JPH03270586A - Infrared ray monitor system - Google Patents

Abstract

PURPOSE:To attain highly accurate installation monitor and automatic tracking of a travelling object by applying derive control intermittently to a turning device so that the visual field of an infrared ray camera is moved or stopped alternately within a set area. CONSTITUTION:A turning device 12 is controlled by a control signal from a data processing section 14 and the stop (standstill) and the movement (visual field turning) are repeated alternately and a bearing data representing the turning position is generated and fed to the data processing section 14. Moreover, a picture processing section 13 fetches an input picture (infrared ray video signal) only for visual field movement stop period of an infrared ray camera 11 to apply discrimination processing. The data processing section 14 applies discrimination processing to various calculation data from the picture processing section 13, and the turning to a succeeding monitor visual field to the turning device 12 is commanded after the end of processing. Thus, differential detection is implemented for the picture processing.

Description

[Detailed Description of the Invention] [Summary] This invention relates to an infrared monitoring system that monitors a wide area (wide field of view) using an infrared camera, and detects abnormalities in the normal temperature zone in a wide area. Monitor with high precision,
In addition, for the purpose of automatic tracking of moving objects, an infrared camera that images the monitoring target, a rotation device that moves the field of view of the infrared camera, and settings based on image processing data and azimuth data from the rotation device. a data processing unit that intermittently drives the rotation device so that the field of view of the infrared camera alternately moves and stops moving within the area; and WJrfA that stops moving the field of view of the infrared camera.
and an image processing section that captures an output infrared video signal of the infrared camera only within the camera, performs image processing, detects an abnormality in the normal temperature zone in the monitoring target, and sends the image processing data to the data processing section. Configure.

[Industrial application field]

The present invention relates to an infrared monitoring system, and more particularly to an infrared monitoring system that monitors a wide area (wide field of view) using an infrared camera.

Monitor abnormal temperature rises in installations such as transformers and quick-break switches in outdoor substations, and monitor temperature ranges around the general background temperature (
An infrared M111 vision system using an infrared camera is known for detecting abnormalities (for example, abnormality prediction detection in equipment monitoring, intruder monitoring) (this is referred to as the normal temperature zone in the Kanmei M book). . In this case, if the monitored targets are distributed over a wide area, it is necessary to monitor the monitored targets in a wide area with a configuration as simple as possible, and monitoring with a low probability of false detection is required. In the case of mobile object monitoring, automatic tracking of moving objects such as intruders is also required.

[Conventional technology]

Conventional infrared I surveillance systems that monitor a wide area using infrared cameras are shown in FIGS. 10 and 11. The conventional infrared monitoring system shown in FIG. 10 has a configuration in which each output infrared video signal from two or more m infrared cameras 11 to 1m is sequentially and cyclically switched by a video switcher 2 and processed by a processing system 3. According to this conventional system, each angle of the field of view of the infrared cameras 11 to 1 is narrow as shown by 41 to 4tr+, but by switching and outputting each output infrared image signal of the infrared cameras 11 to 1yn, the total field of view is 4
It is possible to virtually obtain a fan-shaped wide field of view as shown in FIG.

On the other hand, the conventional infrared monitoring system shown in FIG.
The infrared camera 6 is rotated back and forth over a predetermined angle range by a rotating device 7, and the infrared image signal obtained thereby is processed by a processing system 8. According to this conventional system, only one infrared camera 6 is required, so that it is possible to monitor a wide area as shown by 9 in FIG. 11 with a cheaper configuration than the conventional system shown in FIG.

[Problem to be solved by the invention]

However, in the conventional system shown in FIG. 10, the wider the monitoring area, the more infrared cameras are required, making the entire system expensive. On the other hand, in the conventional system shown in FIG. 11, the infrared camera 6 is constantly rotating, so unlike the fixed field of view method, differences occur due to differences in background temperature patterns even when no abnormal conditions occur. Difference detection cannot be performed because it is stored away. Therefore, this conventional system is used for monitoring (for example, fire monitoring) when the abnormality detection level has an extremely large difference from the background temperature.
It was limited to simple absolute value detection.

Note that in the past, the camera could only be moved when the monitoring target moved.
A system for IJ control has also been proposed (Japanese Patent Application Laid-Open No. 1989-1999)
In this method, the camera is always fixed and can only be applied when the object to be monitored happens to move within the field of view, and cannot monitor a wide area.

In addition, in any of the conventional systems mentioned above, in the abnormality prediction detection of equipment monitoring, the abnormality prediction temperature is not much different from the normal temperature (in other words, it is a slight temperature fluctuation detection).
At the same time, the absolute temperature level is close to the dorsal temperature, so if an intruder (II vehicle, small animal), etc. enters the field of view to be monitored, it will not be possible to distinguish it from an equipment abnormality, and the monitor will be required to distinguish it. This required manual work such as checking images on the device, which was inconvenient in terms of operation.

Furthermore, in order to monitor mobile objects, all of the conventional systems described above can only detect and monitor when an intruder enters a mobile object, and cannot perform necessary operational responses after that, such as understanding the direction of movement of an intruder. Automatic tracking with an infrared camera is not possible. For this reason, conventionally, the moving direction and tracking of the intruder have been manually operated, which is complicated and has the problem of missing an opportunity to capture the intruder.

The present invention has been made based on the above points, and aims to provide an infrared monitoring system that can detect abnormalities in normal temperature zones over a wide area, monitor equipment with high precision, and automatically track moving objects. purpose.

[Means to solve the problem]

FIG. 1A shows a principle configuration diagram of the first invention according to claim 1. In the figure, 11 is an infrared camera that takes an image of the monitoring target. Reference numeral 12 denotes a rotation device that moves the field of view of the infrared camera 11. 13 is an image processing section, and 14 is a data processing section. Based on the image processing data from the image processing section 13 and the azimuth data from the rotation device 12, the data processing section 14 causes the rotation device 12 to alternately move and stop the field of view of the infrared camera 11 within the set area. Control the drive intermittently.

Further, the image processing unit 13 captures the output infrared image signal of the infrared camera 11 only during the period when the field of view of the infrared camera 11 is stopped moving, performs image processing, detects abnormality in the normal temperature zone in the monitored object, and sends it to the data processing unit 14. Send image processing data.

FIG. 2A shows a diagram illustrating the principle of the second invention according to claim 2. The second invention is characterized by the processing of the image processing unit 13 in the first invention, and as shown in FIG. 2A, the reference image capture S+
, import the input images, process them (IP+), judge the image processing results (DPE>, and if it is determined to be abnormal, calculate the temperature center of gravity data of the monitored object TC+).
A series of processes to hold the data are carried out multiple times at regular intervals (
0 times>, and performs a process M for calculating and determining the movement of the temperature center of gravity obtained through a plurality of calculation processes.

Next, to explain the third invention according to claim 3, the third invention
Fig. A is characterized by the processing of the image processing section 13 in the first invention and the drive-control of the rotation device 12 of the data processing section 14 based on the processing, and Fig. 3A explains the processing of the image processing section 13 of the third invention. This is a flowchart. In FIG. 3A, first, the movement of the temperature center of gravity according to the second invention is calculated (step 31), the movement direction is predicted based on the result (step 32), and the movement speed of the temperature center of gravity is predicted on the monitor screen. is calculated from the movement distance and calculated time interval based on the movement calculation result (step 33), and further outputs movement direction prediction data and movement speed prediction data (step 34). Then, based on these predicted data, the data processing unit 14 drives the swing device 12 by 11 m.

[Effect]

First, the operation of the first invention will be explained. Swivel device 12
is driven and controlled by the control signal shown in FIG. 1B (A) from the data processing unit 14, and alternately stops moving (still) and moves (swivels the field of view) as schematically shown in FIG. 1B (B). While repeating, the azimuth data indicating the turning position is shown in Figure 1B (
D+ for C).

D2. ... and DT+ are generated and supplied to the data processing section 14. The image processing unit 13 also operates as shown in FIG. 1B (D
), the input image (infrared video signal) is captured only during the period when the field of view of the infrared camera 11 is stopped;
Perform judgment processing. The data processing section 14 is the image processing section 13
After the processing is completed, the turning device 12 is instructed to turn to the next monitoring field of view.

In this way, in the first invention, it is possible to widen the monitoring area shown by 15 in FIG. Since image processing is performed again afterwards, difference detection can be performed during image processing.

Next, the operation of the second invention will be explained. The second invention is particularly suitable for application to abnormality prediction detection in equipment abnormalities. In abnormality predictive detection for equipment abnormalities, the background temperature of the monitored target is the general background temperature, the abnormality predictive temperature level of the monitored target is not much different from the normal temperature, it is necessary to detect a slight temperature change, and the abnormality predictive temperature level is not much different from the normal temperature. The absolute value of the level is
It has a temperature characteristic of being in the same temperature range as the I temperature, that is, a constant temperature range. In addition, the detectable elements are ■temperature difference (changed temperature value or absolute temperature value) and ■
There are two elements: size (number of pixels changed).

Therefore, for example, if there is a moving object (for example, an intruding vehicle, small animal, etc.) in the same temperature range and same size range as the predicted abnormality of the installation within the monitoring field of view, it is impossible to distinguish between the two due to the relationship of the detection elements.

Therefore, in the second invention, (1) the location of occurrence of equipment abnormality (temperature center of gravity) does not move within a certain short time, and (2) when a moving object invades, the temperature center of gravity moves if the equipment is normal. The purpose is to distinguish between the two by focusing on these points.

That is, in the second invention, a series of image processing such as difference calculation with the input image is performed (Ih in Fig. 2A), and if the judgment processing result shows an abnormality in this first processing, the temperature center of gravity data is retained. (TC+ in Fig. 2A).Therefore, the monitoring target is Fig. 2B (A).

The settings shown in (B)! (For example, transformers in substations, etc.) 21
Assuming that, in the case of Fig. 2B (A) in the first processing, the coordinate data of the temperature center of gravity 22-1 is held, and
In the case of Figure (B), the intruding vehicle (
In other words, the coordinate data of the center of gravity (temperature center of gravity) is held.

Thereafter, a series of image processing similar to the above is repeated, and the 0th image processing is repeated.
In the second process, the coordinate data of the temperature center of gravity 22-n is held in the case of 2B theory (A>), and the coordinate data of the temperature center of gravity 24-n is held in the case of FIG. 2B (B). 2
In the invention, the movement calculation and determination process of the temperature center of gravity (M in Figure 2A)
As a result, in the case of FIG. 2B (A), although there is a change in the size of the temperature center of gravity, the result is that the position remains stationary at the position indicated by 23. On the other hand, in the case of FIG. 2B (B), the result is that the temperature center of gravity has moved from the position indicated by 25 to the position indicated by 26. Therefore, in the case of Fig. 2B (A) where there is no coordinate movement of the temperature center of gravity, it is determined that the equipment is abnormal.
In the case of FIG. 2B (B) in which there is a coordinate movement of the temperature center of gravity, it is determined that there is an intrusion of a moving object and that there is no equipment abnormality.

Next, the operation of the third invention will be explained. In the third invention, after repeating the movement calculation of the temperature center of gravity a plurality of times, the movement direction and movement speed of the temperature center of gravity are respectively calculated. This results in
For example, as shown in Figure 3B, if the temperature center of gravity of the moving body is located at 36-1 in the first movement calculation on the monitor screen, and it is located at 36-n in the movement calculation in Figure n, then the temperature center of gravity is The next moving position of 36- (n+1
), and then the predicted position 1136-(n+1
) and the center position 1137 of the monitor screen, and the data processing unit 14 converts the actual visual field turning angle using the above-mentioned movement direction prediction data and movement speed prediction data, and turns the rotation device 12. 1illllB. Thereafter, the above operation is repeated.

〔Example〕

FIG. 4 shows a hardware configuration diagram of an embodiment of the present invention. In the figure, the same components as in FIG. 1A are denoted by the same reference numerals, and the explanation thereof will be omitted. In FIG. 4, there are two infrared cameras 111 to 11, and their output infrared video signals are commonly input to a video switcher 43 via controllers 41+ to 41K and transmission systems 421 to 42K separately.

The video switcher 43 sequentially and cyclically switches the infrared video signals of the channels from the infrared cameras 11+ to 11K, selects each channel one by one, and supplies the selected channels to the image processing unit 13, as well as a monitor device! 44 for image display.

The image processing section 13 performs image processing necessary for abnormality detection monitoring in the normal temperature zone, and supplies the obtained data to the data processing section 14. The data processing unit 14 controls the transmission system 42+ to 42 to rotate M based on the control/management information from the swivel device operation console 45.
The ail signal is output to control the field of view of each of the infrared cameras 111 to 11 to alternately repeat movement and stop within the monitoring area 15+ to 15 m, and when an abnormality is detected, an alarm bag W! 46 to generate an alarm.

As shown in FIG.
It has a field of view of one of the divided monitoring areas 1 to θπ, and by the drive control of the above-mentioned swivel device N12 (121 to 12K), it monitors the divided monitoring area θ1 at the time of formation, and after image processing, it is moved. Next divided monitoring area θ2
Then, do the same for each minute up to θπ!
Monitoring of each IJ monitoring area is performed sequentially. After image processing of θn is θ. -1 or to the first θ1. Note that the movement direction of the infrared cameras 151 to 15 is not limited to the horizontal direction, but can be moved in any direction within the third dimension, such as the vertical direction.

FIG. 6 shows a configuration diagram of one embodiment of the data processing section 14. As shown in FIG.

In the same figure, 141 is a data processing circuit and a central processing unit (CP).
LJ), etc., and equipment monitoring condition table 1
42, the intruder monitoring table 143 can be referenced, and the system control/management software 144
A predetermined arithmetic processing operation is performed. Further, the data processing circuit 141 sends control signals for the video switcher 43, the swivel devices f121 to 12K, and the alarm device 46 via a video switcher control interface 145, a swivel device control interface 146, and an alarm device control interface 147. .

Further, the data processing circuit 141 includes a display 148,
It is connected to a printer 149 and a file 150, and displays and prints alarm information, stores and reads required data in the file 150, and so on.

Next, the operation of the main parts of the present invention will be explained with reference to FIG. The figure (A> is an example where there is one infrared camera 11+ to 11K (i.e. -1) and one monitoring condition.
After the image data is processed n times with the visual field stopped in the divided monitoring area θl shown in the figure, a visual field rotation command is sent from the data processing unit 14 to move the visual field from the divided monitoring area θ1 to θ2. At this time, azimuth data indicating the current position (divided monitoring area) θ1 and stationary confirmation data indicating that the field of view is currently in a stopped (stationary) state are sent, and based on this, the swivel device 12 moves to the divided monitoring area θ2.
After moving to, it stops there. Thereafter, operations similar to those described above are repeated, and after image data processing in the last divided monitoring area θ■, the image data is moved to the first divided monitoring area θ1.

Figure 7 (B) shows that the infrared camera shown in Figure 4 is 11+~
11K is an explanatory diagram of the operation of the main parts when K is an integer greater than or equal to 2. First, each infrared camera 11+~
11 are in a stationary state in the divided monitoring area θ1, and only the infrared video signal from the infrared camera 111 is taken out via the video switcher 43, and the image processing unit 13
When data processing is performed for all of the monitoring condition number (including multiple processing) MTI, the video switcher 4
3 is switched 1l111 by a control signal from the data processing section 14 so that only the infrared Im video signal from the infrared camera 112 is output.

As a result, data processing is now performed based on the infrared video signal from the infrared camera 112, and finally data processing is performed based on the infrared video signal from the infrared camera 11K in the same manner as described above. When this data processing is completed, the data processing unit 14 performs IIIt[l to rotate the field of view from the divided monitoring area θ1 to θ2, and all the infrared cameras 111 to 11K respectively set the divided monitoring area θ2 as the monitoring area. After being moved to the desired position, it is stopped. In this stopped state, the video switcher 43 is again controlled to switch between the infrared cameras 111 and 11.
The output infrared I* signal is sent to the image processing unit 13 in order up to K.
input the data to perform data processing.

Hereafter, all divided monitoring areas θ1 are set in the same manner as above.
For each of ~θn, the number of monitoring conditions MT+ images 1m/
Data processing is performed, and when it is completed, processing returns to the field of view of the first divided monitoring area θ1 of the first infrared camera 111.

Next, an example of processing by the image processing section 13 and the data processing section 14 will be described with reference to FIG. 8. This embodiment is claim 2
In the embodiment of the invention described, first, the image processing unit 13 performs frame sampling (") in which the input infrared video signal is sampled at fixed time (frame time) intervals.
Step 81-1>, the image data obtained thereby (
Offset addition processing (0) is performed on the temperature information) (step 82-1). This offset addition process is a process of adding a predetermined temperature to the current temperature information as an offset value.

Next, difference calculation processing (D) is performed (step 83-1
), subtract the previously sampled temperature information from the offset-added temperature information. This difference calculation result is made so that the value of the temperature information after adding the offset is always larger than the previous temperature information by adding the offset value, so a positive value is always obtained and processing calculations are made easier. are doing.

Next, binarization processing (B) is performed (step 84-1
>. This binarization process is a process in which, based on the difference calculation result, an area where the temperature is higher than a predetermined temperature is determined to be an abnormal temperature area, and an area where the temperature is lower than the predetermined temperature is determined to be a normal temperature area. Next, A.N.
D calculation (A) is performed (step 85-1), and then histogram calculation (b) is performed (step 86-1).
1). This histogram calculation is a calculation process that creates a histogram with temperature as the horizontal axis and the number of dots representing the temperature as the vertical axis.

Next, a determination process is performed (step 87-1), in which it is determined that there is an abnormality when the number of dots in the abnormal temperature region is greater than or equal to a predetermined number, and that there is no abnormality when it is less than a predetermined number.

When it is determined that there is an abnormality, the process returns to step 85-1.
Projection calculation (P) is performed using the AND calculation result data (step 89-1), while in step 88, step 81-
A series of processes 1 to 86-1 are executed multiple times. The above projection calculation is performed for each of the X coordinates and X coordinates of each dot in the region where abnormal temperature occurs
This is a process in which the coordinates and the X coordinate position are used as coordinate data of the temperature center of gravity. The coordinate data of the temperature center of gravity thus obtained is stored in the file 150 in the data processing section 14 (step 90).

Processing is performed n times in the same manner as above, and step 89
The temperature barycentric coordinate data obtained at -n is also stored in the file 150 in the same manner (step 90).

Next, a movement calculation (M) is performed by comparing the coordinate data of a plurality of temperature centroids read from the file 150 (step 91), and if there is no movement, it is determined that there is an equipment abnormality (step 92), and an equipment abnormality alarm (A On the other hand, if there is movement, it is determined that there is no equipment abnormality and the movement is caused by another factor such as an intruder, and an alarm (ALM) is generated in step 93>.

In addition, the series of processing execution when multiple targets lJ is shown in Fig. 8 Mn'
The histogram calculation H may be omitted as shown in FIG.

Next, another embodiment of the processing by the image processing section 13 and the data processing section 14 will be described with reference to FIG. 9. This embodiment is an embodiment related to the invention set forth in claim 3, and the same processing steps as in FIG. 8 are given the same reference numerals, and their explanations will be omitted. In FIG. 9, a projection calculation is performed after the histogram calculation 86-1 (step 1oo), and when the calculation result is determined to be abnormal in step 87-1, a temperature center of gravity is calculated by the projection calculation in step 100 (step 1oo). 89-1
), stored in file 150 (step 102) -
In addition, a series of reprocessing is performed by executing the process multiple times (step 88). Coordinate 511 from the center of gravity movement coordinates of three points in temperature barycenter coordinate movement calculation (M) of at least three or more processes.
At the same time as predicting and calculating 11 directions, lWl during 3 processing
A predicted coordinate movement speed is calculated from the rM interval and the coordinate movement distance (step 103).

Next, calculate the coordinate distance difference <C> between the center of gravity' coordinate at the time of final processing and the center axis of the processing screen (step 104), and use this data and the predicted moving direction/velocity data as the coordinate distance/camera field of view. Using the angle conversion table (T1), the actual visual field turning angle (θ>) of the turning device is calculated (step 105), turning control data is created (CD) (step 106), and the data is sent.

If an abnormality occurs after processing multiple times (step 87-2), an alarm for intrusion abnormality is generated (step 108), and
The intrusion movement direction (DP) is displayed using the result of step 103 and the coordinate/actual map direction conversion table (T2>) (step 109). Subsequent tracking is performed by continuing processing (n)
Tracking is continued by repeating the process (step 110).

〔Effect of the invention〕

As described above, according to the present invention, it is basically possible to perform surveillance processing using difference detection over a wide area using only one infrared camera, so it is possible to monitor a wide area with a cheaper and simpler configuration than before. It is possible to detect abnormalities in the normal temperature range (for example, (1) abnormality prediction detection in equipment monitoring, (2) detection of moving objects in the same temperature range as the backs of humans, vehicles, small animals, etc. in moving object monitoring). Furthermore, since the movement calculation and determination process of the temperature center of gravity is performed from the temperature center of gravity coordinate data obtained through a plurality of calculation processes, abnormality prediction and detection in installation i monitoring can be performed with higher precision than in the past. Furthermore, the field of view of the infrared camera is moved by predicting the moving direction and moving speed of the moving object on the monitor screen.
Because of this, it is possible to automatically track moving objects such as intruders.

[Brief explanation of drawings]

Figure 1A is a diagram explaining the principle of the first invention, Figure 1B is a diagram explaining the operation of the first invention, Figure 2A is a diagram explaining the principle of the second invention, Figure 2B is a diagram explaining the operation of the second invention, and Figure 3A is a diagram explaining the principle of the second invention. The figure is a flowchart for explaining the principle of the main part of the third invention, Figure 3B is an explanatory diagram of the operation of the third invention, Figure 4 is a hardware configuration diagram of an embodiment of the present invention, and Figure 5 is a monitoring area and visual field rotation. 6 is a configuration diagram of one embodiment of the data processing section, FIG. 7 is an explanatory diagram of the operation of the main part of the present invention, and FIGS. 8 and 9 are processing flowcharts of each embodiment of the present invention, respectively. , FIG. 10 and FIG. 11 are respective schematic configuration diagrams of conventional devices. In the figure, 11.11+~11 is an infrared camera, 12.12+~
12 is a rotating device, 13 is an image processing unit, 14 is a data processing unit, 15. 15+ to 15 are monitoring areas, 21 is equipment, and 43 is a video switcher. #ltkawa/Kawahara Kawahara 7 Sai Ri Sui A Zuchano 1 house jimingji) 41F7fPself ≧) Irgb Pi 1 1st
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figure

Claims (3)

[Claims] (1) An infrared camera (11) that images a monitoring target, and a rotation device (1) that moves the field of view of the infrared camera (11).
2), and the infrared camera (11) within the set area based on the image processing data and the azimuth data from the rotation device (12).
) a data processing unit (
14), Capturing the output infrared image signal of the infrared camera (11) only during the period when the visual field of the infrared camera (11) is stopped moving, and performing image processing to detect abnormalities in the normal temperature zone in the monitoring target; An infrared monitoring system comprising: an image processing section (13) that sends the image processing data to the data processing section (14). (2) When the image processing result is determined to be abnormal, the image processing unit (13) performs a series of arithmetic processing for holding the temperature barycentric coordinate data of the monitoring target multiple times at regular intervals, and 2. The infrared monitoring system according to claim 1, wherein the temperature gravity center movement calculation determination process (M) is performed from the temperature gravity center coordinate data (TC_1 to TCT_n) obtained by the calculation process. (3) The image processing unit (13) calculates predicted data of the movement direction based on the movement calculation result of the temperature center of gravity according to claim 2 (32), and calculates movement speed prediction data on the monitor screen of the temperature center of gravity. is calculated from the movement distance and calculation time interval based on the movement calculation result (33), and the data processing unit (14
) is based on the movement direction prediction data and the movement speed prediction data from the image processing unit (13).
) An infrared monitoring system characterized by driving and controlling.