JP6195447B2 - Shooting system - Google Patents

Description

  The present invention relates to an imaging system that images a suspicious person who runs away from a building from a flying robot, and more particularly, to an imaging system that appropriately determines and shoots a suspicious person who runs away.

2. Description of the Related Art Conventionally, a monitoring system has been proposed in which various sensors are installed in a building and its surrounding monitoring area, and when the sensor detects an abnormality, the mobile robot moves to the place where the abnormality has occurred and images the place.
For example, Patent Document 1 discloses a monitoring system in which a ground-traveling mobile robot moves to a place where an abnormality occurs and images an abnormal situation based on signals from a sensor that detects a fire or a sensor that detects an intruder. It is disclosed. Such a monitoring system may monitor a wide monitoring area such as a factory or a shopping mall where a parking lot is provided. In the system of Patent Document 1, the mobile robot travels to a place where the sensor detects an abnormality, and performs imaging of the place where the abnormality has occurred, notification to the monitoring center, and the like.

JP 2009-181270 A

By the way, if an intruder trying to escape can be photographed, it will be useful information for subsequent investigations. However, in the conventional monitoring system, a suspicious person who escapes and a legitimate user such as a building user or a guard are not distinguished. For this reason, there is a problem that it is difficult to focus on the suspicious person who escapes from the mobile robot.

In addition, since it is difficult to take a bird's-eye view of a surveillance area with a ground-traveling mobile robot, the shooting range is narrower than that of a flying robot, making it difficult to photograph multiple people. It may happen that the security guards and the like are mistakenly photographed as suspicious persons, and the suspicious person who escapes cannot be photographed.

  Accordingly, an object of the present invention is to realize an imaging system that can quickly photograph a suspicious person by using a flying robot to determine a person who has emerged from a building where an abnormality in a monitoring area has occurred as a suspicious person.

In order to achieve such an object, the present invention provides an object sensor that measures an object position in a monitoring space of a monitoring area, a sensor in a building that detects intrusion into a building in the monitoring area , and a monitoring space that has an imaging function. a flying robot can fly, a shooting system and a control unit for flight control at least flying robots to the target position, the control unit, representing a monitoring region is divided into at least the building and the building outside A storage unit for storing the monitoring space map, a moving object is detected from a change in the object position measured by the object sensor, an object sensor signal analyzing means for tracking the moving object on the monitoring space map, and a monitoring area is warned. during security set mode, after the building sensor detects an intrusion into the construction shop, the moving object being tracked by the object sensor signal analyzing means superintendent When it is detected that the from the building space map has moved to the outside of the building, the moving object determines that a suspicious person, the security release mode in which no alarm monitoring area, a suspicious person does not determine the moving object and a suspicious person A determination unit, a flight control unit that sets a position where the current position of the suspicious person can be photographed from the sky as a target position, and causes the flying robot to fly to the target position; and an output unit that outputs an image captured by the flying robot. An imaging system is provided.

  Thereby, after detecting the intrusion to a building, this invention can determine the person who came out of the building as a suspicious person, and can image | photograph while tracking a suspicious person with a flying robot.

The imaging system, the building sensor detects an intrusion into the construction shop, listening on that sets the predetermined overhead positions can be taken with overhead the outside of the building to the target position, and flying to the overhead position It is preferable to continue the flight.

  Thereby, when a suspicious person escapes from a building, photography of a suspicious person becomes possible more rapidly.

  According to the present invention, the flying robot can quickly photograph the suspicious person who runs away.

Illustration explaining the flying image of a flying robot Diagram showing the detection area of the laser sensor Overall configuration diagram of the monitoring system Functional block diagram of security equipment Functional block diagram of the robot control module Functional block diagram of a flying robot Control flow of a flying robot triggered by building intrusion detection

  Hereinafter, an embodiment in which a photographing system according to the present invention is applied to a monitoring system will be described.

FIG. 3 is a diagram schematically illustrating the overall configuration of the monitoring system 1. The monitoring system 1 includes a security device 2, a flying robot 3, a laser sensor 4, a building sensor 5 installed in a monitoring area E, and a center device 6 installed in a monitoring center connected via a network. ing. The center device 6 is connected to the security device 2 via an IP network, receives an image captured by the flying robot 3 from the security device 2, a detection signal from the sensor 5 in the building, and the like and displays it on the monitor. The monitor looks at this monitor, grasps the status of the monitoring area E, and executes an appropriate response. Further, although the network is described as an IP network, the network is not limited to this as long as there is no problem in image transmission / reception such as a general public network or a mobile phone network.

Here, with reference to FIG. 1, the outline of the flight control of the flying robot 3 in the monitoring system 1 is demonstrated. FIG. 1 shows a state in which each device is arranged in a monitoring area E surrounded by a kite and the flying robot 3 is flight-controlled. A security device 2 is installed inside the building B in the monitoring area E shown in FIG. The security device 2 is a sensor 5a, 5b, 5c, 5d, 5e, 5f, a monitoring area E installed in an appropriate place for detecting an intruder into the building B, a parking lot, etc. Laser sensors 4-1 and 4-2 are connected to the detection area outside the building B, respectively.

  FIG. 1A shows a suspicious person entering the building B through a window. When the security device 2 receives the intrusion detection signal from the in-building sensor 5f installed on the window, the security device 2 notifies the center device 6 of the monitoring center of an abnormal signal indicating that the intruder has entered the building. Next, the security device 2 controls the flying robot 3 to perform a stand-by flight at a high-altitude bird's-eye position where the suspicious person's escape can be seen from a bird's-eye view. FIG. 1A shows a state in which the flying robot 3 is on standby.

  FIG. 1B shows a state in which the flying robot 3 is tracking and photographing the suspicious person who is escaping from the building B. Next, when the security device 2 detects that a person has come out of the building B based on a signal from the laser sensor 4-2, the security device 2 tracks the suspicious person who has left the building B with respect to the flying robot 3. While shooting.

Next, the flying robot 3 will be described. The flying robot 3 receives a wireless flight control signal from the security device 2, flies while photographing to a predetermined target position, and transmits the photographed image to the security device 2. FIG. 6 is a diagram showing functional blocks of the flying robot 3.

The flying robot 3 includes an antenna 31 for performing wireless communication with the security device 2, four rotors 32 for flying such as ascending / descending / turning direction / advancing, a motor for providing driving force to the rotor 32, and the like. A rotor drive unit 33, an altitude sensor 34 for projecting and receiving a laser beam vertically below to measure the current altitude of the flying robot 3, and a distance measuring sensor for projecting and receiving a laser beam in the horizontal direction and surroundings to measure the surrounding situation of the flying robot 3 35, a camera 36 that captures a color image of the front of the flying robot 3, an illumination 37 that is an LED illumination that is turned on when the surroundings are dark and assists the camera 36, and a robot controller that controls the entire flying robot 3. 38, a power source 39 which is a lithium polymer battery for supplying power to each part of the flying robot 3.

The robot control unit 38 also acquires communication control means 381 for controlling wireless communication with the security device 2 via the antenna 31, acquisition start / end of the camera 36 and images taken by the camera 36, and communication control means 381. Is transmitted from the communication control means 381 as scan data using the altitude information measured by the camera control means 382, the distance measuring sensor 35 and the altitude sensor 34, and the distance data between the surrounding object and the own device. A scanning unit 383 that performs processing such as transmission to the device 2 and a flight control unit 384 that controls the rotor driving unit 33 based on the flight control signal from the security device 2 to control the flying robot 3 to fly to the target position. It is composed of

Next, the security device 2 will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a diagram illustrating functional blocks of the security device 2. The security device 2 includes a security mode switching unit 21 that performs a switching operation between a security set state monitored by the monitoring center and a security release state that is not monitored by the monitoring center, a laser sensor 4, a sensor 5 in the building, and the like. A sensor interface 22 that receives input of signals from the sensors, a flying robot communication unit 25 that communicates with the flying robot 3, images captured by the flying robot 3, abnormal signals detected by various sensors, and the like are connected to the center device 6 and the network. A monitoring center communication unit 26 for performing communication, a storage unit 24 composed of peripheral components such as ROM / RAM storing programs and various data and parameters necessary for processing of the security device 2, and security The security control unit 23 is composed of a CPU, MPU, etc. for overall control of the entire apparatus 2.

  Here, information stored in the storage unit 24 will be described. The monitoring space map 241 is information that represents the monitoring area E in three dimensions, and is map information that represents the monitoring space from the ground to a height required for the flight of the flying robot 3. In the present embodiment, information of objects existing in the monitoring space in advance, such as a fence that partitions the monitoring area E from the outside, building B, and the installation position of the laser sensor 4, is stored. Note that the monitoring space map 241 also includes three-dimensional information inside the building B, and for example, places where people can enter and exit are registered, such as doors and windows. Furthermore, a high altitude position at which the flying robot 3 shown in FIG. 1A can take an image of the escape of a suspicious person is registered in advance in the monitoring space map 241 as an overhead view position. In the monitoring space map 241, a detection area A that is an area surrounding the building B shown in FIG. Therefore, the monitoring space map 241 is information that can distinguish the building B from the outdoor building. In the present embodiment, the detection area A is registered in order to facilitate the distinction between the building B and the outdoor building. However, the monitoring space between the building B and the outdoor building without registering the detection area A is registered. It is also possible to recognize the upper boundary.

The in-building sensor arrangement information 242 is position information in the monitoring space map 241 of the monitoring location of each in-building sensor 5. This is determined in advance by a security plan, and a position on the monitoring space map 241 is associated with each in-building sensor 5.

The laser sensor parameter 243 is information including the installation position of the laser sensor 4 in the monitoring space map 241 and the correspondence between the position in the detection area of the laser sensor 4 and the position on the monitoring space map 241. Or a parameter for converting a position where an object is detected into a position on the monitoring space map 241.

The various parameters 244 are various parameters such as the IP address of the center device 6 and data for communication with the flying robot 3 necessary for the security device 2 to monitor the monitoring area E. In addition to these, various programs for realizing the functions of the security device 2 are stored in the storage unit 24, but illustration thereof is omitted.

Next, the security control unit 23 will be described in detail. The security control unit 23 reads a software module (not shown) in the storage unit 24 and performs each process by the CPU or the like.

The laser sensor analysis module 231 is software for analyzing the signal of the laser sensor 4 input from the sensor interface 22. Specifically, the search signal which is the result of the laser sensor 4 scanning the detection area with laser light is analyzed in time series. If there is no new approaching object or the like in the detection area, the search signal of the laser sensor 4 input in time series does not change so much, and the analysis result indicates that there is no approaching object. On the other hand, if there is a new approaching object or the like in the detection area, the search signal of the laser sensor 4 changes, and the position in the detection area where the change has occurred is obtained by analysis. Furthermore, using the laser sensor parameter 243 in the storage unit 24, the position is converted into a position on the monitoring space map 241.

  The laser sensor analysis module 231 performs labeling on the approaching object, calculates the position / size / movement direction, and tracks the approaching object on the monitoring space map 241. In tracking, the laser sensor analysis module 231 has a function of a suspicious person determination unit that determines whether or not the tracked approaching object (person) is a suspicious person. Specifically, after the security device 2 detects intrusion by the in-building sensor 5, it first appears in the detection area A in contact with the building B on the monitoring space map 241 and moves outside the building B. The approaching object is determined to be a suspicious person. In other words, even if the approaching object is detected in the detection area A in contact with the building B, the approaching object that has already been detected and tracked in the detection area outside the building B is not determined as a suspicious person. The approaching object that is detected in the detection area A that touches and moves in the outward direction of the building B is determined as a suspicious person. As a result, a legitimate user such as a user of the building B or a guard is not mistaken for a suspicious person who tries to escape from the building B. Then, an attribute of the suspicious person is assigned to the label determined as the suspicious person, and tracking is performed. The analysis result of the laser sensor analysis module 231 is output to an abnormality determination module 232 and a robot control module 233 described later.

The abnormality determination module 232 receives a security set / release signal from the security mode switching unit 21 and signals from the in-building sensor 5 and the laser sensor 4 and determines whether an abnormality has occurred in the monitoring area E. When receiving the security set signal from the security mode switching unit 21, the abnormality determination module 232 sets the monitoring area E to the security set mode that warns, and when receiving the security release signal, sets the monitoring area E to the security release mode that is not warning. In the security release mode, no special processing is performed even if a detection signal from the in-building sensor 5 or the laser sensor 4 is received. On the other hand, in the security set mode, when a detection signal from the in-building sensor 5 or the laser sensor 4 is received, it is determined that an abnormality has occurred, and the monitoring center communication unit 26 notifies the center device 6 of the abnormality. When the in-building sensor 5 detects an intruder, the robot control module 233 performs start control of the flying robot 3. The security device 2 continues the process of transmitting the image taken by the flying robot 3 received from the flying robot communication unit 25 from the monitoring center communication unit 26 to the center device 6 until the abnormal state is released. There are various methods for controlling the activation of the flying robot 3 and the method for canceling the abnormal state of the in-building sensor 5, but the description thereof is omitted because it is not relevant to the present invention.

When the robot control module 233 receives the activation signal of the flying robot 3 from the abnormality determination module 232, the robot control module 233 performs flight control of the flying robot 3 from the flying robot communication unit 25.

Here, the robot control module 233 will be described in detail with reference to FIG. FIG. 5 is a functional block diagram of the robot control module 233. The robot control module 233 includes target position setting means A for determining a target position to be reached by the flying robot 3, flight path calculation means RO for calculating a flight path for reaching the target position set by the target position setting means A, Robo control means C for generating and transmitting a flight control signal to the flying robot 3 so as to fly along the flight path calculated by the flight path calculation means B, and a current flight position on the monitoring space map 241 of the flying robot 3 Flight position calculating means D for calculating

Based on outputs from the abnormality determination module 232, the laser sensor analysis module 231, and the image processing module 234, the target position setting means a sets the position on the monitoring space map 241 that the flying robot 3 sets as the flight target as the target position. . Here, the setting of the target position when the in-building sensor 5 detects intrusion into the building B during the security set mode will be described. First, when the in-building sensor 5 detects intrusion during the security set mode, the overhead position stored in the storage unit 24 is set as the target position. Thereafter, when the laser sensor analysis module 231 detects a suspicious person, a position where the suspicious person can be photographed on the monitoring space map 241 is set as a target position. The position where the suspicious person can be photographed refers to a position where the camera 36 is directed toward the suspicious person and away from the suspicious person by a predetermined distance or more, for example, a position at an altitude of about 3 m away from the suspicious person. The suspicious person moves at any time for escape or the like, but is tracked by the laser sensor analysis module 231. By such tracking, the target position is changed at any time.

Returning to FIG. 4, the image processing module 234 processes the image captured by the flying robot 3 received from the flying robot communication unit 25.

  If the approaching object is an automobile, the image processing module 234 recognizes the automobile license plate from the image, and performs processing such as extracting a suspicious person's face image.

Returning to FIG. 3, the laser sensor 4 is installed outdoors, and monitors the approach of the parking area in the monitoring area E and the surroundings of the building B. FIG. 2 is a diagram showing a detection area A of the laser sensor 4 and a detection area A that contacts the building B. As shown in the figure, the laser sensor 4-1 is installed with the building B direction from the upper left of the monitoring area E as a detection area, and the laser sensor 4-2 detects the back of the building B direction from the lower right of the monitoring area E. It is installed so that. The detection area A in contact with the building B is set so as to surround the building B.

The laser sensor 4 transmits a search signal that is a laser beam in a radial manner so as to scan a preset detection area, and receives the search signal that is reflected back to the object in the detection area. Then, the distance to the object is calculated from the time difference between transmission and reception, and the direction in which the search signal is transmitted and the calculated distance are obtained.

And the laser sensor 4 transmits the result of the scanning unit which scanned the detection area with the predetermined period to the security apparatus 2. As a result, the laser sensor analysis module 231 of the security device 2 can perform outdoor object placement in the monitoring area E, presence / absence of an entering object, tracking of a suspicious person, and the like. In this embodiment, since the purpose is to monitor the approach of a person walking on the ground or an automobile, scanning is performed in one step in the horizontal direction. However, depending on the purpose of monitoring, scanning in a plurality of steps may be performed in the vertical direction. May be.

The in-building sensors 5 (5a to 5f) are appropriately installed at various locations in the building B as shown in FIG. For example, for a window or door, a magnet sensor that detects opening or closing of the window or door, a glass breakage sensor on a glass window, an infrared sensor that detects a human body inside a room, an image sensor that detects an intruder in an image, etc. It is installed at the place. Each building sensor 5 is stored in the security device 2 as building sensor arrangement information 242 in association with a detection location on the monitoring space map 241.

Here, processing for controlling the flying robot 3 by the security device 2 will be described with reference to FIG. FIG. 7 is a processing flow of the security device 2 when an entry into the building B is detected in the security set mode. First, when intrusion to the building B is detected by the in-building sensor 5, the target position setting means A sets the overhead position set in the monitoring space map 241 as the target position (S71).

Then, the flight route calculation means b calculates the flight route by the A * route search algorithm using the target position set in step S71, the current position of the flying robot 3, and the monitoring space map 241. When the current position and the target position are set, the A * route search algorithm calculates a route that can be reached safely and in the shortest in consideration of the arrangement state of the monitoring space map 241 and the size of the flying robot 3 (S72). ). Since the flying robot 3 is located at a predetermined standby position until the activation signal is received, that position is the current position. At other times, the flight position calculation means D receives the scan data acquired by the scanning means 383 of the flying robot 3 and calculates a place where the scan data matches the monitoring space map 241, thereby The current position is calculated. In the present embodiment, the current position is calculated based on the scan data. However, the present invention is not limited to this, and the flying robot 3 is provided with a GPS signal receiving function, and the current position is calculated based on the GPS signal. Also good.

In step S73, the robot control means C calculates the flight control signal of the flying robot 3 so that the flying robot 3 can fly along the route calculated by the flight path calculation means B. A specific flight control signal is the number of rotations of each of the four rotors 32 in the flying robot 3. Then, a flight control signal is transmitted from the flying robot communication unit 25 as a radio signal.

When the flying robot 3 receives the flight control signal from the antenna 31, the flying robot 3 flies based on the received flight control signal. Specifically, the flight control signal received from the antenna 31 is input to the flight control means 384, and the number of rotations of each rotor 32 is individually controlled from the rotor drive unit 33 to fly.

In step S74, it is determined whether the laser sensor analysis module 231 has detected a suspicious person. If the laser sensor analysis module 231 has not detected the suspicious person, the process returns to step S72, and the flight control to the overhead position is continued. On the other hand, if the laser sensor analysis module 231 detects a suspicious person, the process proceeds to step S75. In step S75, the position where the laser sensor analysis module 231 determines that the person is a suspicious person and can be photographed is set as a target position by the target position setting means a. If the suspicious person moves, the target position is changed according to the movement, and the process returns to step S72. Although not described in this processing flow, if the suspicious person runs away from the monitoring area E, the target position is returned to the overhead position. Although other signals are not described in the present embodiment, it goes without saying that the flight robot 3 is flight-controlled according to the situation.

Although not described in the flow shown in FIG. 7, when the flying robot 3 first receives the flight control signal, the camera control unit 382 activates the camera 36 and starts transmitting the captured image to the security device 2. In addition, the scanning unit 383 activates the distance measuring sensor 35 and the altitude sensor 34 and starts transmitting scan data to the security device 2.

Note that the security device 2 transmits an image acquired through such a series of processes from the monitoring center communication unit 26 to the center device 6.

As described above, in the monitoring system 1, the monitor can monitor the monitor of the monitoring center and confirm the image of the suspicious person.

In the present embodiment, the flying robot 3 is controlled by the security control unit 23 of the security device 2, but all or part of the functions of the security device 2 may be appropriately mounted on the flying robot 3. Good.

In the present embodiment, the position of the flying robot 3 is calculated from the scan data by the security device 2, but the position may be calculated by a GPS signal.

1 ... Monitoring system 2 ... Security device (control unit)
3 ... Flying robot 4 ... Laser sensor (object sensor)
5 ... In-building sensor

Claims (2)

An object sensor for measuring an object position in the monitoring space of the monitoring area, an in-building sensor for detecting intrusion into the building in the monitoring area, a flying robot having a photographing function and capable of flying in the monitoring space, and at least the flying robot An imaging system composed of a control unit that controls flight to a target position,
The controller is
A storage unit for storing a monitored space map showing the monitoring area is divided into at least said building and the building outside,
An object sensor signal analyzing means for detecting a moving object from a change in an object position measured by the object sensor and tracking the moving object on the monitoring space map;
During security set mode to alert the monitoring area, after the building sensor detects an intrusion into the construction shop, the moving object being tracked by the object sensor signal analyzing means the monitoring space map of the building from detects that it has moved to the outside of the building, to determine the moving object and a suspicious person, the in monitoring area not wary in security release mode, a suspicious person judging means does not determine that a suspicious individual the moving object ,
A flight control means for setting a position where the current position of the suspicious person can be photographed from the sky as a target position, and causing the flying robot to fly to the target position;
Output means for outputting an image captured by the flying robot;
An imaging system comprising: It said flight control means, when the building sensor detects an intrusion into the construction shop, on setting the predetermined overhead positions can be taken with overhead the outside of the building to the target position, and flying to the overhead position The imaging system according to claim 1, wherein the standby flight is continued.