JP6482857B2 - Monitoring system - Google Patents

Description

  The present invention relates to a monitoring system for monitoring a monitoring target from above, for example.

  As a system for monitoring from above using a flying device, for example, an invention of a disaster prevention information collection / distribution system using an unmanned helicopter disclosed in Patent Document 1 below is known. According to the present invention, the camera device 1 is mounted on the unmanned helicopter 2, and the LAN control unit and the wireless LAN interface are provided to realize an interface function for the wireless LAN 3. With this interface function, the ground station 4 and the wireless LAN 3 are connected. It is possible to construct and transmit / receive information such as video information and audio information in the affected area L. In this way, the autonomous flight type unmanned helicopter with mobility and convenience collects information on the affected area regardless of changes in weather conditions and day and night, and the observation position, direction, Series information can be distributed to other regions.

JP 2007-112315 A

  Since the system of Patent Document 1 described above assumes a disaster area that occurs in a wide range as a monitoring target, it is preferable to collect information at a position viewed from above, but other events are to be monitored However, it is not always appropriate for the flying device to fly at a bird's-eye view. For this reason, it is desired to provide a monitoring system that can move the flying device to a position suitable for taking measures according to the monitoring target.

  Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide a monitoring system capable of moving a flying device to a position suitable for dealing with a monitoring target. It is.

To achieve the above object, the monitoring system according to the present invention includes at least comprises monitoring system flight device having an imaging unit for photographing the earth from the sky,
As a control type for detecting a shooting target from image data obtained by shooting a monitoring area and shooting the shooting target from the imaging unit of the flying device, a first control type when the shooting target is a person or a vehicle. , When the shooting target is congested, determine the second control type, a shooting target detection unit that outputs a control signal including the control type;
As the depression angle to the previous SL imaging subject, a first depression angle corresponding to the first control type, and a storage unit for storing the first depression angle larger than the second depression angle corresponding to the second control type ,
When there is an input of a control signal including the control type, a target calculation unit that calculates a target position corresponding to a depression angle corresponding to the control type with reference to the storage unit;
A flying device controller that moves the flying device to the target position;
It is provided with.

Further, in the monitoring system according to the present invention, the storage unit stores a distance to the imaging target for each control type,
The target calculation unit may calculate a target position corresponding to a distance corresponding to the control type with reference to the storage unit when a control signal including the control type is input.

Furthermore, in the monitoring system according to the present invention, the storage unit stores a direction with respect to the photographing target for each control type,
When the control signal including the control type is input, the target calculation unit may calculate a target position corresponding to the direction corresponding to the control type with reference to the storage unit.

According to the monitoring system of the present invention, the shooting target detection unit detects a shooting target from the image data obtained by shooting the monitoring region, and the shooting target is selected as a control type for shooting the shooting target from the imaging unit of the flying device. If it is a person or a vehicle, it is determined as a first control type, and if the object to be photographed is congested, it is determined as a second control type, and a control signal including the control type is output. In addition, the first depression angle corresponding to the first control type and the second depression angle larger than the first depression angle corresponding to the second control type are stored in the storage unit as the depression angle with respect to the photographing target . When the control signal including the control type is input, the target calculating unit calculates a target position corresponding to the depression angle corresponding to the control type with reference to the storage unit. Then, the flying device control unit moves the flying device to the target position. According to this configuration, the flying device acts so as to move to the target position corresponding to the depression angle corresponding to the control type. Thereby, the flying device can move to a position corresponding to a depression angle suitable for dealing with the object to be imaged .

Further, according to the system of the present invention, the distance from the imaging target is stored in the storage unit for each control type. When the control signal including the control type is input, the target calculation unit calculates a target position corresponding to the distance corresponding to the control type with reference to the storage unit. Then, the flying device control unit moves the flying device to the target position. According to this configuration, the flying device acts to move to a target position corresponding to a distance corresponding to the control type. Thereby, the flying device can move to a position corresponding to a distance suitable for dealing with the imaging target.

Furthermore, according to the monitoring system of the present invention, the direction with respect to the imaging target is stored in the storage unit for each control type. When the control signal including the control type is input, the target calculation unit refers to the storage unit and calculates a target position corresponding to the direction corresponding to the control type. Then, the flying device control unit moves the flying device to the target position. According to this configuration, the flying device acts so as to move to the target position corresponding to the direction according to the control type. Thereby, the flying device can move to a position corresponding to a direction suitable for dealing with the imaging target.

It is a schematic block diagram which shows the whole structure of the monitoring system which concerns on this invention. It is a figure which shows an example of the table data which show the relationship of the depression angle, distance, and direction with respect to the monitoring object for every control classification. It is a figure which shows the positional relationship of an attention object, a surveillance camera, and a flight apparatus when the horizontal surface on the ground is made into a virtual horizontal surface and the virtual horizontal surface is seen from the side. It is a figure which shows the positional relationship of the monitoring target, the monitoring camera, and the flying device on the virtual plane when the ground is viewed from above in the vertical direction.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 4 of the accompanying drawings.

  As shown in FIG. 1, a monitoring system 1 according to the present invention is constructed by including a monitoring camera 2, a flying device 3, and a center device 4 as a tracking processing device.

(About surveillance camera configuration)
The surveillance camera 2 captures a predetermined imaging range from the ground. As shown in FIG. 1, the monitoring camera 2 includes a camera unit 21, a control unit 22, and a communication unit 23.

  The camera unit 21 forms a main body that captures a predetermined shooting range, and includes an imaging unit 21a, a direction control unit 21b, and an image data generation unit 21c.

  The imaging unit 21a includes an imaging element such as a CCD element or a C-MOS element, an optical component, and the like. The imaging unit 21a captures a predetermined imaging range in the monitoring area at predetermined time intervals, and sequentially outputs the captured images to the image data generation unit 21c.

  Note that when the monitoring camera 2 is configured as a pan / tilt zoom camera, the imaging unit 21a has a zoom position controlled by the control of the control unit 22 based on a shooting instruction of a control signal from the center device 4. Information on the focal length based on the zoom position is output to the image data generation unit 21c.

  The direction control unit 21b is necessary when the monitoring camera 2 is configured as a pan / tilt / zoom camera. The direction control unit 21b is controlled in the horizontal direction and the vertical direction under the control of the control unit 22 based on the shooting instruction of the control signal from the center device 4. The angle is controlled. The angle information in the horizontal direction and the angle information in the vertical direction as the depression angle or the elevation angle (elevation angle) are a displacement angle from a preset shooting direction (horizontal angle information and elevation angle) of the monitoring camera 2. And output to the image data generation unit 21c.

  The image data generation unit 21c generates image data in which a focal length and a shooting direction are added to the image captured by the imaging unit 21a as necessary. Further, image data to which position information at the time of photographing acquired by the positioning unit 34 described later is added as necessary is generated. When the monitoring camera 2 is configured as a pan / tilt / zoom camera, a shooting direction obtained by correcting the previously set shooting direction of the monitoring camera 2 with the above-described displacement angle is added to the image data.

  The control unit 22 controls transmission of the image data generated by the image data generation unit 21c of the camera unit 21 to the center device 4 via the communication unit 23 at predetermined frame intervals at predetermined intervals. When the control unit 22 receives a control signal from the center device 4 via the communication unit 23, the control unit 22 controls the imaging unit 21a and the direction control unit 21b of the camera unit 21 in accordance with a shooting instruction of the control signal.

  The communication unit 23 is a communication interface for performing wired or wireless communication. Under the control of the control unit 22, the communication unit 23 communicates with the center device 4 via the communication line by wired or wireless, and transmits and receives data and signals. I do. Specifically, the image data generated by the image data generation unit 21c is transmitted to the center device 4 at predetermined intervals with a predetermined frame period. In addition, a control signal is received from the center device 4 for controlling the imaging unit 21a and the direction control unit 21b.

  Note that the surveillance camera 2 is not limited to a plurality of surveillance cameras 2 fixedly installed at a predetermined location in the surveillance area. For example, an in-vehicle camera mounted on various vehicles, a small mobile flying robot having an imaging unit, a drone, or the like that can move the monitoring area may be used. Further, when the monitoring camera 2 can move within the monitoring area, a configuration in which at least one monitoring camera 2 is provided may be used. When the surveillance camera 2 moves in the surveillance area, the position information of the surveillance camera 2 at the time of shooting changes with the movement. Therefore, the surveillance camera 2 is provided with a GPS positioning unit, and is monitored on the earth. Position information (latitude, longitude, height) indicating the three-dimensional position (current position) of the camera 2 is output to the image data generation unit 21c. Further, when the monitoring camera 2 moves in the monitoring area, the shooting direction of the monitoring camera 2 at the time of shooting also changes due to the posture change caused by the movement, and thus has the same configuration as the posture detection unit 35 described later, and an image data generation unit 21c corrects the shooting direction based on the posture information obtained thereby. Then, the image data generation unit 21c transmits to the center device 4 image data to which position information at the time of shooting by the monitoring camera 2 and a shooting direction of the monitoring camera 2 at the time of shooting are added.

(About the configuration of the flying device)
The flying device 3 is a mobile flying device capable of moving control according to an instruction of a control signal from the center device 4, that is, a mobile airship, a small mobile flying robot, a drone, an artificial satellite, or the like. Alternatively, it may be a moored flying device (for example, a moored airship) in which the main body is connected to a ground mooring device via a cable in a state where power supply and communication are possible. Furthermore, you may comprise by these combination.

  When the flying device 3 is a moored flying device, it is preferable to provide the number corresponding to the size of the monitoring area so as to include the blind spot area that cannot be captured by the monitoring camera 2.

  As shown in FIG. 1, the flying device 3 includes a camera unit 31, a propulsion unit 32, a rudder 33, a positioning unit 34, a posture detection unit 35, a control unit 36, a wireless communication unit 37, a warning unit 38, and a material supply unit 39. I have.

  The camera unit 31 is mounted on the main body of the flying device 3 and mainly performs imaging in a wider imaging range than the surveillance camera 2 from above. The camera unit 31 includes an imaging unit 31a, a direction control unit 31b, and an image data generation unit 31c.

  The imaging unit 31a includes, for example, an imaging element such as a CCD element or a C-MOS element, an optical component, and the like. The imaging unit 31a captures a predetermined imaging range from the sky every predetermined time and images the captured image. The data is sequentially output to the data generation unit 31c.

  When the camera unit 31 is configured as a pan / tilt zoom camera, the zoom position of the imaging unit 31a is controlled by the control unit 36 based on a shooting instruction of a control signal from the center device 4. Information on the focal length based on the zoom position is output to the image data generation unit 31c.

  The direction control unit 31b is necessary when the camera unit 31 is configured as a pan / tilt / zoom camera. The direction control unit 31b is controlled in the horizontal and vertical directions under the control of the control unit 36 based on the shooting instruction of the control signal from the center device 4. The angle is controlled. The angle information in the horizontal direction and the angle information in the vertical direction as the depression angle or elevation angle (elevation angle) are a preset displacement angle from the shooting direction of the monitoring camera 2, and are output to the image data generation unit 31c. .

  The image data generation unit 31c generates image data in which the focal length and the shooting direction at the time of shooting are added to the image captured by the imaging unit 31a as necessary. When the camera unit 31 is configured as a pan / tilt / zoom camera, a shooting direction obtained by correcting the preset shooting direction of the camera unit 31 with the above-described displacement angle is added to the image data. Further, since the shooting direction also changes depending on the attitude of the flying device 3, the shooting direction is corrected from attitude information of the attitude detector 35 described later. Further, image data to which position information at the time of photographing acquired by the positioning unit 34 described later is added as necessary is generated.

  The propulsion unit 32 applies propulsive force to the flying device 3 by transmitting the engine power to the propeller and rotating it, and is controlled by the control unit 36 according to the flight instruction of the control signal from the center device 4.

  The rudder 33 is a moving blade used for maneuvering the flying device 3 and is controlled by the control unit 36 in accordance with a flight instruction of a control signal from the center device 4.

  The positioning unit 34 includes a GPS (Global Positioning System), and outputs position information (latitude, longitude, height) indicating the three-dimensional position (current position) of the flying device 3 on the earth to the control unit 36. This position information is also output to the image data generation unit 31c.

  The attitude detection unit 35 includes, for example, a gyrocompass and a servo accelerometer, detects the attitude of the flying device 3 by measuring the azimuth angle, pitch angle, and roll angle of the flying device 3, and controls the attitude information obtained by this detection. To the unit 36. This attitude information is also output to the image data generation unit 31c.

  The control unit 36 controls the wireless communication unit 37 so that the image data generated by the image data generation unit 31c of the camera unit 31 is transmitted to the center device 4 at predetermined intervals at predetermined frame periods.

  The control unit 36 includes a flight control unit 36a, a camera control unit 36b, a warning control unit 36c, and a material supply control unit 36d.

  When the flight control unit 36a receives a control signal from the center device 4 via the wireless communication unit 37, the flight control unit 36a controls the propulsion unit 32 and the rudder 33 according to the flight instruction of the control signal.

  When the control signal from the center device 4 is received via the wireless communication unit 37, the camera control unit 36b controls the imaging unit 31a and the direction control unit 31b of the camera unit 31 in accordance with the shooting instruction of the control signal.

  The warning control unit 36c controls the warning unit 38 so as to issue a warning to a warning target as a monitoring target at a target position that the flying device 3 is a movement target.

  The material supply control unit 36d controls the material supply unit 39 so that the flying device 3 drops the material at the target position and supplies the material to a rescuer, a disaster victim, an evacuation facility, or the like as a monitoring target.

  The wireless communication unit 37 performs wireless communication with the center device 4 and transmits / receives data and signals under the control of the control unit 36. Specifically, the image data generated by the image data generation unit 31c is transmitted to the center device 4 at predetermined time intervals in a predetermined frame period. In addition, in order to control the imaging unit 31a, the direction control unit 31b, the propulsion unit 32, and the rudder 33, a control signal (imaging instruction, flight instruction) is received from the center device 4.

  The warning unit 38 issues a warning to the warning target at the target position, and the warning control unit 36c controls the warning unit 38 to generate a sound for urging the warning toward the warning target entering the restricted area, for example. A speaker unit for output and an illumination unit that illuminates a warning target (for example, a face if a person is a warning target).

  The material supply unit 39 is a mechanism in which the flying device 3 supplies necessary materials at a target position to a rescuer, a disaster victim, an evacuation facility, and the like. Under the control of the material supply control unit 36d, for example, food and drinks, lifesaving devices, etc. Drop and supply the goods at the target position.

(About the configuration of the center device)
The center device 4 as a tracking processing device includes a communication unit 41, a wireless communication unit 42, a storage unit 43, an operation unit 44, a display unit 45, and a control unit 46.

  The communication unit 41 is a communication interface for performing wired or wireless communication, and communicates with a plurality of monitoring cameras 2 via a communication line under the control of the control unit 46. Specifically, image data transmitted from the plurality of monitoring cameras 2 at predetermined frame intervals is received. In addition, a control signal for instructing photographing is transmitted to the monitoring camera 2 to be controlled by controlling the imaging unit 21a and the direction control unit 21b.

  The wireless communication unit 42 performs wireless communication with the flying device 3 under the control of the control unit 46. Specifically, the image data transmitted from the flying device 3 at a predetermined frame period and every predetermined time is received. Further, a control signal for instructing shooting by controlling the imaging unit 31a and the direction control unit 31b of the flying device 3, and a control signal for instructing flight by controlling the propulsion unit 32 and the rudder 33 of the flying device 3 are necessary. Send according to.

  The storage unit 43 stores various types of information such as monitoring camera information, flight device information, control type information, and image data. The various types of information will be described. The monitoring camera information is information related to each monitoring camera 2, and includes position information (shooting position P: latitude, longitude, height) of each monitoring camera 2, shooting direction, shooting range, focal length, and the like. Those that change dynamically are sequentially updated based on the information included in the image data received from the surveillance camera 2.

  In the movable monitoring camera 2, since the position information, the shooting direction, the shooting range, and the focal length change, the control unit 46 sequentially updates the information based on the information included in the received image data. Specifically, the received information is directly updated for the position information, the shooting direction, and the focal length, and the shooting range is calculated and updated based on the position information, the shooting direction, and the focal length included in the image data.

  In addition, information relating to position information of the monitoring camera 2 that is fixedly installed at a predetermined location in the monitoring area can be stored in advance in the storage unit 43 as part of the monitoring camera information. Among such surveillance cameras 2, the surveillance camera 2 capable of pan / tilt / zoom is controlled in the same manner as described above based on the information included in the received image data because the photographing direction, the photographing range, and the focal length change. It is sequentially updated by the unit 46.

  The flying device information is information related to the flying device 3, and includes position information of the flying device 3 (flight position or shooting position: latitude, longitude, height), shooting direction, shooting range, and focus of the imaging unit 31a of the camera unit 31. Information that includes information such as distance and changes dynamically is sequentially updated by the control unit 46 in the same manner as the monitoring camera information is updated based on information included in image data received from the flying device 3.

  As shown in FIG. 2, the control type information is information stored in the storage unit 43 by associating the depression angle and distance or the depression angle, distance, and direction with each control type by associating. In the example of FIG. 2, for example, “suspicious person photographing” for photographing a suspicious person taking suspicious behavior, for example, “crowded photographing” for photographing a congestion situation at an event venue, for example, a warning is issued to a warning object that has entered a restricted area “Warning”, for example, “material supply” for supplying necessary supplies such as food and drink, lifesaving equipment, and the like is set as a control type.

  More specifically, in FIG. 2, when the control type is “suspicious person photographing”, the depression angle: α 1, the distance: W 2, and the direction: the traveling direction of the suspicious person and the opposite direction are linked. When the control type is “crowded shooting”, the depression angle: α2 and the distance: W3 are linked. When the control type is “warning”, the depression angle: α2, the distance: W1, and the direction: the traveling direction and the reverse direction of the warning target are linked. When the control type is “material supply”, the depression angle: α2 and the distance: W1 are linked.

  Then, the depression angle, distance, and direction in the control type information described above are set in advance by an input operation of the operation unit 44 of the monitor.

  Here, when the control type is a depression angle of “suspicious person shooting”, compared to the depression angles of other “crowded shooting”, “warning”, and “supply of goods”, the car registration number of the suspicious person's face and the suspicious vehicle Since the angle is preferably a small angle at which the mark (number plate) can be easily captured, the depression angle satisfying the relationship of α1 <α2 is set. In addition, when the control type is a “congestion shooting” depression angle, it is a larger angle than the “suspicious person photography” depression angle, which can be looked down to understand the crowded situation such as the positional relationship of people. Therefore, the depression angle satisfying the relationship of α1 <α2 is set. Furthermore, when the control type is “crowded shooting”, it is desirable to have a distance that allows the entire situation including the surroundings to be grasped. When the control type is “warning” or “supply of goods”, the distance is closer to the monitoring target. There is a need to ensure warnings and supplies. “Suspicious person photography” needs to be closer to “suspicious person photography” in order to grasp the face of a suspicious person, but it does not need to be as close as “warning” or “material supply”. Therefore, the relationship of W1 <W2 <W3 is set so that the distance W3 is the longest when the control type is “congestion shooting” and the distance W1 is the shortest when the control type is “warning” or “supply of goods”. Set to meet distance.

  In FIG. 2, the control type information in which the depression angle and distance, or depression angle, distance, and direction are associated with each control type has been described as an example. However, only depression angle, only distance, only direction, depression angle and distance, depression angle Control type information in which the direction, distance, and direction are associated with each control type can be stored in the storage unit 43. In addition, in FIG. 2, when the control type is “suspicious person photographing”, “warning”, and “supply of goods”, it is assumed that the monitoring target is in a high place such as a rooftop of the building. It may be set. The control type information described above is not limited to that shown in FIG. 2, and the depression angle, distance, and direction are appropriately set according to the control type.

  The image data is data transmitted from the respective monitoring cameras 2 and the flying devices 3 at predetermined frame intervals every predetermined time, and is sequentially stored in the storage unit 43 for each monitoring camera 2 and each flying device 3.

  The operation unit 44 includes, for example, a mouse, a keyboard, and soft keys on the display screen of the display unit 45. The operation unit 44 instructs the start or end of the processing to be described later, sets the shooting elevation angle θ of the surveillance camera 2 and the imaging elevation angle α of the imaging unit 31a of the flying device 3, sets the altitude H, and sets the flying device 3 to the flying device 3. Instructions for supplying warnings and supplies, instructions for tracking the monitoring target N based on the image of the monitoring camera 2, specification of characteristic information (described later) of the monitoring target N, specification of the monitoring target N from the image stored and stored in the storage unit 43, It is operated by a supervisor when giving instructions (shooting instructions, flight instructions) to each surveillance camera 2 and flying device 3 and deleting image data.

  The display unit 45 is composed of, for example, a liquid crystal display. The display unit 45 displays image data acquired from the plurality of monitoring cameras 2 and the flying device 3 under the control of the control unit 46.

  The control unit 46 includes a monitoring target detection unit 46a, an acquisition unit 46b, a target calculation as a configuration for executing a handling process for moving and controlling the flying device 3 to a target position suitable for handling the monitoring target N. A unit 46c, a flying device control unit 46d, and a display control unit 46e.

  The monitoring target detection unit 46a detects the monitoring target N (for example, a suspicious person or congestion) from the image of the image data transmitted from the monitoring camera 2 every predetermined time with a predetermined frame period. A conventional image recognition technique may be used to detect the monitoring target N. For example, a plurality of types of features for specifying the monitoring target N are extracted, and the extracted features are stored in advance in the storage unit 43 as target features (feature information). For example, when the person is the monitoring target N, the face image, age, gender, hair color, upper body clothes color, lower body clothes color, possession type, possession color, height, body type, etc. are the plural types of feature information. . These multiple types of feature information are extracted by a known method using a discriminator or a color histogram.

  As a method for inputting the feature information of the monitoring target N, the monitor operates the operation unit 44 as necessary, and designates the portion corresponding to the monitoring target N from the image of the monitoring camera 2 stored and stored in the storage unit 43. Then, the above-described feature information is extracted from the designated image, and the extracted feature information is stored in the storage unit 43 as a target feature. In addition, when the monitoring target N is determined in advance without depending on the operation designated by the monitor, the feature information of the monitoring target N is stored in the storage unit 43 as the target feature.

  When tracking the monitoring target N, for example, a plurality of types of feature information are extracted from the images taken for each of the plurality of monitoring cameras 2 in the same manner as the above-described target feature extraction method, and the extracted features are extracted. The monitoring target N is detected by comparing the information with the target feature. In these plural types of feature information, a weighting coefficient is set for each feature information in consideration of reliability in detection of the monitoring target N. Then, the degree of similarity is calculated by comparing the plurality of types of feature information described above for each type of feature information. Subsequently, the similarity calculated for each of the plurality of types of feature information is multiplied by a weighting coefficient, and the similarity for each type of feature information is multiplied by the weighting coefficient to obtain an overall similarity. Then, when the monitoring target detection threshold (for example, similarity 90%) that can be regarded as the monitoring target N stored in advance in the storage unit 43 is compared with the overall similarity, and it is determined that the overall similarity exceeds the monitoring target detection threshold. , Detected as a monitoring target N.

  In addition, the monitoring target detection unit 46a tracks the monitoring target N detected as described above over images acquired every predetermined frame. For example, the change area in the image is extracted by taking the inter-frame difference between the current image and the image one frame before, and the change area corresponding to the position of the monitoring target N is specified. Then, when new image data is acquired next, the difference area is similarly extracted to extract the change area, and the extracted change area is the change area specified as the change area corresponding to the previous monitoring target N. Then, it is determined whether the object can be regarded as the same object in terms of its position, size, shape, and the like, and if it can be regarded as the same, the change area is specified as the change area corresponding to the current monitoring target N. By repeating these processes every time new image data is acquired, the monitoring target N is detected and tracked in the image of the monitoring camera 2. In tracking the monitoring target N, the position and the traveling direction of the monitoring target N are sequentially updated and stored in the storage unit 43. When the monitoring target detection unit 46a detects the suspicious person or the congestion as the monitoring target N by the above-described method, the imaging target 31a of the flying device 3 captures the suspicious person or the congestion. A control signal including (congested shooting) is output to the target calculation unit 46c.

  When the operation unit 44 is operated by a monitoring person and an instruction for a countermeasure process described later is made by the monitoring person, the acquisition unit 46b acquires information on the position of the monitoring target N and the traveling direction D1 from the storage unit 43, and sets the acquired information as a target. It outputs to the calculation part 46c.

  In addition, when the control type is “warning” or “material supply”, the acquisition unit 46b confirms the warning target and the position where the material is supplied from the image of the monitoring camera 2 displayed on the display unit 45, A warning or a supply position can be acquired by an operation input of the operation unit 44. When the control type is “warning”, the acquisition unit 46b confirms the traveling direction D1 of the monitoring target N to be warned from the images before and after the monitoring camera 2 displayed on the display unit 45 by the monitor. The traveling direction D <b> 1 can be acquired by an operation input of the operation unit 44. At that time, the control type (warning, supply of goods) is also input, and a control signal including the control type is output to the target calculation unit 46c.

  The target calculation unit 46c calculates the direction and position of a target for movement control of the flying device 3 when a control signal including a control type is input. The target calculation unit 46ca and the position calculation unit 46cb Have.

  When the monitoring target N is a suspicious person or a warning target (control type is suspicious person shooting or warning), the direction calculation unit 46ca reads the traveling direction D1 of the monitoring target N acquired by the acquisition unit 46b, and reads the monitoring target The traveling direction D1 and the reverse direction D2 of N are calculated. The traveling direction D1 and the reverse direction D2 of the monitoring target N are directions toward the position of the monitoring target N on the image captured by the monitoring camera 2. For example, as shown in FIG. 4, when the monitoring target N is the origin (0, 0) and the direction that forms the angle φ from the reference azimuth when north is the reference azimuth is the traveling direction D1 of the monitoring target N, this monitoring target The direction from the flying device 3 to the position of the monitoring target N is the reverse direction D2 opposite to the N traveling direction D1.

  The position calculation unit 46 cb calculates a target position for movement control of the flying device 3 based on the position of the monitoring target N acquired by the acquisition unit 46 b and the flying device information stored in the storage unit 43.

  Here, a method for calculating the target position will be described with reference to FIGS. FIG. 3 is a diagram illustrating a positional relationship among the monitoring target N, the monitoring camera 2, and the flying device 3 when the ground horizontal plane is a virtual horizontal plane E and the virtual horizontal plane E is viewed from the side. FIG. 4 is a diagram illustrating a positional relationship among the monitoring target N, the monitoring camera 2, and the flying device 3 on the virtual horizontal plane E when the ground is viewed from above in the vertical direction.

  In FIG. 3, the imaging distance (straight line distance) on the virtual horizontal plane E from the monitoring target N to the imaging unit 31 a of the flying device 3 is W, and the straight line connecting the monitoring target N and the imaging unit 31 a of the flying device 3 and the virtual horizontal plane E And the altitude of the flying device 3 from the virtual horizontal plane E is H, the imaging distance W on the virtual horizontal plane E is expressed by W = H / tan α (1) Can do.

  The shooting elevation angle α and the shooting distance W formed by the straight line connecting the monitoring target N and the imaging unit 31a of the flying device 3 and the virtual horizontal plane E are read from the storage unit 43 and set according to the control type. For example, if the control type is “suspicious person photographing”, the photographing elevation angle α is set to α1, and the distance W is set to W2. If the control type is “crowded shooting”, the shooting elevation angle α is set to α2 and the distance W is set to W3. Further, if the control type is “warner” or “material supply”, the shooting elevation angle α is set to α2 and the distance W is set to W1. Then, the altitude H of the flying device 3 from the virtual horizontal plane E is calculated and set from the above-described equation (1) when the shooting elevation angle α and the distance W are set.

  As shown in FIG. 4, when the direction of the angle φ from the reference azimuth (north) when the position of the monitoring target N is the origin (0, 0) is the traveling direction D1 of the monitoring target N, the flying device 3 3 can be calculated as coordinates (Wsin φ, W cos φ) in FIG. 3, and the imaging direction can be calculated as φ + 180 ° in the traveling direction D1 and the reverse direction D2 of the monitoring target N.

  The flying device control unit 46d controls the movement of the flying device 3 to the target position calculated by the position calculating unit 46cb of the target calculating unit 46c. In addition, the flying device control unit 46d and the altitude H of the flying device 3 or the imaging unit 31a so that the shooting range is shot at the shooting elevation angle α set according to the control type at the target position. To control.

  The display control unit 46 e controls display on the display unit 45. Specifically, in the normal monitoring state, the latest image included in the image data transmitted from the monitoring camera 2 every predetermined time is displayed on the display unit 45. In the coping process described later, the latest image transmitted from both the monitoring camera 2 and the flying device 3 is displayed on the display unit 45. Thereby, the monitor can know the latest situation of the monitoring area by monitoring the image displayed on the display unit 45.

  Next, as the operation of the monitoring system 1 configured as described above, a handling process for controlling the movement of the flying device 3 to a target position suitable for handling the monitoring target will be described.

  In the monitoring system 1, the monitoring target detection unit 46 a normally detects and monitors the monitoring target N based on image data from a plurality of monitoring cameras 2 taken from the ground. Here, when the monitoring person operates the operation unit 44 and instructs the countermeasure processing while tracking the monitoring target N, the countermeasure processing for controlling the movement of the flying device 3 to the target position is performed according to the control type. Be started. Hereinafter, the handling process for each control type will be described. The coping process may be automatically started when the monitoring target detection unit 46a detects the monitoring target N regardless of the operation of the operation unit 44 by the monitor.

When the control type is “suspicious person shooting” When the control signal including “suspicious person shooting” is input as the control type, the target calculation unit 46c refers to the storage unit 43 and displays the control type “ The depression angle corresponding to “suspicious person photographing”: α1, distance: W2, direction: information in the direction opposite to the traveling direction of the suspicious person is read, and the target position of the flying device 3 is calculated based on the read information. When the target calculation unit 46c calculates the target position, the flying device control unit 46d controls movement of the flying device 3 to the calculated target position. When the flying device 3 arrives at the target position, the imaging unit 31a photographs the suspicious person from the direction D1 and the direction D2 opposite to the suspicious person. The image of the suspicious person imaged by the imaging unit 31a is transmitted to the center device 4 at predetermined time intervals in a predetermined frame period and displayed on the display unit 45 of the center device 4.

When the control type is “crowded shooting” When the control signal including “crowded shooting” is input as the control type, the target calculation unit 46c refers to the storage unit 43 and corresponds to the control type “crowded shooting”. Information on depression angle: α2 and distance: W3 is read, and the target position of the flying device 3 is calculated based on the read information. When the target calculation unit 46c calculates the target position, the flying device control unit 46d controls movement of the flying device 3 to the calculated target position. Then, when the flying device 3 arrives at the target position, the imaging unit 31a captures the congestion situation. The congestion state image captured by the imaging unit 31a is transmitted to the center device 4 at predetermined time intervals in a predetermined frame period and displayed on the display unit 45 of the center device 4.

When the control type is “warning” When the control signal including “warning” as the control type is input, the target calculation unit 46c refers to the storage unit 43 and corresponds to the control type “warning” illustrated in FIG. Depression angle: α2, distance: W1, direction: information in the direction opposite to the traveling direction of the warning target is read, and the target position of the flying device 3 is calculated based on the read information. When the target calculation unit 46c calculates the target position, the flying device control unit 46d controls movement of the flying device 3 to the calculated target position. Then, when the flying device 3 arrives at the target position, the warning control unit 36c of the control unit 36 controls the warning unit 38 according to the instruction of the operation input of the operation unit 44 of the center device 4 by the monitor, and the traveling direction of the warning target Illumination is directed toward the warning target from the direction D2 opposite to D1, and a warning is urged by voice to the warning target. Further, the imaging unit 31a captures a warning target. The warning target image captured by the imaging unit 31a is transmitted to the center device 4 at predetermined time intervals in a predetermined frame period and displayed on the display unit 45 of the center device 4.

When the Control Type is “Supply Supply” When the control signal including “Supply Supply” is input as the control type, the target calculation unit 46c refers to the storage unit 43 and displays the “Supply Supply” of the control type shown in FIG. Is read out, and the target position of the flying device 3 is calculated based on the read information. When the target calculation unit 46c calculates the target position, the flying device control unit 46d controls movement of the flying device 3 to the calculated target position. Then, when the flying device 3 arrives at the target position, the material supply control unit 36d of the control unit 36 controls the material supply unit 39 according to the instruction of the operation input of the operation unit 44 of the center device 4 by the monitor, and the material supply unit 39 is set to the target position. Drop supplies to supply. Further, the target position to which the supplies are supplied is photographed by the imaging unit 31a. The image of the target position imaged by the imaging unit 31a is transmitted to the center device 4 every predetermined time with a predetermined frame period and displayed on the display unit 45 of the center device 4.

  In the above-described embodiment, the target position calculated by the position calculation unit 46c has been described as the position itself shown in FIGS. 3 and 4. However, an error range centered on this position is provided, and this error is calculated. The range may be the target position.

  As described above, the monitoring system according to the above-described embodiment has the following effects.

  In the storage unit 43 of the center device 4, for example, information on the elevation angle, distance, and direction for the monitoring target is selectively associated and stored for each control type such as suspicious person photographing, crowded photographing, warning, and supply of goods. . The target calculation unit 46c refers to the storage unit 43 when a countermeasure process is started by detection of a monitoring target by the monitoring target detection unit 46a or an operation of the operation unit 44 by a monitor, and a control signal including a control type is input. Then, information corresponding to the control type (combination of elevation angle, distance, and direction) is read, and the target position of the flying device 3 is calculated based on the read information. The flying device control unit 46d controls the movement of the flying device 3 to the target position calculated by the target calculation unit 46c. With such a configuration, the flying device 3 can be moved to a target position suitable for dealing with the monitoring target in consideration of the control type.

  The best mode of the monitoring system according to the present invention has been described above, but the present invention is not limited by the description and drawings according to this mode. That is, it is a matter of course that all other forms, examples, operation techniques, and the like made by those skilled in the art based on this form are included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Surveillance system 2 Surveillance camera 3 Flight apparatus 4 Center apparatus (tracking processing apparatus)
DESCRIPTION OF SYMBOLS 21 Camera part 22 Control part 23 Communication part 31 Camera part 32 Propulsion part 33 Rudder 34 Positioning part 35 Posture detection part 36 Control part 37 Wireless communication part 41 Communication part 42 Wireless communication part 43 Storage part 44 Operation part 45 Display part 46 Control part 46a Monitoring target detection unit 46b Acquisition unit 46c Target calculation unit 46ca Direction calculation unit 46cb Position calculation unit D1 Direction of travel of the monitoring target D2 Imaging direction of the imaging unit of the flying device E Virtual horizontal plane H Altitude of the flying device N Monitoring target W (W1, W2, W3) Shooting distance α (α1, α2) Shooting elevation angle of the imaging unit of the flying device

Claims (3)

A monitoring system including at least a flying device having an imaging unit for photographing the ground from above,
As a control type for detecting a shooting target from image data obtained by shooting a monitoring area and shooting the shooting target from the imaging unit of the flying device, a first control type when the shooting target is a person or a vehicle. , When the shooting target is congested, determine the second control type, a shooting target detection unit that outputs a control signal including the control type;
As the depression angle to the previous SL imaging subject, a first depression angle corresponding to the first control type, and a storage unit for storing the first depression angle larger than the second depression angle corresponding to the second control type ,
When there is an input of a control signal including the control type, a target calculation unit that calculates a target position corresponding to a depression angle corresponding to the control type with reference to the storage unit;
A flying device controller that moves the flying device to the target position;
A monitoring system characterized by comprising: The storage unit stores a distance from the imaging target for each control type,
The monitoring system according to claim 1, wherein when the control signal including the control type is input, the target calculation unit calculates a target position corresponding to a distance corresponding to the control type with reference to the storage unit. The storage unit stores a direction with respect to the photographing target for each control type,
The said target calculation part will calculate the target position equivalent to the direction corresponding to the said control classification with reference to the said memory | storage part, if the control signal containing the said control classification is input. Monitoring system.

Images