JPH08178198A - Wide area monitoring device - Google Patents

Abstract

PURPOSE: To detect abnormality, occurring in a wide section to be monitored, in an arbitrary position by a method wherein the projection image of the section to be monitored by a sensor is compared with a projection image simulated in the three-dimensional position of a moving body and the direction angle of a sensor. CONSTITUTION: A moving body 10 is moved in a section to be monitored and by effecting coordinate-conversion of the three dimensional position thereof and the direction angle of a sensor 11, simulation is effected by a three- dimensional CAD device 1. Namely, a projection image 12 formed by the same view point in the section to be monitored by the sensor 11 coincides with a projection image 18 simulated by a three-dimensional CAD device 16 from the direction angle of the sensor 11. Thus, the projection image 12 in the section to be monitored by the sensor 11 at a point of time when abnormality is detected is compared with a projection image 18 simulated in a time limit CAD device 16 from the three-dimensional position of the moving body 10 and the direction angle of the sensor 11. By effecting, for example, differential processing, abnormality is detected to specify a spot where abnormality occurs.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wide area monitoring device.

[0002]

2. Description of the Related Art For example, a mobile monitoring device is used as a monitoring device for monitoring an abnormality in a wide monitoring area, such as a monitoring system for monitoring the occurrence of an abnormality such as a fluid leak from a valve or a safety valve in a plant. is there. In this mobile monitoring device, a sensor such as a camera, a microphone, or an infrared gas sensor is installed on a moving body, and the moving body is moved along the monitored area to detect an abnormality.

In the prior art, the location where abnormality is detected in the monitored area is set in advance, and when the moving body reaches that location, the sensor is directed in the preset direction and the data collected by the sensor is also set. Is subjected to processing such as image processing, sound processing, and gas detection processing to determine whether there is an abnormality. Most of the abnormalities in this case are places and kinds of abnormalities that are supposed to occur in advance.

That is, FIG. 2 conceptually shows the operation of a conventional movement monitoring apparatus. Reference numerals 1, 2 and 3 are a safety valve, a valve and a plant which are objects to be monitored, and these are sequentially arranged by a pipe 4. It is connected. These monitored objects 1,
The mobile unit 5 is configured to be movable along the lines 2 and 3,
A sensor 6, such as a camera, a microphone, or an infrared gas sensor, is installed on the moving body 5 so as to be able to swing.

The moving body 4 is preset so as to stop at the positions a, b and c corresponding to the above-mentioned objects to be monitored 1, 2 and 3, and at these positions a, b and c respectively, the respective assumptions are made. Detection of abnormalities is performed. For example, at position a, the presence or absence of actuation of the safety valve 1 is detected by an infrared gas sensor or the like. At the position b, the leak of the valve 2 is detected by an infrared gas sensor, visible light, an infrared light camera or the like. At the position c, leak, temperature abnormality, and vibration are detected by an infrared gas sensor, visible light, an infrared camera, a microphone, or the like.

[0006]

In the above prior art,
There are the following issues. Since the location where the abnormality is detected is set in advance, even if it is a mobile type, only an abnormality detection equivalent to that in which a plurality of fixed type sensors are installed at each stop position of the moving body can be performed. If multiple abnormalities may occur at the location where abnormality is monitored, or multiple abnormalities may occur in the monitoring field of view of a sensor such as a camera, for example, the position within the visual field of the camera. Therefore, it is necessary to take measures such as providing a plurality of sensors for identifying by using the above or for identifying an abnormality. Even if the sensor installed in the moving body detects an abnormality in a place that is not preset, it is difficult to determine which part of which equipment in the monitored area is abnormal. Then, this invention aims at solving the above subject.

[0007]

In order to solve the above-mentioned problems, according to the present invention, a sensor having directivity is installed on a moving body so that the direction of the direction can be adjusted, and the moving body is installed along a monitored area. The mobile device is configured so that it can be moved, and the three-dimensional position of the moving body and the direction angle of the sensor can be derived by absolute coordinates in the monitored area, and the monitored object is converted into three-dimensional data for the monitored area. We propose a wide-area monitoring device comprising the above-mentioned three-dimensional CAD device and means for converting the absolute coordinates in the monitored area and the absolute coordinates in the three-dimensional CAD device.

Further, the present invention proposes that the sensor is a visible light or infrared light camera in the above structure.

Further, the present invention proposes that the data of the object to be monitored in the three-dimensional CAD apparatus includes the data of the assumed abnormality in the above configuration.

[0010]

In the three-dimensional CAD device, it is possible to grasp the monitored object in the monitored area, which has been converted into three-dimensional data, by changing the viewpoint, that is, to perform the viewing conversion, which determines, for example, the position of the camera. However, it is equivalent to pointing the camera at the monitored object.

That is, when the moving body is actually moved in the monitored area and a sensor having directivity such as a camera is directed in a certain direction at a certain position, the moving body is detected by absolute coordinates in the monitored area. If the three-dimensional position and the direction angle of the sensor are known, they can be coordinate-converted to simulate the three-dimensional CAD device.

Therefore, by comparing the projected image of the monitored area by the sensor at the time of detecting the abnormality with the projected image simulated by the three-dimensional CAD device from the three-dimensional position of the moving body and the direction angle of the sensor at this time. It is possible to identify the location where the abnormality is occurring.

If data of an assumed abnormality is included in the data of the monitored object in the three-dimensional CAD device, even when a plurality of abnormalities occur, the above-described position identification and the device corresponding to the position are identified. It is also possible to extract the occurrence of an abnormality and the equipment that may have caused the abnormality from the data.

The position of the viewpoint set in the three-dimensional CAD device is inversely converted to the above coordinate conversion to derive the three-dimensional position of the moving body and the direction angle of the sensor in absolute coordinates in the monitored area. By moving the moving body to this position and adjusting the direction angle of the sensor to a derived value, it is possible to obtain a projected image by the sensor in a state appropriately designated on the three-dimensional CAD device.

By coordinating the movement of the moving body and the adjustment of the direction angle of the sensor in the monitored area and the movement of the viewpoint in the three-dimensional CAD apparatus, it is possible to perform fine control with a sense of realism.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to FIG. In the figure, reference numeral 10 is a moving body such as an automobile, and a sensor 11 having directivity is installed on the moving body 10 so that the direction of the sensor 11 can be adjusted. The sensor 11 is not limited to a visible light camera or an infrared light camera, and may have any directivity such as a configuration in which a microphone having directivity can be scanned so long as it has a visual field 12 in detecting an object. is there. The moving body 10 is configured to be movable in the monitored area, and the three-dimensional position (x, y, z) in absolute coordinates in the monitored area and the direction angle (θx, θy,
θz) can be derived. The derivation of these positions and direction angles can be performed by applying appropriate means from the related art. As shown in the figure, in the field of view 12 of the sensor 11, the tank 13, the safety valve 14, and the valves 15a and 15b, which are monitoring objects, are detected as projected images. In this case, the sensor 11 is a camera.

Reference numeral 16 is a three-dimensional CAD device, and the database 17 of this three-dimensional CAD device 16 stores each of the monitoring objects 13, 14, 15a, 15 in the above-mentioned monitoring target area.
.. are stored as three-dimensional data. Also this 3
In addition to the dimensional data, each monitored object 13, 14, 15a,
Data corresponding to 15b, ..., For example, data such as what kind of abnormality is supposed is stored.

Reference numeral 18 indicates an output of the three-dimensional CAD device 16, which is an output as a drawing or an output on a CRT. The output 18 includes the monitoring objects 13, 14, 15a, 15 input as three-dimensional data.
b, ... Are represented with a certain position as a viewpoint. Each monitored object 13, 14, 15 in the three-dimensional CAD device 16
The coordinates of a, 15b, ... Are the coordinates of the three-dimensional CAD device 16, and the viewpoint is represented by the three-dimensional position (x ', y', z ') and the direction angle (θx', θy ', θz'). It

As described above, the viewpoint of the three-dimensional CAD device 16 corresponds to the three-dimensional position of the moving body 10 and the direction angle of the sensor, and these can be naturally converted to each other. That is, the three-dimensional position (x, y, z) of the moving body 10 in absolute coordinates in the monitored area and the direction angle (θx, θ) of the sensor 11 are detected.
y, θz), the three-dimensional position (x ′, y ′, z ′) of the viewpoint of the monitored object in the three-dimensional CAD device 16, and the direction angle (θx ′, θy ′, θz ′) are converted into conversion means. Mutual conversion is possible by 19. The converting means 19 can be configured independently, or can be incorporated as hardware or software on the moving body 10 side or the three-dimensional CAD device 16 side.

Therefore, as described above, the state in which the moving body 10 is actually moved within the monitored area and the sensor 11 is directed in a certain direction at a certain position, the three-dimensional position of the moving body 10 and the sensor 11 in this state. It is possible to simulate in a three-dimensional CAD device by converting the direction angle into coordinates. That is, the projected image 12 of the monitoring target area by the sensor 11 captured from the same viewpoint and the moving body 10 at this point
Three-dimensional CAD device 1 from the three-dimensional position of the sensor and the direction angle of the sensor 1
The projected image 18 simulated in 6 corresponds.

Therefore, the sensor 11 at the time when the abnormality is detected
3D CA from the projected image 12 of the monitoring target area and the 3D position of the moving body 10 and the direction angle of the sensor 11 at this time.
By comparing the projected images 18 simulated by the D device 16, for example, by performing difference processing, it is possible to specify the location where the abnormality is occurring. Incidentally, this process may be performed by a person or may be automated.

At this time, considering the data of the assumed abnormality stored in the three-dimensional CAD database 17, even when a plurality of abnormalities occur, the above-described position identification and the device corresponding to the position, etc. It is also possible to extract the occurrence of an abnormality and the device or the like that may have caused the abnormality from the data.

As described above, the position of the visual point set in the three-dimensional CAD device 16 is reversely converted to the above-mentioned coordinate conversion, so that the three-dimensional position of the moving body 10 and the sensor 11 in absolute coordinates in the monitored area are detected. Since it is possible to derive the direction angle of, the moving body 10 is moved to the derived position and the direction angle of the sensor 11 is adjusted to the derived value, so that the state appropriately designated on the three-dimensional CAD device 16 is obtained. It is possible to obtain a projected image by the sensor 11 at.

As described above, according to the present invention, the movement of the moving body 10 and the adjustment operation of the direction angle of the sensor 11 in the monitored area and the movement of the viewpoint in the three-dimensional CAD device 16 are interlocked with each other, so that a fine and realistic feeling can be obtained. It can be controlled.

[0025]

As described above, the present invention has the following effects. It is possible to detect the abnormality of the monitored object in the wide monitored area at any position, and it is also possible to automate this detection operation. Even when a plurality of abnormalities occur, it is possible to identify the position and extract the abnormality and the device that may have caused the abnormality from the data of the device or the like corresponding to the position. The movement of the moving body and the adjustment of the direction angle of the sensor are controlled by the three-dimensional C
This can be done by the instruction of the AD device, and it is possible to give detailed instructions with a sense of reality.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an example of the configuration and operation of the present invention.

FIG. 2 is a conceptual diagram showing an example of the configuration and operation of a conventional mobile monitoring device.

[Explanation of symbols] 1 safety valve 2 valve 3 plant 4 piping 5 moving body 6 sensor 10 moving body 11 sensor 12 field of view (projected image) 13 tank 14 safety valve 15a, 15b valve 16 three-dimensional CAD device 17 three-dimensional CAD database 18 output ( Projected image)

Claims (3)

[Claims] 1. A sensor having directivity is installed on a moving body so that its pointing direction can be adjusted, the moving body is configured to be movable along a monitored area, and the absolute coordinate in the monitored area is used. A moving device configured to be able to derive the three-dimensional position of the moving body and the direction angle of the sensor, and a three-dimensional CAD device that converts the monitored object into three-dimensional data for the monitored area.
A wide area monitoring device comprising an absolute coordinate in a monitored area and a means for converting the absolute coordinate in a three-dimensional CAD device. 2. The wide area monitoring device according to claim 1, wherein the sensor is a visible light or infrared light camera. 3. The wide area monitoring device according to claim 1, wherein the data of the object to be monitored in the three-dimensional CAD device includes data of an assumed abnormality.