determined in the first monitoring target setting process that the pedestrian and the vehicle are not likely to move to the same position at the same time And when there are a plurality of the vehicles in the detection area, there is a possibility that the two vehicles may move to the same position at the same time based on the movement trajectory information of the vehicles. If there is such a possibility, it is determined that a vehicle that is close to the same position among the two vehicles is a victim candidate object, and is present at a position far from the same position. The crime prevention system according to claim 1, wherein a second monitoring target setting process for determining that the vehicle to be perpetrated is a perpetrator candidate object and setting each of the objects as a monitoring target is performed. The controller is
It is determined whether the victim candidate object and the perpetrator candidate object set as the monitoring target have moved to the same position at the same time using the object information calculated by the object information calculation process, and the determination result Crime occurrence determination processing that determines whether or not a snatching crime has occurred,
When it is determined that a snatching crime has occurred, a first perpetrator identification process that identifies that the perpetrator candidate object subject to the determination is a perpetrator of the snatching crime;
Using the object information calculated by the object information calculation process, the perpetrator position tracking process for continuously detecting the position of the identified perpetrator over the detection areas of all the laser radar devices,
The crime prevention system according to claim 1 or 2, wherein the security system is executed. The controller is
In the crime occurrence determination process, when it is determined that the victim candidate object and the perpetrator candidate object have moved to the same position at the same time, the perpetrator candidate object approaches the victim candidate object using the object information. Calculate the speed, the speed and time at which the perpetrator candidate object runs parallel to the victim candidate object, and the speed at which the perpetrator candidate object moves away from the victim candidate object. The crime prevention system according to claim 3, wherein the presence / absence of snatching crime is determined by comparing the respective speeds and estimated values of the respective times when snatching crime occurs. With an emergency button that can be operated by the victim candidate object,
The controller is
Crime occurrence detection processing for detecting that a snatching crime has occurred in response to the operation of the emergency button;
When the occurrence of the snatching crime is detected, the object information calculated by the object information calculation process is used to identify the victim candidate object that has operated the emergency button, and the monitoring target together with the identified victim candidate object A second perpetrator identification process that identifies that the perpetrator candidate object set in is a perpetrator of the snatching crime,
Using the position information calculated by the object information calculation process, the perpetrator position tracking process for continuously detecting the position of the identified perpetrator over the detection areas of all the laser radar devices,
The crime prevention system according to any one of claims 1 to 4, wherein the security system is executed. The imaging control process includes
When a plurality of the monitoring targets are set, a shooting target setting process for obtaining a time at which each object moves to the same position for each of the plurality of monitoring targets and setting the monitoring target with the earliest time as a shooting target Including
6. The operation of the imaging apparatus according to claim 1, wherein the operation of the imaging apparatus is controlled so as to capture an area including at least one of the objects to be monitored set as an imaging target by the imaging target setting process. A crime prevention system according to claim 1. Equipped with an alarm device for executing the alarm action,
The controller is
The alarm control process for controlling the operation of the alarm device so as to perform the alarm operation is executed at a predetermined timing thereafter when the monitoring target is set. The crime prevention system according to one item.

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