JP6560538B2 - Monitoring device - Google Patents

Description

  The present invention relates to a monitoring device.

  As a monitoring device, Patent Document 1 discloses a device that scans a wide area with a radio wave radar and switches to monitoring by a laser radar when an object is detected at a short distance.

JP 2002-162467 A

  As in the monitoring device disclosed in Patent Document 1, when the surroundings are monitored using a radio wave radar or a laser radar, it is possible to monitor a wide range or monitor with high accuracy, while having a configuration and processing. Becomes complicated and the monitoring device becomes relatively expensive.

  On the other hand, there is a case where it is not necessary to monitor a wide range with high accuracy in the case of moving at a relatively low speed or a small moving body. In such a case, there is a demand for a simple monitoring device that can monitor the periphery easily and inexpensively.

  The present invention has been made in view of the above problems, and an object thereof is to provide a simple monitoring device.

  In the first invention, since the surroundings are monitored based on the image information acquired by the image acquisition unit, there is no need to provide an expensive radar or the like. In addition, since the determination area for determining the presence / absence of the detection target can be arbitrarily set by the area setting unit, it is not always necessary to determine the presence / absence of the detection target for the entire monitoring area. Is reduced.

1st invention is a monitoring apparatus, Comprising: The image acquisition part which images a monitoring area and acquires image information, the area division part which divides a monitoring area into two or more areas, and the area division part An area setting unit that sets at least one of the areas as a determination area, a determination unit that executes a determination process for determining the presence or absence of a detection target based on the processed image in the determination area, and a determination An alarm unit that issues an alarm when it is determined that there is an object to be detected in the area, and the area division unit is a short-distance area that is close to the monitoring area based on the distance from the moving object The area setting unit sets the short-distance area as the first determination area and sets the long-distance area as the second determination area, and the determination unit includes the first determination area within the first determination area. First determination process for determining the presence or absence of a detection object And a second determination process for determining the presence / absence of a detection object in the second determination region, and a time interval at which the second determination process is executed is greater than a time interval at which the first determination process is executed. Characterized by its long length.

  In the second invention, the second determination process is executed at a relatively long time interval in a long-distance region where the distance from the moving body is long and there is a relatively low possibility of contact with the moving body even when there is a detection target. Is done. Further, when the distance from the moving body is short and there is a detection target, the first determination process is executed at a relatively short time interval in a short-distance region where the possibility of contact with the moving body is relatively high. Thus, the processing load of the controller is reduced by setting the time interval of the second determination process executed in the long distance region where the risk of contact is relatively low.

The second invention is a monitoring device, which is partitioned by an image acquisition unit that captures an image of a monitoring region and acquires image information, a region partition unit that partitions the monitoring region into two or more regions, and a region partition unit An area setting unit that sets at least one of the areas as a determination area, a determination unit that executes a determination process for determining the presence or absence of a detection target based on the processed image in the determination area, and a determination If it is determined that there is an object to be detected in the area, an alarm unit that issues an alarm, a storage unit that stores position information of a fixed object, a GPS device that detects position information of a moving object, and GPS A state measuring unit that measures the moving state of the moving body based on the detection result of the device, and a risk determining unit that determines whether the moving body is approaching a fixed object based on the measurement result of the state measuring unit, The moving object is fixed by the danger judgment section When it is determined to be close, the region setting unit cancels the setting of the determination regions, the determination unit and executes a determination processing for the entire monitoring area.

According to the second invention, when the moving body approaches the fixed object, the determination area is canceled and the determination process is executed in all areas of the monitoring area, so that the moving object contacts the fixed object. It is avoided more reliably. Therefore, the safety of the moving body can be ensured more reliably.

  According to the present invention, the periphery can be monitored with a simple configuration.

It is a mimetic diagram showing a ship carrying a monitoring device concerning a 1st embodiment of the present invention. It is a block diagram which shows the structure of the monitoring apparatus which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the captured image of the monitoring area | region which the camera of the monitoring apparatus which concerns on 1st Embodiment of this invention images. It is a flowchart figure which shows the procedure of the normal monitoring process which the monitoring apparatus which concerns on 1st Embodiment of this invention performs. It is a flowchart figure which shows the procedure of the 1st determination process which the monitoring apparatus which concerns on 1st Embodiment of this invention performs. It is a flowchart figure which shows the procedure of the danger monitoring process which the monitoring apparatus which concerns on 1st Embodiment of this invention performs. It is a block diagram which shows the structure of the monitoring apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart figure which shows the procedure of the 2nd determination process which the monitoring apparatus which concerns on 2nd Embodiment of this invention performs.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

(First embodiment)
First, the configuration of the monitoring apparatus 100 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3.

  In the following, as shown in FIG. 1, the monitoring device 100 is mounted on the ship 1 as a moving body, monitors the front of the navigating ship 1, and may cause trouble in the navigation of the ship 1. A description will be given of the case of a ship front monitoring device that issues an alarm when there is 2. The monitoring device 100 is not limited to the ship 1 and may be mounted on various vehicles such as automobiles, construction machines, agricultural machines, and saddle riding type vehicles (motorcycles, snowmobiles, ATVs, etc.) as moving bodies.

  In the following, a structure (such as a bridge) or a natural object (such as a seawall or cliff) whose position can be confirmed in advance by map information or the like without moving is referred to as a “fixed object”. The detection object 2 includes a fixed object, a reef, another ship, and a drifting object that cannot be confirmed in advance, but includes objects on the surface of the water that may hinder the navigation of the ship 1. Say.

  As shown in FIG. 2, the monitoring apparatus 100 includes a camera 10 as an image acquisition unit that captures an image of a monitoring area in front of the ship 1 and acquires image information, and a blur correction unit that corrects blurring of a captured image of the camera 10. 15, a controller 20 that processes image information captured by the camera 10 to determine the presence / absence of the detection object 2 in the monitoring area, an alarm unit 30 that issues an alarm based on the determination result of the controller 20, and a ship And a GPS (Global Positioning System) device 40 that detects position information of one.

  The camera 10 is a video camera composed of a CCD image sensor or the like, and is connected to the controller 20. The camera 10 captures an image of a monitoring area in front of the moving direction of the ship 1 (the direction of the solid arrow in FIG. 1). In other words, the area within the imaging range of the camera 10 indicated by the two-dot chain line in FIG.

  The blur correction unit 15 includes a disturbance detection unit 16 that detects a disturbance acting on the ship 1, and a correction unit 17 that corrects a captured image captured by the camera 10 based on the detection result of the disturbance detection unit 16.

  The disturbance detection unit 16 is configured by one or a plurality of detection sensors (not shown) that detect disturbances to the ship 1, particularly vibrations that act on the camera 10 due to waves. As the detection sensor, for example, an acceleration sensor, a gyro sensor, an angle sensor or the like is used. The disturbance detection unit 16 detects the influence of waves on the camera 10 by various detection sensors, and transmits the detection result to the correction unit 17.

  The correction unit 17 corrects the blurring of the captured image captured by the camera 10 based on the detection result of the disturbance detection unit 16. The correction of the blur by the correction unit 17 can be performed by any method as long as it corrects the blur of the captured image captured by the camera 10. For example, the correction unit 17 may be performed by adjusting the optical axis of the camera 10 (optical type), or may be performed by executing correction processing on an image captured by the camera 10 (electronic type).

  Thus, by providing the blur correction unit 15, blurring of the captured image due to disturbance such as waves can be prevented, and the detection accuracy of the detection target 2 can be improved. Note that the blur correction unit 15 may be built in the camera 10 or may be externally attached to the camera 10.

  The controller 20 includes a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and I / O interface (input / output interface). The RAM stores data in the processing of the CPU, the ROM stores a control program of the CPU in advance, and the I / O interface is used for input / output of information with the connected device.

  The controller 20 includes an area dividing unit 21 that divides the monitoring area captured by the camera 10 into three areas, and an area setting unit 22 that sets two areas among the three areas divided by the area dividing unit 21 as determination areas. And a determination unit 23 that executes a determination process for determining the presence or absence of the detection target object 2 based on the processed image that has been subjected to the image processing within the determination region.

  As shown in FIGS. 1 and 3, the area dividing unit 21 divides a monitoring area captured by the camera 10 into three areas R1, R2, and R3 by virtual lines L1, L2, and L3.

  As shown in FIG. 1, the imaginary lines L <b> 1 and L <b> 2 are straight lines set so as to be separated from both side surfaces of the ship 1 by a width W <b> 1 and extend in parallel along the traveling direction of the ship 1. The size of W1 is set based on the width of the ship 1 so that the determination area has a desired size.

  The virtual line L3 is a straight line set so as to extend perpendicularly to the traveling direction of the ship 1 at a position away from the ship 1 by the distance D1 in the traveling direction. The distance D1 is set based on the moving speed of the ship 1 so that the determination area has a desired size.

  By setting the virtual lines L1, L2, and L3 in this way, the monitoring area on the captured image captured by the camera 10 is partitioned into areas R1, R2, and R3 as shown in FIG. The positions of the virtual lines L1, L2, and L3 on the captured image as shown in FIG. 3 are based on the camera mounting position, the angle of view, the ship shape, and the distances W1 and D1 that are factors for setting the virtual line. It is obtained by calculating. Thereby, the positions of the virtual lines L1, L2, and L3 are represented by two-dimensional coordinates.

  As illustrated in FIG. 3, the region R1 is a short-distance region in which the distance from the ship 1 is short among the regions inside the virtual lines L1 and L2 and partitioned by the virtual line L3. The area R2 is an area inside the virtual lines L1 and L2 as in the area R1, and is a long-distance area farther from the ship 1 than the short-distance area R1 among the areas partitioned by the virtual line L3. . The region R3 is a region outside the virtual lines L1 and L2, that is, the outer region obtained by excluding the short-range region R1 and the long-range region R2 from the entire region of the monitoring region on the two-dimensionally projected monitoring region. The short distance area R1, the long distance area R2, and the outer area R3 on the captured image are obtained as coordinate areas on two-dimensional coordinates surrounded by virtual lines L1, L2, and L3, respectively.

  The region setting unit 22 sets the short-distance region R1 and the long-distance region R2 partitioned by the region partitioning unit 21 as a first determination region and a second determination region as determination regions, respectively.

  The determination unit 23 extracts image information in the coordinate areas of the first determination region and the second determination region from the monitoring region on the captured image, and performs image processing on the extracted image information, thereby performing the first determination region and the second determination region. The presence / absence of a detection target in the determination area is determined.

  The determination unit 23 determines the presence / absence of the detection object 2 in the first determination area and the second determination area and the first determination process for determining the presence / absence of the detection object 2 in the first determination area. And a second determination process. The first determination process and the second determination process have the same processing contents to be executed, and the time intervals for executing the processes are different from each other. The time interval at which the second determination process is executed is set longer than the time interval at which the first determination process is executed.

  In the first determination process and the second determination process, image processing for binarizing the image information in the first determination area and the second determination area by threshold determination is performed, and the detection target 2 is detected. The determination unit 23 determines that the detection target object 2 is present in each determination area when the detection target object 2 is detected in the first determination area and the second determination area, and detects if the detection target object 2 is not detected. It is determined that there is no object 2. The determination result of the determination unit 23 is transmitted to the alarm unit 30.

  When the determination unit 23 determines that there is a target detection object in the first determination region and the second determination region, the alarm unit 30 issues a first alarm and a second alarm, respectively, and the passenger of the ship 1 A warning is issued. Specifically, the warning unit 30 issues a first warning sound when the determination unit 23 determines that the detection target object 2 is in the first determination region. Moreover, when the determination part 23 determines with the detection target object 2 being in a 2nd determination area | region, the 2nd alarm sound different from a 1st alarm sound is alert | reported. When the determination unit 23 determines that there is no detection target 2 in the first and second determination areas, the alarm unit 30 does not issue an alarm. The alarm unit 30 may issue a first alarm sound and a second alarm sound for a predetermined time using a timer, or issue an alarm until an alarm stop switch (not shown) is turned on by a passenger. It may be continued.

  The GPS device 40 acquires absolute position information of the ship 1 from GPS satellites. The GPS device 40 is connected to the controller 20 and transmits position information of the ship 1. The position information here is latitude and longitude on the earth. As the GPS device 40, a GPS device mounted on the ship 1 may be used for other purposes such as wake recording.

  As shown in FIG. 2, the controller 20 measures the navigation state of the ship 1 based on the detection result of the GPS device 40, and determines whether or not the ship 1 is approaching a fixed object. The risk determination unit 25 for determining based on the detection result of the above, and a storage unit 26 for storing in advance the map information in which the position information of the fixed object is recorded.

  The state measuring unit 24 calculates the traveling direction and the traveling speed of the ship 1 based on the position information of the ship 1 received by the GPS device 40 and measures the navigation state of the ship 1.

  The danger determination unit 25 determines whether or not the ship 1 is approaching a fixed object based on the measurement result of the state measurement unit 24 and the map information stored in the storage unit 26 in advance. In the map information, position information of fixed objects such as bridges, land, and marine buildings is recorded. The danger determination unit 25 determines that the ship 1 is in a dangerous state in which the ship 1 approaches the fixed object when the ship 1 is moving toward the fixed object within a predetermined distance range from the fixed object. The distance range determined to be in a dangerous state is arbitrarily set based on the size of the ship 1 and the like.

  When the danger determination unit 25 determines that the ship 1 is in a dangerous state, the alarm unit 30 issues a danger alarm. The danger alarm is an alarm sound different from the first and second alarm sounds, and alerts the user that a fixed object is approaching.

  Thus, since the monitoring apparatus 100 determines the presence or absence of the detection target 2 based on the captured image which the camera 10 images, it can monitor the front of the ship 1 without using an expensive radar or the like. In addition, the monitoring apparatus 100 does not always monitor the entire monitoring area by setting the determination area to the first determination area and the second determination area that are part of the monitoring area by the area setting unit 22. Therefore, according to the monitoring apparatus 100, the processing load of the controller 20 is reduced, and the front of the ship 1 can be monitored with a simple configuration.

  Moreover, the monitoring apparatus 100 monitors the front by the camera 10, and the camera 10 can be easily attached to the existing ship 1. Therefore, the front can be easily monitored even in the existing ship 1 by retrofitting the monitoring device 100.

  Moreover, the monitoring apparatus 100 divides the monitoring area into a plurality of areas by setting virtual lines L1, L2, and L3 based on the width and moving speed of the ship 1, and a part of the monitoring area is divided into the first determination area and the first determination area. Set to the second judgment area. For this reason, the first determination area and the second determination area are obtained as coordinate areas represented by two-dimensional coordinates on the captured image. That is, the monitoring device does not divide the monitoring area based on the captured image and sets the determination area, but sets the monitoring area on the captured image and sets the determination area as a coordinate area by setting a virtual line. Therefore, even in the case of a ship that travels on the water surface where no white line exists such as an automobile road, it is possible to determine the presence or absence of a detection target in an arbitrary partial area in the captured image and perform forward monitoring. it can.

  Next, a monitoring method by the monitoring apparatus 100 will be described with reference to FIGS.

  When the monitoring device 100 receives an ON signal of the start switch of the monitoring device 100, the monitoring device 100 executes the following two processes at predetermined time intervals. The following processing is executed until the stop switch of the monitoring device 100 is turned off or the engine of the ship 1 is stopped.

  The monitoring device 100 observes the normal monitoring process for determining the presence or absence of the detection object 2 for a part of the monitoring area when the ship 1 is not in a dangerous state, and the navigation state of the ship 1, and the ship 1 is in a dangerous state. If it is, the risk monitoring process for determining the presence or absence of the detection object 2 in the entire monitoring area is executed. More specifically, when the ship 1 is not in a dangerous state, the monitoring apparatus 100 executes normal monitoring processing and determines the presence or absence of the detection target 2 using a part of the monitoring area as a determination area. When the risk determination unit 25 determines that the ship 1 is in a dangerous state, the normal monitoring process is stopped, and it is determined whether or not there is the detection target 2 by using the entire monitoring area as the determination area by the danger monitoring process. To do. Hereinafter, the normal monitoring process and the danger monitoring process will be specifically described.

  First, the normal monitoring process will be described with reference to FIG.

  As shown in FIG. 4, in step 10, the navigation state of the ship 1 is calculated and measured based on the detection result of the GPS device 40.

  In step 11, virtual lines L1, L2, and L3 are set based on the navigation speed of the ship 1 and the width of the ship 1, and the monitoring area is divided into a short distance area R1, a long distance area R2, and an outer area R3.

  In step 12, the short distance area R1 partitioned in step 11 is set as the first determination area, and the long distance area R2 is set as the second determination area. In step 13, the monitoring area is imaged by the camera 10 to obtain a captured image.

  In step 14, a first determination process for determining the presence or absence of the detection target object 2 in the first determination region is executed. In the first determination process, when it is determined that the detection target 2 is present in the first determination region, a first alarm sound is issued. The first determination process will be described in detail later.

  In step 15, it is determined whether or not the first determination process has been executed a predetermined number N.

  If it is determined that the first determination process has not been performed a predetermined number of times N, the process returns to step 13 to acquire a new captured image in the monitoring area, update the image information to be determined, and again in step 14 The first determination process is executed.

  If the first determination process has been executed a predetermined number of times N, the second determination process is executed in step 16. In the second determination process, when it is determined that the detection target 2 is present in the second determination region, a second alarm sound is issued. When the second determination process is executed, the normal monitoring process is terminated.

  As described above, since the second determination process is performed after the first determination process is performed a predetermined number of times N, the time interval for executing the second determination process is longer than the time interval for executing the first determination process. The time interval for executing the second determination process can be adjusted by arbitrarily setting a predetermined number N of times for executing the first determination process in order to execute the second determination process.

  Next, the determination process will be described in detail. In the first determination process and the second determination process, whether the determination area to be determined is the first determination area or the second determination area, and the alarm to be issued is the first alarm. Or the second alarm is different, and the others are the same. Therefore, hereinafter, the first determination process will be described as a specific example with reference to FIG. 5, and a detailed description of the second determination process will be omitted.

  As shown in FIG. 5, in step 20, image information in the first determination area is extracted from the captured image captured by the camera 10.

  In step 21, the image information in the first determination region extracted in step 20 is subjected to image processing, and the detection target 2 is detected based on the processed image that has been subjected to image processing.

  In step 22, it is determined whether or not the detection object 2 is detected in step 21. If the detection object 2 is detected, it is determined in step 23 that the detection object 2 is in the first determination region. If it is determined that the detection object 2 is present, a first warning sound is issued in step 25, and the first determination process is terminated.

  When the detection target object 2 is not detected in step 22, it is determined in step 24 that there is no detection target object 2 in the first determination region, and the first determination process is terminated.

  As described above, in the normal monitoring process, the short-distance region R1 and the long-distance region R2 that are part of the monitoring region are set as the first and second determination regions, and the presence or absence of the detection target 2 is determined. For this reason, the processing load of the controller 20 is reduced rather than determining the presence or absence of the detection target object 2 in the entire monitoring region.

  Further, even when the detection target object 2 is present in the long-distance region R2, there is no danger of immediately contacting the detection target object 2 because the distance from the ship 1 is long. For this reason, even if it is a case where the time interval which performs a 2nd determination process is longer than the time time which performs a 1st determination process, the safety | security of the ship 1 is not affected. Therefore, by making the time interval for executing the second determination process longer than the time interval for executing the first determination process in the normal monitoring process, the processing load of the controller 20 is reduced without affecting the safety of the ship 1. Further reduction can be achieved.

  Here, in the normal monitoring process, the outer region R3 that is outside the course of the ship 1 is not set as the determination region, and thus there is a case where there is a detection object 2 in the outer region R3, particularly a fixed object such as a seawall or a bridge. Even if the alarm is not issued. However, if the ship 1 is moving so as to approach a fixed object without the passenger being aware, it is desirable to issue a warning to the passenger early. Further, even when there is a fixed object outside the monitoring area, it is desirable to issue a warning in the same manner when the ship 1 moves so as to approach the fixed object.

  Therefore, the monitoring device 100 determines whether or not the danger determination unit 25 is in a dangerous state in which the ship 1 moves so as to approach the fixed object. Execute danger warning processing for alarming. Hereinafter, the danger monitoring process will be described with reference to FIG.

  As shown in FIG. 6, in step 30, the navigation state of the ship 1 is calculated and measured based on the detection result of the GPS device 40.

  In step 31, based on the navigation state of the ship 1 measured in step 30 and the map information, it is determined whether or not the ship 1 is in a dangerous state.

  If it is determined in step 31 that the ship 1 is not in a dangerous state, the process is terminated as it is.

  If it is determined in step 31 that the ship 1 is in a dangerous state, the normal monitoring process is stopped in step 32. In step 33, the determination area set in the normal monitoring process is cancelled.

  In step 34, the entire monitoring area is set as the risk determination area, which is the determination area, regardless of the area partitioned in the normal monitoring process.

  In step 35, as in step 13 of the normal monitoring process, the monitoring area is imaged by the camera 10 to acquire image information.

  In step 36, a risk determination process for determining the presence or absence of the detection target object 2 in the risk determination area is executed. In the danger determination process, a danger alarm is issued when it is determined that the detection target object 2 is in the danger determination area. The risk determination process is different only in the determination area and the type of alarm to be issued, and the other processing contents are the same as those in the first determination process and the second determination process, and thus detailed description thereof is omitted.

  In step 37, the navigation state of the ship 1 is measured again based on the detection result of the GPS device 40.

  In step 38, based on the navigation state of the ship 1 measured in step 37, it is determined whether or not the ship 1 is in a dangerous state.

  If it is determined in step 38 that the ship 1 has not yet escaped the dangerous state, the process returns to step 35 to acquire a captured image again. Steps 35 to 38 are repeatedly executed until the ship 1 leaves the dangerous state.

  If it is determined in step 38 that the ship 1 has escaped the danger state, the danger monitoring process is terminated. When the danger monitoring process is finished, the monitoring apparatus 100 executes the normal monitoring process again.

  As described above, the monitoring device 100 monitors whether the ship 1 is in a dangerous state by the danger monitoring process, and stops the normal monitoring process when the ship 1 is in a dangerous state, and detects the detection object 2 in the entire monitoring area. The presence or absence of is determined. By setting the entire monitoring area as the determination area by the danger monitoring process, it is possible to warn of the approach of the ship 1 to the fixed object, and to ensure the safety of the ship 1.

  Further, since it is determined whether or not the vehicle is in a dangerous state based on the detection result of the GPS device 40, the danger monitoring process is executed even in a state before a fixed object enters the monitoring area. Thus, an alarm can be issued as soon as a fixed object enters the monitoring area. Therefore, the approach of the ship 1 to the fixed object can be warned early, and the safety of the ship 1 can be ensured more reliably.

  As described above, when the ship 1 is not in a dangerous state, when the processing load is reduced by the normal monitoring process that executes the determination process using a part of the partitioned monitoring area as a determination area, the ship 1 is in a dangerous state. The safety of the ship 1 can be ensured by executing the danger monitoring process that executes the danger determination process using the entire monitoring area as the determination area.

  Next, a modification of the first embodiment will be described.

  In the said 1st Embodiment, although the camera 10 images the front of the ship 1 as a monitoring area | region, it is good also as a monitoring area | region not only in this but the side and the back of the ship 1. FIG. In addition, a plurality of cameras 10 may be provided, and two or more directions of front, side, and rear may be set as the monitoring area.

  Moreover, in the said 1st Embodiment, the area division part 21 sets the virtual lines L1 and L2 based on the width | variety of the ship 1, and sets the virtual line L3 based on the moving speed of the ship 1. FIG. Instead, the virtual lines L1, L2, and L3 may be set based on the shape of the ship 1, the navigational state, the specifications of the camera 10, the weather, and other arbitrary information.

  Further, in the first embodiment, the virtual lines L1 and L2 are set to extend in parallel along the traveling direction of the ship 1, but are not limited thereto, and are inclined with respect to the traveling direction of the ship 1. It may be set. In this case, if the virtual lines L1 and L2 are set so that the width between the virtual lines L1 and L2 becomes wider toward the front in the traveling direction of the ship 1, the short-distance region R1 and the long-distance region R2 can be enlarged. Therefore, the presence or absence of the detection target object 2 can be determined in a wider range.

  Moreover, in the said 1st Embodiment, the area | region division part 21 divides a monitoring area | region into three area | regions, short distance area | region R1, long distance area | region R2, and outer side area | region R3 by virtual line L1, L2, L3. Instead, the area dividing unit 21 may divide the monitoring area into two areas, or may divide into four or more areas. Further, even when the monitoring area is divided into three areas, the monitoring area may be divided into three areas different from the first embodiment. That is, the area dividing unit 21 may divide the monitoring area into arbitrary areas as long as it divides the monitoring area into two or more areas.

  Moreover, in the said 1st Embodiment, whenever the normal monitoring process is performed, the navigation state of the ship 1 is measured, a virtual line is set based on a navigation state, and a monitoring area | region is divided. Alternatively, the normal monitoring process may be executed while setting the virtual line, in other words, fixing the area to be partitioned. Further, for example, a plurality of patterns in which the monitoring area is partitioned in advance may be stored in the controller 20, and the partition pattern in the monitoring area may be changed by manual switching by the passenger or automatic switching by the controller 20.

  In the first embodiment, the image information of the first and second determination areas is extracted from the captured image, and the presence or absence of the detection target 2 is determined by performing image processing on the extracted image information. In order to reduce the processing load on the controller 20, it is desirable to perform image processing on the extracted image information. However, instead of this, the monitoring apparatus 100 draws virtual lines L1, L2, and L3 on the captured image, performs image processing on the entire captured image, and sets the area partitioned by the drawn virtual lines as the first, It may be set as the second determination region and the presence / absence of the detection object 2 may be determined. That is, either the determination area setting or the image processing of the captured image may be performed first as long as the determination unit 23 determines the presence or absence of the detection target 2 based on the processed image in the determination area. .

  In the first embodiment, the state measurement unit 24 detects the movement state of the ship 1 based on the detection result of the GPS device 40. Based on the detection result of the state measuring unit 24, the danger determining unit 25 determines whether or not the ship 1 is in a dangerous state. Instead, it may be determined whether or not the ship 1 is in a dangerous state based on the captured image. Specifically, the determination unit 23 may determine whether or not the detection target object 2 is present in the outer region R3. If it is determined that the detection target object 2 is present, the risk monitoring process may be executed.

  In the first embodiment, the state measurement unit 24 measures the navigation state of the ship 1 based on the detection result of the GPS device 40. Instead, the navigation state of the ship 1 may be measured using other sensors such as an acceleration sensor. Moreover, you may measure the navigation state of the ship 1 using GPS device 40 and another sensor together.

  According to the above 1st Embodiment, there exists an effect shown below.

  The monitoring device 100 monitors the front by performing image processing on the image information acquired by imaging the monitoring area with the camera 10, so there is no need to provide an expensive radar or the like. Moreover, since the monitoring apparatus 100 can arbitrarily set the determination area by the area setting unit 22, it does not always monitor the entire monitoring area. Therefore, according to the monitoring device 100, the processing load on the controller 20 is reduced, and the surroundings can be monitored with a simple configuration.

  Further, in the monitoring device 100, the second determination process is performed at a relatively long time interval in a long-distance area where the distance from the ship 1 is long and the possibility of contact with the ship 1 is relatively low even when the detection target 2 is present. Executed. Further, when the distance from the ship 1 is short and the detection target 2 is present, the first determination process is executed at a relatively short time interval in a short distance region where the possibility of contact with the ship 1 is relatively high. As described above, since the optimal process is executed for each determination region set based on the distance from the ship, the determination process can be executed efficiently, and the processing load on the controller 20 is reduced.

  Moreover, in the monitoring apparatus 100, since the virtual line L3 is set according to the moving speed of the ship 1 and the short distance area R1 and the long distance area R2 are set, the determination area is appropriately set according to the navigation state of the ship 1. Is done. Therefore, the safety of the ship 1 can be reliably ensured.

  Moreover, since the monitoring apparatus 100 cancels | releases the setting of the determination area | region in a normal monitoring process, and the danger monitoring process which uses all the monitoring area | regions as a determination area | region is performed when the ship 1 becomes a dangerous state, Contact of the ship 1 with a fixed object can be avoided more reliably. Therefore, the safety of navigation of the ship 1 can be ensured more reliably.

(Second Embodiment)
Next, a monitoring device 200 according to the second embodiment of the present invention will be described with reference to FIGS. Below, it demonstrates centering on a different point from the said 1st Embodiment, the same code | symbol is attached | subjected to the structure same as the monitoring apparatus 100 of the said 1st Embodiment, and description is abbreviate | omitted.

  In the first embodiment, the same processing content is executed in the first determination process and the second determination process. On the other hand, the monitoring apparatus 200 further includes a stereo camera 110 capable of acquiring distance information in the monitoring area in addition to the camera 10 as an image acquisition unit. The controller 20 determines the course of the ship 1 based on the distance measurement unit 121 that measures the position and size of the detection target 2 based on the distance information acquired by the stereo camera 110 and the measurement result of the distance measurement unit 121. And a route determination unit 122 that performs. Further, in the monitoring device 200, the processing content of the first determination processing and the processing content of the second determination processing are different from each other. Furthermore, the monitoring device 200 includes a notification unit 130 that notifies the route information determined by the route determination unit 122. In the above points, the monitoring apparatus 200 is different from the first embodiment.

  As shown in FIG. 7, the monitoring apparatus 200 includes a stereo camera 110 that can acquire a stereo image obtained by visualizing distance information in the monitoring area as image information. The stereo camera 110 is connected to the controller 20 similarly to the camera 10. Note that the monitoring apparatus 200 may not include the camera 10 and may use the stereo camera 110 as an image acquisition unit.

  The distance measurement unit 121 measures the relative position between the ship 1 and the detection target 2 and the size of the detection target 2 based on the distance information acquired by the stereo camera 110.

  The course determination unit 122 stores in advance in the controller 20 based on the navigation state of the ship 1 measured by the state measurement unit 24, the distance to the detection target 2 measured by the distance measurement unit 121, and the size of the detection target 2. The ship 1 determines an appropriate course for avoiding the detection target 2 from the plurality of courses. The course determining unit 122 may calculate an appropriate course of the ship 1 based on the measurement result of the distance measuring unit 121 and determine the course. Further, the course determination unit 122 may simply determine the course based on the position and size of the detection object 2 or may determine the optimum course by estimating the movement in addition to the position and size of the detection object 2. You may do it.

  The notification unit 130 reports voice guidance that informs the route information determined by the route determination unit 122 by voice. Note that the notification unit 130 may be a monitor that displays route information. Further, the notification unit 130 may be used in common with the alarm unit 30.

  Next, the second determination process of the monitoring device 200 will be described with reference to FIG. Note that the first determination process of the monitoring device 200 is the same as the first determination process of the monitoring device 100.

  Steps 40 to 44 differ only in whether the target determination area is the first determination area or the second determination area, and the contents are the same as steps 20 to 24 of the first determination process. Therefore, detailed description is omitted.

  If it is determined in step 43 that the detection target object 2 is in the second determination region, a stereo image obtained by visualizing the distance information of the detection target object 2 is acquired in step 45.

  In step 46, based on the distance information of the detection target object 2 acquired in step 45, the relative position and size of the ship 1 and the detection target object 2 are measured.

  In step 47, based on the information of the detection target 2 measured in step 46, a course change guide for changing the course of the ship 1 so as to avoid the detection target 2 is determined.

  In step 48, an alarm sound for announcing the course change guide determined in step 47 is notified, and the process ends.

  Next, a modification of the second embodiment will be described.

  In the second embodiment, when it is determined that the detection target 2 is in the second determination area based on the image information acquired by the camera 10, the second determination area is determined based on the distance information acquired by the stereo camera 110. The distance information of the detection object 2 is measured, and a course change guide is issued. Instead of this, in the second determination area, the determination based on the image information acquired by the camera 10 may not be performed, and only the determination based on the distance information acquired by the stereo camera 110 may be performed. In addition, the determination based on the distance information acquired by the stereo camera 110 may be performed not only in the second determination area but also in the first determination area. When other determination areas are set, in other determination areas. You may go.

  According to the second embodiment described above, the same effects as in the first embodiment can be obtained, and the following effects can be obtained.

  In the monitoring apparatus 200, since an appropriate course of the ship 1 for avoiding the detection target 2 is determined based on the distance and size of the detection target 2 acquired by the stereo camera 110, the detection target is surely detected. The thing 2 can be avoided and the safety | security of the ship 1 can be ensured more reliably.

  Hereinafter, the configuration, operation, and effect of the embodiment of the present invention will be described together.

  The monitoring devices 100 and 200 are monitoring devices 100 and 200 mounted on a moving body (ship 1), and an image acquisition unit (camera 10 and stereo camera 110) that captures a monitoring area and acquires image information; An area dividing unit 21 that divides the monitoring area into two or more areas, an area setting unit 22 that sets at least one of the areas divided by the area dividing unit 21 as a determination area, and image processing in the determination area A determination unit 23 that executes a determination process for determining the presence or absence of the detection target object 2 based on the processed image, and an alarm unit that issues an alarm when it is determined that the detection target object 2 is within the determination region 30.

  In this configuration, since the front is monitored based on the image information acquired by the image acquisition unit (camera 10, stereo camera 110), it is not necessary to provide an expensive radar or the like. In addition, since the determination area for determining the presence / absence of the detection object 2 can be arbitrarily set by the area setting unit 22, it is not always necessary to determine the presence / absence of the detection object 2 for all the areas in the monitoring area. The processing load on the controller 20 is reduced. Therefore, the periphery can be monitored with a simple configuration.

  In addition, in the monitoring devices 100 and 200, the area dividing unit 21 divides the monitoring area into a short-distance area with a short distance and a long-distance area with a long distance based on the distance from the moving body (ship 1). The setting unit 22 sets the short-distance region as the first determination region and sets the long-distance region as the second determination region, and the determination unit 23 determines whether or not there is the detection object 2 in the first determination region. One determination process and a second determination process for determining the presence or absence of the detection object 2 in the second determination region are executed, and the first determination process is executed at a time interval at which the second determination process is executed. Longer than the time interval.

  In this configuration, a relatively long time interval is within a long-distance region where the distance from the mobile body (ship 1) is long and the possibility of contact with the mobile body (ship 1) is relatively low even if the detection object 2 is present. Then, the second determination process is executed. Further, in a short-distance region where the distance from the moving body (ship 1) is short and there is a detection object 2 and the possibility of contact with the moving body (ship 1) is relatively high, the first in a relatively short time interval. Judgment processing is executed. As described above, the processing load of the controller 20 is reduced by setting the time interval of the second determination process performed in a long distance region where the risk of contact is relatively low.

  Moreover, as for the monitoring apparatuses 100 and 200, the area division part 21 divides a monitoring area | region according to the moving speed of a mobile body (ship 1).

  In this configuration, since the monitoring area is divided according to the moving speed of the moving body (ship 1), the determination area is appropriately set according to the moving state of the moving body (ship 1).

  In addition, the monitoring devices 100 and 200 include a storage unit 26 in which position information of a fixed object is stored, a GPS device 40 that detects position information of the moving body (ship 1), and a moving body based on the detection result of the GPS device 40. A state measurement unit 24 that measures the movement state of the (ship 1), a risk determination unit 25 that determines whether the moving body (ship 1) is approaching a fixed object based on the detection result of the state measurement unit 24, When the risk determination unit 25 determines that the moving body (ship 1) is approaching a fixed object, the region setting unit 22 cancels the determination region setting, and the determination unit 23 detects the monitoring region. The determination process is executed on the entire area.

  According to this configuration, when the moving body (ship 1) approaches a fixed object, the determination area is canceled and the determination process is executed in all areas of the monitoring area. Contact of the ship 1) is more reliably avoided. Therefore, the safety of the mobile body (ship 1) can be more reliably ensured.

  In addition, the monitoring apparatus 200 determines the course of the moving body (the ship 1) based on the stereo camera 110 that can acquire image information obtained by visualizing the distance information in the monitoring area, and the distance information acquired by the stereo camera 110. The route determination unit 122 and a notification unit 130 that notifies the route information determined by the route determination unit 122 are further provided.

  In this configuration, an appropriate course of the moving body for avoiding the detection target object 2 is determined based on the distance information of the detection target object 2 acquired by the stereo camera 110. Therefore, it is possible to reliably avoid the detection object 2 and to ensure the safety of the moving body (the ship 1) more reliably.

  In addition, the monitoring devices 100 and 200 are characterized in that the moving body is the ship 1 and further includes a blur correction unit that suppresses blurring of a captured image due to vibration.

  According to this configuration, since the blur of the captured image is suppressed, the detection accuracy of the detection target 2 in the determination process can be improved.

  The monitoring method according to the first and second embodiments includes at least one of a step of capturing a monitoring region and acquiring image information, a step of dividing the monitoring region into two or more regions, and a partitioned region. It is determined that there is a detection target 2 in the determination region, a step of setting the above region as a determination region, a step of determining the presence or absence of the detection target 2 based on the processed image in the determination region. If there is, a step of issuing an alarm is included.

  In this configuration, since the surroundings are monitored based on the acquired image information, it is not necessary to provide an expensive radar or the like. In addition, since the determination region for determining the presence or absence of the detection target 2 can be arbitrarily set, it is not always necessary to perform determination for all regions in the monitoring region, and the processing load on the controller 20 is reduced. Therefore, the periphery can be monitored with a simple configuration.

  The embodiment of the present invention has been described above. However, the above embodiment is merely one example of application of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.

  DESCRIPTION OF SYMBOLS 1 ... Ship (moving body), 100, 200 ... Monitoring apparatus, 10 ... Camera (image acquisition part), 15 ... Shake correction part, 20 ... Controller, 21 ... Area division part, 22 ... Area setting part, 23 ... Determination part , 24 ... state measurement unit, 25 ... danger determination unit, 30 ... alarm unit, 40 ... GPS device, 110 ... stereo camera, 121 ... distance measurement unit, 122 ... course determination unit, 130 ... notification unit

Claims (2)

A monitoring device mounted on a moving body,
An image acquisition unit that captures a monitoring area and acquires image information;
An area dividing section that divides the monitoring area into two or more areas;
An area setting unit that sets at least one area among the areas partitioned by the area partitioning section as a determination area;
A determination unit that executes a determination process for determining the presence or absence of a detection target based on a processed image that has undergone image processing in the determination region;
An alarm unit that issues an alarm when it is determined that the detection object is in the determination region,
The area partition unit divides the monitoring area into a short-distance area with a short distance and a long-distance area with a long distance based on a distance from the moving body,
The area setting unit sets the short distance area as a first determination area and sets the long distance area as a second determination area,
The determination unit includes: a first determination process for determining the presence / absence of the detection object in the first determination area; and a second determination process for determining the presence / absence of the detection object in the second determination area. Run,
The monitoring apparatus characterized in that the time interval for executing the second determination process is longer than the time interval for executing the first determination process . A monitoring device mounted on a moving body,
An image acquisition unit that captures a monitoring area and acquires image information;
An area dividing section that divides the monitoring area into two or more areas;
An area setting unit that sets at least one area among the areas partitioned by the area partitioning section as a determination area;
A determination unit that executes a determination process for determining the presence or absence of a detection target based on a processed image that has undergone image processing in the determination region;
An alarm unit that issues an alarm when it is determined that the detection target is in the determination area;
A storage unit for storing position information of a fixed object;
A GPS device for detecting position information of the mobile body;
A state measuring unit for measuring a moving state of the moving body based on a detection result of the GPS device;
A risk determination unit that determines whether the moving body is approaching the fixed object based on a measurement result of the state measurement unit, and
When it is determined by the risk determination unit that the moving body is approaching the fixed object, the region setting unit cancels the setting of the determination region, and the determination unit And performing the determination process .

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