JP7170857B2 - CONTROLLER, SYSTEM, METHOD AND PROGRAM - Google Patents

Description

The present invention relates to control devices, systems, methods, and programs.

2. Description of the Related Art Conventionally, there has been known an image recording apparatus that synthesizes and records a plurality of images received from a plurality of imaging devices using the installation positions of the plurality of imaging devices (for example, see Patent Document 1).

JP 2008-028605 A

However, in the image recording apparatus disclosed in Patent Document 1, even if an image is received, the image is transmitted unless the communication address of the image capturing apparatus and the installation position of the image capturing apparatus are associated and stored in advance. The installation position of the imaging device could not be specified. For this reason, in the image recording apparatus of Patent Document 1, for example, when installing the image recording apparatus, the operator must associate the communication address of the imaging apparatus with the installation position and store the information in the image recording apparatus. did not become.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to reduce the effort required to associate the position where an imaging device is installed with the communication address used by the imaging device to transmit an image. An object of the present invention is to provide a control device, system, method, and program capable of reducing.

In order to achieve the above object, the control device according to the present invention includes:
Communication means for receiving a first image captured from a first imaging position and a second image captured from a second imaging position that is farther from the subject than the first imaging position. When,
A first length, which is the vertical length of the subject drawn in the first image received by the communication means, and a second length, which is the vertical length of the subject drawn in the second image. a detection means for detecting and
feature identifying means for identifying long and short features characterizing the length of the first length in the group containing the first length and the second length detected by the detection means;
from the first position in a group including a first position where a first imaging device is installed and a second position where a second imaging device is installed and which is farther from the subject than the first position storage means for storing a perspective feature that characterizes the perspective to the subject and the first position in association with each other;
identifying a perspective feature that characterizes the distance from the first imaging position to the subject in a group including the first imaging position and the second imaging position according to the long and short features identified by the feature identifying means;
identifying the first position of the first imaging device associated with the identified perspective feature as the first imaging position of the first image received by the communication means; and
identifying the communication address used for receiving the first image by the communication means as the communication address assigned to the first imaging device ;
an address identifying means;
storage means for storing the communication address of the first imaging device specified by the address specifying means in the storage means in association with the first position where the first imaging device is installed;
Prepare.

According to the control device, system, method, and program according to the present invention, it is possible to reduce labor for associating the position where the imaging device is installed with the communication address used by the imaging device for image transmission.

A diagram showing a configuration example of an air conditioning system according to an embodiment of the present invention. A diagram showing an example of the hardware configuration of a thermometer FIG. 2 is a diagram showing an example of the hardware configuration of an imaging device; Diagram showing an example of azimuth angle A diagram showing an example of the hardware configuration of an imaging unit. A diagram showing an example of an image generated by an imaging device FIG. 2 is a diagram showing an example of an installation position of an imaging device according to an embodiment; A diagram showing an example of a set of images generated by imaging devices in one row and one column. A diagram showing an example of a set of images generated by imaging devices in 1 row and 2 columns. A diagram showing an example of a set of images generated by imaging devices arranged in 1 row and 4 columns. FIG. 4 is a diagram showing an example of the relationship between the distance from the subject to the imaging device and the portion of the subject included in the angle of view according to the embodiment; A diagram showing an example of the relationship between the distance from the subject to the imaging device and the drawing length, which is the length of the drawn subject in the vertical direction. A diagram showing an example of a set of images generated by imaging devices arranged in two rows and one column. Diagram showing an example of the hardware configuration of an air conditioner Diagram showing an example of an air-conditioned space where an air conditioner harmonizes the air A diagram showing an example of a hardware configuration of a control device 4 is a flowchart showing an example of association processing executed by the control device according to the embodiment; Functional block diagram showing an example of the functions of the control device FIG. 4 is a diagram showing an example of an image table stored by the control device; A diagram showing an example of an installation position table stored by the control device. Flowchart representing an example of imaging control processing executed by a control device 4 is a flowchart representing an example of image selection processing executed by the control device; 4 is a flowchart showing an example of perspective feature identification processing executed by the control device according to the embodiment; 3 is a flow chart showing an example of left/right feature identification processing executed by the control device according to the embodiment; 3 is a flowchart showing an example of imaging position specifying processing executed by the control device; Flowchart representing an example of air conditioning control processing executed by the control device A diagram showing an example of an air-conditioned space table stored by the control device. Diagram showing a configuration example of a lighting system A diagram showing an example of a hardware configuration of a lighting device. Diagram showing a configuration example of a monitoring system A diagram showing an example of a hardware configuration of a monitoring device Flowchart showing an example of association processing executed by a control device according to Modification 3 FIG. 12 is a diagram showing an example of the relationship between the distance from the subject to the imaging device and the portion of the subject included in the angle of view according to Modification 6; Flowchart showing an example of perspective feature specifying processing executed by a control device according to Modification 7 FIG. 11 is a diagram showing an example of an installation position of an imaging device according to Modification 10; Flowchart showing an example of association processing executed by the control device according to Modification 10 Flowchart showing an example of left/right feature identification processing executed by the control device according to Modification 10

(Embodiment)
An air conditioning system 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

The air conditioning system 1 shown in FIG. 1 is installed in an office building, for example, and conditions the air in an office space S. As shown in FIG. The air conditioning system 1 includes a thermometer 10 that measures the room temperature of the office space S, a thermometer 20 that measures the outside air temperature, and imaging devices 101 to 112 that capture images of the office space S.

In addition, the air conditioning system 1 includes air conditioners (hereinafter referred to as air conditioners) 210 to 260 that condition the air in the office space S, the measured room temperature and outside temperature, and the imaging devices 101 to 112. A control device 900 is provided for controlling the air conditioners 210 to 260 using images.

The thermometer 10 is installed on the wall of the office space S, for example. The thermometer 10 is used as a CPU (Central Processing Unit) 11 as shown in FIG. 2 that executes various programs, a ROM (Read Only Memory) 12 that stores the programs, and a work area when executing the programs. A RAM (Random Access Memory) 14 is provided. The thermometer 10 is connected to a communication cable CL as shown in FIG. A temperature sensor 16, for example a thermistor, which outputs an electrical signal. The CPU 11 measures the room temperature using the electrical signal output from the temperature sensor 16 at a predetermined cycle, and controls the communication circuit 15 to transmit data representing the measurement result to the control device 900 .

The configuration and function of the thermometer 20 are similar to those of the thermometer 10, and transmit data representing the measurement results of the temperature outside the office building to the control device 900. FIG.

The imaging device 101 is a dome-shaped infrared camera as shown in FIG. The imaging device 101 has a cylindrical shape with an axis substantially parallel to the vertical direction, and is composed of a housing 311 having one bottom surface fixed to a ceiling CE and having an opening on the other bottom surface, and the opening of the housing 311. and a covering hemispherical transparent cover 312 .

The housing 311 incorporates a rotary table 320 having a rotation axis AT that passes through substantially the center of the bottom surface and is substantially parallel to the axis of the housing 311 , and a motor 330 that rotates the rotary table 320 . On the lower surface of the rotary table 320, a support member 341 that pivotally supports a protrusion 399 protruding substantially horizontally outward from both side surfaces of an imaging unit 390 that captures an image of the office space S, and gears formed on the protrusion 399 are provided. A motor 342 that rocks the imaging unit 390 by rotating it is fixed.

The imaging unit 390 also includes a zoom lens 381 whose focal length can be changed, and a motor 383 that rotates a zoom ring 382 of the zoom lens 381 that changes the focal length.

When the motor 383 rotates the zoom ring 382, the focal length of the zoom lens 381 is changed, so the angle of view that determines the imaging range of the imaging unit 390 is changed. Further, when the motor 342 swings the imaging unit 390, the depression angle θ between the horizontal direction and the optical axis AO of the zoom lens 381 changes from 0 degrees when the optical axis AO is oriented horizontally to 90 degrees when oriented vertically downward. changed to an angle. Further, when the motor 330 rotates the rotary table 320, the azimuth angle φ between the predetermined reference azimuth DA as shown in FIG. It is changed in the range of 360 degrees.

The imaging unit 390 incorporates a CPU 391, a ROM 392, a flash memory 393 for storing images, and a RAM 394 as shown in FIG. The configurations and functions of the CPU 391, ROM 392, and RAM 394 are the same as those of the CPU 11, ROM 12, and RAM 14 shown in FIG.

The imaging unit 390 also incorporates a communication circuit 395 that is connected to the communication cable CL in FIG. 1 and communicates various data including control commands with the control device 900 via the concentrator HB. Furthermore, the imaging unit 390 incorporates an output port 396 connected to the motors 330, 342 and 383 of FIG. 3 by cables (not shown). When the output port 396 receives a signal to rotate one or more of the motors 330 , 342 and 383 from the CPU 391 , the output port 396 outputs the input signal to one or more of the motors 330 , 342 and 383 . output to

The imaging unit 390 includes a sensor 397 in which Ny thermopiles are arranged substantially vertically for converting radiant heat generated by far-infrared rays condensed by the zoom lens 381 in FIG. and an image generation circuit 398 that generates an image using

When the CPU 391 outputs a signal instructing the image generation circuit 398 to generate a pixel row, the image generation circuit 398 uses the electrical signal output from the sensor 397 to generate Ny pixels in the sub-scanning direction as shown in FIG. Generates the first row of pixels arranged in a row. Next, the CPU 391 outputs a signal for increasing the azimuth angle φ of the optical axis AO by a predetermined step angle Δφ to the motor 330 that rotates the rotary table 320 in FIG. After the rotation table 320 changes the azimuth angle φ, when the CPU 391 outputs a signal to the image generation circuit 398 to generate a pixel row, the image generation circuit 398 generates the second pixel row. The image generation circuit 398 generates a pixel row each time a signal instructing generation of a pixel row is input in this way, and when the predetermined number Nx of pixel rows has been generated, the first to Nxth pixel rows are generated. A single image is generated by arranging pixel rows in the main scanning direction. After that, when the image generation circuit 398 receives a signal from the CPU 391 to command generation of a pixel row, the above processing is repeated from the generation of the first pixel row in order to generate the next image.

In this way, the Ny pixels forming the pixel array of the image generated by the image generation circuit 398 are generated using the electrical signals output from the Ny thermopiles provided in the sensor 397 and arranged substantially vertically. Therefore, the sub-scanning direction corresponds to the substantially vertical direction. Also, since the Nx pixel columns are generated with the optical axis AO directed in the same direction with the same depression angle θ but with different azimuth angles φ, the main scanning direction corresponds to the substantially horizontal direction.

In addition, the image generation circuit 398 is installed at the lower side in the office space S, because the pixels generated using the electric signals of the thermopile arranged at the lower side are arranged at the lower side of the pixel row. In the image generated by the image generation circuit 398, it is rendered lower.

Further, the CPU 391 changes the azimuth angle φ of the optical axis AO by the step angle Δφ after the image generation circuit 398 generates a certain pixel row and before generating the next pixel row. Therefore, the angle of view in the horizontal direction is mainly represented by an angle Δφ·Nx obtained by multiplying the number of pixels Nx in the main scanning direction by the step angle Δφ. On the other hand, the angle of view in the vertical direction is determined by the focal length of the zoom lens 381 in FIG.

In this embodiment, it is assumed that the horizontal angle of view is 30 degrees, and the imaging apparatus 101 generates 12 images by rotating the azimuth angle φ from 0 degrees to 360 degrees. The imaging direction of each image is the direction of the optical axis AO determined by the azimuth angle φ and the depression angle θ at the time of generation of the middle pixel row. It is explained as being either. To simplify the explanation, Nx is assumed to be an odd number, but may be an even number.

After generating the 12 images, the image generation circuit 398 stores a set of 12 images in the flash memory 393 of FIG. CPU 391 determines whether a set of images is stored in flash memory 393 at a predetermined cycle. After the images are output to communication circuit 395, the set of images is deleted. After that, communication circuit 395 transmits a set of images input from CPU 391 to control device 900 .

The reason why the CPU 391 outputs the generated image to the communication circuit 395 but does not output the information indicating the imaging direction is that the azimuth angle φ of the optical axis AO in the initial state is not stored in the flash memory 393 in advance. This is because the direction cannot be specified. By omitting the task of measuring the azimuth angle φ in the initial state and the task of storing the measured azimuth angle φ in the imaging device 101 when the worker installs the imaging device 101, the labor of the worker can be reduced. This is to reduce

The imaging devices 102 to 112 have the same configurations and functions as the imaging device 101 . The imaging devices 101 to 112 are mounted on a wall WE extending in the north-south direction, a wall WW on the west side of the wall WE, a wall WS extending in the east-west direction, and a wall WS on the west side of the wall WE, as shown in FIG. They are arranged in a matrix on the ceiling CE of the office space S surrounded by the wall WN on the north side. The imaging devices 101 to 112 can change the azimuth angle φ of the imaging direction within the range of 0 degrees to 360 degrees. This is because space can be eliminated from the office space S or reduced.

On the wall WN of the office space S, windows OB1 to OB5 are installed consecutively from the west, and the windows OB1 to OB5 are used as subjects of the imaging devices 101 to 112 . Since the surface temperatures of the windows OB1 to OB5 are closer to the outside air temperature than the surface temperatures of the walls WE, WW, WS, and WN, the outside air temperature can be obtained from the images generated by the imaging devices 101 to 112, which are infrared cameras. , OB1 to OB5 can be easily detected.

For this reason, the windows OB1 to OB5 are collectively referred to as an object OB, and north, which is the direction in which the imaging devices 101 to 112 face the object OB, is defined as a reference direction DA. Also, since east is to the right of the reference azimuth DA, it will simply be described as right, west as left, south as back, and north as front.

The imaging devices 101 to 103 are installed at installation positions P01 to P03 forming the leftmost first column C1. At the installation positions P01 to P03, the imaging devices 101 to 103 are facing each other in a state in which the imaging devices 101 to 103 set the depression angle θ to a predetermined angle _θ0 and the imaging direction is directed to the reference azimuth DA facing the object OB. is a position where the left edge EL of the object OB is included in the horizontal angle of view of , but the right edge ER of the object OB is not included. The imaging device 101 is an example of the first imaging device according to Claims 1 to 4, and the installation position P01 is an example of the first position and the first imaging position according to Claims 1 to 4.

The imaging device 101 installed at the installation position P01 generates a set of 12 images as shown in FIG. The 12 images shown in FIG. 8 are an example of the first image according to claims 1-4. The first image is an image generated in a facing state, and the left edge line LL representing the left edge EL of the object OB is drawn, but the right edge line representing the right edge ER of the object OB is not drawn. In the first image, the left edge line LL representing the left edge EL of the subject OB is drawn substantially parallel to the sub-scanning direction corresponding to the substantially vertical direction. The subject OB is a flat plate-shaped and rectangular window, and is fitted in left and right window frames extending substantially vertically and upper and lower window frames extending substantially horizontally. This is because the Similarly, in the first image, a bottom line LB representing the bottom edge EB of the subject OB extending substantially horizontally is drawn substantially parallel to the main scanning direction corresponding to the substantially horizontal direction.

The second image is an image generated with the imaging direction set to the direction toward the azimuth of 30 degrees clockwise from the reference azimuth DA. It is drawn with an angle ψ of 30 degrees. The third image is an image generated with the imaging direction being the direction toward the azimuth of 60 degrees clockwise from the reference azimuth DA. The 4th to 10th images are images generated with the imaging direction set to a direction from 90 degrees to 270 degrees in increments of 30 degrees clockwise from the reference azimuth DA, and 4th to 10th images. The object OB is not drawn in the eye image. The eleventh and twelfth images are images generated with the direction of imaging being the direction toward the azimuths of 300 degrees and 330 degrees clockwise from the reference azimuth DA. The bottom line LB is drawn at angles ψ of about 60 degrees and 30 degrees with the main scanning direction.

The imaging devices 104 to 106 are installed at installation positions P04 to P06 that constitute the second row C2, which is the second from the left. The installation positions P04 to P06 are positions in which neither the left end EL nor the right end ER of the object OB are included in the horizontal angle of view of the imaging devices 104 to 106 in the facing state. It is a position to the left of the center portion of the object OB that is included. For this reason, in order to facilitate detection of the central portion of the object OB, a marker OM, which is a terminal device having a display DP that generates heat as it consumes power, is placed at the central portion of the object OB. The imaging device 104 is an example of the first imaging device according to claims 1 to 3 and 6, and the installation position P04 is an example of the first position and the first imaging position according to claims 1 to 3 and 6.

The imaging device 104 installed at the installation position P04 generates a set of 12 images as shown in FIG. The 12 images shown in FIG. 9 are examples of the first images according to claims 1 to 3 and 6 . The first to third images in FIG. 9 are images generated with the imaging direction set to a direction from 270 degrees to 330 degrees clockwise from the reference azimuth DA in increments of 30 degrees. The 12th image is an image generated with the imaging direction set to the azimuth from 0 degrees to 240 degrees in increments of 30 degrees. The fourth image is an image generated in the facing state, and the left edge line LL and the right edge line LR representing the right edge ER of the subject OB are not drawn, but the marker area AM representing the marker OM is included in the image. is drawn to the right of the center of the

Similarly, the imaging devices 107 to 109 are installed at installation positions P07 to P09 forming the third column C3, which is the third from the right. Installation positions P07 to P09 are positions in which neither the left end EL nor the right end ER of the object OB are included in the horizontal angle of view of the imaging devices 107 to 109 in the facing state. It is the position to the right of the central part of the subject that is included. The imaging device 107 is an example of the first imaging device according to Claims 1 to 3 and 7, and the installation position P07 is an example of the first position and the first imaging position according to Claims 1 to 3 and 7.

In addition, the imaging devices 110 to 112 are installed at installation positions P10 to P12 forming the fourth column C4, which is the fourth from the left and the rightmost column. Installation positions P10 to P12 are positions in which the horizontal angle of view of the imaging devices 110 to 112 includes the right edge ER of the subject OB but does not include the left edge EL of the subject OB in the facing state. The imaging device 110 is an example of the first imaging device according to claims 1 to 3 and 5, and the installation position P10 is an example of the first position and the first imaging position according to claims 1 to 3 and 5.

The imaging device 110 installed at the installation position P10 generates a set of images as shown in FIG. The 12 images shown in FIG. 10 are examples of the first images according to claims 1 to 3 and 5 . The first to fourth images shown in FIG. 10 are images generated with the imaging direction set to the direction toward the azimuth of 240 degrees to 330 degrees clockwise from the reference azimuth DA in increments of 30 degrees. The twelfth image from the eye is an image generated with the imaging direction set to the azimuth from 0 degrees to 210 degrees in increments of 30 degrees. The fifth image is an image generated in the facing state, in which the right edge line LR representing the right edge ER of the subject OB is drawn, but the left edge line LL is not drawn.

Furthermore, the installation positions P01, P04, P07, and P10 constitute a first row R1, which is the first row from the front, and is separated from the subject OB by a predetermined distance D1. Also, the installation positions P02, P05, P08, and P11 constitute a second row R2, which is the second row from the front and is separated from the object OB by a predetermined distance D2. Furthermore, the installation positions P03, P06, P09, and P12 constitute a third row R3, which is the third row from the front, and is separated from the object OB by a predetermined distance D3. The installation position P02 is an example of a second position and a second imaging position according to the invention, and the imaging device 102 installed at the installation position P02 is an example of a second imaging device according to the invention.

The distance D1 from the subject OB to the first row R1 is such that the angle of view in the vertical direction of the imaging devices 101 to 112 does not include the upper end EU of the subject OB as shown in FIG. is longer than the distance Dt3 from the position Pt3 closest to the object OB to the object OB, which includes the lower end EB of . Further, the distance D3 from the subject OB to the third row R3 is the distance from the farthest position Pt4 from the subject OB at which the lower end EB of the subject OB is included in the angle of view in the vertical direction of the imaging devices 101 to 112 when facing the subject OB. shorter than the distance Dt4 to Therefore, the distance D from the object OB to the installation positions P01 to P12 of the imaging devices 101 to 112 is longer than the distance Dt3 and shorter than the distance Dt4.

In the range where the distance D to the object OB is longer than the distance Dt3 and shorter than the distance Dt4, if the imaging direction is a diagonally downward direction from the horizontal direction to the vertically downward direction, as shown in FIG. becomes farther from the object OB, the part of the object OB included in the angle of view in the vertical direction of the imaging devices 101 to 112 in the facing state decreases. Therefore, as shown in FIG. 12, the longer the distance from the object OB, the shorter the drawing length Ld, which is the vertical length of the object OB drawn in the image.

Therefore, the drawing length Ld1 in the image generated in the first row R1 is longer than the drawing length Ld2 in the image generated in the second row R2, which is farther from the object OB than the first row R1. Similarly, the drawn length Ld2 is longer than the drawn length Ld3 in the image generated in the third row R3, which is farther from the object OB than the second row R2. The drawn length Ld1 is an example of the first length according to the present invention, and the drawn length Ld2 is an example of the second length according to the present invention.

The imaging device 102 in the second row R2 produces a set of 12 images as shown in FIG. The 12 images shown in FIG. 13 are examples of the second image according to the present invention. The third image in FIG. 13 is an image generated by the imaging device 102 in the facing state. The installation position P02 of the imaging device 102 is included in the second row R2 after the first row R1 including the installation position P01 of the imaging device 101 . For these reasons, the drawing length Ld1 in the first image generated by the imaging device 101 as shown in FIG. longer than the length Ld2.

The air conditioner 210 includes a CPU 211, a ROM 212, a flash memory 213, and a RAM 214 as shown in FIG. The configurations and functions of the CPU 211, ROM 212, flash memory 213, and RAM 214 included in the air conditioner 210 are the same as the configurations and functions of the CPU 391, ROM 392, flash memory 393, and RAM 394 included in the imaging device 101 shown in FIG. It is the same.

The air conditioner 210 also includes a communication circuit 215 that is connected to the communication cable CL as shown in FIG. 1 and that communicates various data including control commands with the control device 900 . Further, the air conditioner 210 includes a fan 218 that circulates air in the office space S and a motor 219 that rotates the fan 218 according to control instructions received from the control device 900 over the communication circuit 215 . The air conditioner 210 further includes a refrigerant pipe (not shown) through which refrigerant heated or cooled by an outdoor unit (not shown) passes, and the fan 218 sends the air heated or cooled by the refrigerant pipe to the office space S. can be

Air conditioners 220 to 260 have the same configurations and functions as air conditioner 210 . The air conditioner 210 is a device installed in the office space S, and is arranged at a position P21 substantially at the center of the installation positions P01 and P04 of the imaging devices 101 and 104, as shown in FIG. Similarly, the air conditioner 220 is arranged at a position P22 approximately centered between the installation positions P02 and P05, and the air conditioner 230 is arranged at a position P23 approximately centered between the installation positions P03 and P06. Further, the air conditioner 240 is positioned at a position P24 substantially centered between the installation positions P07 and P10, the air conditioner 250 is positioned at a position P25 substantially centered between the installation positions P08 and P11, and the air conditioner 260 is positioned substantially centered between the installation positions P09 and P12. It is arranged at position P26.

For this reason, the air conditioner 210 is a space that includes the installation positions P01 and P04, and is located between the second row C2 including the installation position P04 and the third row C3 that is one row to the right of the second row C2. Approximately from the first row R1 that includes the installation positions P01 and P04 from the virtual line Ly drawn at approximately the same distance to the wall WW, and the second row R2 that is one row behind the first row R1. A space from the virtual line Lx1 drawn at the same distance to the front wall WN is defined as an air-conditioned space AS1.

Similarly, the air conditioner 220 is a space including the installation positions P02 and P05, a second row R2 including the installation positions P02 and P05, a third row R3 one row behind the second row R2, The air-conditioned space AS2 is defined as a space from the virtual line Lx2 to the virtual line Lx1, which is drawn at approximately the same distance from , and from the virtual line Ly to the left wall WW. Furthermore, the air conditioner 230 is a space including the installation positions P03 and P06, and the space surrounded by the walls WS and WW and the virtual lines Lx2 and Ly is defined as an air-conditioned space AS3. A space including P07 and P10 and surrounded by walls WN and WE and imaginary lines Lx1 and Ly is an air-conditioned space AS4. Furthermore, the air conditioner 250 includes installation positions P08 and P11, and the space surrounded by the wall WE and the virtual lines Lx1, Lx2, and Ly is defined as an air-conditioned space AS5. A space including P12 and surrounded by walls WS and WE and imaginary lines Lx2 and Ly is an air-conditioned space AS6.

The control device 900 in FIG. 1 is, for example, a centralized remote controller, and includes a CPU 901, a ROM 902, a flash memory 903, and a RAM 904 as shown in FIG. The configurations and functions of the CPU 901, ROM 902, flash memory 903, and RAM 904 included in the control device 900 are the same as the configurations and functions of the CPU 391, ROM 392, flash memory 393, and RAM 394 included in the imaging device 101 shown in FIG. It is the same.

Also, the control device 900 is connected to the communication cable CL in FIG. 1, and a first communication circuit that communicates various data with the thermometers 10 and 20 and the imaging devices 101 to 112 via the concentrator HB. 905a and a second communication circuit 905b connected to the communication cable CS for communicating various data with the air conditioners 210-260. The communication circuit 905 is an example of communication means according to the present invention, and executes an example of communication steps according to the present invention.

Further, the control device 900 includes a button 907 for inputting a signal corresponding to a user's operation to the CPU 901 , a video card 908 for drawing an image according to the digital signal output from the CPU 901 and outputting an image signal, and a display 909 that displays an image according to the output image signal. The control device 900 may have a touch panel instead of the button 907 .

When the control device 900 is activated, the CPU 901 of the control device 900 receives the installation positions P01 to P12 of the imaging devices 101 to 112 and the communication addresses assigned to the imaging devices 101 to 112 from the imaging devices 101 to 112. 17 is performed using the image obtained.

18, the CPU 901 outputs a control command to the communication circuit 905 to cause the imaging devices 101 to 112 to start imaging, and acquires the captured image from the communication circuit 905. It functions as part 920 . The control unit 910 is an example of control means according to the present invention, and the acquisition unit 920 is an example of acquisition means according to the present invention.

The CPU 901 also includes a detection unit 930 that detects the drawing length Ld of the subject OB in the acquired image, and a feature identification unit 940 that identifies the long and short features characterizing the length of the drawing length Ld detected by the detection unit 930 . function as The detection unit 930 is an example of the detection means according to the present invention, and executes an example of the detection step according to the present invention. The feature identification unit 940 is an example of the feature identification means, and An example feature identification step is performed.

Furthermore, the CPU 901 identifies perspective features that characterize the distance from the imaging position of the image to the subject OB according to the length features identified by the feature identification unit 940, and sets the communication address used for receiving the image to It functions as an address specifying unit 945 that specifies the communication address of any one of the imaging devices 101 to 112 installed at any of the installation positions P01 to P12 having the specified perspective feature. The address specifying unit 945 is an example of address specifying means according to the present invention, and executes an example of an address specifying step according to the present invention.

Further, the CPU 901 associates the specified communication address with any of the installation positions P01 to P12 where any one of the imaging devices 101 to 112 to which the communication address is assigned is installed, and stores the information in the flash memory of FIG. It functions as a storage unit 950 that stores in 903 . The flash memory 903 functions as an information storage unit 990 that stores various data. The storage unit 950 is an example of storage means according to the present invention, and executes an example of a storage step according to the present invention. Also, the information storage section 990 is an example of storage means according to the present invention.

The information storage unit 990 stores an image table as shown in FIG. 19 in which a plurality of records regarding images received from the imaging devices 101 to 112 are stored. Each record in the image table contains URLs (Uniform Resource Locators) of the 12 images, addresses assigned to the transmission sources of the 12 images, and communication addresses used to receive the 12 images, are associated and saved. Further, in each record, a perspective feature that characterizes the perspective of the imaging position from the object OB, and a left-right feature that characterizes the left and right of the imaging position with respect to the central portion of the object OB are associated with the communication address of the transmission source. stored.

The perspective feature of a certain record is a feature that characterizes the perspective from the imaging position corresponding to the certain record to the object OB in a group including all the imaging positions corresponding to all the records in the image table. In this embodiment, the group including all imaging positions is divided into a first group including positions relatively close to the object OB, a second group including positions relatively far from the object OB, and an intermediate position neither relatively near nor far. A case of dividing into a third group including In this case, the perspective features of the imaging positions included in the first group are represented by the character string "near", the perspective features of the imaging positions included in the second group are represented by the character string "far", and the imaging positions included in the third group are represented by the character string "far". The perspective feature of the position is described as being represented by the character string "middle". However, the character strings representing the perspective features are not limited to "near", "far", and "middle".

The left-right feature of a certain record is a feature that characterizes how far left or right the imaging position corresponding to the certain record is with respect to the central portion of the object OB. In the present embodiment, the imaging position includes the left edge EL of the subject OB in the horizontal angle of view in the facing state, but the left edge of the central portion of the subject OB is not included in the right edge ER of the subject OB. It is assumed that the character string "left" represents the left-right feature that is the position of . Similarly, when the imaging position is in the right-facing state, the horizontal angle of view includes the right edge ER of the subject OB, but does not include the left edge EL of the subject OB. In the following description, the character string "RIGHT" represents the left-right feature that there is.

Further, in the present embodiment, the angle of view in the horizontal direction does not include either the left edge EL or the right edge ER of the subject OB when the imaging position is in the facing state. The description will be made by assuming that the left-right feature that the position is to the left or right of the central portion of the OB is represented by the character string "center left" or "center right". However, the character strings representing left and right features are not limited to "left", "right", "center left", and "center right".

The information storage unit 990 also stores an installation position table as shown in FIG. 20 in which a plurality of records relating to installation positions P01 to P12 are stored in advance. The first record of the installation position table stores a position ID (IDentification) for identifying the installation position P01. Also, the first record stores the Xw and Yw coordinates of the installation position P01 in the world coordinate system XwYw shown in FIG. 15 in association with the position ID of the installation position P01. The world coordinate system XwYw has the corner formed by the walls WW and WN as the origin Ow, the right direction as the east direction as the positive direction, and the Xw axis along the extending direction of the wall WN and the south direction as It is a coordinate system having a certain rear direction as a positive direction and a Yw axis along the extending direction of the wall WW.

Furthermore, in the first record, the line number "1" of the first line R1 including the installation position P01 and the character string "near" representing the perspective characteristics of the installation position P01 are associated with the position ID. Saved. The perspective feature of the installation position P01 is a feature that characterizes the perspective from the installation position P01 to the subject OB in the group including the installation positions P01 to P12. In the present embodiment, similarly to the perspective characteristics of the imaging positions, the group including the installation positions P01 to P12 is divided into a first group including positions relatively close to the object OB, a second group including positions relatively far from the object OB, and A case of dividing into a third group including intermediate positions that are neither relatively near nor far will be described as an example. In this case, the perspective features of the positions included in the first group are represented by the character string "near", the perspective features of the positions included in the second group are represented by the character string "far", and the perspective features of the positions included in the third group are represented by the character string "far". The feature will be described as being represented by the string "middle".

Also, in the first record, the column number "1" of the first column C1 including the installation position P01 and the character string "left" representing the left and right characteristics of the installation position P01 are associated with the position ID. Saved. The left and right features of the installation positions P01 to P12 represented by any of the character strings "left", "center left", "center right", and "right" are the character strings "left", "center left", " It is the same as the left-right feature of the imaging position represented by either "central right" or "right".

Furthermore, in the first record, a character string "NULL" indicating that the communication address of the imaging device 101 installed at the installation position P01 is unknown is stored in association with the position ID of the installation position P01. there is The operator who installs the imaging devices 101 to 112 does not associate the communication addresses assigned to the imaging devices 101 to 112 with the installation positions P01 to P12 of the imaging devices 101 to 112 and store them in the control device 900, or Because most of them don't.

Similarly, the data of the second record includes the position ID of the installation position P02, the row number "2" of the second row R2 including the installation position P02, and the character string "intermediate" representing the perspective characteristics of the installation position P02. , and are stored in association with each other. The data of the second record also stores the Xw coordinate, the Yw coordinate, the column number of the first column C1, a character string representing the left and right characteristics of the installation position P02, and the character string "NULL".

Similarly, the third record contains the position ID of the installation position P03, the line number "3" of the third row R3 including the installation position P03, the character string "far" representing the perspective characteristics of the installation position P03, is saved.

Furthermore, the fourth record contains the position ID of the installation position P04, the column number "2" of the second column C2 including the installation position P04, the character string "center left" representing the left and right characteristics of the installation position P04, is saved. Similarly, the data of the fifth and sixth records store the position IDs of the installation positions P05 and P06.

Furthermore, similarly, the data of the seventh to ninth records include the position IDs of the installation positions P07 to P09, the column number "3" of the third column C3 including the installation positions P07 to P09, and the A character string "center right" representing the left and right features of P09 is stored. Similarly, the data of the 10th to 12th records store the position IDs of the installation positions P10 to P12, the column number "4", and the character string "right" representing the left and right characteristics of the installation positions P10 to P12. there is

When execution of the association processing in FIG. 17 is started, imaging control processing for outputting a control command for starting imaging to the imaging devices 101 to 112 as shown in FIG. 21 is executed (step S01 in FIG. 17). .

When the execution of the imaging control process is started, the acquisition unit 920 acquires data representing the pre-stored angle θ ₀ from the information storage unit 990 . Next, the control unit 910 sends a control command to the communication circuit ₉₀₅ in FIG. Output (step S11).

After that, when the communication circuit 905 transmits a control command, the imaging devices 101 to 112 change the depression angle θ to the angle θ ₀ according to the control command, and change the depression angle θ after the change to 12 different azimuth angles φ. A set of 12 images is generated using the determined 12 directions as imaging directions, and the generated set of images is transmitted to the control device 900 .

After the control command is output in step S11, the acquisition unit 920 initializes a counter Is that counts the number of pairs of acquired images with a value of "0" (step S12). This is because the acquisition unit 920 has not yet acquired a single set of images.

Next, when the communication circuit 905 receives a set of images from any one of the imaging devices 101 to 112, the acquisition unit 920 outputs the received set of images and the set of images used for communication. The received communication address of the transmission source is acquired from the communication circuit 905 (step S13). After that, after storing the acquired set of images in the information storage unit 990, the storage unit 950 associates the acquired communication address with the URL of the stored set of images, and stores the image in FIG. Save in the image table (step S14).

After that, the acquiring unit 920 increases the counter Is by the value "1" (step S15), and then determines whether or not the counter Is is equal to or greater than the total number "12" of the imaging devices 101 to 112 (step S16). . When the acquisition unit 920 determines that the counter Is is smaller than "12" (step S16; No), it determines that a set of images has not been acquired from all the imaging devices 101 to 112, and performs the above processing from step S13. repeat.

On the other hand, when the acquisition unit 920 determines that the counter Is is "12" or more (step S16; Yes), it determines that a set of images has been acquired from all the imaging devices 101 to 112, and performs imaging control processing. end the execution of

After the imaging control process is executed in step S01 of FIG. 17, an image selection process as shown in FIG. 22 is performed to select, from a set of images, a front image captured in the direction most directly facing the object OB. is executed (step S02).

When the execution of the image selection process is started, the acquisition unit 920 transmits the data representing the room temperature received from the thermometer 10 and the data representing the outside temperature received from the thermometer 20 to the communication circuit of FIG. 905 (step S21). This is because the images generated by the imaging devices 101 to 112 are infrared images, and the surface temperature of the subject OB is affected by room temperature and outside air temperature.

Next, the acquisition unit 920 acquires 12 records stored in the image table of FIG. 19 and assigns numbers 1 to 12 to the acquired 12 records. After that, the acquisition unit 920 initializes a counter Ir indicating the number of the record to be processed to the value "1" (step S22). This is because the records are processed sequentially from the first record.

Next, the acquisition unit 920 sets the counter Ip indicating the ordinal number of the image to be processed among the 12 images stored in the 12 URLs stored in the record with the number indicated by the counter Ir to the value " 1” (step S23). This is because the images are processed in order from the first image.

After that, the acquisition unit 920 acquires the Ip-th image from the information storage unit 990 using the URL stored in the record with the number indicated by the counter Ir (step S24).

Next, the detection unit 930 performs the following five steps on the acquired image to determine the subject area where the subject OB is drawn and any of the walls WE, WW, WS, and WN. The drawn wall area is detected (step S25).

The first step is a step of detecting one or more regions having an area equal to or larger than a predetermined area according to the size of the object OB from the image to be processed. This is to remove areas that become noise. In the second step, from the one or more regions detected in the first step, one or more regions made up of pixels having pixel values corresponding to surface temperatures between the outside air temperature and the room temperature is a step of selecting This is because the subjects OB are the windows OB1 to OB5, which separate the air inside the office space S from the air outside the office building.

The third step is to select a polygonal region having multiple sides from the one or more regions selected in the second step. In this embodiment, the third step is described assuming that a triangular or quadrangular region is selected, but the present invention is not limited to this. In the fourth step, when a plurality of regions are selected in the third step, the selected regions are adjacent to each other with a number of pixel columns less than a predetermined number vacant. If there are multiple areas, the step is to merge these adjacent areas into one area. This is because the object OB is a general term for the windows OB1 to OB5 adjacent to each other with the window frame interposed therebetween.

In the fifth step, one or more regions selected in the third step and not merged in the fourth step, and within the regions merged in the fourth step, This is a step of detecting, as a subject area, an area in which the average temperature represented by the pixel values of a plurality of pixels constituting the area is closest to the outside temperature. Also, in the fifth step, areas that have not been detected as subject areas are detected as wall areas. This is because the object OB has a lower thermal insulation than the walls WE, WW, WS, and WN.

After that, when the subject area is detected, the detection unit 930 performs the following three steps on the contour line of the detected polygonal subject area to obtain a lower edge line LB representing the lower edge EB of the subject OB. is detected (step S26). On the other hand, when the subject area is not detected, the detection section 930 does not detect the bottom line LB.

The first step is a step of detecting a plurality of line segments representing a plurality of sides of the subject area from the outline of the subject area. The second step is to exclude line segments substantially parallel to the sub-scanning direction from the plurality of detected line segments. Since the sub-scanning direction corresponds substantially to the vertical direction, the line segment substantially parallel to the sub-scanning direction is the left edge line LL or the right edge line LR representing the left edge EL or right edge ER of the subject OB extending in the vertical direction. is. In the third step, among the plurality of line segments remaining in the second step, a line segment passing through the vertex with the smallest Yc coordinate value in the camera coordinate system XcYc as shown in FIG. In this step, a line segment that is in contact with the wall region located in the negative direction of the Yc axis from the segment itself is detected as the bottom line LB. This is because the lower an object is placed in the office space S, the lower it is drawn in the image. The camera coordinate system XcYc in FIG. 6 has an Xc axis whose origin is the center of the image, which is parallel to the main scanning direction and whose positive direction is the main scanning direction. and a Yc axis having a positive direction opposite to the scanning direction.

Next, when the bottom line LB is detected, the detection unit 930 detects the smaller angle ψ of the two angles formed by the bottom line LB and the main scanning direction (step S27). The detection unit 930 uses the coordinate value difference, which is the difference between the maximum value and the minimum value of the Yc coordinate values representing the points included in the bottom line LB in the camera coordinate system XcYc of FIG. 6, as a unit representing the angle ψ. This is because the larger the angle ψ, the larger the coordinate value difference, and the smaller the angle ψ, the smaller the coordinate value difference. In addition, since it is not necessary to calculate the slope of the bottom line LB in order to calculate the coordinate value difference, the coordinate value difference can be calculated with a smaller amount of calculation than when calculating the frequency representing the angle ψ. be.

Since the bottom line LB and the main scanning direction are parallel, the detection unit 930 considers that the angle ψ is formed when the angle ψ is not formed between the bottom line LB and the main scanning direction, and detects the coordinates of value “0”. Detect the angle ψ represented by the value difference. On the other hand, when the bottom line LB is not detected, the detection unit 930 does not detect the angle ψ.

After that, the acquisition unit 920 increments the counter Ip indicating the ordinal number of the image by "1" (step S28), and then determines whether the value of the counter Ip is greater than the number of images "12" that constitute one set. It is determined whether or not (step S29). At this time, if the obtaining unit 920 determines that the value of the counter Ip is equal to or less than "12" (step S29; No), the above processing is repeated from step S24 in order to calculate the angle ψ for the next image.

On the other hand, when the acquisition unit 920 determines that the value of the counter Ip is greater than “12” (step S29; Yes), the detection unit 930 selects one or more images from any of the first to twelfth images. If the angle ψ is detected, the image from which the smallest angle ψ is detected is selected as the front image (step S30). Since the lower end EB of the flat plate-shaped object OB extends in the horizontal direction, the closer the imaging direction is to the normal direction of the object OB, and the more directly the object OB faces, the more the lower end line LB in the image moves in a substantially horizontal direction. This is because it becomes more parallel to the main scanning direction corresponding to . On the other hand, if the angle ψ is not detected from any of the 1st to 12th images, the detection unit 930 does not select the front image.

Therefore, the detection unit 930 selects the first image with the smallest angle ψ from the first to twelfth images shown in FIG. 8 as the front image. The first image in FIG. 8 is an example of the first front image according to the present invention.

Similarly, the detection unit 930 selects the fourth image shown in FIG. 9, the fifth image shown in FIG. 10, and the third image shown in FIG. 13 as front images. The third image in FIG. 13 is an example of the second front image according to the present invention.

After that, the obtaining unit 920 increments the counter Ir indicating the record number by the value "1" (step S31), and determines whether the value of the counter Ir is greater than the total number "12" of the imaging devices 101 to 112. (step S32). At this time, if the obtaining unit 920 determines that the value of the counter Ir is equal to or less than "12" (step S32; No), the above processing is repeated from step S23 in order to process the next record. On the other hand, when the acquisition unit 920 determines that the value of the counter Ip is greater than "12" (step S29; Yes), it ends execution of the image selection process.

Here, in the present embodiment, the imaging devices 101 to 112 generate a set of images by changing the azimuth angle φ by a predetermined angle of 30 degrees while keeping the depression angle θ constant. Also, the front image is an image generated with the imaging direction being the direction toward the direction closest to the reference direction DA among the set of images. Therefore, the imaging direction of the front image is included within a predetermined range determined by the azimuth angle φ from the azimuth of 15 degrees counterclockwise from the reference azimuth DA to the azimuth of 15 degrees clockwise.

Therefore, after the image selection process is executed in step S02 of FIG. 17, the feature specifying unit 940 of FIG. 18 determines whether or not the normal images have been selected from all pairs (step S03). When the feature identification unit 940 determines that the front-facing images have been selected from all pairs (step S03; Yes), the feature identifying unit 940 compares a plurality of front-facing images whose imaging directions are included in a predetermined range, thereby identifying a plurality of front-facing images. 23 is executed to identify perspective features that characterize the imaging position of the front image (step S04).

When the execution of the perspective feature specifying process is started, the detection unit 930 sets the length of the object area in the sub-scanning direction to the vertical length of the drawn object OB for all the 12 front images. It is detected as drawing length Ld (step S41). This is because the sub-scanning direction corresponds to the substantially vertical direction.

Next, the feature identifying unit 940 selects a group containing 12 drawn lengths Ld detected from the 12 front images, a first group containing a relatively long drawn length Ld, a relatively short A second group containing written lengths Ld and a third group containing intermediate drawn lengths Ld that are neither relatively long nor short. After that, the feature specifying unit 940 classifies the 12 drawing lengths Ld into three groups, ie, a first group, a second group, and a third group (step S42).

In the present embodiment, the feature identifying unit 940 calculates the average value of the drawing lengths Ld in a group including 12 drawing lengths Ld, and calculates the drawing length longer than the upper limit of a predetermined range including the average value. A first group in which the length Ld is classified, a second group in which the drawing length Ld shorter than the lower limit of the range including the average value is classified, and a drawing length Ld included in the range including the average value are classified Although it is described that the third group is generated, the method of generating the three groups is not limited to this.

After that, the feature specifying unit 940 assigns the same number as the number of the record in which the URL of the normal image is stored to the 12 normal images, and then indicates the number of the normal image to be processed. A counter Ip is initialized to a value of "1" (step S43).

Next, the feature identifying unit 940 treats the oriented image of the number indicated by the counter Ip as the processing target, and the drawing length Ld in the oriented image that is the processing target is classified into relatively long drawing lengths Ld. It is determined whether or not it is included in the first group (step S44). At this time, when the feature specifying unit 940 determines that the drawing length Ld is included in the first group (step S44; Yes), the drawing length Ld of the normal image to be processed is 12 drawing lengths. In the group including length Ld, it is specified that it has a long/short feature of being relatively long, and the character string representing the specified long/short feature is specified as "long" (step S45a).

Next, the address specifying unit 945 determines the imaging positions of the oriented images to be processed in accordance with the specified long and short features, up to the object OB in the group including 12 imaging positions of the 12 oriented images. A character string representing the specified perspective feature is specified as "close" (step S45b). This is because, as shown in FIG. 12, the drawing length Ld in the image increases as the image is captured at a position closer to the object OB.

After that, the storage unit 950 stores the character string “near” representing the identified perspective feature in the record stored in the image table in FIG. 19 and having the number indicated by the counter Ip.

In step S44, when the feature specifying unit 940 determines that the drawing length Ld to be processed is not included in the first group (step S44; No), the drawing length Ld to be processed is relatively short. is included in the second group (step S46).

At this time, when the feature specifying unit 940 determines that the drawing length Ld to be processed is included in the second group (step S46; Yes), the character string representing the long/short feature of the drawing length Ld to be processed is set to "short ” (step S47a), and the character string representing the perspective feature of the imaging position is specified as “far” (step S47b). After that, the storage unit 950 stores the character string “distant” representing the perspective feature in the record number indicated by the counter Ip in the image table of FIG. 19 .

In step S46, when the feature specifying unit 940 determines that the drawing length Ld to be processed is not included in the second group (step S46; No), the drawing length Ld to be processed is not relatively long, and , is included in the third group in which drawing length Ld which is not short is classified. Therefore, the feature specifying unit 940 specifies the character string representing the length feature of the drawing length Ld to be processed as "intermediate" (step S48a), and specifies the character string representing the perspective feature of the imaging position as "intermediate". (step S48b). After that, the storage unit 950 stores the character string “middle” representing the perspective feature in the record with the number indicated by the counter Ip.

After executing step S45b, S47b, or S48b, the feature identifying unit 940 increments the counter Ip by the value "1" (step S49), and then the counter Ip is greater than the total number of front images "12". It is determined whether or not there are many (step S50). At this time, if the feature identifying unit 940 determines that the value of the counter Ip is equal to or less than "12" (step S50; No), the above-described Repeat process.

On the other hand, when the feature specifying unit 940 determines that the value of the counter Ip is greater than "12" (step S50; Yes), it ends the execution of the perspective feature specifying process.

Next, the control device 900 receives the normal image shown in FIG. 8 using the communication address "192.168.1.101", and receives the normal image shown in FIG. 13 using the communication address "192.168.1.102". The perspective feature identification processing shown in FIG. 23 will be described again in detail by giving a specific example.

When execution of the perspective feature identification process is started, the detection unit 930 detects drawing lengths Ld1 and Ld2 from the normal images in FIGS. Ld3 is detected from (step S41). Next, the feature identification unit 940 divides a group including 12 drawing lengths Ld into a first group including a relatively long drawing length Ld1, a second group including a relatively short drawing length Ld3, and a comparison The drawing length Ld2 is divided into a third group including the intermediate drawing length Ld2, and the 12 drawing lengths Ld are classified into these groups (step S42).

After that, the counter Ip is initialized with the value "1" (step S43), and the first record of the image table of FIG. A paired image is to be processed.

Next, the feature specifying unit 940 determines that the drawn length Ld1 in the front image in FIG. Step S45a). After that, the address specifying unit 945 selects the imaging positions of the front-facing images in FIG. It is specified that it has a perspective feature that the object OB is relatively close (step S45b). The long/short feature that characterizes the drawing length Ld1 in the front image in FIG. 8 is an example of the first long/short feature according to the present invention, and the perspective feature that characterizes the imaging position of the front image in FIG. 1 is an example of a perspective feature.

After that, the storage unit 950 stores the character string “near” representing the specified perspective feature in the first record stored in the image table of FIG. 19 . Thereafter, the value of the counter Ip is set to "2" (step S49), it is determined that the counter Ip is equal to or less than the total number of normal images "12" (step S50; No), and the above processes are repeated from step S44.

After that, in the second record of the image table in FIG. 19, the normal image in FIG. 13 at the URL associated with the communication address "192.168.1.102" is processed. Next, after determining that the drawn length Ld2 in the front image of FIG. 13 is not included in the first group and the second group (step S44; No and step S46; It determines that it is included in the group, and specifies the character string "middle" representing long and short characteristics (step S48a). After that, the address specifying unit 945 selects the imaging positions of the front-facing images in FIG. The object OB is identified as having a perspective feature of an intermediate position that is neither relatively near nor far from the object OB (step S48b). The length feature that characterizes the drawing length Ld2 in the front image in FIG. 13 is an example of the second length feature according to the present invention, and the perspective feature that characterizes the imaging position of the front image in FIG. 2 An example of near and far features.

After that, the storage unit 950 stores the character string “middle” representing the specified perspective feature in the second record stored in the image table of FIG. 19 . Next, the value of the counter Ip is set to "3" (step S49), it is determined that the counter Ip is equal to or less than the total number of normal images "12" (step S50; No), and the above processes are repeated from step S44. . After that, when it is determined that the counter Ip is larger than the total number of normal images "12" (step S50; Yes), the execution of the perspective feature specifying process is terminated.

After the perspective feature specifying process is executed in step S04 of FIG. 17, the left/right feature specifying process as shown in FIG. ).

When the execution of the left/right feature specifying process is started, the detection unit 930 initializes a counter Ip indicating the number of the normal image to be processed to the value "1" (step S61).

Next, the detection unit 930 performs the following three steps on the contour line of the object region detected from the normal image to be processed, with the normal image of the number indicated by the counter Ip as the processing target. , the left edge line LL representing the left edge EL of the object OB is detected.

The first step is a step of detecting a plurality of line segments representing a plurality of sides of the subject region from the contour line of the subject region. This is a step of selecting one or a plurality of line segments substantially parallel to the scanning direction. This is because the sub-scanning direction corresponds to the substantially vertical direction. In the third step, among the one or more line segments selected in the second step, the line segment that is in contact with the wall region to the left of the front image is set as the left edge line LL. This is the step of detecting.

Similarly, the detection unit 930 detects the right edge line LR representing the right edge ER of the object OB from the outline of the object region detected from the front image to be processed (step S62).

After that, the feature specifying unit 940 determines whether or not the left edge line LL has been detected and the right edge line LR has not been detected from the normal image to be processed (step S63). At this time, if the feature specifying unit 940 determines that the left edge line LL is detected and the right edge line LR is not detected (step S63; Yes), the imaging position of the front-facing image to be processed is The left edge EL of the object OB is included in the angle of view in the horizontal direction, but the right edge ER of the object OB is not included. Therefore, the feature specifying unit 940 specifies that the character string representing the left-right feature of the imaging position of the front image to be processed is "left" (step S64). After that, the storage unit 950 stores the character string “left” representing the identified left-right feature in the record stored in the image table in FIG. 19 and having the number indicated by the counter Ip.

In step S63, when the feature specifying unit 940 determines that the left edge line LL is not detected or that the right edge line LR is detected (step S63; No), the right edge line LR is detected from the front image to be processed. Also, it is determined whether or not the left edge line LL has been detected (step S65). At this time, if the feature specifying unit 940 determines that the right edge line LR is detected and the left edge line LL is not detected (step S65; Yes), it specifies that the character string representing the left-right feature is "right". (Step S66). After that, the storage unit 950 stores the character string “right” representing the left-right feature in the record of the number indicated by the counter Ip of the image table.

In step S65, when the feature identification unit 940 determines that the right edge line LR has not been detected (step S65; No), it determines that neither the left edge line LL nor the right edge line LR has been detected. This is because the imaging devices 101 to 112 are not installed at positions where both the left edge EL and the right edge ER of the object OB are included in the angle of view. For this reason, the feature identification unit 940 sets the imaging position of the front image to be processed to the center of the object OB to such an extent that neither the left end EL nor the right end ER of the object OB is included in the horizontal angle of view in the front facing state. It is determined that it has the left-right feature that it is close to the part.

Next, the detection unit 930 detects the marker area AM in which the marker OM is drawn by performing the following four steps on the front image (step S67).

The first step is a step of detecting one or more regions having an area equal to or larger than a predetermined area according to the size of the marker OM from the front image. The second step is to read data representing the power consumption of the marker OM, which is stored in advance in the information storage unit 990, and use the power consumption of the marker OM represented by the read data to obtain the surface temperature of the marker OM. This is the step of estimating the temperature range over which the This is because the amount of heat generated by the marker OM can be estimated using the power consumption of the marker OM.

In the third step, from the one or more regions detected in the first step, 1 pixels with pixel values corresponding to temperatures included in the temperature range estimated in the second step are extracted. or selecting multiple regions. The fourth step is to read out data representing the shape of the display DP of the marker OM stored in advance in the information storage unit 990, and store the shape of the display DP of the marker OM in the area selected in the third step. This is a step of detecting an area having a shape that is the marker area AM. Although the shape of the display DP is described as being rectangular in this embodiment, it is not limited to this and may be any shape including, for example, a circle, a triangle, a star, a rhombus, and a heart. can be

After that, the feature specifying unit 940 sets the center position of the marker area AM as the drawing position of the marker area AM, and uses the Xc coordinate value of the drawing position of the marker area AM in the camera coordinate system XcYc of FIG. is drawn on the right side of the normal image from the center of the normal image (step S68).

At this time, if the Xc coordinate value of the drawing position of the marker area AM is greater than the value "0", the feature specifying unit 940 determines that the marker area AM is drawn to the right of the center of the facing image ( Step S68; Yes). Next, the feature specifying unit 940 sets the imaging position of the directly facing image to be processed to the left of the central part of the object OB to such an extent that the central part of the object OB is included in the angle of view in the horizontal direction in the facing state. It is specified that it further has a left-right feature of position, and the character string representing the left-right feature is specified as "center left" (step S69). After that, the storage unit 950 stores the character string “center left” representing the left-right feature in the record of the number indicated by the counter Ip of the image table.

On the other hand, when the Xc coordinate value of the drawing position of the marker area AM is equal to or less than the value "0", the feature specifying unit 940 determines that the marker area AM is drawn on the left side of the center of the facing image. It is determined (step S68; No). Next, the feature specifying unit 940 specifies that the character string representing the left and right features of the imaging position of the front image to be processed is "center right" (step S70), and the storage unit 950 saves the counter Ip of the image table. Save the character string "center right" representing the left and right feature in the record numbered by .

After executing steps S64, S66, S69, or S70, the feature identifying unit 940 increments the counter Ip by the value "1" (step S71), and the counter Ip reaches the total number of front images "12". It is determined whether or not the number is greater than (step S72). At this time, if the feature specifying unit 940 determines that the value of the counter Ip is equal to or less than "12" (step S72; No), the above-described Repeat process.

On the other hand, when the feature specifying unit 940 determines that the value of the counter Ip is greater than "12" (step S72; Yes), it ends the execution of the left and right feature specifying process.

8 using the communication address "192.168.1.101" and the normal image of FIG. 13 using the communication address "192.168.1.102". is received using the communication address "192.168.1.104" and the normal image in FIG. 10 is received using the communication address "192.168.1.110". A detailed description will be given again.

When the execution of the left/right feature identification process is started, the counter Ip is initialized to the value "1" (step S61), and in the first record of the image table in FIG. The normal image in FIG. 8, which is saved at the URL specified, is to be processed.

Next, after attempting to detect the left edge line LL and the right edge line LR from the normal image of FIG. 8 (step S62), the feature identifying unit 940 detects the left edge line LL from the normal image of FIG. , the right end line LR is not detected (step S63; Yes). For this reason, the feature specifying unit 940 determines that the imaging position of the front image in FIG. It is specified that it has the left-right feature that it is located on the left side of (step S64). After that, the storage unit 950 stores the character string “left” representing the identified left-right feature in the first record stored in the image table of FIG. 19 .

Next, the value of the counter Ip is set to "2" (step S71), it is determined that the counter Ip is equal to or less than the total number of normal images "12" (step S72; No), and the above processes are repeated from step S62. . As a result, the imaging position of the normal image in FIG. 13 is also identified as having the left-right feature represented by the character string "left", and characters representing the identified left-right feature are entered in the second record of the image table in FIG. Column "left" is saved (steps S62 to 64).

Next, after steps S71 and S72 are executed and steps S62 to S72 are repeated, when the counter Ip reaches the value "4", the communication address "192.168. 1.104" and stored in the URL associated with the image shown in FIG. 9 is to be processed.

Next, after trying to detect the left edge line LL and the right edge line LR from the front image of FIG. It is determined that it has not been detected (step S63; No and step S65; No). For this reason, the feature specifying unit 940 determines that the imaging position of the facing image of FIG. It is specified as having a left-right feature.

Next, when the marker area AM is detected from the normal image in FIG. 9 (step S67), the feature specifying unit 940 draws the marker area AM to the right of the normal image relative to the center of the normal image. (Step S68; Yes). For this reason, the feature specifying unit 940 sets the imaging position of the front-facing image in FIG. Further, the storage unit 950 stores the character string "center left" representing the left-right feature in the fourth record of the image table.

After that, after steps S71 and S72 are executed, steps S62 to S72 are repeated, and when the counter Ip reaches the value "10", the tenth record of the image table in FIG. , which is stored in the URL associated with "." is processed.

Next, an attempt is made to detect the left edge line LL and the right edge line LR from the front image of FIG. 10 (step S62). It is determined that the right edge line LR has been detected (step S63; No and step S65; Yes). After that, the character string representing the left/right feature is identified as "right" (step S66), and the character string representing the left/right feature is stored in the tenth record of the image table shown in FIG. After that, after steps S71 and S72 are executed, steps S62 and S72 are repeated, and then the left and right feature identification processing is terminated.

After the left and right feature identification processing is executed in step S05 of FIG. 17, the address identification unit 945 uses the perspective and left and right features identified using the front image to identify the imaging position of the front image. An imaging position specifying process as shown in FIG. 25 is executed (step S06).

When the execution of the imaging position specifying process is started, the address specifying unit 945 sets the counter Ir indicating the number of the record to be processed among the 12 records saved in the image table of FIG. Initialize (step S81).

Next, the address specifying unit 945 refers to the first record indicated by the counter Ir, and matches the communication address "192.168.1.101" used for receiving the directly facing image shown in FIG. The perspective feature "near" and the left-right feature "left" specified using the image are obtained (step S82).

Next, the address specifying unit 945 specifies the position ID of the installation position P01 associated with the acquired perspective feature "near" and left-right feature "left" from the installation position table of FIG. 20 (step S83). As a result, the address identifying unit 945 identifies the installation position P01 of the imaging device 101 as the imaging position of the normal image in FIG. 1.101” is the communication address assigned to the imaging device 101. Note that the address specifying unit 945 may specify Xw coordinates and Yw coordinates, or row numbers and column numbers instead of position IDs.

After that, the storage unit 950 associates the communication address "192.168.1.101" acquired in step S82 with the position ID of the identified installation position P01 and stores it in the first record of the installation position table of FIG. (Step S84). This is for associating the installation position P01 of the imaging device 101 that captured the front-facing image in FIG. 8 with the communication address "192.168.1.101" used by the imaging device 101 to transmit the front-facing image.

After that, the characteristic identification unit 940 increments the counter Ir indicating the record number by the value "1" (step S85), and determines that the value of the counter Ir is equal to or less than the total number of the imaging devices 101 to 112 "12". It is determined (step S86; No), and the above processing is repeated from step S82.

The address specifying unit 945 refers to the second record stored in the image table of FIG. acquires the perspective feature "middle" and the left-right feature "left" specified using (step S82).

Next, the address specifying unit 945 specifies the position ID of the installation position P02 associated with the acquired perspective feature "middle" and left-right feature "left" from the installation position table of FIG. 20 (step S83). After that, the storage unit 950 associates the communication address "192.168.1.102" with the position ID of the installation position P02 and stores it in the second record of the installation position table of FIG. 20 (step S84).

After that, by repeating steps S85 and S86 and steps S82 to S86, the position ID of the installation position P03 associated with the perspective feature "far" and the left/right feature "left" is specified, and the communication address "192.168. 1.103" is associated with the position ID of the installation position P03.

After that, when the counter Ir reaches the value "4", the fourth record stored in the image table in FIG. A perspective feature "near" and a left-right feature "center left" are obtained (step S82). Next, after the position ID of the installation position P04 associated with the acquired perspective feature "near" and left-right feature "center left" is identified from the installation position table of FIG. 20 (step S83), the communication address " 192.168.1.104" is associated with the position ID of the installation position P04 and stored in the fourth record of the installation position table of FIG. 20 (step S84).

Thereafter, steps S85 and S86 and steps S82 to S86 are repeated, and when the counter Ir reaches the value "10", the tenth record stored in the image table in FIG. The communication address "192.168.1.110" used for receiving the paired image, the perspective feature "close" and the left/right feature "right" are obtained (step S82). Next, after the position ID of the installation position P10 associated with the acquired perspective feature "near" and left-right feature "right" is identified from the installation position table of FIG. 20 (step S83), the communication address "192.168 .1.110" is associated with the position ID of the installation position P10 and stored in the tenth record of the installation position table of FIG. 20 (step S84).

Thereafter, after steps S85 and S86 and steps S82 to S86 are repeated, the address specifying unit 945 determines that the value of the counter Ip is greater than "12" (step S86; Yes), and starts the imaging position specifying process. End execution.

After the imaging position specifying process is executed in step S06 of FIG. 17, the execution of the association process ends. Further, when it is determined in step S03 that the normal images have not been selected from all pairs (step S03; No), the control unit 910 causes the display 909 in FIG. 16 to display an error message. After that, the execution of the matching process ends. This is because, if a normal image cannot be selected from all pairs, the imaging directions of the images compared in step S04 will differ beyond a predetermined imaging range, and it will be difficult to specify the perspective feature with high accuracy. .

After executing the association processing in FIG. 17, the CPU 901 of the control device 900 determines the control contents of the air conditioners 210 to 260 using the images received from the imaging devices 101 to 112, as shown in FIG. Air-conditioning control processing is executed at a predetermined cycle.

The information storage unit 990 of FIG. 18 stores an air-conditioned space table as shown in FIG. 27 in which a plurality of records relating to the air-conditioned spaces AS1 to AS6 of the air conditioners 210 to 260 are stored in advance. The first record stored in the air-conditioned space table contains the communication address assigned to the air conditioner 210 shown in FIG. 1, the air-conditioned space ID for identifying the air-conditioned space AS1 of the air conditioner 210 shown in FIG. are associated and saved. Also, in the first record, the minimum value Xwmin and the maximum value Xwmax of the Xw coordinate values and the minimum value Ywmin and the maximum value Ywmax of the Yw coordinate values in the world coordinate system XwYw of the points included in the air-conditioned space AS1 are stored in the air-conditioned space AS1. It is stored in association with the space ID. This is for specifying the air-conditioned space AS1 using the coordinate values.

Similarly, the second to sixth records contain the communication addresses of the air conditioners 220 to 260, the air conditioning space IDs of the air conditioning spaces AS2 to AS6, the minimum value Xwmin, the maximum value Xwmax, the minimum value Ywmin, and the maximum value. are stored in association with the value Ywmax.

26, the obtaining unit 920 of FIG. 18 sets a counter Ir indicating the number of the record to be processed among the six records stored in the air-conditioned space table of FIG. It is initialized with a value of "1" (step S91).

Next, the acquisition unit 920 acquires the communication address stored in the record with the number indicated by the counter Ir, the minimum value Xwmin and maximum value Xwmax of the Xw coordinate values, and the minimum value Ywmin and maximum value Ywmax of the Yw coordinate values. , is obtained (step S92). This is to specify the communication address of any one of the air conditioners 210 to 260 to be controlled and the air conditioned space to be controlled, which is any one of the air conditioned spaces AS1 to AS6.

After that, the acquisition unit 920 obtains the Xw coordinate value equal to or greater than the minimum value Xwmin and less than the maximum value Xwmax and the Yw coordinate value equal to or greater than the minimum value Ywmin and less than the maximum value Ywmax from the installation position table of FIG. One or a plurality of associated communication addresses are obtained (step S93). Among the imaging devices 101 to 112, one or a plurality of imaging devices installed in a position included in the air-conditioned space of the air conditioner to be controlled is specified, and the specified one or a plurality of imaging devices are set as the control target. It's for.

Next, the control unit 910 outputs a control command instructing imaging to the communication circuit 905 of FIG. The circuit 905a transmits a control command to any one or more of the imaging devices 101 to 112 to which one or more communication addresses are assigned.

Any one or more of the imaging devices 101 to 112, upon receiving the control instruction, performs imaging according to the control instruction. After that, when any one or more of the imaging devices 101 to 112 generate a set of images, they transmit the generated set of images to the control device 900 .

When the communication circuit 905 of the control device 900 receives one or more of the set of images, the acquisition unit 920 acquires one or more of the received set of images from the communication circuit 905 (step S95).

Next, the detection unit 930 detects a person area in which a person is drawn by performing the following two steps on each of the acquired images (step S96).

The first step is a step of detecting one or more regions having an area equal to or larger than a predetermined area according to the size of the human body from the image to be processed. The second step is to determine the normal range for the surface temperature of the human body or the normal surface temperature of the clothing worn by the person from the one or more regions detected in the first step. is a step of selecting one or a plurality of regions composed of pixels having pixel values corresponding to a predetermined temperature range as person regions.

Next, the control unit 910 determines the control details of the air conditioner to be controlled using the detected person area (step S97). For example, the control unit 910 may determine control to increase the air blowing volume of the air conditioner to be controlled as the number of detected human regions increases.

After that, the control unit 910 outputs a control command representing the determined control content to the communication circuit 905 in FIG. 2 communication circuit 905b transmits a control command to any one of air conditioners 210 to 260 to which a communication address is assigned. When any one of the air conditioners 210 to 260 receives the control command, it performs air conditioning according to the control command.

After that, the control unit 910 increments the counter Ir by "1" (step S99), and then determines whether or not the value of the counter Ir is greater than the total number "6" of the air conditioners 210 to 260 (step S100). . At this time, when the control unit 910 determines that the value of the counter Ir is equal to or less than "6" (step S100; No), the above processing is repeated from step S92. On the other hand, when the control unit 910 determines that the value of the counter Ir is greater than "6" (step S100; No), it ends execution of the air conditioning control process.

According to these configurations, the address specifying unit 945 of the control device 900 uses the images received from the imaging devices 101 to 112 to specify the imaging positions of the images. Further, the storage unit 950 of the control device 900 associates the communication address of the transmission source used for receiving the image with the specified imaging position, and stores them in the installation position table of FIG. 20 . Therefore, for example, when installing the control device 900, the operator does not need to associate the communication addresses of the imaging devices 101 to 112 with the installation positions P01 to P12 and store them in the control device 900. Therefore, the labor of the operator can be reduced more than before.

When the control device 900 receives the image in FIG. 8 and the image in FIG. 13, the drawing length Ld1, which is the length in the vertical direction of the object OB drawn in the first image in FIG. , and the drawing length Ld2, which is the length in the vertical direction of the subject OB drawn in the third image in FIG. step S41). The feature specifying unit 940 of the control device 900 specifies, in the group including the drawing length Ld1 and the drawing length Ld2, a long/short feature that characterizes the length of the drawn length Ld1, and the character string "long" representing the long/short feature. (step S45a). 8 and the imaging position of the image in FIG. 13, the address specifying unit 945 performs a perspective feature that characterizes the distance from the imaging position of the image in FIG. The character string "near" representing the is specified according to the long and short characteristics represented by the character string "long" (step S45b). As shown in FIG. 11, the imaging devices 101 to 112 are installed in a range from position Pt3 to position Pt4 where the portion of the subject OB included in the angle of view in the vertical direction increases as the imaging position approaches the subject OB. because

After that, the address specifying unit 945 of the control device 900 acquires the position ID of the installation position P01 associated with the character string "near" representing the perspective feature (step S83 in FIG. 25), thereby obtaining the character string "near". The installation position P01 of the imaging device 101 whose perspective features are represented by is specified as the imaging position of the image in FIG.

Similarly, the control device 900 specifies the character string "middle" representing the length feature of the drawing length Ld2 (step S48a in FIG. 23), and specifies the character string "middle" representing the perspective feature of the imaging position of the image in FIG. is specified (step S48b). After that, the control device 900 acquires the position ID of the installation position P02 associated with the character string “middle” representing the perspective feature (step S83 in FIG. 25), thereby setting the installation position P02 of the imaging device 102 to the position shown in FIG. 13 is identified as the imaging position of the image. Furthermore, similarly, the control device 900 identifies the imaging positions for the remaining 10 sets of images.

In this way, the control device 900 identifies the perspective characteristics of the imaging position of the image using the relationship that the portion of the object OB included in the angle of view in the vertical direction increases as the imaging position approaches the object OB, Among the installation positions P01 to P12, the installation position having the specified perspective feature is specified as the imaging position of the image. Therefore, the control device 900 can specify the imaging position with higher accuracy than when specifying the imaging position of the image simply by using the relationship that the closer the imaging position is to the object OB, the larger the object OB is drawn. .

According to these configurations, the acquisition unit 920 of the control device 900 acquires the air-conditioned space AS1 of the air conditioner 210 stored in the air-conditioned space table of FIG. 27 (step S92 of FIG. 26). The acquisition unit 920 also acquires the communication addresses of the imaging devices 101 and 104 associated with the installation positions P01 and P04 included in the acquired air-conditioned space AS1 from the installation position table of FIG. 20 (step S93). After that, the detection unit 930 of the control device 900 detects a person area from the images received from the imaging devices 101 and 104 using the acquired communication address (step S96). Control unit 910 determines the control details of air conditioner 210 using the detected person area (step S97), and communication circuit 905 transmits the determined control details to air conditioner 210. FIG. Therefore, even if the control device 900 stores the correspondence between the communication addresses of the imaging devices 101 and 104 and the installation positions P01 and P04 and stores them in the control device 900, the control device 900 can The images of the imaging devices 101 and 104 can be used to control the air conditioner 210 that air-conditions the air-conditioned space AS1 including the installation positions P01 and P04. Similarly, the control device 900 determines the control details of the air conditioners 220 to 260 using the person regions detected from the images received from the imaging devices 102, 103, and 105 to 112, and determines the determined control details. is transmitted from the air conditioners 220 to 260. For this reason, the air conditioners 220 to 260 for air-conditioning the air-conditioned spaces AS2 to AS6 containing the installation positions P02, P03 and P05 to P12 of the imaging devices 102, 103, and 105 to 112 are installed in the imaging devices 102, 103, 105 to 112, and can be controlled using images 105 to 112.

According to these configurations, the left edge line LL is drawn in the facing image of FIG. 8, but the right edge line LR is not drawn. Therefore, the feature identification unit 940 of the control device 900 determines that the left edge line LL is detected from the front image in FIG. 8, but the right edge line LR is not detected (step S63 in FIG. 24; Yes). 8 has a left-right characteristic that the imaging position of the image of 8 is located to the left of the central portion of the object OB to the extent that the angle of view includes the left end EL of the object OB, but does not include the right end ER of the object OB. Then, it specifies that the left/right feature is represented by the character string "left" (step S64). After that, the address specifying unit 945 acquires the position ID of the installation position P01 associated with the character string "left" representing the specified left-right feature from the installation position table of FIG. 20 (step S83 of FIG. 25). ), and the installation position P01 of the imaging device 101 whose left-right feature is represented by the character string “left” is specified as the imaging position of the image in FIG. Therefore, the control device 900 uses the left edge line LL and the right edge line LR detected from the image to specify the left and right features of the imaging position of the image, and the specified left and right features within the installation positions P01 to P12. Since the installation position of the device is specified as the imaging position of the image, the imaging position of the image in FIG. 8 can be specified with higher accuracy than in the conventional art.

According to these configurations, the right edge line LR is drawn in the front image of FIG. 10, but the left edge line LL is not drawn. Therefore, the feature specifying unit 940 of the control device 900 determines that the right edge line LR is detected from the front image of FIG. 10, but the left edge line LL is not detected (step S65 of FIG. 24; Yes), It is specified that the left and right features of the imaging positions of the 10 images are represented by the character string "Right" (step S66). After that, the address specifying unit 945 acquires the position ID of the installation position P10 associated with the specified character string "Right" representing the left-right feature from the installation position table of FIG. 20 (step S83 of FIG. 25). ), and the installation position P10 of the imaging device 110 whose left-right feature is represented by the character string “right” is specified as the imaging position of the image in FIG. Therefore, the control device 900 can specify the imaging position of the image in FIG. 10 with higher accuracy than in the conventional art.

Further, according to these configurations, although the left edge line LL and the right edge line LR are not drawn in the normal image of FIG. is drawn. Therefore, the feature specifying unit 940 of the control device 900 determines that the right edge line LR and the left edge line LL are not detected from the normal image of FIG. 10 (step S63; No and step S65; It is determined that the area AM is drawn to the right of the center of the normal image (step S68; Yes). For this reason, the feature specifying unit 940 determines that the imaging position of the image in FIG. To the extent that it is included, it is specified that it has the left-right feature that it is positioned to the left of the central portion of the object OB, and the character string "center left" representing the left-right feature is specified (step S69). After that, the address specifying unit 945 acquires the position ID of the installation position P04 associated with the specified character string "center left" representing the left-right feature from the installation position table of FIG. S83), the installation position P04 of the imaging device 110 whose left-right feature is represented by the character string "center left" is specified as the imaging position of the image in FIG. Therefore, even if the imaging position of the image in FIG. 9 is near the central portion of the object OB, the control device 900 can specify the imaging position with higher accuracy than in the conventional art. Similarly, even if the left edge line LL and the right edge line LR are not drawn in the facing image, but the marker area AM is drawn to the left of the center of the facing image, the control device 900 sets the imaging position to the conventional position. can be determined more accurately than

According to these configurations, the subject OB is the windows OB1 to OB5, and the detection unit 930 of the control device 900 detects the subject area from the images received from the imaging devices 101 to 112 using the outside air temperature. Since the surface temperatures of the windows OB1 to OB5 are closer to the outside air temperature than the surface temperatures of the walls WE, WW, WS, and WN, the control device 900 uses the outside air temperature to detect the image pickup devices 101 to 112, which are infrared cameras. From the infrared image generated by , the area where the windows OB1 to OB5 are drawn can be accurately detected.

According to these configurations, the detection unit 930 of the control device 900 picks up images in a set of 12 images generated by the imaging device 101 shown in FIG. The first image is selected as the facing image. In addition, the detection unit 930 selects the third image captured in the direction most directly facing the object OB in a set of 12 images generated by the imaging device 102 shown in FIG. Select as image. Therefore, the imaging direction of the front image of the imaging device 101 and the imaging direction of the front image of the imaging device 102 are included in a predetermined range. For this reason, the feature specifying unit 940 of the control device 900 performs drawing in a group including the drawing length Ld1 of the subject OB drawn in the normal image in FIG. 8 and the drawing length Ld2 of the normal image in FIG. Long and short features that characterize the long and short of the length Ld1 can be identified with higher accuracy than in the conventional art. Further, the address specifying unit 945 of the control device 900 specifies the perspective features with higher accuracy than in the conventional art according to the long and short features specified with higher accuracy than in the past, and uses the specified perspective features to obtain the correct distance in FIG. The imaging position of the paired image can be specified with higher accuracy than conventionally.

(Modification 1 of Embodiment)
In the present embodiment, controller 900 controls air conditioners 210 to 260 that condition the air in air-conditioned spaces AS1 to AS6, and configures air conditioning system 1 together with air conditioners 210 to 260, but is limited to this. It does not mean that

In this modification, the control device 900 controls lighting devices 410 to 460 as shown in FIG.

The illumination device 410 includes a CPU 411, a ROM 412, a flash memory 413, a RAM 414, and a communication circuit 415 as shown in FIG. The configurations and functions of the CPU 411, ROM 412, flash memory 413, RAM 414, and communication circuit 415 included in the lighting device 410 are the same as those of the CPU 211, ROM 212, flash memory 213, RAM 214, and communication circuit 415 included in the air conditioner 210 shown in FIG. It has the same configuration and function as the circuit 215 . The illumination device 410 also includes an LED (Light Emitting Diode) 418 that illuminates the same space as the air-conditioned space AS1, and a drive circuit 419 that turns on or off the LED 418 in accordance with a signal output from the CPU 411 . The illumination device 410 may include an incandescent lamp, a halogen lamp, a fluorescent lamp, or a HID (High Intensity Discharge) lamp instead of the LED 418 .

When the communication circuit 415 receives a control command from the control device 900, the CPU 411 of the lighting device 410 controls the drive circuit 419 to light the LED 418 according to the received control command, thereby illuminating the same space as the air-conditioned space AS1. . The CPU 411 also controls the drive circuit 419 to turn off the LED 418 according to the control command. The configuration and function of lighting devices 420 to 460 are similar to the configuration and function of lighting device 410 .

In this modified example, the control device 900 executes lighting control processing (not shown) in which the control targets of the air conditioning control processing shown in FIG. For this reason, the control unit 910 of the control device 900, when a human region is not detected from any of a pair of images received from the imaging devices 101 and 104 located in the same space as the air-conditioned space AS1 shown in FIG. Control is performed to turn off the lighting device 410 that illuminates the same space as the air-conditioned space AS1. On the other hand, the control unit 910 performs control to turn on the lighting device 410 when a person area is detected from one of the set of images received from the imaging devices 101 and 104 . The controller 910 performs similar control on the lighting devices 420 to 460 .

(Modification 2 of Embodiment)
In this modification, the control device 900 controls monitoring devices 510 to 560 as shown in FIG.

The monitoring device 510 includes a CPU 511, a ROM 512, a flash memory 513, a RAM 514, and a communication circuit 515 as shown in FIG. The configuration and functions of the CPU 511, ROM 512, flash memory 513, RAM 514, and communication circuit 515 included in the monitoring device 510 are the same as those of the CPU 211, ROM 212, flash memory 213, RAM 214, and communication circuit 515 included in the air conditioner 210 shown in FIG. It has the same configuration and function as the circuit 215 .

In addition, the monitoring device 510 irradiates the same space as the air-conditioned space AS1 with microwaves, detects the reflected waves of the irradiated microwaves, and outputs an electric signal according to the change in the wavelength of the detected reflected waves. A sensor 517 and a detection circuit 518 that detects the presence of a moving object using a signal output from the Doppler sensor 517 are provided. Furthermore, the monitoring device 510 includes a speaker 519 that outputs sounds such as alarm sounds according to signals output from the CPU 511 . Speaker 519 may output a warning message or sound.

When detection circuit 518 detects the presence of a mobile object, CPU 511 of monitoring device 510 outputs report data reporting the detection of the presence of the mobile object to communication circuit 515 with control device 900 as the destination. After the communication circuit 515 has sent the report data to the control device 900, when it receives a control command to output an alarm sound, the CPU 511 of the monitoring device 510 controls the speaker 519 to output the alarm sound according to the received control command. I do. The configuration and function of monitoring devices 520 through 560 are similar to that of monitoring device 510 .

In this modification, the control device 900 executes a monitoring control process (not shown) in which the air conditioners 210 to 260 to be controlled by the air conditioning control process shown in FIG. 26 are changed to the monitoring devices 510 to 560 . For this reason, the control unit 910 of the control device 900 keeps the air conditioning system shown in FIG. If a human region is not detected from any of the set of images received from the imaging devices 101 and 104 in the same space as the space AS1, the monitoring device 510 is not controlled to output an alarm sound. This is because the control unit 910 determines that the monitoring device 510 has erroneously detected the moving body. On the other hand, if the control unit 910 detects a human area from one of the pair of images received from the imaging devices 101 and 104 within a predetermined period after the report data is received, , to control the monitoring device 510 to output an alarm sound.

This embodiment and modifications 1 and 2 of the embodiment can be combined with each other. Therefore, the control device 900 controls the air conditioners 210 to 260 according to the present embodiment, the lighting devices 410 to 460 according to the first modification of the embodiment, and the monitoring device 510 according to the second modification of the embodiment. 560, the thermometers 10 and 20, and the imaging devices 101 to 112 may constitute a system (not shown). The control unit 910 of the control device 900 controls any one of the air conditioners 210 to 260, the lighting devices 410 to 460, and the monitoring devices 510 to 560 using the human region detected from the images received from the imaging devices 101 to 112. or one or more control contents may be determined. After that, the communication circuit 905 of the control device 900 transmits a control command representing the determined control contents to any one or more of the air conditioners 210 to 260, the lighting devices 410 to 460, and the monitoring devices 510 to 560. can be

(Modification 3 of Embodiment)
In the present embodiment, the imaging devices 101 to 112 are described as imaging with the depression angle θ set to the predetermined angle _θ0 , but this is not the only option. In this modified example, the imaging devices 101 to 112 set the angle of depression θ to 90 degrees in which the imaging direction is substantially vertical under the control of the control device 900, and then the angle of view of all the imaging devices 101 to 112 is set to the object OB. is included, the depression angle θ is decreased by a predetermined angle Δθ.

In this modified example, a matching process as shown in FIG. 32 is executed instead of the matching process of FIG. When execution of the association process is started, the control unit 910 initializes the value of the parameter representing the depression angle θ of the imaging devices 101 to 112 to 90 degrees (step S101).

Next, the control unit 910 executes the imaging control process shown in FIG. 21 (step S102), and in step S11 of FIG. A command is output with the imaging devices 101 to 112 as destinations (step S11). After that, the imaging devices 101 to 112 set the depression angle θ to 90 degrees, and perform imaging with the imaging direction set to a substantially vertical direction. Next, by repeating the processing from steps S12 to S16, after a total of 12 sets of images have been received from the imaging devices 101 to 112, execution of the imaging control processing ends.

After that, after the image selection process shown in FIG. 22 is performed (step S103), the control unit 910 of the control device 900 determines that the normal image has not been selected from all of the received 12 sets. (Step S104; No). This is because the angle of view of the imaging devices 101 to 112 does not include the subject OB because the imaging direction is substantially vertical.

After that, the control unit 910 determines that the subsequent perspective feature identification processing cannot be executed because the detection unit 930 cannot detect the drawing length Ld for the set for which the normal image was not selected. Next, the control unit 910 reduces the value of the parameter representing the depression angle θ of the imaging devices 101 to 112 by a predetermined angle Δθ (step S105), and then executes step S102 again (step S102). Therefore, the control unit 910 transmits a control command to the imaging devices 101 to 112 to start imaging with the depression angle θ set to be less than 90 degrees by Δθ (step S11 in FIG. 21). Next, according to the control command, the imaging devices 101 to 112 perform imaging by tilting the imaging direction to the horizontal direction by Δθ from the substantially vertical direction. After that, the processing of steps S12 to S16 is repeated, and after a total of 12 sets of new images have been received from the imaging devices 101 to 112, execution of the imaging control processing ends.

After that, after steps S103 to S105 and the processing of step S102 are repeated, the control unit 910 determines that the oriented image has been selected from all of the received 12 pairs (step S104; Yes), After executing the same processing as steps S04 to S06 in FIG. 17 using the normal image (steps S106 to S108), execution of the association processing ends.

According to these configurations, since it is not necessary to determine the installation positions P01 to P12 of the imaging devices 101 to 112 in consideration of the depression angles θ of the imaging devices 101 to 112, the workload of the designer who determines the installation positions P01 to P12 is not only can be reduced, but also the degree of freedom of the installation positions P01 to P12 is improved.

In this modification, the control unit 910 of the control device 900 changes the depression angle θ that determines the imaging direction of the imaging devices 101 to 112. However, the imaging range of the imaging devices 101 to 112 is not limited to this. You may change the angle of view of the vertical direction which determines . In this case, the control unit 910 adjusts the focal lengths of the imaging devices 101 to 112 from the longest settable distance in order to increase the angles of view of the imaging devices 101 to 112 from the narrowest angle of view by a predetermined step angle. It may be reduced by a predetermined step length.

Further, the control device 900 may change one or more of the depression angle θ that determines the imaging direction of the imaging devices 101 to 112 and the vertical angle of view that determines the imaging range.

(Modification 4 of Embodiment)
In this embodiment, the imaging devices 101 to 112 are infrared cameras, and the objects OB are the windows OB1 to OB5. good. This is because the door, like the windows OB1 to OB5, separates the air inside the office space S from the air outside the office building.

Further, when the imaging devices 101 to 112 are infrared cameras, the object OB may be a display panel such as a liquid crystal display, an organic EL (Electro-Luminescence) display, a plasma display, or the like. In this case, the detection unit 930 of the control device 900 can accurately detect the subject area using the amount of heat generated by the display panel by executing steps similar to the four steps for detecting the marker area AM.

Further, imaging devices 101 to 112 may be visible light cameras. In this case, the object OB may be any flat plate-shaped object such as a whiteboard, a blackboard, or a cardboard having a predetermined color or brightness. The object OB may be windows OB1 to OB5. Further, the subject OB does not have to be an object installed in the office space S, such as the windows OB1 to OB5, and may be an object that can be carried by the operator.

In this case, the detection unit 930 of the control device 900 converts the second step included in the five steps performed in step S25 of FIG. By replacing, the subject area can be detected.

In the second step after the substitution, one or more pixels composed of pixels having pixel values corresponding to a predetermined color or brightness of the object OB are selected from one or more regions detected in the first step. or selecting multiple regions.

According to these configurations, even in an office space S with no or few windows OB1 to OB5, the control device 900 can reproduce an image in which the object OB is drawn by using a door or a plate-like object as the object OB. An imaging position can be identified using the image.

(Modification 5 of Embodiment)
In the present embodiment, the marker OM is described as a terminal device having a display DP that generates heat as it consumes power. Thus, the marker OM may be, for example, a mobile phone such as a smart phone or feature phone, or a portable computer such as a tablet or notebook. However, the marker OM is not limited to these, and may be the human body of an operator. This is because the human body also generates heat. In this case, the detection unit 930 can detect the marker area AM in which the marker OM is drawn by performing the following three steps on the front image.

The first step is a step of detecting one or more regions having an area equal to or larger than a predetermined area according to the average height and width of the worker from the front image. The second step is to select one or more regions composed of pixels with pixel values corresponding to the body temperature of a person in good health from the one or more regions detected in the first step. is. A third step is a step of detecting a region having a shape similar to the shape of a human body as a marker region AM. According to this configuration, the worker does not need to prepare the marker OM, so the work load is reduced.

Also, if the imaging devices 101 to 112 are visible light cameras, the marker OM may be of any shape, color, and size if it has one or more predetermined shapes, colors, and sizes. An object may be used, but it is desirable that the size and weight are suitable for portability. This is to make it easier for workers to carry the marker OM. Further, even when the imaging devices 101 to 112 are visible light cameras, the marker OM may be the human body of the worker.

(Modification 6 of Embodiment)
In the present embodiment, it has been described that the imaging direction of the imaging devices 101 to 112 is the oblique downward direction. In the present embodiment, the installation positions P01 to P12 of the imaging devices 101 to 112 do not include the upper end EU of the subject OB as shown in FIG. It has been described that the position includes the lower end EB of the object OB. However, it is not limited to this.

In this modified example, the imaging direction of the imaging devices 101 to 112 is an oblique direction from the horizontal direction with an elevation angle of 0 degrees to the vertically upward direction with an elevation angle of 90 degrees. In the installation positions P01 to P12 of the imaging devices 101 to 112, the angle of view in the vertical direction does not include the lower end EB of the object OB as shown in FIG. The included position.

Therefore, in this modification, in step S26 of the image selection process in FIG. 22, the detection unit 930 detects the upper edge line representing the upper edge EU of the object OB extending in the substantially horizontal direction instead of the lower edge line LB. do. Further, in step S27, the detection unit 930 selects the smaller of the two angles formed by the top line and the main scanning direction instead of the angle ψ formed by the bottom line LB and the main scanning direction. Detect angles.

This modification and modification 3 of the embodiment in which one or more of the depression angle that determines the imaging direction and the vertical angle of view that determines the imaging range of the imaging devices 101 to 112 are changed may be combined with each other. can be done. For this reason, the control device 900 may change one or more of the elevation angle that determines the imaging direction of the imaging devices 101 to 112 and the vertical angle of view that determines the imaging range.

(Modification 7 of Embodiment)
In the present embodiment, as shown in FIG. 11, the first row R1 to the third row R3 do not include the upper end EU of the object OB in the angle of view in the vertical direction, and the lower end of the object OB Although it has been described as being in a position that includes EB, it is not limited to this. The third row R3, as shown in FIGS. 11 and 12, is a position at a distance of Dt4 or more from the object OB, and the azimuth angle ranges from ₀ degrees to 360 degrees with the depression angle θ set to a predetermined angle θ0. By changing the angle of view, the object OB may be located at a position where the angle of view does not include it at all, regardless of which direction the imaging direction is changed.

In this modified example, instead of step S03 in FIG. 17 for determining whether or not the normal image has been selected from all image sets, it is determined whether or not the normal image has been selected from eight or more sets. Processing is performed. The eight sets of images received from the imaging devices 101, 102, 104, 105, 107, 108, 110, and 111 in the first row R1 and the second row R2 include the rendered images of the object OB. Therefore, eight normal images are selected from the eight pairs of images. However, since the four sets of images received from the imaging devices 103, 106, 109, and 112 in the third row R3 do not include an image in which the object OB is drawn, This is because the image is not selected.

Further, in this modified example, instead of the perspective feature specifying process of FIG. 23, a perspective feature specifying process as shown in FIG. 34 is executed. When execution of the perspective feature specifying process is started, the detection unit 930 detects the drawing length Ld from all of the eight selected front-facing images (step S111). Next, the feature identifying unit 940 selects a group including eight drawing lengths Ld detected from the eight front images, a first group including a relatively long drawing length Ld in the group, and a comparison. divided into a second group containing the short drawing length Ld. After that, the feature identifying unit 940 classifies the eight drawing lengths Ld into two groups, a first group and a second group (step S112).

In this embodiment, the feature identifying unit 940 calculates the average value of the drawing lengths Ld in a group including 12 drawing lengths Ld, and the drawing lengths Ld longer than the average value are classified into the first Although it is described that a group and a second group in which drawing lengths Ld equal to or less than the average value are classified are generated, the method of generating the two groups is not limited to this.

After that, after the counter Ip indicating the number of the record stored in the image table of FIG. 19 is initialized to the value "1" (step S113), the feature specifying unit 940 generates the URL of the record with the number indicated by the counter Ip. A normal image is selected from the set of 12 images stored in , and it is determined whether or not the drawing length Ld is detected from the selected normal image (step S114).

At this time, if the feature specifying unit 940 determines that the right-facing image has not been selected and the drawing length Ld has not been detected (step S114; No), the object OB is drawn in any of the 12 images. Determine that it is not. For this reason, the feature specifying unit 940 has the perspective feature that the imaging position of the image in which the object OB is not drawn is included in the third row R3, and therefore, is farther from the object OB than the first row R1 and the second row R2. Then, it specifies (step S115). After that, the storage unit 950 stores the specified character string "distant" in the record number indicated by the counter Ip.

In step S114, when the feature specifying unit 940 determines that the normal image has been selected (step S114; Yes), the same processes as steps S44 to S45b, and steps S48a and S48b of FIG. 23 are executed (step S116 to S118b).

After executing steps S115, S117b, or S118b, the same processes as steps S49 and S50 in FIG. 23 are executed (steps S119 and S120), and the execution of the perspective feature specifying process is terminated.

According to these configurations, the installation positions P03, P06, P09, and P12 included in the third row R3 have azimuth angles from 0 degrees to 360 degrees with the depression angle θ set to the predetermined angle θ ₀ . By changing the direction, the angle of view of the imaging devices 103, 106, 109, and 112 may be a position where the subject OB is not included at all, regardless of which direction the imaging direction is changed. Therefore, the degree of freedom of the installation positions P01 to P12 of the imaging devices 101 to 112 is improved.

(Modification 8 of Embodiment)
In the present embodiment, the air conditioning system 1 includes a thermometer 20 that measures the outside air temperature, and the detection unit 930 of the control device 900 uses the outside air temperature measured by the thermometer 20 to detect the subject from the front image. I explained that it detects the area.

However, it is not limited to this, and the air conditioning system 1 does not have to include the thermometer 20 . The information storage unit 990 may also store a table (not shown) that associates the date and time with the average temperature of the area where the control device 900 is installed at that date and time. For example, the acquisition unit 920 acquires the system date and time from the OS (Operating System), acquires the average temperature associated with the system date and time, and the detection unit 930 uses the acquired average temperature to detect the temperature from the front image. A subject area may be detected.

Furthermore, the information storage unit 990 stores in advance the URL of a web server that publishes data representing the weather in the area where the control device 900 is installed. A transmission request requesting transmission of weather data representing the weather in the area where the device 900 is installed may be generated, and the generated transmission request may be output to the communication circuit 905 of FIG. Further, when the weather data is received after the communication circuit 905 transmits the transmission request to the web server, the obtaining unit 920 may obtain the weather data from the communication circuit 905 . Furthermore, the detection unit 930 corrects the obtained average temperature using the weather represented by the obtained weather data, and uses the corrected average temperature to detect the subject area from the front image. good.

(Modification 9 of Embodiment)
In the present embodiment, the installation positions P01, P04, P07, and P10 included in the first row R1 shown in FIG. 7 have been described as being the positions behind the subject OB by the distance D1. However, it is not limited to this, and the distance from the object OB to the installation position P01, the distance from the object OB to the installation position P04, the distance from the object OB to the installation position P07, and the distance from the object OB to the installation position P10 need not be exactly the same, but may differ from each other by less than a predetermined distance.

Similarly, the distances from the object OB to the installation positions P02, P05, P08, and P11 may have a difference shorter than a predetermined distance, or the distances from the object OB to the installation positions P03, P06, P09 , and P12 may differ from each other by less than a predetermined distance.

Further, the distance from the wall WW to the installation position P01, the distance from the wall WW to the installation position P02, and the distance from the wall WW to the installation position P03 do not need to be completely the same. It may have shorter differences. Similarly, the distances from the wall WW to the installation positions P04 to P06 may differ from each other by less than a predetermined distance. Furthermore, similarly, the distances from the wall WW to the installation positions P07 to P09 and the distances from the wall WW to the installation positions P10 to P12 may differ from each other by less than a predetermined distance.

(Modification 10 of Embodiment)
In the present embodiment, the air conditioning system 1 of FIG. 1 has been described as being installed in the office space S as shown in FIG. 7, in which the object OB is installed only on the wall WN. It does not mean that

The air conditioning system 1 according to this modified example is installed in an office space S in which an object OB is installed on the wall WN and an object OB' is installed on the wall WW, as shown in FIG. In order to distinguish between the subject OB on the wall WN and the subject OB' on the wall WW, the subject OB is hereinafter referred to as the first subject OB, and the subject OB' is referred to as the second subject OB'. The imaging devices 101 to 112 are visible light cameras, and the color of the first object OB and the color of the second object OB' are different from each other.

The CPU 901 of the control device 900 according to this modified example executes association processing as shown in FIG. When execution of the association process is started, images are received from the imaging devices 101 to 112 by executing the same process as in step S01 of FIG. 17 (step S131).

Next, the CPU 901 performs the same processing as steps S02 to S04 in FIG. 17 on the first object OB (steps S132 to S134). As a result, the first object region composed of pixels having pixel values corresponding to the color of the first object OB is detected, and the angle ψ between the detected bottom line LB of the first object region and the main scanning direction is used. Then, the front image captured while facing the first object OB is selected. After that, using the drawing length Ld, which is the length in the vertical direction of the first object OB drawn in the selected front image, a perspective feature that characterizes the perspective from the imaging position of the front image to the first object OB is calculated. is identified.

Next, the CPU 901 executes the same processing as steps S02 and S03 of FIG. 17 on the second object OB' (steps S135 and S136). As a result, a second object area composed of pixels having pixel values corresponding to the colors of the second object OB' is detected, and the detected second object area is used to face the second object OB'. is selected. After that, it is determined whether or not all the 12 sets received from the imaging devices 101 to 112 have been selected from all of the 12 sets of straight-on images captured while facing the second object OB′.

When the CPU 901 determines in step S136 that the oriented images have been selected from all 12 sets (step S136; Yes), it executes the left/right feature specifying process as shown in FIG. 37 (step S137).

When the left/right feature identifying process is started, the same process as in step S41 of FIG. 23 is performed (step S141). As a result, the drawing length Ld of the second object OB' is detected from the 12 front images.

Next, the feature identification unit 940 classifies the group including 12 drawing lengths Ld into four groups (step S142). In order to generate four groups, first, the feature identification unit 940 calculates the maximum value, minimum value, and average value of the drawing lengths Ld in the group including 12 drawing lengths Ld. Next, the feature specifying unit 940 classifies the drawing lengths Ld included in the predetermined range including the maximum value into the first group, and the drawing lengths Ld included in the predetermined range including the minimum value. Generate a second group to sort. In addition, the feature specifying unit 940 classifies the drawing length Ld shorter than the lower limit of the range including the maximum value and longer than the average value into a third group, A fourth group is generated in which drawing lengths Ld longer than the upper limit are classified. However, the method of generating the four groups is not limited to this.

After that, after the counter Ip indicating the number of the normal image to be processed is initialized to the value "1" (step S143), the feature specifying unit 940 selects the normal image of the number indicated by the counter Ip to be processed. Then, it is determined whether or not the drawing length Ld in the normal image to be processed is included in the first group including the maximum value (step S144). At this time, when the feature specifying unit 940 determines that the drawing length Ld to be processed is included in the first group (step S144; Yes), the drawing length Ld to be processed is the 12 drawing lengths Ld. Among them, it is determined that it has a long-short feature that it is one of the longest, and the character string representing the long-short feature is specified as "the longest" (step S145a).

Next, the feature specifying unit 940 determines that the imaging position of the front-facing image to be processed is from the second subject OB′ among the imaging positions of the 12 front-facing images, according to the identified long and short features. Identify it as having the perspective feature of being one of the closest positions. In addition, since the position closest to the second subject OB′ constitutes the first column C1, which is the leftmost column, the feature specifying unit 940 determines that the imaging position of the front image to be processed is the character string " It is specified that it has a left-right feature represented by "left" (step S145b).

After that, the storage unit 950 stores the character string “left” representing the identified left-right feature in the record stored in the image table in FIG. 19 and having the number indicated by the counter Ip.

In step S144, when the feature specifying unit 940 determines that the drawing length Ld to be processed is not included in the first group (step S144; No), the drawing length Ld to be processed is in the second group including the minimum value. (step S146).

At this time, when the feature specifying unit 940 determines that the drawing length Ld to be processed is included in the second group (step S146; Yes), the character string representing the length feature of the drawing length Ld to be processed is "most "short" is specified (step S147a), and the character string representing the left and right characteristics of the imaging position where the front image to be processed was taken is specified as "right" (step S147b).

In step S146, when the feature specifying unit 940 determines that the drawing length Ld to be processed is not included in the second group (step S146; No), it determines whether it is included in the third group (step S148). ). At this time, when the feature specifying unit 940 determines that the drawing length Ld to be processed is included in the third group (step S148; Yes), the drawing length Ld to be processed is the 12 drawing lengths Ld. Among them, it specifies that it has a long-short feature that it is not one of the longest but longer than the average value, and specifies that the character string representing the long-short feature is "longer than average" (step S149a).

Next, the feature specifying unit 940 specifies that the imaging position of the front image to be processed has a left-right feature represented by the character string "center left" according to the specified long-short feature (step S149b). Since the rendering length Ld to be processed is not one of the longest lengths, the imaging position of the front image to be processed is the closest to the second object OB′ in the first column C1. This is because it is specified that it is not configured. In addition, since the drawing length Ld to be processed has a long and short feature that is longer than the average value, the imaging position of the front image to be processed is the second object OB′ closer to the second object OB′ than the center of the matrix. This is because it is specified as constituting the column C2.

In step S148, when the feature specifying unit 940 determines that the drawing length Ld to be processed is not included in the third group (step S148; No), the drawing length Ld to be processed is included in the fourth group. discriminate. After that, the feature specifying unit 940 specifies that the character string representing the length feature of the drawing length Ld to be processed is "below average" (step S150a), and The character string representing the feature is identified as "middle right" (step S150b).

After steps S145b, S147b, S149b, or S150b are executed, the same processes as steps S49 and S50 in FIG. 23 are repeated (steps S151 and S152), and then the execution of the left/right feature specifying process is terminated.

In step S137 of FIG. 36, after the left and right feature specifying process is executed, the same process as in step S06 of FIG. 17 is executed (step S138), and then the execution of the association process ends. As a result, the imaging position of the normal-view image is identified using the perspective and left-right features identified from the normal-view image, and the identified imaging position is associated with the communication address used to receive the normal-view image. be done.

If it is determined in step S133 or S136 that the normal images have not been selected from all pairs (step S133; No or S136; No), execution of the association processing is terminated. This is because it is difficult to continue the association processing if the normal images cannot be selected from all pairs.

According to these configurations, the first object OB extends along the wall WN, and the second object OB' extends along the wall WW. Since the wall WN and the wall WW are not parallel to each other, the extending direction of the first object OB and the extending direction of the second object OB' are not parallel. For this reason, if a front-facing image generated in a state facing the second object OB′ is used to specify perspective features that characterize the distance between the imaging position of the front-facing image and the second object OB′, the marker OM can be detected. The left and right features of the imaging position can be identified without installing in the central portion of the first object OB.

In this modified example, the color of the first object OB and the color of the second object OB' are different from each other. The brightness of the second object OB' may be different from each other.

(Modification 11 of Embodiment)
In this embodiment, as shown in FIG. 11, the distance D1 from the subject OB to the first row R1 is longer than the distance Dt3, and the distance D3 from the subject OB to the third row R3 is greater than the distance Dt4. described as shorter than That is, it has been described that the distance D from the object OB to the installation positions P01 to P12 of the imaging devices 101 to 112 is longer than the distance Dt3 and shorter than the distance Dt4.

Under the condition that the distance D from the imaging position to the object OB is longer than the distance Dt3 and shorter than the distance Dt4, if the imaging direction is the oblique downward direction, as shown in FIG. The farther away from the object OB, the less the part of the object OB included in the angle of view in the vertical direction of the imaging devices 101 to 112 in the facing state. Therefore, as shown in FIG. 12, the longer the distance D from the object OB to the imaging position, the shorter the drawing length Ld, which is the vertical length of the object OB drawn in the facing image. On the other hand, the shorter the distance D from the object OB to the imaging position, the longer the drawn length Ld in the front image.

For this reason, in the present embodiment, when the control device 900 specifies the character string "long" representing the long and short characteristics of the drawing length Ld of the normal image to be processed in steps S45a and S45b of FIG. It has been described that the character string "near" representing the perspective feature of the imaging position of the front image is specified according to the length feature. On the other hand, in steps S47a and S47b of FIG. 23, when the control device 900 identifies the character string "short" representing the long and short characteristics of the drawing length Ld of the facing image to be processed, , the character string “distant” representing the perspective characteristics of the imaging position of the front image is specified.

However, it is not limited to these. In this modified example, the distance D1 from the object OB to the first row R1 is such that the upper end EU of the object OB as shown in FIG. It is longer than the distance Dt1 from the included position Pt1 closest to the object OB to the object OB. Further, the distance D3 from the subject OB to the third row R3 includes the upper end EU of the subject OB and the lower end EB of the subject OB in the angle of view in the vertical direction of the imaging devices 101 to 112 in the facing state. is shorter than the distance Dt2 from the farthest position Pt2 from the object OB to the object OB. Therefore, in this modification, the distance D from the object OB to the installation positions P01 to P12 of the imaging devices 101 to 112 is longer than the distance Dt1 and shorter than the distance Dt2.

Under the condition that the distance D from the imaging position to the subject OB is longer than the distance Dt1 and shorter than the distance Dt2, if the imaging direction is the oblique downward direction, the imaging position is as shown in FIG. As the distance from the object OB increases, the portion of the object OB included in the angle of view in the vertical direction of the imaging devices 101 to 112 in the facing state increases. Therefore, as shown in FIG. 12, the longer the distance D from the object OB to the imaging position, the longer the drawing length Ld, which is the vertical length of the object OB drawn in the facing image. On the other hand, the shorter the distance D from the object OB to the imaging position, the shorter the drawn length Ld in the front image.

For this reason, in this modification, when the control device 900 specifies the character string "long" representing the length feature of the drawing length Ld of the normal image to be processed in steps S45a and S45b of FIG. Depending on the feature, the character string representing the perspective feature of the imaging position of the front image is specified as "distant" instead of "near". On the other hand, in steps S47a and S47b of FIG. 23, the control device 900 specifies the character string "short" representing the drawing length Ld of the normal image to be processed. The character string representing the perspective feature of the imaging position is specified as "near" instead of "far".

According to these configurations, the installation positions P01 to P12 of the imaging devices 101 to 112 are set not only at the positions where the distance D from the object OB is longer than the distance Dt3 and shorter than the distance Dt4, but also at the positions where the distance D from the object OB is set. is longer than the distance Dt1 and shorter than the distance Dt2. Therefore, the degree of freedom of the installation positions P01 to P12 is improved.

(Modification 12 of Embodiment)
In the present embodiment, the air conditioning system 1 of FIG. 1 has 12 imaging devices 101 to 112, and the imaging devices 101 to 112 are arranged in a matrix of 3 rows and 4 columns.

Further, each record of the installation position table shown in FIG. It has been described that the perspective feature that characterizes the perspective from the installation position identified by the position ID to the subject OB, which is one of the types of perspective features, is associated and stored. In addition, each record includes a position ID and one of four types of left/right characteristics, which characterizes how far the installation position identified by the position ID is to the left or right of the central portion of the object OB. It has been explained that the left and right features are associated with and stored.

Furthermore, in steps S42 to S48b of FIG. 23, the feature specifying unit 940 of the control device 900 selects one of the three types of features as a feature that characterizes the drawing length Ld of the front image to be processed. explained to identify. Furthermore, it has been described that the feature specifying unit 940 specifies a perspective feature that characterizes the distance from the imaging position of the front image to the subject OB according to the specified long and short features. This is because the rendering length Ld becomes shorter as the distance from the subject OB to the imaging position of the front image increases, that is, as the row number of the row including the imaging position increases.

In addition, in steps S62 to S70 of FIG. 24, the feature specifying unit 940 of the control device 900 determines how far the imaging position of the front image to be processed is to the left or right of the central portion of the subject OB. It has been described that the characterizing left and right features are specified as one of the four types of left and right features.

After that, in step S83 of FIG. 25, the address specifying unit 945 of the control device 900 converts the position ID associated with the perspective feature and the left/right feature specified using the normal image to be processed to the position ID shown in FIG. It has been described that the installation position table is searched and the installation position identified by the searched position ID is specified as the imaging position of the front image.

However, it is not limited to this, and the air conditioning system 1 according to this modification includes L imaging devices, and the L imaging devices are arranged in a matrix of M rows and N columns. (However, L, M, and N are natural numbers satisfying M×N=L≧2).

In this modification, each record of the installation position table shown in FIG. and a perspective feature that characterizes the perspective from one of the installation positions to the subject OB is stored in association with the perspective feature. In this modified example, the M types of perspective features of the installation position are described as features of positions forming the m-th row (where m is a natural number that satisfies 1≦m≦M). This is because the row closest to the object OB is the first row, and the row farthest from the object OB is the M-th row. However, the M types of perspective features are not limited to this.

Further, in this modification, the feature specifying unit 940 of the control device 900, instead of steps S42 to S48b in FIG. Perform a process to identify any of the long and short features of . This is because the drawing length Ld becomes shorter as the line number m of the line including the imaging position of the front image increases. Furthermore, in the present modification, the feature specifying unit 940 determines the position constituting the m-th row as the perspective feature of the imaging position of the front image according to one of the specified M types of long and short features. Execute the process to identify the .

Each record in the installation position table of FIG. 20 includes a position ID and how far left the installation position identified by the position ID is, which is one of the N types of left/right features, with respect to the central portion of the object OB. or left and right features that characterize whether it is on the right side are stored in association with each other. In this modified example, the N types of left and right features of the installation position will be described as features of the positions constituting the n-th column (where n is a natural number satisfying 1≦n≦N). This is because the leftmost column is the first column and the rightmost column is the Nth column. However, the N types of left and right features are not limited to this.

Furthermore, in this modification, the feature specifying unit 940 determines how far the imaging position of the front image to be processed is to the left or right of the central portion of the object OB, instead of steps S62 to S70 in FIG. As the left and right features that characterize whether or not there is, a process of specifying the feature of the position constituting the n-th column is executed. In order to specify the left and right features of the imaging position, the feature specifying unit 940 uses the Xc coordinate value and the Yc coordinate value of the drawing position of the marker area AM in the camera coordinate system XcYc in FIG. , and how far the imaging position is to the right or left of the marker OM arranged in the central portion.

Thereafter, in step S83 of FIG. 25, the address specifying unit 945 assigns the position ID associated with the perspective feature of the position forming the m-th row and the left-right feature of the position forming the n-th column to the position ID shown in FIG. 20 installation position tables, and the installation position identified by the retrieved position ID is specified as the imaging position of the front image.

(Modification 13 of Embodiment)
In the present embodiment, the air conditioning system 1 of FIG. 1 has been described as including the thermometers 10 and 20, the imaging devices 101 to 112, the air conditioners 210 to 260, and the control device 900, but is limited to this. Not a translation. The air conditioning system 1 may further include an object OB and a marker OM.

In the present embodiment, the imaging devices 101 to 112 send a set of images to the control device 900 after completing generation of a set of 12 images. An image may be transmitted to the control device 900 each time one image is generated. Also, the imaging devices 101 to 112 may generate moving images instead of still images, and transmit the generated moving images. The acquisition unit 920 of the control device 900 may acquire moving images received from the imaging devices 101 to 112 by the communication circuit 905 in FIG. 16 and acquire still images from frames included in the acquired moving images.

Further, in the present embodiment, it has been described that the imaging devices 101 to 112 generate images whose horizontal direction corresponds to the main scanning direction. Further, the detection unit 930 of the control device 900 determines that the angle ψ formed by the lower edge line LB of the subject region and the main scanning direction is the smallest in a set of 12 images received from the imaging devices 101 to 112 . image is selected as the normal image. However, the present invention is not limited to this, and the imaging devices 101 to 112 generate an image whose horizontal direction corresponds to the sub-scanning direction, and the detection unit 930 generates an image formed by the lower edge line LB of the subject region and the sub-scanning direction. The image with the smallest angle may be selected as the front image.

Although the installation positions P01 to P12 of the imaging devices 101 to 112 are different from the positions P21 to P26 of the air conditioners 210 to 260 in the present embodiment, the present invention is not limited to this. For example, the imaging devices 101 and 104 may be mounted on the air conditioner 210 . Similarly, the imaging devices 102 and 105 may be mounted on the air conditioner 220 , and the imaging devices 103 and 106 may be mounted on the air conditioner 230 . Furthermore, similarly, the imaging devices 107 and 110 may be mounted on the air conditioner 240, the imaging devices 108 and 111 may be mounted on the air conditioner 250, and the imaging devices 109 and 112 may be mounted on the air conditioner 260. It may be installed.

In the present embodiment, the air conditioning system 1 is described as being installed in an office building, but it is not limited to this, and the air conditioning system 1 may be installed in a house, school, or hospital. good. Further, in the present embodiment, the air conditioning system 1 is described as being installed in the office space S, but it is not limited to this, and the air conditioning system 1 can be installed in corridors, entrances, toilets, washrooms, Alternatively, it may be installed in the bathroom.

In the present embodiment, the horizontal angle of view of the imaging devices 101 to 112 is described as 30 degrees, but the angle is not limited to 30 degrees. But I don't mind. In addition, although it has been described that the imaging devices 101 to 112 generate 12 images while the azimuth angle φ that determines the imaging direction changes from 0 degrees to 360 degrees, the present invention is not limited to this. Any number of images may be generated as long as it is the above.

The embodiments of the invention and modifications 1 to 13 of the embodiments can be combined with each other.

It can be provided as a control device 900 preliminarily provided with a configuration for realizing the functions according to the embodiment of the present invention and any of the modifications 1 to 13 of the embodiment. Also, by applying a program, the existing control device 900 can be made to function as the control device 900 according to any one of the embodiment of the present invention and modifications 1 to 13 of the embodiment. That is, a computer (such as a CPU) that controls an existing control device is programmed to implement each functional configuration by the control device 900 exemplified in any one of the embodiments and modifications 1 to 13 of the embodiment of the present invention. ) can function as the control device 900 according to any one of the embodiment of the present invention and modifications 1 to 13 of the embodiment.

Any method can be used to distribute such a program. For example, a memory card, a CD-ROM (Compact Disc Read Only Memory), or a DVD-ROM (Digital Versatile Disk Read Only Memory) can be stored and distributed in a recording medium. Alternatively, it can be distributed via a communication medium such as the Internet. The air conditioning method can be implemented using the air conditioning system 1 , the lighting method can be implemented using the lighting system 2 , and the monitoring method can be implemented using the monitoring system 3 . Further, the control method for the air conditioners 210 to 260 can be implemented using the control device 900 of the air conditioning system 1, and the control method for the lighting devices 410 to 460 can be implemented using the control device 900 of the lighting system 2, and monitoring The method of controlling the devices 510 to 560 can be implemented using the control device 900 of the monitoring system 3 .

Moreover, the present invention is capable of various embodiments and modifications without departing from the broader spirit and scope of the present invention. Moreover, the embodiment described above is for explaining the present invention, and does not limit the scope of the present invention. In other words, the scope of the present invention is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and within the scope of the invention equivalent thereto are considered to be within the scope of the present invention.

INDUSTRIAL APPLICABILITY The present invention is suitable for an air conditioning system that conditions air in an air conditioned space.

1 air conditioning system, 2 lighting system, 3 monitoring system, 10, 20 thermometer, 101 to 112 imaging device, 210 to 260 air conditioner, 11, 211, 391, 411, 511, 901 CPU, 12, 212, 392, 412, 512, 902 ROM, 213, 393, 413, 513, 903 flash memory, 14, 214, 394, 414, 514, 904 RAM, 15, 215, 395, 415, 515, 905 communication circuit, 16 temperature sensor, 218 fan, 219 motor, 311 housing, 312 cover, 320 rotary table, 330, 342 motor, 341 support member, 381 zoom lens, 382 zoom ring, 383 motor, 390 imaging unit, 396 output port, 397 sensor, 398 image generation circuit 399 protrusion 410 to 460 illumination device 419 drive circuit 418 LED 510 to 560 monitoring device 517 Doppler sensor 518 detection circuit 519 speaker 900 control device 905a first communication circuit 905b second second communication circuit, 907 button, 908 video card, 909, DP display, 910 control unit, 920 acquisition unit, 930 detection unit, 940 feature identification unit, 945 address identification unit, 950 storage unit, 990 information storage unit, AO optical axis, AM Marker Area, AS1 to AS6 Air Conditioned Space, AT Rotational Axis, C1 1st Column, C2 2nd Column, C3 3rd Column, C4 4th Column, CE Ceiling, CL Communication Cable, D, Dt1 to Dt4, D1 to D3 Distance, DA Reference bearing, EB Bottom, EL Left, EU Top, ER Right, FL Floor, HB Concentrator, LB Bottom line, Ld, Ld1 to Ld3 Drawing length, LL Left line, LR Right line, Lx1, Lx2 Virtual line, Ly Virtual line, OB, OB1 to OB5, OB' Subject, OM Marker, Ow Origin, P01 to P12 Installation position, R1 1st line, R2 2nd line, R3 3rd line, R4 4th line, S Office space, WE, WW, WS, WN wall, θ depression angle, φ azimuth angle, ψ angle

Claims (16)

Communication means for receiving a first image captured from a first imaging position and a second image captured from a second imaging position that is farther from the subject than the first imaging position. When,
A first length, which is the vertical length of the subject drawn in the first image received by the communication means, and a second length, which is the vertical length of the subject drawn in the second image. a detection means for detecting and
feature identifying means for identifying long and short features characterizing the length of the first length in the group containing the first length and the second length detected by the detection means;
from the first position in a group including a first position where a first imaging device is installed and a second position where a second imaging device is installed and which is farther from the subject than the first position storage means for storing a perspective feature that characterizes the perspective to the subject and the first position in association with each other;
identifying a perspective feature that characterizes the distance from the first imaging position to the subject in a group including the first imaging position and the second imaging position according to the long and short features identified by the feature identifying means;
identifying the first position of the first imaging device associated with the identified perspective feature as the first imaging position of the first image received by the communication means; and
identifying the communication address used for receiving the first image by the communication means as the communication address assigned to the first imaging device ;
an address identifying means;
storage means for storing the communication address of the first imaging device specified by the address specifying means in the storage means in association with the first position where the first imaging device is installed;
A control device comprising: The first image is an image captured from the first imaging position with the imaging direction directed toward the subject ,
The second image is an image captured from the second imaging position in a direction within a predetermined range including the imaging direction.
A control device according to claim 1 . The feature identifying means identifies a first length feature that is the length feature, and a second length feature that characterizes the length of the second length in the group including the first length and the second length. further specify,
The storage means associates and stores the first position and the first perspective feature, which is the perspective feature, and stores the second position and the group including the first position and the second position. further stores in association with a second perspective feature that characterizes the perspective from the second position to the subject in
The address specifying means is configured to, in accordance with the second long and short features specified by the feature specifying means, determine the distance from the second imaging position to the subject in the group including the first imaging position and the second imaging position. A second perspective feature that characterizes perspective is further specified, and the second position of the second imaging device associated with the specified second perspective feature is transmitted to the second image received by the communication means. further specifying the second imaging position, and further specifying the communication address used for receiving the second image by the communication means as the communication address assigned to the second imaging device;
The storage means stores the communication address of the second imaging device specified by the address specifying means in the storage means in association with the second position where the second imaging device is installed.
3. A control device according to claim 1 or 2 . The first position is included in any one or more of a space where an air conditioner conditions air, a space monitored by a monitoring device, and a space illuminated by a lighting device,
further comprising acquisition means for acquiring from the storage means the communication address of the first imaging device stored in association with the first position included in the one or more spaces,
The detection means detects a person area in which a person is drawn from the first image received by the communication means using the communication address acquired by the acquisition means,
further comprising control means for determining control details for any one or more of the air conditioner, the lighting device, and the monitoring device using the person region detected by the detection means;
The communication means transmits the control content determined by the control means to any one or more of the air conditioner, the lighting device, and the monitoring device.
A control device according to any one of claims 1 to 3 . In the storage means, the left end of the subject in the imaging direction from the first position is included in the angle of view of the first imaging device installed at the first position, but the right side of the subject is further storing a left-right feature that characterizes the first position, in which the edge is not included in the angle of view, in association with the first position where the first imaging device is installed;
The detection means further detects a left edge line representing the edge of the subject on the left side and a right edge line representing the edge of the subject on the right side from the first image,
The feature specifying means further specifies the left and right features as features of the first imaging position when the left edge line is detected from the first image and the right edge line is not detected by the detection means,
The address specifying means specifies the first position of the first imaging device associated with the perspective feature and the lateral feature specified by the feature specifying means as the first imaging position of the first image. do,
A control device according to any one of claims 1 to 4 . In the storage means, the right end of the subject in the imaging direction from the first position is included in the angle of view of the first imaging device installed at the first position, but the left side of the subject is further storing a left-right feature that characterizes the first position, in which the edge is not included in the angle of view, in association with the first position where the first imaging device is installed;
The detection means further detects a left edge line representing the edge of the subject on the left side and a right edge line representing the edge of the subject on the right side from the first image,
The feature specifying means further specifies the left and right features as features of the first imaging position when the right edge line is detected from the first image and the left edge line is not detected by the detection means,
The address specifying means specifies the first position of the first imaging device associated with the perspective feature and the lateral feature specified by the feature specifying means as the first imaging position of the first image. do,
A control device according to any one of claims 1 to 4 . The storage means stores the subject in the imaging direction from the first position so that the left and right edges of the subject are not included in the angle of view of the first imaging device, and the first position is the center of the subject. storing a left-right feature that characterizes the first position, which is to the left of the part, in association with the first position where the first imaging device is installed;
The detection means comprises: a left edge line representing the left edge of the subject; a right edge line representing the right edge of the subject; , further detected from said first image,
When the detection means does not detect the left edge line and the right edge line from the first image and the marker area is detected, the feature specifying means determines the drawing position of the marker area in the first image. further specifying the left and right features as features of the first imaging position using
The address specifying means specifies the first position of the first imaging device associated with the perspective feature and the lateral feature specified by the feature specifying means as the first imaging position of the first image. do,
A control device according to any one of claims 1 to 4 . The storage means stores the subject in the imaging direction from the first position so that the left and right edges of the subject are not included in the angle of view of the first imaging device, and the first position is the center of the subject. further storing a left-right feature that characterizes the first position that is to the right of the part in association with the first position where the first imaging device is installed;
The detection means comprises: a left edge line representing the left edge of the subject; a right edge line representing the right edge of the subject; , further detected from said first image,
When the detection means does not detect the left edge line and the right edge line from the first image and the marker area is detected, the feature specifying means determines the drawing position of the marker area in the first image. further specifying the left and right features as features of the first imaging position using
The address specifying means specifies the first position of the first imaging device associated with the perspective feature and the lateral feature specified by the feature specifying means as the first imaging position of the first image. do,
A control device according to any one of claims 1 to 4 . The communication means provides an elevation angle or depression angle that determines the direction in which the first imaging device and the second imaging device perform imaging when the first length and the second length are not detected by the detection means, and Sending a control command to change one or more of the angles of view that determine the imaging range to the first imaging device and the second imaging device;
A control device according to any one of claims 1 to 8 . the communication means further receives a new first image from the first imaging device after transmitting the control command, and further receives a new second image from the second imaging device;
the detection means further detects a first length from the new first image received by the communication means and further detects a second length from the new second image;
The feature identifying means is configured to add the new first length in a group including the first length detected from the new first image and the second length detected from the new second image by the detecting means. identifying short and long features that characterize the length of the first length detected from one image;
A control device according to claim 9 . The subject is either a door or a window,
the first image and the second image are infrared images;
The detection means is
Detecting a subject area in which the subject is drawn from the first image and the second image using the outside air temperature;
detecting the length of the subject region detected from the first image as the first length, and detecting the length of the subject region detected from the second image as the second length;
A control device according to any one of claims 1 to 10 . the subject is a display panel,
the first image and the second image are infrared images;
The detection means is
Detecting a subject area in which the subject is drawn from the first image and the second image using the amount of heat generated by the display panel;
detecting the length of the subject region detected from the first image as the first length, and detecting the length of the subject region detected from the second image as the second length;
A control device according to any one of claims 1 to 10 . The detection means is
When the photographing direction of the first image and the second image is an oblique downward direction from a horizontal direction to a vertically downward direction, a bottom line representing the bottom end of the subject is defined as the first image and the second image. and further detect from
further detecting an upper edge line representing the upper edge of the subject from the first image and the second image when the imaging direction is an oblique upward direction from a horizontal direction to a vertically upward direction;
the first length and the second length from the first image and the second image when any one of the bottom line and the top line is detected from both the first image and the second image; to detect the
Control device according to any one of claims 1 to 12. A system comprising the control device according to claim 1 to 3 , the first imaging device, and the second imaging device,
The shape of the subject is a rectangle having sides extending in the horizontal direction,
The first imaging device and the second imaging device are
a sensor whose main scanning direction or sub-scanning direction corresponds to the horizontal direction;
a lens that focuses light onto the sensor;
a rotary table on which the lens and the sensor are mounted;
a motor that changes the azimuth angle of the optical axis of the lens by rotating the rotary table;
the communication means of the control device receives a plurality of first images and a plurality of second images taken from directions determined by mutually different azimuth angles;
The detection means of the control device,
detecting the bottom line or the top line representing the sides of the subject from the plurality of first images and the plurality of second images received by the communication means;
A first image in which the bottom line or the top line forming the smallest angle with the main scanning direction or the sub-scanning direction is detected from the plurality of first images is captured in the direction most directly facing the subject. Selecting as a normal image, and selecting an image from which the bottom line or the top line forming the smallest angle with the main scanning direction or the sub-scanning direction is detected from the plurality of second images as the second normal image. and
detecting the first length of the subject from the first front-facing image and detecting the second length of the subject from the second front-facing image;
system. a communication step of receiving a first image captured from a first imaging position and a second image captured from a second imaging position that is farther from the subject than the first imaging position;
A first length that is the vertical length of the subject drawn in the first image received in the communicating step, and a second length that is the vertical length of the subject drawn in the second image. a detection step for detecting a length;
a feature identification step of identifying long and short features characterizing the length of the first length in the group containing the first length and the second length detected in the detecting step;
identifying a perspective feature that characterizes the distance from the first imaging position to the subject in a group including the first imaging position and the second imaging position according to the long and short features identified in the feature identifying step;
from the first position in a group including a first position where a first imaging device is installed and a second position where a second imaging device is installed and which is farther from the subject than the first position In a storage unit that associates and stores a perspective feature that characterizes the perspective to the subject and the first position, the first position of the first imaging device that is associated with the identified perspective feature is identifying the first imaging position of the first image received in the communicating step; and
identifying the communication address used to receive the first image in the communication step as the communication address assigned to the first imaging device ;
an address identification step;
a storing step of storing the communication address of the first imaging device specified in the address specifying step in the storage means in association with the first position where the first imaging device is installed;
How to have the computer,
Communication means for receiving a first image captured from a first imaging position and a second image captured from a second imaging position that is farther from the subject than the first imaging position. Acquisition means for acquiring the first image and the second image from
A first length that is the vertical length of the subject drawn in the first image acquired by the acquisition means, and a second length that is the vertical length of the subject drawn in the second image. detection means for detecting and
feature identifying means for identifying long and short features characterizing the length of the first length in the group containing the first length and the second length detected by the detection means;
identifying a perspective feature that characterizes the distance from the first imaging position to the subject in a group including the first imaging position and the second imaging position according to the long and short features identified by the feature identifying means;
from the first position in a group including a first position where a first imaging device is installed and a second position where a second imaging device is installed and which is farther from the subject than the first position In a storage unit that associates and stores a perspective feature that characterizes the perspective to the subject and the first position, the first position of the first imaging device that is associated with the identified perspective feature is Identifying the first imaging position of the first image received by the communication means, and
identifying the communication address used for receiving the first image by the communication means as the communication address assigned to the first imaging device ;
address specifying means; and
storage means for storing the communication address of the first imaging device specified by the address specifying means in the storage means in association with the first position where the first imaging device is installed;
A program that acts as

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