JP6140504B2 - Monitoring device, monitoring system - Google Patents

Description

  The present invention relates to a monitoring device and a monitoring system for monitoring a detection area.

  Conventionally, as a method for detecting intrusion into a detection area, for example, as in Patent Document 1, while detecting the movement status of an object, a method for detecting an intrusion of a moving body without detecting an object that has not moved, A method for detecting the intrusion of a moving body by identifying a moving body that matches a predetermined moving condition as in Patent Document 2 has been proposed.

Japanese Patent No. 3011121 JP 2004-185363 A

However, in the case of a method for detecting an object in the detection area regardless of whether it is a stationary body or a moving body (hereinafter referred to as object detection for convenience), it can be detected that the object is present. It was impossible to detect whether an object entered or exited, that is, whether the object newly entered the detection area or originally existed in the detection area.
On the other hand, in the case of a method for detecting an object that satisfies a predetermined moving condition (hereinafter referred to as “moving object detection” for the sake of convenience), it is possible to detect the entry / exit of an object in the detection area. An object that does not meet the movement condition, such as a detected object, an object suddenly appearing in the detection area, or an object left behind, is excluded from the detection target. For this reason, in the moving body detection, it is not possible to detect a moving body that exhibits a behavior different from the assumption such as not meeting a preset movement condition.

However, when object detection and moving object detection are simply combined, it is necessary to always memorize the position of each detected object and determine whether it is an intruder, and it is a moving object. Since it is necessary to perform the determination and the determination of whether or not they are the same mobile body in parallel, there arises a problem that the processing load increases. An increase in processing load leads to an increase in processing time, so that the number of detections per unit time decreases, leading to a decrease in monitoring performance.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a monitoring device that can detect an object other than a moving object to be detected that exists in a detection area without deteriorating monitoring performance. To provide a monitoring system.

According to the first aspect of the present invention, the object detection means for detecting the presence of an object in the detection area and (a) an object moved in the detection area with a predetermined moving condition is “moved” with respect to the detected object. (B) An object that is not determined as a “moving object” among the detected objects is determined as “non-moving object”. (C) A monitoring that includes the vicinity of the object that is determined as a “moving object” A determination unit that sets a range and determines that the object is left when an object that is newly determined to be “other than a moving object” is detected in the monitoring range; and a determination result by the determination unit And a determination means that starts the determination of (b) on condition that the determination of (a) has been performed.

That is, the monitoring device does not perform object detection processing when a moving object is not detected. For this reason, it is possible to monitor the moving object by detecting the moving object in the same manner as in the past for the object detected in the detection area by performing the determination of (a), and the moving object is detected. If not, since the determination of (b) is not started, the processing load is not simply doubled even in a configuration capable of executing both the moving object detection and the object detection.
In addition, when a moving body is detected, “other than moving body” is determined so that an object that does not meet the moving condition and has not been detected in the past can be monitored as “other than moving body”. It becomes. For this reason, even if it is a case where the function similar to the conventional object detection is added to the monitoring apparatus for detecting a moving body, the processing load does not increase significantly. Therefore, the number of detections per unit time does not decrease and the monitoring performance does not decrease. In this case, since the processing load does not increase significantly, the processing circuit does not increase in performance or size.

Each determination described above has the following effects. By performing the determination of (a), an original function of detecting a moving body that enters and exits the detection area can be realized. Further, by performing the determination of (b), an object that does not match the movement condition can be set as a monitoring target. This makes it possible to monitor objects with different movement conditions that cannot be achieved by combining conventional moving object detection and object detection, monitoring objects that have stopped after entering the detection area, monitoring object leaving in the detection area, etc. It is also possible to monitor an object other than the moving object that is the original detection target.
Further, the determination means sets (c) a monitoring range including the vicinity of the object determined as “moving object”, and when an object newly determined as “other than moving object” is detected in the monitoring range, “ It is determined that the object has been left. Thereby, it is possible to detect the object leaving that could not be detected by the conventional moving body detection.
In this case, the object leaving is assumed to be performed by the moving body. That is, even if the entire detection area is not monitored, it is considered that the object leaving can be detected by monitoring the vicinity of the moving body. Therefore, by setting a monitoring range, it is possible to detect object leaving. In this case, it is only necessary to monitor the vicinity of the object, so there is no need to monitor an irrelevant place (such as a place away from the moving object in the detection area), compared to the case where all objects in the detection area are monitored. The processing load can be reduced.

In the invention according to claim 3, when the determination of (b) described above is performed, an object that is not determined as a “moving object” even if a determination processing time required for determining as a “moving object” is exceeded is referred to as a “moving object”. It is determined that it is not.
In the case of detecting a moving body, it has been conventionally determined whether or not an object is a moving body. Then, the monitoring device does not perform a process of determining that the object is not a moving object, but determines that an object that has not been determined to be a moving object is other than a moving object. That is, the monitoring device does not need to perform a special process to determine that it is not a moving object. Therefore, an increase in processing load can be suppressed.

In the invention according to claim 4 , the determination means periodically performs the determination of (b) even when the determination of (a) is not performed. By periodically detecting an object in the detection area, it is possible to detect an intrusion of an object even when there is no moving body, thereby preventing a decrease in monitoring performance. Further, since object detection is not performed continuously, that is, object detection is not always performed, it is possible to prevent an increase in processing load. In addition, for example, when the area sensor is configured with a so-called laser rangefinder, it is possible to detect an object that does not involve detection of a moving object such as an object that has entered from a position lower than the installation position or an object that has been thrown into the detection area. Monitoring performance can be improved.

In the invention according to claim 2 , the determination means determines (d) “moving body stop” when the object determined as “moving body” is subsequently determined as “other than the moving body”. An object determined as a “moving object” after being determined as “moving object stop” is determined as a “removing object”. (F) In the vicinity of a position where the object determined as “removing object” resumes moving. Further, it is further determined that “object leaving” is determined when there is an object whose state determined to be “other than a moving object” exceeds a predetermined leaving reference time.
In this case, by performing the determination of (d), since the object is not a moving object, an object that has been excluded from the object of moving object detection in the past can be set as a monitoring object. Further, by performing the determination of (e), it can be grasped that the object determined as the “removable body” was originally the “moving body”, so that one object is erroneously recognized as two objects. It is possible to prevent such a situation that the amount of data and the load increase due to the possibility that the two objects are processed. Further, by performing the determination of (f), it is possible to deal with object leaving in a detection area that cannot be handled simply by combining object detection and moving body detection.

In the invention according to claim 5 , the determination means determines that (g) “moving body staying” is determined when the state determined as “moving body stop” exceeds a predetermined staying reference time. Do further. As a result, it is possible to monitor an object that has conventionally been excluded from detection due to being stopped after entering the detection area and not being a moving object.

In the invention according to claim 6, the object for which the above determinations (a), (d) and (e) have been performed, the object for which the above determinations (a), (d) and (g) have been performed, The objects for which the above determinations (a), (d), (e), and (g) have been made are determined as the same object.
In the case of the conventional moving body detection, if it is not a moving body, it is excluded from detection. Therefore, when the moving body stops and moves again, two moving bodies are detected. In that case, since the amount of data to be managed increases, the processing circuit may be increased in size. Therefore, when the above determinations (a), (d), (e), (g), etc. are made, managing these objects as the same object will unnecessarily increase the amount of data. Is suppressed, and an increase in the size of the processing circuit can be prevented. In addition, before the determination of (d) is performed, the determination of (b) is also performed.

According to the seventh aspect of the present invention, the determination result by the determination means is output in an identifiable manner. As a result, it is possible to easily understand what kind of object is present in the detection area, and for example, if “object leaving” is output, check whether it is a suspicious object, etc. Therefore, it is possible to realize a monitoring device that is practically useful.

In the invention of the monitoring system according to the eighth aspect, it is possible to track the moving body that matches the moving condition, and to image the object based on the determination result output from the monitoring device. Thereby, in addition to the mobile body that is the original monitoring target, it is possible to monitor other objects existing in the detection area. In this case, an object that has a behavior different from that of the “moving object” that is the monitoring target, that is, an object that is supposed to take some action in the detection area can be set as the monitoring target. Can be improved. In addition, since not all objects present in the detection area are monitored, the processing load does not increase unnecessarily.

The figure which shows typically the detection area which the monitoring apparatus and monitoring system by one Embodiment make into the monitoring object A diagram schematically showing the configuration of the monitoring device and the monitoring system Diagram showing the flow of monitoring processing executed by the monitoring device The figure which shows the determination state with respect to the moving object MA The figure which shows the determination state with respect to the moving object MB The figure which shows an example of the condition determined with a mobile body staying The figure which shows an example of the condition determined with object leaving

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, a monitoring system 1 to which the control method of the present embodiment is applied includes an area sensor device 2 (corresponding to a monitoring device), a camera device 3 (corresponding to an imaging device), and a monitor device 4. Has been. The area sensor device 2 scans the scanning area R0 in the direction of the arrow S shown in FIG. 1 to detect an object, and a detection area R1 to be monitored is set in the scanning area R0. . In this detection area R1, a range excluding the exclusion area R2 corresponding to the fixed object K that is permanently installed in the detection area R1 is set. A plurality of exclusion areas R2 may be set.

As shown in FIG. 2, the area sensor device 2 includes a control unit 10, a storage unit 11, an output unit 12, a laser scanning unit 13, an object detection unit 14, a determination unit 15, and the like. The control unit 10 is constituted by a microcomputer having a CPU, ROM, RAM, and the like (not shown), and controls the laser scanning unit 13 and the like by executing a computer program stored in the storage unit 11 and the like. In the present embodiment, the object detection unit 14 and the determination unit 15 are realized by software by a computer program executed by the control unit 10.
The storage unit 11 includes a memory device (not shown) or a recording device such as an HDD, and stores various pieces of information such as a computer program and distance measurement information such as a distance to an object detected in the detection area R1. . The output unit 12 outputs position information about the object detected by the object detection unit 14, position information such as a scanning angle, and a determination result described later by the determination unit 15.

  The laser scanning unit 13 includes a laser irradiation unit 13a and a mirror 13b that reflects the laser light emitted from the laser irradiation unit 13a toward the scanning area R0 and receives the light reflected by the object in the scanning area R0. A motor 13c that rotates and drives the mirror 13b with an angular resolution and a scanning cycle, and a laser light receiving unit 13d that receives reflected light. The laser light emitted from the laser irradiation unit 13a is reflected by an object existing in the scanning area R0 (in the case of FIG. 2, for example, the moving object MA or MB), and then received by the laser light receiving unit 13d. It is detected as a detection point indicating presence. The configuration of the laser scanning unit 13 shown in FIG. 2 is an example, and other configurations such as a configuration for driving the laser irradiation unit 13a itself (that is, a configuration not using the mirror 13b at the time of irradiation) are possible. Good.

  The object detection unit 14 associates whether the detection point is due to the same object based on distance measurement information including at least the distance to the detection point and the scanning angle when the detection point is detected by the laser scanning unit 13. An object is detected by a known method such as. Note that the object detection unit 14 merely performs “detection” of an object, and does not perform conventional “object detection” in which an identification number or the like is assigned to the object for management.

Although the details will be described later, the determination unit 15 performs the following determinations (a) to (g).
(A) Among the objects detected by the object detection unit 14, an object that has moved in the detection area R1 under a predetermined movement condition is determined as a “moving object”. In this case, as the movement condition, a case where the movement vector of the object exceeds a predetermined determination value, a case where the size of the object is equal to or greater than a predetermined value, or the like is set. Note that a plurality of objects may be determined as “moving objects”, and a plurality of movement conditions may be set.

  (B) Among the objects detected by the object detection unit 14, an object that has not been determined as a “moving object” is determined as “other than a moving object”. More precisely, the determination unit 15 is determined as a “moving object” even if it exceeds the determination processing time (ta1 shown in FIG. 4 and the like described later) required to determine that it is a “moving object” in (a). The object that does not exist is determined as “other than a moving object”. For this reason, the time until it is determined as “other than a moving object” (ta2 shown in FIG. 5 described later) is always longer than the determination processing time. The determination of (b) is started on the condition that the determination of (a) described above has been performed.

(C) A monitoring range including the vicinity of the object determined as “moving object” is set, and when an object newly determined as “other than moving object” is detected in the monitoring range, it is determined as “object leaving”. To do.
(D) When the object determined as “moving object” is subsequently determined as “other than moving object”, it is determined as “moving object stop”. In this case, the “moving body” located closest within the predetermined range is set as an object to be determined as “moving body stop”.
(E) An object that has been determined as “moving body” after being determined as “moving body stop” is determined as “removable body”.
(F) When there is an object in which the state determined as “non-moving object” exceeds the predetermined reference time in the vicinity of the position where the object determined to be “removable object” resumes moving It is determined that “object left behind”.

(G) When the state determined as “moving body stop” exceeds a predetermined retention reference time, it is determined as “moving body retention”.
These determinations are the presence information of the object in the detection area (information related to the object, which is “moving object”, “non-moving object”, “moving object stop”, “moving object retention”, “removing object” It can also be said that the change of the information) indicating which of the “body” is determined.
The determination means includes the object for which the determinations (a), (d), and (e) are performed, the object for which the determinations (a), (d), and (g) are performed, and the above The objects subjected to the determinations (a), (d), (e), and (g) are determined to be the same object. Of course, the determination of (b) is also performed before the determination of (d).

  The camera device 3 includes an imaging camera 20 and a movable base 21. The imaging camera 20 is configured to be able to track and image an object determined to be a “moving body” in the detection area R1 based on distance measurement information output from the area sensor device 2 and the like. In addition, when tracking an object, the camera device 3 can magnify the object to an extent that can be identified by, for example, a monitor, and can capture the entire detection area R1 at a wide angle. For example, if the object is a person, it means that the face can be recognized, and if the object is a vehicle, it means that the vehicle type, license plate, driver's face, etc. can be recognized. . In this way, tracking the change in the position of the object and changing the direction of the imaging camera 20 and enlarging and imaging the object correspond to tracking.

  The monitor device 4 displays an image captured by the camera device 3. The monitor device 4 is provided in a security room (not shown), for example, and is monitored by a supervisor such as a security guard.

Next, the operation of the above configuration will be described.
The area sensor device 2 is executing the monitoring process shown in FIG. 3, and when the process is started, the detection area R1 is scanned (S1) and an object in the detection area R1 is detected. Subsequently, it is determined whether or not a moving body has been detected (S2), that is, the determination of (a) described above is performed, and if no moving body is detected (S2: NO), the process proceeds to step S1. And repeat the scan. On the other hand, when the area sensor device 2 detects a moving body (S2: YES), the area sensor device 2 executes a determination process (S3). In this determination process, the determinations (b) to (g) described above are performed.

  Here, for example, as shown in FIG. 1, it is assumed that the moving object MA and the moving object MB enter the scanning area R0. In FIG. 1, t1 to t8 attached to the moving object MA indicate time, and the position of the moving object MA at each time is schematically shown. However, the monitoring process is repeatedly executed even between the times t1 and t2. Hereinafter, for simplification of description, processing for the moving object MA and the moving object MB shown in FIG. 1 will be described individually. As for the moving object MB, three patterns of “other than moving object”, “moving object stay”, and “object leaving” will be described.

<Processing for moving object MA>
At time t1, the moving object MA exists outside the detection area R1 although it exists in the scanning area R0. For this reason, the area sensor device 2 has not yet detected an object in the determination process in step S3. Therefore, as shown in FIG. 4, “object detection” indicating the state of whether or not an object has been detected is OFF at time t1. This “object detection” indicates an object detection state by turning on when an object is detected and turning off when no object is detected. Note that “moving object detection” shown in FIG. 4 is ON when the moving object is detected by the determination of (a) described above, and “non-moving object” is determined by the determination of (b) described above. Is turned ON in a state where “other than a moving object” is detected.

In the case of FIG. 4, since the moving object MA exists in the scanning area R0 at the time t1, the moving speed VA is calculated.
When there is no object in the detection area R1 as at this time t1, the area sensor device 2 has no object determined as “moving object” in the monitoring process shown in FIG. 3 (S4: NO). There are no objects determined as “other than moving objects” (S6: NO), no objects determined as “moving object retention” (S8: NO), and no objects determined as “object leaving”. (S10: NO), the process proceeds to step S1 to start the next scan.

  On the other hand, when the moving object MA enters the detection area R1 at time t2 as shown in FIG. 1, the area sensor device 2 detects the object (moving object MA), and as shown in FIG. The object detection is turned on. Then, in the monitoring process performed after time t2, the moving object detection is turned on because it is determined as “moving object” by the determination of (a) described above in the determination process of step S3. At this time, the time ta1 from the time t2 until the moving body detection is turned on corresponds to the above-described determination processing time. This determination processing time is the time required until it can be confirmed that the object is moving, and corresponds to, for example, several scanning times.

  At this time, the area sensor device 2 outputs the presence of the “moving body” because there is an object determined as the “moving body” (S4: YES) in the monitoring process shown in FIG. And the moving body is tracked by the camera device 3 (S5). Thereby, an object (moving object MA) that has entered the detection area R1 can be monitored. At this time, there is no object determined to be “other than the moving body” (S6: NO), no object is determined to be “moving body retention” (S8: NO), and it is determined as “object leaving”. Since there is no object (S10: NO), the process proceeds to step S1 to start the next scanning.

Now, as shown in FIG. 1, the moving object MA is stopped between the times t4 and t5. In this case, in the determination process of step S3, the area sensor device 2 determines that the moving object MA is not a “moving object” because the moving object MA has stopped, and determines that the moving object MA is not a “moving object”. It is determined that the object is an object other than a moving object. For this reason, as shown in FIG. 4, at the time t4, the moving body detection is turned off, and other than the moving body is turned on. Then, in the monitoring process shown in FIG. 5, since it is determined that there is an object determined as “non-moving body” (S6: YES), the presence of “non-moving body” is output, and “other than moving body” is output. The camera device 3 captures an image of the object determined as “(S7)”. This makes it possible to monitor an object that is not a “moving object” that has stopped after entering the detection area R1.
As shown in FIG. 1, the moving object MA stops during time t4 to t5 and then resumes moving at time t5. For this reason, in the monitoring process shown in FIG. 5, since it is determined again as a “moving body” (S4: YES), the presence of the “moving body” is output and the moving body is tracked by the camera device 3 ( S5). In this case, as shown in FIG. 4, when the determination processing time has elapsed from time t5, the moving body detection is turned on, and other than the moving body is turned off.

Further, the moving object MA is determined to be a “removable body” by performing the above-described determination (e) in step S3 of the monitoring process performed after time t5. That is, the moving object MA is determined to be the same object because the determination (a) described above, the determination (d) described above, and the determination (e) described above are performed. In other words, the area sensor device 2 prevents the same object from being erroneously determined as a different object by determining that it is a “removable body”.
Since this moving object MA has left the detection area R1 at time t7, as shown in FIG. 4, object detection, moving object detection, and other than the moving object are turned off. Note that the moving speed of the moving object MA can be calculated because it does not go out of the scanning area R0.

<Processing on Moving Object MB 1: Determination of “Other than Moving Object”>
The moving object MB is assumed to be an object that has been thrown into the detection area R1 after time t2 or has entered from outside the detection range of the area sensor device 2 (for example, a person who has come across the floor and has stood up in the detection area R1). As shown in FIG. 1, the state is detected after time t3. In this case, as shown in FIG. 5, since the moving object MB does not exist at the time t1, the object detection is OFF, while the monitoring process shown in FIG. 5 is repeated, and the moving object MB is an object. The object detection is ON at the time t3 specified as being present.
As shown in FIG. 1, the moving object MB is stopped between times t3 and t4. In the monitoring process executed after time t3 when it is determined to be an object (but before time t4), “moving” "Body" is not determined. In other words, the moving object MB is not determined as a “moving object” even if the determination processing time elapses after it is detected as an object. For this reason, the moving object MB is determined as “other than the moving object” by the determination in (b) described above. Therefore, as shown in FIG. 5, when ta2 has elapsed from time t3, all but the moving body are ON.

In this case, the area sensor device 2 outputs the presence of “non-moving body” and “moving” since it is determined that there is “non-moving body” in the monitoring process shown in FIG. 3 (S6: YES). An object determined as “other than a body” (that is, the moving object MB) is imaged by the camera device 3 (S7). As a result, it is possible to start monitoring an object that has suddenly appeared in the detection area R1 like the moving object MB and that has not been a monitoring target because it is not a “moving object” at an early stage after detection. .
Since this moving object MB has started to move at time t4, it is determined as “moving object” when the determination processing time has elapsed from time t4, and the moving object detection is turned on as shown in FIG. Other than the moving body is OFF. In this case, in the monitoring process shown in FIG. 3, since there is an object determined as “moving body” (S4: YES), the presence of the “moving body” is output and the camera device 3 tracks (S5). . Thereby, the moving object MB is continuously monitored.

<Processing for Moving Object MB 2: Determination of “Moving Object Retention”>
Next, the determination of “moving body stay” will be described with reference to FIG.
FIG. 6 illustrates a situation where the moving object MB dumped from the moving object MA after time t2 stays in the detection area R1. In this case, when detecting the moving object MB after time t2, the area sensor device 2 determines that the moving object MB is a “moving body” and takes an image with the camera device 3 (in the monitoring process of FIG. 3). Step S4: YES and S5).
Now, it is assumed that the moving object MB continues to stop until the time t5 and then continues to stop at that time after the time t5. At this time, the area sensor device 2 determines that the moving object MB is “non-moving body” because the moving object MB is stopped, and since it has not moved thereafter, in other words, the state determined as “moving body stopped” is in advance. Since the predetermined residence reference time is exceeded, it is determined as “moving body residence” in step S3 of the monitoring process shown in FIG. In addition, what is necessary is just to set residence reference time suitably according to the moving body etc. to assume.

  The area sensor device 2 outputs an occurrence of “moving body stay” and an object determined to be “moving body stay” since there is an object determined to be “moving body stay” (S8: YES). Is imaged by the camera device 3 (S9). Thereby, after entering the detection area R1, it is possible to monitor an object that remains on the spot. That is, since it is stopped, it is not determined as a “moving body”, and an object that has been excluded from the target can be monitored.

<Processing for Moving Object MB 3: Determination of “Leave Object”>
Next, the determination of “moving body leaving” will be described with reference to FIG.
FIG. 7 illustrates a situation in which the moving object MA that has been stopped between the times t4 and t5 moves with the moving object MB left behind. In the example of FIG. 7, the moving object MB does not actually move, but will be described as a “moving object” for convenience.
In the situation of FIG. 7, the moving object MA continues to move from time t2 when it entered the detection area R1 (determined as “moving body”), and stops during time t4 to t5 (“moving” The movement is resumed at time t5 (determined as “removable body”).

  On the other hand, the moving object MB is detected in the vicinity of the moving object MA after time t5 when the moving object MA resumes moving. In this case, since the moving object MB is not moving, the area sensor device 2 determines that the moving object MB is “other than a moving body” and takes an image with the camera device 3 (step S6 of the monitoring process in FIG. 3: YES, And S7). Since the moving object MB continues to stay in place after time t5, it can be said that the moving object MB does not move even after the leaving reference time has elapsed. In addition, what is necessary is just to set the leaving reference time suitably.

That is, in the situation of FIG. 7, the area sensor device 2 is in a state where it is determined as “non-moving object” in the vicinity of the position where the object (moving object MA) determined to be “removable object” has resumed movement. Since there is an object (moving object MB) that exceeds a predetermined leaving reference time, it is determined to be “object leaving” (determination (f) described above). The area sensor device 2 outputs an occurrence of “object leaving” and an object determined to be “object leaving” because there is an object determined to be “object leaving” (S10: YES). Is imaged by the camera device 3 (S11). Thereby, the object (namely, moving object MB) which the moving object MA left behind can be made into the monitoring object. Note that the “object leaving” includes not only an object that has been intentionally left behind, but also an object that has been inadvertently left behind.
As described above, the area sensor device 2 does not manage all the objects existing in the detection area R1, but determines whether the object is a “moving object” or “other than a moving object”, thereby detecting the detection area R1. Monitoring.

According to this embodiment described above, the following effects can be obtained.
The area sensor device 2 detects an object existing in the detection area R1 and performs the moving object detection on the object detected in the detection area R1 by performing the determination of (a) described above. By performing the determination of (b), an object determined to be other than a moving body can be set as a monitoring target. At this time, the area sensor device 2 starts the determination for object detection triggered by the detection of the moving body. That is, when the moving body is not detected, the determination of (b) is not started. Even when both moving object detection and object detection are performed, the processing load is not simply doubled.

  Further, when the area sensor device 2 detects a moving body, the area sensor device 2 determines “other than the moving body” to monitor an object that does not meet the moving condition and has not been detected in the past as “other than the moving body”. It becomes possible to target. For this reason, even if it is a case where the function similar to the conventional object detection is added to the monitoring apparatus for detecting a moving body, the processing load does not increase significantly. Therefore, the number of detections per unit time does not decrease and the monitoring performance does not decrease. In this case, since the processing load does not increase significantly, the processing circuit does not increase in performance or size.

  In this case, by performing the determination (a) described above, it is possible to first realize the original function of detecting a moving body that enters and exits the detection area R1. Further, by performing the determination of (b), it is possible to set an object that is not subject to the detection of the moving body in the past without matching the moving condition for determining the moving body. Further, by performing the determination of (d), it is possible to set an object that has not been a target of moving body detection since it is not a moving body as a monitoring target. In addition, by performing the determination of (e), it can be understood that the object determined as the “removable object” was originally “moving object”, and the single object is erroneously recognized as two objects. And the increase in the amount of data and load due to two objects being processed. Further, by performing the determination of (f), it is possible to cope with the object leaving in the detection area R1 that cannot be handled simply by combining the object detection and the moving body detection. Further, by performing the determination of (g), it is possible to set an object that is not a detection target in the past because it stops after entering the detection area R1 and is no longer a moving object, as a monitoring target.

As a result, the area sensor device 2 can monitor objects with different movement conditions that cannot be achieved by combining conventional moving body detection and object detection, monitor objects that have stopped after entering the detection area, It is also possible to monitor an object other than a moving body that is an original detection target, such as monitoring of object leaving.
The area sensor device 2 determines that an object that has not been determined as a “moving object” is “other than a moving object” even if the determination processing time required for determining it as a “moving object” is exceeded. In this case, since it is conventionally determined whether or not the object is a moving body, the monitoring device may simply determine “other than the moving body” if it is not “moving body”. That is, since it is not necessary to perform a special process to determine “other than a moving object”, it is possible to suppress an increase in the processing load.

The area sensor device 2 includes the object for which the determinations (a), (d), and (e) described above are performed, the object for which the determinations (a), (d), and (g) are performed, or ( The objects for which a), (d), (e), and (g) have been determined are determined to be the same object. As a result, even if the moving body stops in the detection area R1 and moves again, one object is not erroneously detected as two moving bodies, and the amount of data to be managed increases. Can be prevented. Therefore, the monitoring accuracy can be improved and the processing circuit is not increased in size.
Since the determination result of each determination described above is output, it is possible to easily grasp what kind of object exists in the detection area R1, and for example, when "object leaving" is output A practically useful area sensor device 2 can be realized, such as being able to take early measures such as checking whether the object is a suspicious object.

Based on the determination result output from the area sensor device 2, the monitoring system 1 is determined as an object determined as “non-moving object”, an object determined as “moving object retention”, or “object leaving”. Since the captured object is imaged and displayed on the monitor device 4, in addition to the mobile object that is the original monitoring target, other objects existing in the detection area R1 can be monitored. In this case, since the object to be imaged is an object that exhibits a behavior different from that of the “moving object” that is the monitoring target, that is, an object that is supposed to take some action in the detection area R1, the monitoring performance Can be improved. In addition, since not all objects existing in the detection area R1 are monitored, the processing load is not increased unnecessarily. Of course, an object determined as a “moving object” is also a tracking target.
Further, by using such a monitoring system 1 and area sensor device 2, each object can be identified even when there are a plurality of objects, and the quality of crime prevention and monitoring services can be improved. In addition, for example, it is possible to deal with applications such as monitoring the doorway and counting the number of visitors.

(Other embodiments)
The present invention is not limited to the one exemplified in the embodiment, and can be modified or expanded as follows, for example.
In the embodiment, the configuration of outputting (notifying) when “moving body” or “other than moving body” is exemplified, but it may be configured to output in a different manner for each determination result. For example, if the monitor device 4 is provided, if the object is a “moving object”, the object is displayed in blue, for example. If it is “other than a moving object”, the object is displayed in yellow, for example, If there is, it is conceivable to output the determination result in an identifiable manner, for example, indicating the object in red.

In this case, when the monitor device 4 is not provided, for example, it may be possible to vary the sound of voice output and the message content for each determination result. The output destination of the determination result may be a large-capacity storage device that can store measurement result data, captured images, and the like for a certain period.
In the embodiment, for simplification of description, the configuration in which all the determinations (a) to (g) described above are performed has been described. However, it is determined only whether the object is a “moving object” or “other than a moving object”. A configuration (that is, a configuration in which the determinations of (a) and (b) are performed) may be used, and in that case, it may be output so that it can be identified whether it is a “moving body” or “other than a moving body”. In addition, the determination of (a), (b), and (c) may be performed, and in that case, which determination result “moving object”, “other than moving object”, or “object leaving” was obtained. May be output so as to be identifiable. Moreover, it is good also as a structure which detects an object leaving by one determination of (c) or (f) which combines each determination.
In one embodiment, the determination result is output in the case of “moving object”, “other than moving object”, “moving object staying”, and “object leaving”, but each of the above (a) to (g) You may comprise so that all the determination results of determination may be output. Of course, you may output them so that identification is possible.

  Even if a monitoring range is set that includes the vicinity of an object that has been determined as a “moving object,” and an object that has been newly determined to be “other than a moving object” is detected within that monitoring range, Good. That is, a range for monitoring the existence state of an object is set in the vicinity of the moving body, and when a new object other than the moving body is detected in the monitoring range after the moving body is moved, for example, You may decide to leave. As a result, the object leaving can be detected and the vicinity of the object only needs to be monitored, so there is no need to monitor an irrelevant place (such as a place away from the moving body in the detection area). The processing load can be reduced compared to the case of monitoring all objects in the detection area. In this case, if the monitoring range is set so as to include the trajectory of the moving body, “object leaving” can be detected more reliably.

  In one embodiment, the determination of (b) is performed on the condition that the determination of (a) is performed. However, even when there is no moving object, the intrusion detection of the object of (b) is periodically performed. May be. In this case, it is possible to prevent the deterioration of the monitoring performance by enabling the object detection, and it is possible to reduce the processing load since the continuous object detection is not performed. Further, when the area sensor device 2 is configured by a laser rangefinder as in the embodiment, it is accompanied by detection of a moving body such as an object that has entered from a position lower than its installation position or an object that has been thrown into a detection area. Even an object that is not present can be detected, and the monitoring performance can be improved.

In the determination of (f) described above, when there is an object whose state determined as “non-moving object” exceeds a predetermined reference time, it is determined as “object leaving”, but the time condition is set. If the object that has not exceeded the reference time is determined to be “moving object retention”, the object whose existence state has changed in the vicinity of the moving object (particularly, the existence state has changed after the moving object has moved) (Object) may be determined as “object leaving”. Thus, monitoring performance can be improved by monitoring an object based on a change in presence information. In this case, the above-described monitoring range may be set.
In one embodiment, all objects determined as “moving objects”, objects determined as “non-moving objects”, objects determined as “moving object retention”, and objects determined as “object leaving” are all imaged. However, it may be configured to capture an image only when any one determination result is obtained. Further, an object that is determined as “moving body stop” or an object that is determined as “removable body” may be captured.

In one embodiment, a configuration in which an object is detected by a so-called laser distance meter is illustrated, but the object may be detected by an imaging camera or the like. In the case of a laser rangefinder, for example, a position at a certain height from the ground is scanned horizontally. For example, there is a possibility that an object that has been dumped on the ground may not be detected. This is because an imaging means can detect an object present in the detection area R1 regardless of the height at which it is installed.
You may make it detect a mobile body and an object according to the change of the measurement data in a detection area. That is, the previous measurement data obtained when the detection area is scanned may be compared with the current measurement data, and detection may be started when a change occurs.

  In the drawings, 1 is a monitoring system, 2 is an area sensor device (monitoring device), 3 is a camera device (imaging device), 4 is a monitor device, 14 is an object detection unit (object detection unit), and 15 is a determination unit (determination unit). ), R1 indicates a detection area.

Claims (8)

Object detection means for detecting the presence of an object in the detection area;
Determination means for performing the following determinations (a) , (b) and (c) ;
(A) An object that has moved in the detection area under a predetermined moving condition is determined as a “moving object”.
(B) Of the detected objects, an object that has not been determined as a “moving object” is determined as “other than a moving object”.
(C) A monitoring range including the vicinity of the object determined as “moving object” is set, and when an object newly determined as “other than moving object” is detected in the monitoring range, it is determined as “object leaving”. To do.
An output means for outputting a determination result by the determination means;
With
The monitoring device, wherein the determination unit starts the determination of (b) on the condition that the determination of (a) is performed. Object detection means for detecting the presence of an object in the detection area;
Determination means for determining the following (a), (b), (d), (e) and (f);
(A) An object that has moved in the detection area under a predetermined moving condition is determined as a “moving object”.
(B) Of the detected objects, an object that has not been determined as a “moving object” is determined as “other than a moving object”.
(D) When the object determined as “moving object” is subsequently determined as “other than moving object”, it is determined as “moving object stop”.
(E) An object that has been determined as “moving body” after being determined as “moving body stop” is determined as “removable body”.
(F) When there is an object in which the state determined as “non-moving object” exceeds the predetermined reference time in the vicinity of the position where the object determined to be “removable object” resumes moving It is determined that “object left behind”.
An output means for outputting a determination result by the determination means;
With
The monitoring device, wherein the determination unit starts the determination of (b) on the condition that the determination of (a) is performed. In the determination of (b), the determination unit determines that an object that has not been determined as a “moving object” even after a determination processing time required for determining as a “moving object” is “other than a moving object”. The monitoring device according to claim 1 or 2, wherein 4. The determination unit according to claim 1, wherein the determination unit periodically performs the determination of (b) even when the determination of (a) is not performed . 5. Monitoring device. The determination means further performs the following determination (g).
(G) When the state determined as “moving body stop” exceeds a predetermined retention reference time, it is determined as “moving body retention”.
The monitoring apparatus according to claim 2. The determination means is the object for which the determination of (a), (d), (e) has been performed, the object for which the determination of (a), (d), (g) has been performed, or the above (a) 6. The monitoring apparatus according to claim 5, wherein the objects for which determinations of (d), (e), and (g) have been made are determined to be the same object and managed. The monitoring device according to claim 1, wherein the output unit outputs the determination result of the determination unit in an identifiable manner. A monitoring device according to any one of claims 1 to 7;
A movable imaging device capable of tracking and imaging an object determined to be a “moving body” by the monitoring device;
A monitor device for displaying an imaging result of the imaging device,
The imaging system captures an object determined as “other than a moving object” based on a determination result output from the monitoring device.

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