JP6977399B2 - Mechanical parking lot safety confirmation system and display device - Google Patents

Description

The present invention relates to safety confirmation of a mechanical parking lot.

Various techniques have been conventionally used for confirming the safety of a mechanical parking lot, and specifically, a method of displaying a camera image and a method of detecting a person or the like from the image have been proposed. For example, Patent Document 1 describes a method of providing an image pickup means for imaging a vehicle stored in a multi-storey car park and analyzing the photographed image to determine whether or not there is a person in the multi-storey car park.

Japanese Unexamined Patent Publication No. 2002-167996

However, with the method of Patent Document 1, it is not possible to photograph the inside of the warehousing room completely without blind spots. In addition, it is not possible to distinguish between a moving body such as a person and a stationary body such as a person or an object.

INDUSTRIAL APPLICABILITY The present invention can prevent a contact accident between a machine and a person or an object in a warehousing room of a mechanical parking lot, or prevent the vehicle from being stored in the parking lot with a person or a pet remaining in the car. The main purpose is to provide a possible system.

From one aspect of the present invention, the safety confirmation system of the mechanical parking lot is displayed from a plurality of cameras installed at a position where the entire storage room of the mechanical parking lot is photographed, and each image captured by the plurality of cameras. An image processing device that cuts out a portion and integrates each of the cut out captured images into one to generate a display image including the entire image of the entire storage room, a display device that displays the display image, and a display device that displays the display image. The image processing apparatus comprises, for each of the plurality of cameras, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, and a third detection mode for detecting only a stationary body. Further, the image processing apparatus includes a storage unit for storing the setting of either the fourth detection mode in which neither the moving body nor the stationary body is detected, and the image processing apparatus is cut out for the camera set in the first detection mode. A moving body and a stationary body in each captured image are detected, a display body showing the moving body and the stationary body is displayed in the displayed image, and each of the cut-out cameras is set to the second detection mode. Only the moving object in the captured image is detected and the display object indicating the moving object is displayed in the displayed image, and for the camera set to the third detection mode, only the stationary object in each captured image is cut out. Is detected and a display body indicating the stationary body is displayed in the display image, and neither the moving body nor the stationary body is detected and displayed for the camera set in the fourth detection mode .

The safety confirmation system described above includes a plurality of cameras installed at positions for photographing the entire storage room of the mechanical parking lot. The image processing device cuts out a display portion from each shot image taken by a plurality of cameras, integrates each cut out shot image into one, and generates and displays a display image including the whole image of the entire warehousing room. Display on the device. As a result, a user such as a driver or a parking lot clerk can intuitively check the entire warehousing room without blind spots. In addition, the presence / absence of display of a moving body or a stationary body can be set in advance for each camera.

In one aspect of the safety confirmation system, the plurality of cameras are installed directly above two diagonal positions of the vehicle parking frame in the warehousing room. In this aspect, it is possible to accurately grasp whether or not the vehicle is outside the parking frame. Also, compared to the case where the camera is installed between the parking frame and the end of the warehousing room, the distance to the opposite end is the shortest, so the back of the warehousing room can be captured more and the other side of the vehicle. The part that becomes a blind spot becomes smaller.

Another aspect of the above-mentioned safety confirmation system further includes a sub-camera provided at a position for photographing a portion not included in the entire image, and the image processing device displays a display portion from the captured image of the sub-camera. A cut-out image is generated and included in the display image. In this aspect, the portion that cannot be captured by the above-mentioned plurality of cameras can be confirmed by the image taken by the sub-camera.

Another aspect of the above-mentioned safety confirmation system further includes an in-vehicle camera provided at a position for photographing the inside of the vehicle warehousing in the warehousing room, and the image processing device is a display location from the image taken by the in-vehicle camera. An image of the inside of the vehicle is generated and included in the display image. In this aspect, it is possible to confirm the presence or absence of people, pets, etc. remaining in the vehicle.

In another aspect of the safety confirmation system, the image processing apparatus is set to the first detection mode when both a moving body and a stationary body are detected for the camera set to the first detection mode. Common to all the cameras, the display is performed by either the first display method of displaying the moving body and the stationary body separately and the second display method of displaying the moving body and the stationary body without distinguishing them. .. In this aspect, it is possible to control whether or not a moving body and a stationary body are displayed separately for all cameras.

In another aspect of the safety confirmation system described above, whether or not the image processing device displays a display body indicating the moving body and a display body indicating the stationary body in the displayed image based on an input from the outside. To decide. In this aspect, the detection result of the moving body and the stationary body can be hidden by the user's selection.

In another aspect of the safety confirmation system described above, the image processing device acquires a vehicle approach signal indicating the entry of a vehicle into the warehousing room from the outside, generates a background image based on the vehicle approach signal, and generates a background image. The stationary body is detected based on the background image. In this aspect, an image of a situation in which the vehicle is not parked in the warehousing room can be set as the background image used in the detection of the stationary body. In this case, preferably, the image processing device captures a captured image at a time point before a certain time from the timing at which the vehicle approach signal is generated, or at the latest time point when no moving object is detected before the time point, as the background image. And. By preparing a plurality of timings for setting the background image, it is possible to correspond to the timing specifications of different vehicle approach signals.

In another aspect of the safety confirmation system described above, the image processing device detects the stationary body by masking a part of a region in each of the cut out captured images. In this aspect, it is possible to exclude a region that does not need to be detected, such as a region of the vehicle itself, or a region such as a mirror or a wall surface that is affected by light or shadow, from the detection target of the stationary body.

Another aspect of the above safety confirmation system includes a control unit that outputs a lock signal for stopping the operation of the machine in the mechanical parking lot when the moving body or the stationary body is detected. In this aspect, when a moving or stationary body is detected, the machine can be forcibly stopped to ensure safety.

In another aspect of the above safety confirmation system, the control unit stops the output of the lock signal when a cancellation instruction of the lock signal is input from the outside. In this aspect, when the user visually confirms the safety or when there is an erroneous detection, the forced stop of the machine by the lock signal can be released.

In another aspect of the above safety confirmation system, a recording means for recording the displayed image is provided. In this aspect, in the unlikely event that an accident occurs, the recorded video can be confirmed later.

In another aspect of the above safety confirmation system, the display device includes a first display device provided near the machine operation panel of the mechanical parking lot and a second display device provided in the parking lot monitoring room. The same display image is displayed on the first display device and the second display device. In this aspect, another observer can check the situation in the warehousing room in the parking lot monitoring room.

From another aspect of the present invention, the display device includes an image acquisition unit that acquires images taken from a plurality of cameras installed at a position where the entire storage room of the mechanical parking lot is photographed, and each captured image by the plurality of cameras. An image processing unit that cuts out a display location from the above and integrates each of the cut out captured images into one to generate a display image including the entire image of the entire storage room, and a display unit that displays the display image. For each of the plurality of cameras, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, a third detection mode for detecting only a stationary body, and a moving body and a stationary body. The image processing unit includes a storage unit that stores any setting of the fourth detection mode in which none of the detections is detected, and the image processing unit is included in each of the captured images cut out for the camera set in the first detection mode. The moving body and the stationary body are detected and a display body showing the moving body and the stationary body is displayed in the displayed image, and for the camera set to the second detection mode, the moving body in each of the cut out captured images. Only the display body indicating the moving object is displayed in the displayed image by detecting only the moving object, and for the camera set in the third detection mode, only the stationary object in each of the cut out captured images is detected and the relevant object is detected. A display body indicating a stationary body is displayed in the display image, and neither the moving body nor the stationary body is detected and displayed for the camera set in the fourth detection mode .

The above-mentioned display device acquires captured images from a plurality of cameras installed at positions where the entire storage room of the mechanical parking lot is photographed. Then, a display portion is cut out from each shot image by a plurality of cameras, each cut-out shot image is integrated into one, and a display image including the whole image of the entire warehousing room is displayed. As a result, a user such as a driver or a parking lot clerk can intuitively check the entire warehousing room without blind spots. In addition, the presence / absence of display of a moving body or a stationary body can be set in advance for each camera.

In one aspect of the display device, the image processing unit arranges each of the cut-out captured images in the direction from the entrance side to the back side of the warehousing chamber to generate the display image. As a result, the images taken by the plurality of cameras can be displayed in a direction in which the user can easily instinctively view the direction.

In another aspect of the display device, the image acquisition unit acquires a captured image from a sub camera provided at a position for photographing a portion not included in the entire image, and the image processing unit acquires the captured image from the sub camera. An image obtained by cutting out a display portion from an image taken by a camera is generated and included in the display image. In this aspect, it is possible to confirm the portion that cannot be captured by the plurality of cameras in the image of the sub camera.

In another aspect of the display device, the image acquisition unit acquires an image taken from an in-vehicle camera provided at a position where the inside of the vehicle stored in the storage room is photographed, and the image processing unit obtains the captured image. An in-vehicle image obtained by cutting out a display portion from an image taken by an in-vehicle camera is generated and included in the display image. In this aspect, it is possible to confirm the presence or absence of people, pets, etc. remaining in the vehicle.

In another aspect of the display device, the image processing unit is set to the first detection mode when both a moving body and a stationary body are detected for the camera set to the first detection mode. Common to all cameras, display is performed by either a first display method in which a moving body and a stationary body are displayed separately and a second display method in which a moving body and a stationary body are displayed without distinction. In this aspect, it is possible to control whether or not a moving body and a stationary body are displayed separately for all cameras.

In another aspect of the above display device, the image processing unit determines whether or not to display the display body showing the moving body and the display body showing the stationary body in the display image based on the input from the outside. decide. In this aspect, the detection result of the moving body and the stationary body can be hidden by the user's selection.

In another aspect of the present invention, a program executed by a display device including a computer and a display unit acquires images taken from a plurality of cameras installed at positions for taking a picture of the entire storage room of a mechanical parking lot. Image processing that cuts out display points from each image taken by the acquisition unit and the plurality of cameras, integrates each of the cut images into one, and generates a display image including the entire image of the entire warehousing room. For each of the unit, the display control unit that displays the display image on the display unit, and the plurality of cameras, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, and a stationary body only. The computer is made to function as a storage unit for storing the settings of either the third detection mode to be detected and the fourth detection mode in which neither a moving object nor a stationary object is detected, and the image processing unit is the first detection unit. For the camera set to the mode, the moving body and the stationary body in each of the cut out captured images are detected, the display body showing the moving body and the stationary body is displayed in the displayed image, and the second detection mode is set. For the set camera, only the moving object in each of the cut out captured images is detected and the display body indicating the moving object is displayed in the displayed image, and for the camera set in the third detection mode. Only the stationary body in each of the cut-out captured images is detected, and the display body indicating the stationary body is displayed in the displayed image, and for the camera set to the fourth detection mode, the moving body and the stationary body are displayed. Neither is detected and displayed . The above display device can be realized by executing this program on a computer.

According to the present invention, before the machine in the mechanical parking lot is activated, a contact accident between the machine and a person or an object, or the vehicle is stored in the parking lot with a person or a pet left in the car. Can be prevented.

It is a top view of a mechanical parking lot. It is the figure which looked at the inside of the warehousing room from the entrance side. It is a top view which shows the structure of a safety confirmation system. An example of the display screen of the monitor is shown. Another example of the display screen of the monitor is shown. Another example of the display screen of the monitor is shown. It is a figure explaining the generation method of the cut-out image. This is a display example of the detected moving object. This is a display example of the detected stationary body. It is a flowchart of image processing. It is a flowchart of the main camera processing. It is a flowchart of a sub camera process and an in-vehicle camera process. It is a figure explaining the method of determining the background image. It is a block diagram of an example of the detection device of a moving body and a stationary body.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[System configuration]
FIG. 1 is a plan view of a mechanical parking lot to which the safety confirmation system according to the embodiment is applied. This mechanical parking lot is a so-called conveyor-type mechanical parking lot, and includes a warehousing room 10 for storing vehicles and a parking room 11 for storing vehicles. A door 12 that can be opened and closed is provided between the storage room 10 and the parking room 11. The vehicle 3 first enters the warehousing room 10 as shown by the arrow 81. Then, after the safety is confirmed in the warehousing room 10, the parking room 11 is stored as shown by the arrow 82.

A vehicle parking frame 13 is provided on the floor of the warehousing room 10 by painting or the like. The vehicle 3 is parked inside the vehicle parking frame 13. Further, a pair of conveyors 14 are provided on the floor of the storage chamber 10. The pair of conveyors 14 are provided at the positions of the front wheels and the positions of the rear wheels of the vehicle 3, respectively, and move the vehicle 3 to the parking room 11 by sliding in the direction of the arrow 82.

A machine operation panel 15 and a monitor 16 are installed near the entrance of the warehousing room 10. The machine operation panel 15 is operated by a driver or a parking lot clerk, and is provided with buttons, switches, and the like for operating the machine of the mechanical parking lot, that is, the door 12 and the conveyor 14. As will be described later, the monitor 16 displays a photographed image in the warehousing room 10.

FIG. 2 is a view of the inside of the warehousing chamber 10 as viewed from the entrance side. As shown in the figure, a vehicle parking frame 13 and a pair of conveyors 14 are provided on the floor of the warehousing room 10, and the vehicle 3 is parked inside the vehicle parking frame 13. On the left side of the vehicle 3, a door 12 that separates the warehousing room 10 and the parking room 11 is provided.

The vehicle 3 is stored in the mechanical parking lot as follows. Referring to FIG. 1, first, the vehicle 3 enters the warehousing room 10 from the outside as shown by the arrow 81, and stops in the vehicle parking frame 13. The driver and the passenger get off the vehicle 3 and leave the warehousing room 10. At this time, the driver or the parking lot staff visually inspects the inside of the warehousing room 10 and also sees the display image of the monitor 16 installed near the machine operation panel 15, and there are no people or objects around the vehicle 3. Also, make sure that there are no people or pets in the car. When it is confirmed that there are no people or objects, the driver or the parking lot staff operates the machine operation panel 15 and operates the machines (door 12 and conveyor 14). As a result, the door 12 opens, the conveyor 14 slides in the direction of the arrow 82, the vehicle 3 is stored in the parking room 11, and then the door 12 closes. In this way, the vehicle 3 is stored in the parking room 11.

Next, the safety confirmation system applied to the mechanical parking lot will be described. FIG. 3 is a plan view showing the configuration of the safety confirmation system 1 according to the embodiment. As shown, the safety confirmation system 1 is applied to the mechanical parking lot shown in FIG. In FIG. 3, for convenience of explanation, the illustration of the parking room 11 of the mechanical parking lot is omitted.

The mechanical parking lot is generally installed in a building, an apartment, or the like, and as shown in FIG. 3, in addition to the warehousing room 10, the machine operation panel 15, and the monitor 16, the parking lot machine processing device 17 A monitoring room 18 and a monitor 19 are provided. The parking lot machine processing device 17 controls machines such as doors 12 and conveyors 14 based on control signals from the machine operation panel 15. The monitoring room 18 is provided outside the mechanical parking lot, and observers and the like are stationed there. A monitor 19 is provided in the monitoring room 18.

The safety confirmation system 1 includes two main cameras 21a and 21b provided in the warehousing room 10, a sub camera 22, an in-vehicle camera 23, a network switch 24, and an image processing device 25.

The main cameras 21a and 21b are preferably fisheye IP cameras with a distortion correction function, and are provided above the two diagonals of the vehicle parking frame 13 as shown in the plan view of FIG. More specifically, when viewed from the entrance side of the warehousing room 10, the main camera 21a is installed almost directly above the right back corner of the vehicle parking frame 13, and the main camera 21b is almost directly above the left front corner of the vehicle parking frame 13. It is installed directly above. The term "directly above" includes not only the position directly above in a strict sense but also the amount of misalignment that may occur due to normal installation work. The two main cameras 21a and 21b are arranged so that the inside of the warehousing chamber 10 can be viewed from above and the entire inside of the warehousing chamber 10 can be photographed without blind spots. Here, "above" indicates a position higher than the roof of the vehicle 3, and is higher than the height of a general vehicle or the maximum height of a vehicle that can be stored in this mechanical parking lot. Includes the position between the ceiling and the ceiling. Further, the “whole” in the warehousing room 10 includes at least the entire floor of the warehousing room 10, and preferably includes a range further including a predetermined distance from the floor of all the inner walls of the warehousing room 10. That is, when the vehicle 3 is present in the warehousing room 10, it means a range including the entire vehicle 3, the entire vehicle parking frame 13, and the area of a predetermined distance from the floor of all the inner walls of the warehousing room 10. This range is defined as a range in which all people, objects, etc. accidentally left in the warehousing room 10 can be photographed.

In addition, a sub camera 22 is installed to take a picture under the hatchback of the vehicle 3, which cannot be captured by the main cameras 21a and 21b. The sub camera 22 is also preferably a fisheye IP camera with a distortion correction function, and is installed at a position where the vicinity of the hatchback at the rear of the vehicle 3 is photographed from the side. In the above example, the main cameras 21a and 21b and the sub camera 22 are fisheye cameras, but a wide-angle camera having a required angle of view may be used instead.

Further, an in-vehicle camera 23 for photographing the inside of the vehicle 3 is set at a position in front of the vehicle 3 that has entered the warehousing room 10. As the in-vehicle camera 23, a varifocal lens IP camera or the like is preferably used, and it is used to detect the presence of a person, a pet, or the like in the vehicle of the vehicle 3.

The captured images of the four cameras, that is, the main cameras 21a and 21b, the sub camera 22, and the in-vehicle camera 23 are transmitted to the image processing device 25 via the network switch 24. The image processing device 25 cuts out the display portion from the images taken by the four cameras, detects moving objects and stationary objects, and integrates the images (images extracted from the four cameras, and the detected moving objects and stationary objects). (To generate one display image by superimposing the detection results), display the display image on the monitors 16 and 19, and record the display image. As a result, the images taken by the four cameras and the detection results of moving and stationary objects can be viewed on both the monitor 16 provided near the machine operation panel 15 and the monitor 19 provided in the monitoring room 18. can. The processing by the image processing apparatus 25 described above will be further described later.

The image processing device 25 sends and receives various signals to and from the parking lot machine processing device 17. First, the image processing device 25 receives the detection function control signal S1 from the parking lot machine processing device 17. The detection function control signal S1 is a signal instructing whether or not to detect a moving body or a stationary body by the image processing device 25. The image processing device 25 detects moving objects and stationary objects from the captured image of the camera when the detection function control signal S1 is on, and does not detect moving objects and stationary objects when the detection function control signal S1 is off. .. The detection function control signal S1 can be turned on or off according to the user's selection input through the machine operation panel 15.

Further, the image processing device 25 receives the vehicle approach signal S2 from the parking lot machine processing device 17. The vehicle approach signal S2 is a signal indicating that the vehicle 3 has entered the warehousing chamber 10, and is typically generated by a sensor or the like installed near the entrance of the warehousing chamber 10. Although the details will be described later, the image processing device 25 determines the background image used for detecting the stationary body based on the vehicle approach signal S2.

Further, when the image processing device 25 detects a moving body or a stationary body, the image processing device 25 transmits an interlock signal S3 to the parking lot machine processing device 17. The interlock signal S3 is a signal instructing the forced stop of the machine (door 12, conveyor 14, etc.) in the mechanical parking lot. Upon receiving the interlock signal S3 from the image processing device 25, the parking lot machine processing device 17 forcibly stops the machine. When the interlock signal S3 is transmitted and the machine is stopped urgently, the driver or the parking lot staff confirms the inside of the warehousing room 10. When there are no people or objects in the warehousing room 10 and safety is confirmed, the driver or the parking lot staff operates the machine operation panel 15 and instructs the release of the forced stop. In response to this operation, the parking lot machine processing device 17 transmits the interlock cancel signal S4 to the image processing device 25. As a result, the interlock signal S3 transmitted from the image processing device 25 is canceled, and the emergency stop of the machine is released.

[Display example of monitor]
FIG. 4 shows an example of the display screens of the monitors 16 and 19. As shown, the display screen of the monitor includes cropped images 31-34 cut out from four cameras. The cut-out image 31 is an image cut out from the captured image of the main camera 21a, and is an image in the direction of looking at the entrance side from the upper back side of the storage chamber 10. The cut-out image 32 is an image cut out from the image taken by the main camera 21b, and is an image seen from the upper side of the entrance side of the warehousing room 10 to the back side. That is, the cut-out images 31 and 32 are images of the inside of the warehousing chamber 10 viewed from the opposite direction, and they are arranged side by side. With the cut-out images 31 and 32, the entire inside of the warehousing chamber 10 as seen from above can be displayed without blind spots. The cut-out images 31 and 32 correspond to the entire image of the present invention.

The cut-out image 33 is an image cut out from the image taken by the sub camera 22, and is an image of the rear part of the vehicle 3 in the warehousing room 10 viewed from the side. As shown in FIG. 4, when the vehicle 3 is a minivan or a wagon vehicle, the cutout image 33 makes it possible to capture a state below the hatchback that cannot be captured by the cutout image 32 from the main camera 21b.

The cut-out image 34 is an image cut out from the image taken by the front camera 23, and is an in-vehicle image showing the state of the front seats and the rear seats in the vehicle of the vehicle 3. From the cutout image 34, it is possible to confirm whether or not a person, a pet, or the like is left in the vehicle of the vehicle 3.

As shown in FIG. 4, various information is displayed on the display screens of the monitors 16 and 19 in addition to the cutout images 31 to 34. Specifically, a moving body (motion) detection presence / absence label 35 and a stationary body (left behind) detection presence / absence label 36 are displayed on the cutout image 31. The moving object detection presence / absence label 35 is a label displayed when a moving object is detected from any of the images taken by the four cameras, and includes the characters “motion” and a circular mark of a predetermined color. The stationary body detection presence / absence label 36 is a label displayed when a stationary body is detected from any of the captured images of the main cameras 21a and 21b, and includes the characters "left behind" and a circular mark of a predetermined color. ..

A detection function presence / absence label 37 is displayed on the cutout image 32. The detection function presence / absence label 37 is a label indicating an on / off state of the detection function of the moving body and the stationary body of the image processing device 25 by the detection function control signal S1. The detection function presence / absence label 37 includes the character "detecting" when the detection function is on, and includes the character "detection stopped" when the detection function is off. When the detection function is off, the above-mentioned moving object detection presence / absence label 35 and stationary body detection presence / absence label 36 are not displayed.

The place name 38 of the warehousing room 10 is displayed on the upper left of the display screen. In addition, as auxiliary information regarding the state of the system, the current time 39, the time 40 of the latest background image used for detecting a stationary object, the frame rate of the entire processing 41, the frame rate 42 of the four cameras, and the message 43 of the system. Etc. are displayed.

FIG. 5 shows another example of the display screens of the monitors 16 and 19. In this example, the cut-out image 31 is rotated by 180 degrees and displayed as compared with the example of FIG. 4, and is the same as the example of FIG. 4 except for this point. By rotating the cutout image 31 by 180 degrees, the cutout images 31 and 32 both have the same sense of direction, that is, the direction in which the back side is viewed from the entrance side (the side of the machine operation panel 15) of the warehousing chamber 10. Since the monitor 16 is installed near the machine operation panel 15, by aligning the directions of the cutout images 31 and 32 in this way, the driver or the parking lot staff can see the cutout images 31 and 32 in a natural sense. ..

FIG. 6 shows still another example of the display screens of the monitors 16 and 19. As can be understood by comparing with FIG. 5, in this example, the cut-out image 31 and the cut-out image 32 are displayed interchangeably, and the same as the example of FIG. 5 except for this point. In this example as well, the cutout images 31 and 32 both have the same sense of direction, that is, the direction from the entrance side (the side of the machine operation panel 15) of the warehousing room 10 to the back side, so that the driver or the parking lot staff can do so. You can see the cutout images 31 and 32 with a natural feeling.

[How to cut out an image]
Next, a method of cutting out an image from the image taken by the camera will be described. First, the installation positions of the main cameras 21a and 21b will be described. FIG. 7A shows a photographed image 41 in the warehousing room 10 photographed by the main camera 21a. As described above, the main camera 21a is installed substantially directly above the corner 43 of the vehicle parking frame 13 in the warehousing room 10. By doing so, by looking at the captured image 41 of the main camera 21a, it is possible to accurately grasp whether or not the vehicle 3 protrudes from the two sides (two sides intersecting at the corner 43) of the vehicle parking frame 13. In addition, when the main camera 21a is installed almost directly above the corner 43 of the vehicle parking frame 13, the corner 43 of the vehicle parking frame 13 and the warehousing room 10 are shown as shown by the plurality of marks 43 in FIG. 7 (A). The distance from the main camera 21a to the opposite end of the vehicle parking frame 13 (that is, the entrance of the warehousing room 10) is the shortest as compared with the case where it is installed at the position between the end and the back. Can be captured in a large size, and the portion of the blind spot on the opposite side of the vehicle 3 (indicated by the broken line elliptical 44) is reduced. Similarly, the main camera 21b is also installed substantially directly above the diagonal of the vehicle parking frame 13. In this way, by installing the two main cameras 21a and 21b directly above the diagonal of the vehicle parking frame 13, the entire inside of the warehousing room 10 can be photographed without blind spots.

Next, a method of cutting out a display portion from the captured image of the main camera 21a shown in FIG. 7A will be described. As shown in the captured image 41 of FIG. 7A, the image captured by a general fisheye camera has a wide angle of view of approximately 180 ° when viewed from above, but has distortion. By using a fisheye camera with a distortion correction function, as shown in FIG. 7B, an image 45 with reduced distortion can be obtained. From this image, the image processing device 25 cuts out an area including the vehicle parking frame 13 as a display portion, and generates a cut-out image 46 as illustrated in FIG. 7 (C). For the main camera 21b, a necessary display portion is cut out by the same method.

[Display example of moving object]
Next, a display example when the image display device 25 detects a moving object will be described. The image display device 25 detects a moving object for the cut-out image of each camera, and displays the detected moving object in a frame. FIG. 8A shows an example of displaying a moving object in a cutout image of the main camera 21a. In this example, the area where a person is walking around the vehicle is detected as a moving body, and the frame 51 is superimposed on the detected moving body and displayed. FIG. 8B shows a display example of a moving object in the cutout image of the sub camera 22. In this example, the area where a person is working under the hatchback of the vehicle is detected as a moving body, and the frame 52 is superimposed on the detected moving body and displayed. FIG. 8C shows an example of displaying a moving object in a cutout image of the in-vehicle camera 23. In this example, the area where a person remains in the rear seat of the vehicle and is moving is detected as a moving body, and the frame 53 is superimposed on the detected moving body and displayed. It is preferable that the colors of the frames 51 to 53 indicating the moving body match the color of the circular mark on the moving body detection presence / absence label 35 shown in FIG. Frames 51 to 53 are examples of display bodies showing moving bodies in the present invention.

[Display example of stationary body]
Next, a display example when the image display device detects a stationary object will be described. The image display device 25 detects a still body on the cut-out image of the main cameras 21a and 21b, and displays the detected still body as a frame. FIG. 9A shows an example of displaying a stationary body in a cutout image of the main camera 21a. In this example, the area where a person is crouching and crouching around the vehicle is detected as a stationary body, and the frame 61 is superimposed on the detected stationary body and displayed. FIG. 9B shows an example of displaying a stationary body in a cutout image of the main camera 21b. In this example, the area where the bag is left around the vehicle is detected as a stationary body (left behind), and the frame 62 is superimposed on the detected stationary body and displayed.

FIG. 9C shows an example of displaying a stationary body in a cutout image of the main camera 21a. In this example, the area of the color cone (registered trademark) existing around the vehicle is detected as a lost body, and the frame 63 is superimposed and displayed on the detected lost body. The disappearing body means an object that has existed in the past but has disappeared thereafter. In the example of FIG. 9C, the vanishing body is indicated by a broken line to distinguish it from the stationary body. The frames 61 to 62 indicating the stationary body (including the disappearing body) have a different color from the frames 51 to 53 indicating the moving body, and match the color of the circular mark on the stationary body detection presence / absence label 36 shown in FIG. Is preferable. Frames 61 to 63 are examples of display bodies indicating stationary bodies in the present invention.

FIG. 9D shows an example of setting a stationary mask. In the stationary body detection process, it is preferable to mask the area 64 of the vehicle, for example, which is not desired to be detected as a stationary body, before the stationary body detection process and exclude it from the target of the stationary body detection process. In addition to the vehicle area, it is preferable to mask areas such as mirrors and wall surfaces that are affected by light and shadow in the same manner to exclude them from the rest body detection process.

[Image processing]
(Process flow)
Next, the flow of image processing performed by the image processing device 25 will be described. FIG. 10 is a flowchart of the main routine of image processing. First, the image processing device 25 performs parallel processing to process the main camera of the main camera 21a (step S10a), the main camera processing of the main camera 21b (step S10b), the sub camera processing (step S20), and the in-vehicle camera processing. (Step S30) is performed simultaneously and in parallel.

First, the main camera processing will be described. In the main camera processing, moving objects and stationary objects are detected based on the captured images of the main cameras 21a and 21b. FIG. 11 is a flowchart of the main camera processing (steps S10a and S10b). First, the image processing device 25 acquires captured images from the main cameras 21a and 21b (step S11), rotates and crops the images, and generates the above-mentioned cropped image (step S12). Next, the image processing device 25 determines whether or not the detection function control signal S1 transmitted from the parking lot machine processing device 17 is on (step S13).

If the detection function control signal S1 is not on (step S13: No), the process returns to the main routine of FIG. On the other hand, when the detection function control signal is on (step S13: Yes), the image processing device 25 determines whether or not the vehicle approach signal S2 transmitted from the parking lot machine processing device 17 has been switched from off to on. (Step S14).

If the vehicle approach signal S2 is not switched on (step S14: No), the process proceeds to step S16. On the other hand, when the vehicle approach signal S2 is switched from off to on (step S14: Yes), the image processing device 25 determines a background image based on the timing when the vehicle approach signal S2 is switched on and stores it in a memory or the like. (Step S15). The method of determining the background image will be described in detail later.

Next, the image processing device 25 detects a moving body or a stationary body based on the cut-out image, superimposes the detection result on the cut-out image, and generates an image of a display portion (step S16). In the detection of the stationary body, the background image determined in step S15 is used. When a moving body is detected, an image in which a predetermined frame 51 is superimposed on the moving body is generated as illustrated in FIG. 8 (A), and when a stationary body is detected, FIGS. 9 (A) to 9 (C) are generated. ), An image in which predetermined frames 61 to 63 are superimposed on a stationary body is generated. The method of detecting a moving body and a stationary body will be described in detail later. When the moving body and the stationary body are detected in this way, the process returns to the main routine of FIG.

Next, the sub camera processing will be described. In the sub camera process, a moving object is detected based on the captured image of the sub camera 22. FIG. 12A is a flowchart of the sub camera process. First, the image processing device 25 acquires a captured image from the sub camera 22 (step S21), rotates and cuts out the image, and generates the above-mentioned cutout image (step S22). Next, the image processing device 25 determines whether or not the detection function control signal S1 transmitted from the parking lot machine processing device 17 is on (step S23).

If the detection function control signal S1 is not on (step S23: No), the process returns to the main routine of FIG. On the other hand, when the detection function control signal is on (step S23: Yes), the image processing device 25 detects a moving object based on the cut-out image, superimposes the detection result on the cut-out image, and generates an image of the display portion. (Step S24). When a moving object is detected, an image in which a predetermined frame 52 is superimposed on the moving object is generated as illustrated in FIG. 8 (B). Then, the process returns to the main routine of FIG.

Next, the in-vehicle camera processing will be described. In the in-vehicle camera processing, the moving object is detected based on the captured image of the in-vehicle camera 23. FIG. 12B is a flowchart of in-vehicle camera processing. The in-vehicle camera processing is the same as the above-mentioned sub-camera processing except that a cutout image is generated based on the captured image of the in-vehicle camera 23 in step S31. When a moving object is detected, an image in which a predetermined frame 53 is superimposed on the moving object is generated as illustrated in FIG. 8C. Then, the process returns to the main routine of FIG.

When the main camera processing, the sub camera processing, and the in-vehicle camera processing are performed in this way, the image processing device 25 then synthesizes the cutout images of each camera to generate a display image (step S31), and further forms the display image. Various labels and auxiliary information are included (step S32). As a result, display images as illustrated in FIGS. 4 to 6 are generated. Then, the image processing device 25 displays the generated display image on the monitors 16 and 19 and records and stores the generated display image (step S33).

Next, in the image processing device 25, at least one moving body or stationary body is detected by the main camera processing, the sub camera processing, and the in-vehicle camera processing, and the interlock cancellation transmitted from the parking lot machine processing device 17 It is determined whether the signal S4 is off (step S34). If the determination result in step S34 is Yes, the image processing device 25 sets the interlock signal S3 transmitted to the parking lot machine processing device 17 to ON (step S35). In this way, when a moving body or a stationary body is detected, the machine (door 12, conveyor 14, etc.) is forcibly stopped.

On the other hand, when the determination in step S34 is No, the image processing device 25 sets the interlock signal S3 transmitted to the parking lot machine processing device 17 to off (step S36). In this case, a moving body or a stationary body is detected, but since the interlock cancel signal S4 is transmitted according to the instruction of the driver or the parking lot staff, the image processing device 25 turns off the interlock signal by turning off the interlock signal. Machines (door 12, conveyor 14, etc.) will not be forcibly stopped.

Next, the image processing device 25 determines whether or not to terminate the system (step S37). If the system is not terminated (step S37: No), the process returns to steps S10 and S20. On the other hand, when the system is terminated (step S37: Yes), the process is terminated.

(How to determine the background image)
Next, a method of determining the background image performed in step S15 of the main camera processing will be described. FIG. 13 is a diagram illustrating a method of determining a background image. The image processing device 25 determines the background image based on the vehicle approach signal S2 transmitted from the parking lot machine processing device 17. The vehicle approach signal S2 is generated at the timing when the entry of the vehicle 3 into the warehousing chamber 10 is detected, and switches from off to on. In the first method, the image processing device 25 sets _{the timing ta a} certain time before the timing t ₀ when the vehicle approach signal S2 is turned on as the background image generation timing, and sets the background image 71 taken by the camera at that time as the background. It is an image. As a result, the photographed image in the warehousing room 10 at a certain time before the vehicle 3 starts entering the warehousing room 10 is set as the background image.

Since the vehicle approach signal S2 is generated by a sensor or the like provided in the machine parking lot, it is conceivable that the timing of turning on each of the machine parking lots may be slightly different. Therefore, in the second method, at the timing t _a previously by the first method, it sets the latest captured image 72 moving body is not detected by the moving object detection processing on the background image. By moving object is considered as a condition that has not been detected, by any chance, even though already gone elaborate-through vehicle in the image at a predetermined time before the timing t _a which includes the previous traffic-signal generation, the vehicle The captured image before approaching can be used as the background image. In this way, by preparing several methods for determining the background image, it is possible to cope with the case where the timing specifications of the vehicle approach signal are different in each parking lot facility.

(How to detect moving and stationary objects)
Next, a method for detecting a moving body and a stationary body will be described. The image processing device 25 detects a moving body and a stationary body based on the captured image of each camera. Basically, a plurality of frame images that are continuous in time are compared, and if there is a change between the frame images before and after, it is determined that there is a moving object. Further, the frame image at the time of the determination target is compared with the background image prepared in advance, and if there is a change, it is determined that there is a stationary body. Specifically, a moving body and a stationary body are detected by performing a process of calculating the difference between the frame images.

An example of a method for detecting a moving body and a stationary body will be described below. It should be noted that this example is merely an example of a method for detecting a moving body or a stationary body, and in the present invention, it can be configured to detect a moving body or a stationary body by using various other methods.

FIG. 14 is a block diagram showing a configuration of an individual detection device 100 that detects a moving body and a stationary body from a photographed image. The detection device 100 is a device that detects an individual existing in a predetermined imaging target area as a stationary stationary individual (stationary body) or a moving moving individual (moving body), and as shown in the figure, inputs an original image. A unit 110, a background image storage unit 120, a background difference image creation unit 130, an interframe difference image creation unit 140, an overlap presence / absence determination unit 150, an individual recognition unit 160, and a detection individual display unit 170 are provided. ing.

The original image input unit 110 is a component for inputting each original image P (t) obtained as an image in frame units arranged in chronological order. In this example, each input original image P (t) is input. It also has a function to temporarily save. Here, the variable t indicates a time, for example, an original image P (t0) taken at time t0, an original image P (t1) taken at time t1, and an original image P (taken at time t2). Original images in frame units are sequentially input, such as t2), .... Each original image P (t) is an image obtained by shooting with respect to a predetermined shooting target area, and is, for example, a digital image obtained by shooting with a fixed point camera installed at a predetermined monitoring place.

On the other hand, the background image storage unit 120 is a component that stores the background image BG for the shooting target area. Here, the background image BG is an image obtained by photographing the image-taking target area in a reference state in which an individual to be detected by the detection device 100 does not exist. For example, if the detection device 100 is a device that inputs an image taken by a fixed-point camera installed in an indoor place where the lighting environment does not change, such as an underground parking lot, as an original image P (t), it is in advance. The original image P (t) taken when the vehicle does not exist may be stored in the background image storage unit 120 as the background image BG. The arrow from the original image input unit 110 to the background image storage unit 120 in FIG. 1 indicates the flow of a signal for storing such an original image P (t) as the background image BG.

The background subtraction image creating unit 130 takes the difference between each original image P (t) sequentially input by the original image input unit 110 and the background image BG given from the background image storage unit 120, thereby causing the background subtraction image D (t). ) Is a component that creates.

On the other hand, the inter-frame difference image creating unit 140 creates an inter-frame difference image showing the difference between each original image P (t) sequentially input by the original image input unit 110 and different frames in the time series. It is an element. For example, for the original image P (t1) given at time t1, the difference from the original image P (t0) which is the previous frame is obtained, and the obtained difference image is used as the inter-frame difference image F (t1). Performs output processing.

The overlap presence / absence determination unit 150 has a frame-to-frame difference image F (t) created by the frame-to-frame difference image creation unit 140 for each background difference region d in the background difference image D (t) created by the background difference image creation unit 130. ) Is a component for determining the presence or absence of an overlapping portion with respect to the interframe subtraction region f. In the case of the embodiment shown here, the duplication presence / absence determination unit 150 has a function of outputting the determination result in the form of the duplication confirmation image C (t).

The individual recognition unit 160 is a component that recognizes an individual included in the original image P (t) as a stationary individual (stationary body) or a moving individual (moving body) based on the determination result by the overlap presence / absence determination unit 150. , Each individual appearing on the original image P (t) plays a role of recognizing whether it is a stationary individual or a moving individual. More specifically, the individual recognition unit 160 is based on the overlap presence / absence determination unit 150 for the individual background subtraction regions d included in the background subtraction image D (t) created by the background subtraction image creation unit 130. Based on the determination result (in the case of the illustrated embodiment, the duplicate confirmation image C (t)), it is a component that performs a process of recognizing an individual occupying the background subtraction region d as a stationary individual or a moving individual, as shown in the figure. It has a stationary individual recognition unit 161 and a moving individual recognition unit 162. The stationary individual recognition unit 161 performs the recognition processing of the stationary individual, and the moving individual recognition unit 162 performs the recognition processing of the moving individual.

The detected individual display unit 170 is a component that displays an individual index for identifying an individual recognized as a stationary individual or a moving individual by the individual recognition unit 160 on the display screen. That is, a process is performed in which the stationary individual index s is displayed for the individual recognized as a stationary individual by the stationary individual recognition unit 161 and the moving individual index m is displayed for the individual recognized as a moving individual by the moving individual recognition unit 162. .. The stationary individual index s is an index indicating an individual recognized as a stationary individual among the individuals displayed on the display screen, and the moving individual index m is an operation among the individuals displayed on the display screen. It is an index indicating an individual recognized as an individual.

In the case of this example, the original image P (t) input by the original image input unit 110 is sequentially given to the detected individual display unit 170. Therefore, the detected individual display unit 170 creates an individual detection image Q (t) by superimposing the stationary individual index s or the moving individual index m on the original image P (t), and the individual detection image Q (t). Is displayed on the display screen. The detected individual display unit 170 displays both the stationary individual index s indicating an individual recognized as a stationary individual by the individual recognition unit 160 and the moving individual index m indicating an individual recognized as a moving individual on the display screen. When displaying in, it has a function to display both in a visually distinguishable manner. The stationary individual index s and the moving individual index m can preferably be a frame surrounding a moving body or a stationary body as in the above-mentioned frames 51 to 53 and 61 to 63.

[Modification example]
(Modification 1)
In the above embodiment, the present invention is applied to a conveyor type mechanical parking lot, but the present invention is also applicable to other types of mechanical parking lots such as a pallet type mechanical parking lot. ..

(Modification 2)
In the above embodiment, the sub-camera 22 is arranged on the side of the vehicle, but the sub-camera 22 is not limited to this, and the sub-camera 22 is arbitrary at an arbitrary position for photographing an area that cannot be captured by the main cameras 21a and 21b. It can be arranged as many as the number of.

(Modification 3)
In the above embodiment, the image display device 25 detects and displays a moving body and a stationary body from the cutout image of each camera, and sets whether or not to detect and display the moving body and the stationary body for each camera. However, it may be stored as a setting file or the like in a storage unit in the image processing device 25. Specifically, from the cutout image of each camera, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, a third detection mode for detecting only a stationary body, and a moving body and a stationary body. One of the fourth detection modes in which none of the bodies is detected is set for each camera. Then, the image display device 25 detects moving objects and stationary objects in the cut-out image for the camera set in the first detection mode, displays a frame showing them, and sets the camera in the second detection mode. For, only the moving object in the cutout image is detected and the frame indicating it is displayed, and for the camera set to the third detection mode, only the stationary object in the cutout image is detected and the frame indicating it is displayed. For the camera set in the fourth detection mode, neither the moving body nor the stationary body is detected, and the display thereof may not be performed.

However, as described above, when the detection function control signal S1 indicating that the moving body and the stationary body are not detected is transmitted from the parking lot machine processing device 17 to the image processing device 25, the image processing device 25 , Does not detect moving or stationary objects from the image cut out by the camera. That is, even if there is a camera set in the first detection mode to the third detection mode in the setting file in the image processing device 25, the detection function control signal S1 indicating "off" is input to the image processing device 25. If so, the image processing device 25 does not detect a moving body or a stationary body.

1 Safety confirmation system 3 Vehicle 10 Storage room 12 Door 13 Vehicle parking frame 14 Conveyor 16, 19 Monitor 21a, 21b Main camera 22 Sub camera 23 In-vehicle camera 25 Image processing device

Claims (20)

Multiple cameras installed at the position to take a picture of the entire warehousing room of the mechanical parking lot,
An image processing device that cuts out a display portion from each shot image taken by the plurality of cameras, integrates each cut out shot image into one, and generates a display image including the whole image of the entire warehousing room.
A display device that displays the display image and
Equipped with
The image processing device has a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, a third detection mode for detecting only a stationary body, and a moving body for each of the plurality of cameras. And a storage unit that stores the setting of any of the fourth detection modes that do not detect any of the stationary objects.
For the camera set in the first detection mode, the image processing device detects moving objects and stationary objects in each of the captured images cut out, and displays a display body showing the moving objects and stationary objects in the displayed image. For the camera set in the second detection mode, only the moving object in each of the cut out captured images is detected, and the display body indicating the moving object is displayed in the displayed image, and the third is displayed. For the camera set in the detection mode, only the stationary body in each of the cut out captured images is detected, the display body showing the stationary body is displayed in the displayed image, and the fourth detection mode is set. A mechanical parking safety confirmation system characterized in that neither moving nor stationary objects are detected and displayed for the camera. The safety confirmation system according to claim 1, wherein the plurality of cameras are installed directly above two diagonal positions of the vehicle parking frame in the warehousing room. Further equipped with a sub-camera provided at a position for shooting a part not included in the whole image,
The safety confirmation system according to claim 1 or 2, wherein the image processing device generates an image obtained by cutting out a display portion from an image captured by the sub camera and includes the image in the display image. Further equipped with an in-vehicle camera provided at a position for photographing the inside of the vehicle that has been stored in the warehousing room.
The safety confirmation system according to any one of claims 1 to 3, wherein the image processing device generates an in-vehicle image obtained by cutting out a display portion from an image taken by the in-vehicle camera and includes the display image in the display image. .. When both a moving body and a stationary body are detected for the camera set in the first detection mode, the image processing device is common to all the cameras set in the first detection mode with the moving body. Any of claims 1 to 4, wherein the display is performed by either a first display method for displaying a stationary body separately and a second display method for displaying a moving body and a stationary body without distinguishing them. The safety confirmation system described in item 1. The image processing apparatus based on an input from the outside, 1 to claim and determines whether to display while displaying an image of the display member showing the display body and the stationary body showing the moving object The safety confirmation system according to any one of 5. The image processing device acquires a vehicle approach signal indicating the entry of a vehicle into the warehousing room from the outside, generates a background image based on the vehicle approach signal, and detects the stationary body based on the background image. The safety confirmation system according to any one of claims 1 to 6 , characterized in that. The image processing device is characterized in that the background image is a captured image at a time point before a certain time from the timing at which the vehicle approach signal is generated, or at the latest time point when no moving object is detected before the time point. The safety confirmation system according to claim 7. The safety confirmation system according to any one of claims 1 to 8 , wherein the image processing apparatus masks a part of a region in each of the cut out captured images to detect the stationary body. .. One of claims 1 to 9 , wherein the control unit is provided to output a lock signal for stopping the operation of the machine in the mechanical parking lot when the moving body or the stationary body is detected. The safety confirmation system described in. The safety confirmation system according to claim 10 , wherein the control unit stops the output of the lock signal when a cancellation instruction of the lock signal is input from the outside. The safety confirmation system according to any one of claims 1 to 11 , further comprising a recording means for recording the displayed image. The display device includes a first display device provided near the mechanical operation panel of the mechanical parking lot and a second display device provided in the parking lot monitoring room, and the first display device and the second display device. The safety confirmation system according to any one of claims 1 to 12 , wherein the same display image is displayed on the display device. An image acquisition unit that acquires images taken from multiple cameras installed at positions that capture the entire storage room of a mechanical parking lot,
An image processing unit that cuts out a display portion from each shot image taken by the plurality of cameras, integrates each cut out shot image into one, and generates a display image including the whole image of the entire warehousing room.
A display unit that displays the display image and
For each of the plurality of cameras, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, a third detection mode for detecting only a stationary body, and any of the moving body and the stationary body. It is equipped with a storage unit that stores the setting of any of the fourth detection modes that are not detected .
For the camera set in the first detection mode, the image processing unit detects moving objects and stationary objects in each of the captured images cut out, and displays a display body showing the moving objects and stationary objects in the displayed image. For the camera set in the second detection mode, only the moving object in each of the cut out captured images is detected, and the display body indicating the moving object is displayed in the displayed image, and the third is displayed. For the camera set in the detection mode, only the stationary body in each of the cut out captured images is detected, the display body showing the stationary body is displayed in the displayed image, and the fourth detection mode is set. A display device characterized in that neither a moving body nor a stationary body is detected and displayed for a moving camera. 14. The image processing unit according to claim 14 , wherein the image processing unit arranges the cut out captured images so as to be aligned in the direction from the entrance side to the back side of the warehousing chamber to generate the display image. Display device. The image acquisition unit acquires a captured image from a sub camera provided at a position for photographing a portion not included in the entire image.
Wherein the image processing unit, a display device according to claim 14 or 15 wherein the generating an image cut out the display portion from the sub-image captured by a camera, characterized in that included in the display image. The image acquisition unit acquires a photographed image from an in-vehicle camera provided at a position where the inside of the vehicle stored in the warehousing room is photographed.
The display device according to any one of claims 14 to 16 , wherein the image processing unit generates an in-vehicle image obtained by cutting out a display portion from an image taken by the in-vehicle camera and includes the display image in the display image. When both a moving body and a stationary body are detected for the camera set in the first detection mode, the image processing unit is common to all the cameras set in the first detection mode with the moving body. Any of claims 14 to 17, wherein the display is performed by either a first display method for displaying a stationary body separately and a second display method for displaying a moving body and a stationary body without distinguishing between them. The display device described in item 1. Wherein the image processing unit based on the input from the outside, 14 through claim and determines whether to display while displaying an image of the display member showing the display body and the stationary body showing the moving object The display device according to any one of 18. A program executed by a display device including a computer and a display unit.
An image acquisition unit that acquires images taken from multiple cameras installed at positions where the entire storage room of a mechanical parking lot is photographed.
An image processing unit that cuts out display points from each shot image taken by the plurality of cameras, integrates the cut out shot images into one, and generates a display image including the whole image of the entire warehousing room.
A display control unit that displays the display image on the display unit,
For each of the plurality of cameras, a first detection mode for detecting a moving body and a stationary body, a second detection mode for detecting only a moving body, a third detection mode for detecting only a stationary body, and any of the moving body and the stationary body. A storage unit that stores one of the settings of the fourth detection mode that is not detected,
It makes the computer function as,
For the camera set in the first detection mode, the image processing unit detects moving objects and stationary objects in each of the captured images cut out, and displays a display body showing the moving objects and stationary objects in the displayed image. For the camera set in the second detection mode, only the moving object in each of the cut out captured images is detected, and the display body indicating the moving object is displayed in the displayed image, and the third is displayed. For the camera set in the detection mode, only the stationary body in each of the cut out captured images is detected, the display body showing the stationary body is displayed in the displayed image, and the fourth detection mode is set. A program characterized in that neither moving nor stationary objects are detected and displayed for the camera.

Images