JPWO2013094405A1 - Monitoring system - Google Patents

Abstract

  A monitoring system (1) comprising a monitoring terminal device (10) and a central monitoring device (20) capable of communicating via a telecommunication network (30), wherein the monitoring terminal device (10) includes position detecting means ( 15) and an image generation means (12) that captures an image of the surroundings of the moving body (V) with the in-vehicle camera (11) and generates image information, and monitors the priority monitoring target to be monitored with priority. Based on the priority monitoring command including the priority monitoring target information for specifying the priority monitoring position for the purpose, the image information in which the priority monitoring target is expanded is acquired at the timing when the moving object (V) is present at or near the priority monitoring position. To do. The central monitoring device (10) displays the information input means (23) for inputting the monitoring information output from the monitoring terminal device (10), the map information from the map database, and the position information on the map information. Display means (24).

Description

The present invention relates to a monitoring system.
This application claims priority based on Japanese Patent Application No. 2011-280034 filed on Dec. 21, 2011. For designated countries that are permitted to be incorporated by reference, The contents described in the application are incorporated into the present application by reference and made a part of the description of the present application.

  A security device that detects the occurrence of abnormalities is known by installing multiple security camera devices in shopping streets, store entrances, home entrances, and other streets, and monitoring surrounding images captured by the security camera device (Patent Document 1).

JP 2011-215767 A

  However, fixed security camera devices installed in the city capture the same area uniformly with the same image quality and send it to the supervisor, so even if there is a subject that the supervisor wants to focus on, There is a problem that detailed image information cannot be acquired.

  An object of this invention is to provide the monitoring system which can acquire the detailed image information of the object, when there exists the object to monitor mainly.

  According to the present invention, an apparatus on the mobile body side including a camera is based on a priority monitoring command including priority monitoring target information in which a priority monitoring target to be monitored with priority and a priority monitoring position for monitoring the priority monitoring target are specified. The above object is achieved by acquiring image information in which the priority monitoring target is expanded at the priority monitoring position or in the vicinity thereof.

  According to the present invention, among a plurality of moving bodies that travel at random, a priority monitoring target that is to be monitored with priority using a camera of a moving body that travels at or near a focus monitoring position for monitoring the priority monitoring target. Therefore, it is possible to acquire image information obtained by enlarging the image, and it is possible to acquire detailed image information of the priority monitoring target in a remote place. As a result, it is possible to monitor the details of the priority monitoring target without going to the site.

1 is a schematic diagram showing a monitoring system according to an embodiment of the present invention. It is a block diagram which shows the monitoring system of FIG. It is a flowchart which shows the main control content by the monitoring terminal device side of the monitoring system of FIG. 3 is a flowchart (No. 1) showing main control contents on the central monitoring device side of the monitoring system of FIG. 7 is a flowchart (No. 2) showing main control contents on the central monitoring device side of the monitoring system of FIG. It is a perspective view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. It is a top view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. It is a figure which shows an example of the picked-up image of a front vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the right side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of a rear vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the left side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of an indoor vehicle-mounted camera. It is a figure which shows an example of the monitoring image produced | generated based on the some image. It is a figure for demonstrating the distortion correction process of the monitoring image. It is a schematic diagram which shows an example of a projection model. It is a cross-sectional schematic diagram along xy plane of the projection model shown in FIG. It is a figure which shows the example of an image displayed on the display of a central monitoring apparatus. It is a figure which shows the example of an image in which the priority monitoring object displayed on the display of a central monitoring apparatus was expanded.

  In the embodiment described below, the monitoring system according to the present invention is embodied as a monitoring system 1 that centrally monitors the security in a city by an authority such as a police station or a fire station. That is, the position information of each of the plurality of moving objects, the image information around the moving objects, and the time information are acquired at a predetermined timing, and the position information, the image information, and the time information are acquired via wireless communication. The position information is displayed on the map information and, if necessary, the image information and the time information are displayed on the display. Therefore, the monitoring system 1 of this example inputs and processes the monitoring information via the telecommunications network 30 and the monitoring terminal device 10 that acquires monitoring information such as position information and image information as shown in FIG. Central monitoring device 20 is provided. FIG. 2 is a block diagram illustrating a specific configuration of the monitoring terminal device 10 and the central monitoring device 20.

  In particular, in the monitoring system of this embodiment, when acquiring image information, a monitoring command including priority monitoring target information for specifying priority monitoring target information and priority monitoring target information for specifying the priority monitoring position for monitoring is acquired. Based on the acquired priority monitoring command and the position information of the moving body, image information in which the priority monitoring target is enlarged by the camera provided on the moving body at the timing at which the moving body exists at or near the priority monitoring position. It is characterized by acquiring.

  The monitoring terminal device 10 is a terminal device mounted on a plurality of moving bodies V, and is mounted on each of the plurality of moving bodies and a position detection function that detects position information of each of the plurality of moving bodies V. An image generation function that captures the surroundings of the moving body with a camera and generates image information, a time detection function, an information acquisition control function that acquires position information, image information, and time information at a predetermined timing; A monitoring information generating function for generating monitoring information including position information and / or image information, and a communication function for outputting the position information, image information and time information to the central monitoring apparatus 20 and receiving a command from the central monitoring apparatus 20 And a function of reporting the occurrence of an abnormality. Therefore, a plurality of in-vehicle cameras 11a to 11e, an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16 are provided. Note that the time information is mainly information used for post-event analysis, and may be omitted.

  The mobile body V on which the monitoring terminal device 10 is mounted is not particularly limited as long as it travels in the target monitoring area, and includes mobile bodies such as passenger cars, motorcycles, industrial vehicles, and trams. The passenger car V2 and the emergency passenger car V3 are included, and in particular, a taxi or a route bus V1 that travels randomly and constantly in a predetermined area is particularly preferable. FIG. 1 illustrates an emergency passenger car V3 such as a taxi V1, a private passenger car V2, a police car, a fire engine or an ambulance, but these are collectively referred to as a moving body V or a passenger car V.

  Each moving body V includes a plurality of in-vehicle cameras 11a to 11e (hereinafter collectively referred to as cameras 11), an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16. Is installed. The camera 11 is composed of a CCD camera or the like, images the surroundings of the moving object V, and outputs the image pickup signal to the image processing device 12. The image processing device 12 reads an imaging signal from the camera 11 and performs image processing on the image information. Details of this image processing will be described later.

  The position detection device 15 includes a GPS device and its correction device, detects the current position of the moving object V, and outputs it to the in-vehicle control device 14. The notification button 16 is an input button installed in the passenger compartment, and inputs information for reporting an abnormality when a driver or a passenger finds an incident (an incident related to security such as an accident, fire, or crime). It is a manual button. This information can include position information of the moving body V that has reported the abnormality.

  The in-vehicle control device 14 includes a CPU, a ROM, and a RAM, and controls the image processing device 12, the communication device 13, and the position detection device 15 when the notification button 16 is pressed, and is generated by the image processing device 12. The image information, the position information of the moving object V detected by the position detection device 15, and the time information from the clock built in the CPU are output to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. . Further, it receives a command requesting information such as an image transmission command from the central monitoring device 20 received via the telecommunication network 30 and the communication device 13 and controls the image processing device 12, the communication device 13, and the position detection device 15. Then, the monitoring information including the image information generated by the image processing device 12, the position information of the moving object V detected by the position detection device 15, and the time information from the clock built in the CPU is sent to the communication device 13 and The data is output to the central monitoring device 20 via the telecommunications network 30. In addition, when the monitoring person specifies the priority monitoring target that the monitoring target is desired to be focused on, the monitoring information can include image information in which the priority monitoring target is expanded. Details of these controls will also be described later.

  The communication device 13 is a communication means capable of wireless communication, and exchanges information with the communication device 23 of the central monitoring device 20 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used. Instead of the telecommunication network 30, a wireless LAN, WiFi (registered trademark), WiMAX (registered trademark), Bluetooth (registered trademark), a dedicated wireless line, or the like can be used.

  The central monitoring device 20 displays the information input function for inputting the position information and image information output from the monitoring terminal device 10 and the map information from the map database, and displays the received position information on the map information. A display control function for controlling and a display control function for displaying the received image information on the display 24; In addition, the central monitoring device 20 includes priority monitoring target information for which priority monitoring is performed and priority monitoring target information for which a priority monitoring position for monitoring is specified, and the timing at which the moving object V exists in the vicinity of the priority monitoring position. Thus, it is further provided with a command output function for sending to the monitoring terminal device 10 a priority monitoring command for generating image information in which the priority monitoring target is expanded. The priority monitoring command may be stored in advance by the central control device 21 or may be input via the input device 25 described later. Therefore, a central control device 21, an image processing device 22, a communication device 23, a display 24 and an input device 25 are provided.

  The central control device 21 includes a CPU, a ROM, and a RAM, and controls the image processing device 22, the communication device 23, and the display 24, and receives position information, image information, and time information transmitted from the monitoring terminal device 10. The image is displayed on the display 24 after being subjected to image processing as necessary.

  The image processing device 24 has a map database, displays map information from the map database on the display 24, and superimposes and displays the position information detected by the position detection device 15 of the monitoring terminal device 10 on the map information. To do. Further, image processing for displaying image information captured by the vehicle-mounted camera 11 of the monitoring terminal device 10 and processed by the image processing device 12 on the display 24 is performed.

  The display 24 can be configured by a liquid crystal display device having a size capable of displaying two window screens on one screen, or two liquid crystal display devices each displaying two window screens, for example. One window screen displays a screen in which the position information of each moving object V is superimposed on the map information (see FIG. 1), and the other window screen displays an image captured by the in-vehicle camera 11. Such image information is displayed. Further, the display 24 can enlarge and display the image information when the image information in which the priority monitoring target is enlarged is input from the monitoring terminal device 10. The process of enlarging and displaying includes a process of displaying an image in which the priority monitoring target is enlarged as it is (enlarged) and a process of further enlarging and displaying the video in which the priority monitoring target is enlarged. As a result, the monitor can observe the details of the priority monitoring target in detail using the video displayed on the display 24.

  The input device 25 includes a keyboard or a mouse, and is used when outputting an information acquisition command to a desired moving body V or inputting a processing command for various information displayed on the display 24. The priority monitoring command described above can also be input by the supervisor via the input device 25. Although not particularly limited, the supervisor can generate and input a priority monitoring command by clicking (selecting and inputting) a priority monitoring target icon superimposed on the map information. A priority monitoring position suitable for monitoring this priority monitoring target is associated with the priority monitoring target, and if the priority monitoring target is specified, the priority monitoring position is also specified. These focus monitoring targets and focus monitoring positions are included in the focus monitoring command. Further, the monitor uses the input device 25 to specify area specifying information (information specifying a gaze area that is a part of the priority monitoring target), the imaging direction or the specifying information of the camera 11 used for imaging, and the frame rate. Any one or more of them can be input to generate a priority monitoring command.

  The communication device 23 is a communication means capable of wireless communication, and exchanges information with the communication device 13 of the monitoring terminal device 10 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used.

  Next, mounting positions and imaging ranges of the on-vehicle cameras 11a to 11e will be described. Here, a passenger car V will be described as an example of the moving body V. The cameras 11a to 11e are configured using an imaging element such as a CCD, and the four on-vehicle cameras 11a to 11d are installed at different positions outside the passenger car V, respectively, and shoot four directions around the vehicle. The camera 1 of the present embodiment has a zoom-up function for enlarging and imaging a subject, and can arbitrarily change the focal length according to a control command, or can arbitrarily change the imaging magnification according to a control command.

  For example, as shown in FIG. 5, the in-vehicle camera 11 a installed at a predetermined position in front of the passenger car V such as a front grill portion is an object or road surface (in the area SP1 in front of the passenger car V and in the space in front thereof) Shoot the front view. The in-vehicle camera 11b installed at a predetermined position on the left side of the passenger car V such as the left side mirror portion is an object or road surface (left side view) that exists in the area SP2 on the left side of the passenger car V and in the surrounding space. Shoot. The in-vehicle camera 11c installed at a predetermined position in the rear part of the passenger car V, such as a rear finisher part or a roof spoiler part, is an object or road surface (rear view) existing in the area SP3 behind the passenger car V and in the space behind it. Shoot. The in-vehicle camera 11d installed at a predetermined position on the right side of the passenger car V such as a right side mirror portion is an object or road surface (right side view) present in the area SP4 on the right side of the passenger car V and in the surrounding space. Shoot. Although not shown in FIG. 5, one in-vehicle camera 11e is installed, for example, on the ceiling of the passenger car interior, and images the indoor area SP5 as shown in FIG. Used for crime prevention or crime reporting.

  FIG. 6 is a view of the arrangement of the in-vehicle cameras 11a to 11e as viewed from above the passenger car V. As shown in the figure, the in-vehicle camera 11a that images the area SP1, the in-vehicle camera 11b that images the area SP2, the in-vehicle camera 11c that images the area SP3, and the in-vehicle camera 11d that images the area SP4 are It is installed along the outer periphery VE of the body along the counterclockwise direction (counterclockwise) or the clockwise direction (clockwise). That is, when viewed along the outer periphery VE of the body of the passenger car V in the counterclockwise direction (counterclockwise) indicated by the arrow C in the figure, the in-vehicle camera 11b is installed on the left side of the in-vehicle camera 11a, and the left side of the in-vehicle camera 11b. The vehicle-mounted camera 11c is installed on the left side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the left side of the vehicle-mounted camera 11d. Conversely, when viewed along the outer periphery VE of the body of the passenger car V in the direction opposite to the direction of the arrow C shown in the figure (clockwise), the in-vehicle camera 11d is installed on the right side of the in-vehicle camera 11a. The vehicle-mounted camera 11c is installed on the right side, the vehicle-mounted camera 11b is installed on the right side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the right side of the vehicle-mounted camera 11b.

  FIG. 7A shows an example of an image GSP1 in which the front in-vehicle camera 11a images the area SP1, FIG. 7B shows an example of the image GSP2 in which the left in-vehicle camera 11b images the area SP2, and FIG. 7D shows an example of an image GSP3 in which the area SP3 is imaged, FIG. 7D shows an example of an image GSP4 in which the right-side in-vehicle camera 11d images the area SP4, and FIG. 7E shows an indoor in-vehicle camera 11e. It is an image figure which shows an example of image GSP5 which imaged indoor area SP5. Incidentally, the size of each image is vertical 480 pixels × horizontal 640 pixels. The image size is not particularly limited, and may be any size as long as a general terminal device can reproduce a moving image.

  The number and position of the in-vehicle camera 11 can be determined as appropriate according to the size, shape, detection area setting method, etc. of the passenger car V. The plurality of in-vehicle cameras 11 described above are assigned identifiers corresponding to the respective arrangements, and the in-vehicle control device 14 can identify each of the in-vehicle cameras 11 based on each identifier. Moreover, the vehicle-mounted control apparatus 14 can send an imaging command and other commands to a specific vehicle-mounted camera 11 by attaching an identifier to the command signal.

  The in-vehicle control device 14 controls the image processing device 12 to acquire each image signal picked up by the in-vehicle camera 11, and the image processing device 12 processes the image pickup signal from each in-vehicle camera 11 to perform FIG. 7E is converted into image information. And the vehicle-mounted control apparatus 14 produces | generates a monitoring image based on the four image information shown to FIG. 7A-FIG. 7D (image generation function), and the projection by which this monitoring image was set to the side of the projection model of a pillar Mapping information to be projected onto the surface is associated with the monitoring image (mapping information adding function) and output to the central monitoring device 20. Hereinafter, the image generation function and the mapping information addition function will be described in detail.

  The process of generating a monitoring image based on the four pieces of image information obtained by imaging the periphery of the passenger car V and associating the mapping information with the monitoring image is executed by the monitoring terminal device 10 as in this example, and also by the central monitoring device 20. It can also be executed. In this case, four pieces of image information obtained by imaging the periphery of the passenger car V are transmitted as they are from the monitoring terminal device 10 to the central monitoring device 20, and are monitored by the image processing device 22 and the central control device 21 of the central monitoring device 20. It is only necessary to generate an image, associate mapping information, and perform projection conversion.

  First, the image generation function will be described. The vehicle-mounted control device 14 of the monitoring terminal device 10 according to the present embodiment controls the image processing device 12 to acquire the imaging signals of the vehicle-mounted cameras 11a to 11e, respectively, and further rotates clockwise along the outer periphery of the body of the passenger car V. One monitoring image is generated so that the image information of the in-vehicle cameras 11a to 11d installed in the counterclockwise direction is arranged in the installation order of these in-vehicle cameras 11a to 11d.

  As described above, in the present embodiment, the four in-vehicle cameras 11a to 11d are installed in the order of the cameras 11a, 11b, 11c, and 11d in the counterclockwise direction along the outer periphery VE of the body of the passenger car V. Therefore, the vehicle-mounted control device 14 integrates the four images captured by the vehicle-mounted cameras 11a to 11d in accordance with the installation order of the vehicle-mounted cameras 11a to 11d (vehicle-mounted cameras 11a → 11b → 11c → 11d). Are connected in the horizontal direction to generate a single monitoring image. In the monitoring image of the present embodiment, the images are arranged such that the ground contact surface (road surface) of the passenger vehicle V is the lower side, and the images are connected to each other at sides in the height direction (vertical direction) with respect to the road surface.

  FIG. 8 is a diagram illustrating an example of the monitoring image K. As shown in the figure, the monitoring image K of the present embodiment includes a captured image GSP1 in which the front in-vehicle camera 11a images the area SP1 along the direction P from the left side to the right side in the drawing, and the left in-vehicle camera 11b. A captured image GSP2 obtained by imaging the area SP2, a captured image GSP3 obtained by the rear vehicle-mounted camera 11c imaging the area SP3, and a captured image GSP4 obtained by the right-side vehicle-mounted camera 11d imaging the area SP4 are arranged in this order in the horizontal direction. These four images are arranged as a series of images. The monitor image K generated in this way is displayed in order from the left end to the right side with the image corresponding to the road surface (vehicle contact surface) facing down, so that the monitor can rotate the periphery of the vehicle V counterclockwise. It can be visually recognized on the display 24 in a manner similar to the look around.

  Note that when one monitoring image K is generated, four images acquired at substantially the same time as the imaging timings of the in-vehicle cameras 11a to 11d are used. Thereby, since the information contained in the monitoring image K can be synchronized, the situation around the vehicle at a predetermined timing can be accurately expressed.

  In addition, the monitoring image K generated from the respective captured images having substantially the same imaging timing of the camera is stored with time, and the moving image monitoring image K including the plurality of monitoring images K per predetermined unit time is generated. It may be. By generating the moving image monitoring image K based on the images having the same imaging timing, it is possible to accurately represent changes in the situation around the vehicle.

  By the way, when the image of each imaging area is memorize | stored each time and the monitoring image K of the moving image produced | generated for every imaging area is transmitted to the central monitoring apparatus 20, depending on the function of the central monitoring apparatus 20, a several You may not be able to play videos at the same time. In such a conventional central monitoring apparatus 20, since a plurality of moving images cannot be reproduced and displayed at the same time, when reproducing each moving image, the moving images must be reproduced one by one by switching the screen. In other words, the conventional central monitoring device 20 has a disadvantage in that it cannot simultaneously watch images (moving images) in a plurality of directions and cannot monitor the entire vehicle periphery on a single screen.

  On the other hand, since the vehicle-mounted control apparatus 14 of this embodiment produces | generates one monitoring image K from several images, regardless of the function of the central monitoring apparatus 20, it can reproduce simultaneously the moving image reproduction of the image of a different imaging direction. it can. That is, by continuously playing back the monitoring image K (moving image playback), the four images included in the monitoring image K are played back continuously (moving image playback), and the state change of the regions in different directions is displayed on one screen. Can be monitored.

  In addition, the monitoring terminal device 10 of the present embodiment generates the monitoring image K by compressing the image data amount so that the number of pixels of the monitoring image K is substantially the same as the number of pixels of the images of the in-vehicle cameras 11a to 11d. You can also While the size of each image shown in FIGS. 7A to 7D is 480 × 640 pixels, in this embodiment, compression processing is performed so that the size of the monitoring image K becomes 1280 × 240 pixels as shown in FIG. Do. As a result, the size of the monitoring image K (1280 × 240 = 307,200 pixels) becomes equal to the size of each image (480 × 640 × 4 = 307,200 pixels). Regardless of the function on the apparatus 20 side, image processing and image reproduction can be performed.

  Furthermore, the vehicle-mounted control apparatus 14 of this embodiment can also attach the line figure which shows the boundary of each arrange | positioned image to the monitoring image K. FIG. Taking the monitoring image K shown in FIG. 8 as an example, the in-vehicle controller 14 forms a rectangular partition image Bb, Bc, Bd, Ba, Ba ′ between the images as a line figure indicating the boundary between the arranged images. Can be attached to the monitoring image K. In this manner, by arranging the partition images at the boundaries of the four images, it is possible to recognize each image having a different imaging direction in the series of monitoring images K. That is, the partition image functions as a frame of each captured image. In addition, since the image distortion is large in the vicinity of the boundary of each captured image, it is possible to hide the image of the region with large distortion or to suggest that the distortion is large by arranging the partition image at the boundary of the captured image. .

  Moreover, the vehicle-mounted control apparatus 14 of this embodiment can also generate | occur | produce the monitoring image K, after correct | amending the distortion at the time of projecting four images on the projection surface set to the side surface of the projection model mentioned later. . In the peripheral area of the captured image, image distortion is likely to occur. In particular, in the case of the in-vehicle camera 11 using the wide-angle lens, the distortion of the captured image tends to be large, so in order to correct the image distortion in advance. It is desirable to correct the distortion of the captured image using the defined image conversion algorithm and correction amount.

  Although not particularly limited, as shown in FIG. 9, the in-vehicle control device 14 reads out information of the same projection model as the projection model for projecting the monitoring image K in the central monitoring device 20 from the ROM, and images it on the projection plane of the projection model. It is also possible to project an image and correct in advance distortion generated on the projection surface. The image conversion algorithm and the correction amount can be appropriately defined according to the characteristics of the in-vehicle camera 11 and the shape of the projection model. In this way, by correcting in advance the distortion when the image K is projected with respect to the projection plane of the projection model, it is possible to provide the monitoring image K with good visibility with less distortion. Further, by correcting the distortion in advance, it is possible to reduce the positional deviation between the images arranged side by side.

  Next, the mapping information addition function will be described. In the monitoring terminal device 10 of the present embodiment, the in-vehicle control device 14 projects the generated monitoring image K on the projection plane set on the side surface of the projection model M of the columnar body with the ground contact surface of the passenger car V as the bottom surface. A process for associating the mapping information for monitoring with the monitoring image K is executed. The mapping information is information for allowing the central monitoring device 20 that has received the monitoring image K to easily recognize the projection reference position. FIG. 10 is a diagram illustrating an example of the projection model M of the present embodiment, and FIG. 11 is a schematic cross-sectional view along the xy plane of the projection model M illustrated in FIG.

  As shown in FIGS. 10 and 11, the projection model M of the present embodiment is a regular octagonal prism body having a regular octagonal bottom surface and a height along the vertical direction (z-axis direction in the figure). Note that the shape of the projection model M is not particularly limited as long as it is a column having side surfaces adjacent to each other along the boundary of the bottom surface, and is a cylinder, or a prism, such as a triangular column, a quadrangular column, or a hexagonal column, or An anti-rectangular column having a polygonal bottom surface and a triangular side surface can also be used.

  Further, as shown in the figure, the bottom surface of the projection model M of the present embodiment is parallel to the ground contact surface of the passenger car V. Projection surfaces Sa, Sb, Sc, and Sd (hereinafter collectively referred to as a projection surface S) that project an image around the passenger vehicle V that contacts the bottom surface of the projection model M are provided on the inner surface of the side surface of the projection model M. Is set. The projection surface S includes a part of the projection surface Sa and a part of the projection surface Sb, a part of the projection surface Sb and a part of the projection surface Sc, a part of the projection surface Sc and a part of the projection surface Sd, and the projection surface Sd. And a part of the projection surface Sa. The monitoring image K is projected onto the projection plane S as an image of the passenger car V viewed from above the viewpoint R (R1 to R8, hereinafter collectively referred to as viewpoint R) above the projection model M surrounding the passenger car V.

  The in-vehicle control device 14 according to the present embodiment associates the reference coordinates of the captured image arranged at the right end or the left end with the monitoring image K as mapping information. Taking the monitoring image K shown in FIG. 8 as an example, the in-vehicle control device 14 is arranged at the right end as mapping information (reference coordinates) indicating the start end position or the end position of the monitoring image K when projected onto the projection model M. The coordinates A (x, y) of the upper left vertex of the captured image GSP1 and the coordinates B (x, y) of the upper right vertex of the captured image GSP2 arranged at the left end are attached to the monitoring image K. Note that the reference coordinates of the captured image indicating the start position or the end position are not particularly limited, and may be the lower left vertex of the monitoring image K arranged at the left end or the lower right vertex of the monitoring image K arranged at the right end. The mapping information may be attached to each pixel of the image data of the monitoring image K, or may be managed as a file different from the monitoring image K.

  As described above, the information indicating the start position or the end position of the monitoring image K, that is, the reference coordinates used as a reference in the projection processing is associated with the monitoring image K as mapping information, whereby the central monitoring apparatus 20 that has received the monitoring image K Since the reference position at the time of the projection process can be easily recognized, the monitoring images K arranged in the arrangement order of the in-vehicle cameras 11a to 11d are easily and rapidly projected onto the projection surface S on the side surface of the projection model M. be able to. That is, as shown in FIG. 11, the captured image GSP1 in front of the vehicle is projected onto the projection surface Sa positioned in the imaging direction of the in-vehicle camera 11a, and the captured image on the right side of the vehicle is projected onto the projection surface Sb positioned in the imaging direction of the in-vehicle camera 11b. GSP2 is projected, a captured image GSP3 behind the vehicle is projected onto a projection plane Sc located in the imaging direction of the in-vehicle camera 11c, and a captured image GSP4 on the left side of the vehicle is projected onto the projection plane Sd positioned in the imaging direction of the in-vehicle camera 11d. can do.

  As a result, the monitoring image K projected on the projection model M can show an image as if looking around the passenger car V. That is, since the monitoring image K including the four images arranged in a line in the horizontal direction according to the installation order of the in-vehicle cameras 11a to 11d is projected on the side surfaces that are also aligned in the horizontal direction in the column of the projection model M. An image around the passenger car V can be reproduced on the monitoring image K projected on the projection surface S of the projection model M of the columnar body while maintaining the positional relationship.

  Note that the in-vehicle control device 14 of the present embodiment stores the correspondence relationship between each coordinate value of the monitoring image K and the coordinate value of each projection plane S of the projection model M as mapping information, and attaches it to the monitoring image K. However, it may be stored in the central monitoring device 20 in advance.

  Further, the positions of the viewpoint R and the projection plane S shown in FIGS. 10 and 11 are examples, and can be arbitrarily set. In particular, the viewpoint R can be changed by the operation of the operator. The relationship between the viewpoint R and the projection position of the monitoring image K is defined in advance, and when the position of the viewpoint R is changed, a predetermined coordinate transformation is performed, so that the viewpoint R is viewed from the newly set viewpoint R. The monitoring image K can be projected onto the projection surface S (Sa to Sd). A known method can be used for this viewpoint conversion processing.

  As described above, the in-vehicle control device 14 according to the present embodiment generates a monitoring image K based on image information captured at a predetermined timing, and the monitoring image K includes a line figure (mapping information, reference coordinates, and boundary). (Partition image) information is associated and stored over time according to the imaging timing. Although not particularly limited, the in-vehicle control device 14 may store the monitoring image K as a single moving image file including a plurality of monitoring images K per predetermined unit time, or can be transferred / reproduced by a streaming method. The monitoring image K may be stored in

  Moreover, the vehicle-mounted control apparatus 14 of this embodiment produces | generates the image information by which the priority monitoring object was expanded based on priority monitoring object information, performing the production | generation process of the monitoring image K mentioned above. Specifically, the in-vehicle control device 14 acquires a priority monitoring instruction including priority monitoring target information for specifying the priority monitoring target to be monitored and a priority monitoring position for monitoring the focus monitoring target, and the acquired priority monitoring. Based on the command, image information in which the priority monitoring target is enlarged is acquired at the timing at which the passenger vehicle V exists at or near the priority monitoring position. The in-vehicle control device 14 stores pre-defined priority monitoring target information or priority monitoring commands in the ROM, can be read and acquired as appropriate, and can be acquired from the central monitoring device 20 via the telecommunication line 30. Can do.

  This focus monitoring position is a place suitable for observing the focus monitoring target, but this focus monitoring position can be seen without hiding the entire focus monitoring target without obstructing the field of view such as obstacles. ) Point. When the priority monitoring target is imaged from this priority monitoring position, image information suitable for monitoring the priority monitoring target can be obtained. Moreover, in this embodiment, since the image information which expanded the priority monitoring object is acquired, the detailed condition of the priority monitoring object can be closely observed.

  The priority monitoring position and the position defining the vicinity thereof are defined in advance in association with the priority monitoring target and may be stored in the in-vehicle control device 14 or stored in the central control device 21 and included in the priority monitoring command. The vehicle-mounted control device 14 may acquire the information via the telecommunication line 30. The position in the vicinity of the priority monitoring position can be defined by the distance from the priority start position.

  Although not particularly limited, the priority monitoring targets of the present embodiment may be pre-specified public offices, facilities, stores, event venues, and the like, and humans, animals, objects, and other subjects located in these places. it can. Specifically, government offices such as national government offices, local government offices, and the Ministry of Defense, government buildings such as churches, hospitals, schools, museums, museums, broadcasting stations, international conferences, academic conferences, symposiums, banquets, etc. Can be designated as a priority monitoring target, such as a facility, a bank, a jewelery store, an event venue where a concert, a trade fair, etc. is held. Furthermore, objects that can be subjects such as humans, animals, and objects located in these places can be designated as priority monitoring targets. The object includes a three-dimensional object different from a building such as a vehicle, a signboard, a trash can, and a locker. This is because there is a possibility that a suspicious object may be attached to a trash box installed in a building or the like, or a vehicle or a trolley existing in the vicinity thereof, and it is necessary to closely monitor these.

By the way, a place where a suspicious object that leads to an accident or an incident is placed may be a pillar of a building, a trash can, or a side of a post, and may be overlooked in image information with a normal imaging magnification. On the other hand, since the monitoring system 1 according to the present embodiment acquires image information obtained by enlarging the priority monitoring target, it is possible to monitor without missing such a change in the location (change point from the normal time).
Specifically, the monitoring system according to the present embodiment acquires a priority monitoring command, and then, based on the priority monitoring command, a timing at which the passenger vehicle V is in a state where it exists in the priority monitoring position or in the vicinity thereof. The normal (default) imaging magnification (normal imaging magnification set for acquiring image information) of the camera 11 at normal times (a state in which the passenger car V is not present in the priority monitoring position or in the vicinity thereof, the same applies hereinafter) Then, the imaging magnification is changed to a higher imaging magnification than the normal imaging magnification, and the image information in which the priority monitoring target is expanded from the normal time other than the timing at which the passenger vehicle V exists at or near the priority monitoring position is acquired.
In addition, the monitoring system of the present embodiment obtains the priority monitoring command, and at the timing when the passenger vehicle V is in a state where the passenger vehicle V exists in or near the priority monitoring position based on the priority monitoring command, immediately before reaching this timing. The imaging magnification at which the camera 11 actually performed the imaging process (the imaging magnification at which image information was acquired in the immediately preceding processing routine) is changed to an imaging magnification that is higher than the immediately preceding imaging magnification, and the passenger vehicle V changes from the priority monitoring position to the priority monitoring position. Image information in which the priority monitoring target is expanded more than before the vicinity thereof is acquired.

  At this time, the in-vehicle control device 14 changes the frame rate at the time of generating the image information to a high level at the timing when the passenger vehicle V is in the vicinity of the priority monitoring position based on the acquired priority monitoring target information, and generates the image information. can do. The timing for setting the frame rate high can be arbitrarily set, and can be determined based on the distance between the current position of the passenger vehicle V and the priority monitoring position. Although not particularly limited, the frame rate is changed to be high when the distance between the current position of the passenger car V and the priority monitoring position is less than a predetermined value, and the distance between the current position of the passenger car V and the priority monitoring position is zero or a predetermined value. When this happens, the frame rate can be restored to the original default value. Of course, the timing for changing the frame rate can also be determined based on the time.

  Further, the in-vehicle control device 14 includes a speed acquisition function for acquiring vehicle speed information (travel speed of the passenger car V) from a vehicle controller (not shown), and can set a frame rate according to the acquired vehicle speed. Although not particularly limited, the in-vehicle control device 14 of the present embodiment sets the frame rate high when the vehicle speed is higher than a predetermined value, and sets the frame rate low when the vehicle speed is lower than the predetermined value. Can do. In this case, the higher the vehicle speed, the higher the frame rate can be set.

  The in-vehicle control device 14 determines the timing at which the passenger vehicle V exists at the priority monitoring position based on the current position acquired from the position detection device 15. That is, when the distance between the current position of the passenger car V and the priority monitoring position is less than a predetermined value, it is determined as the timing at which the passenger car V exists at the priority monitoring position. However, from the viewpoint of determining the imaging timing as in the present embodiment, it is required to determine with high accuracy the timing at which the passenger vehicle V approaches and passes the priority monitoring position. For this reason, in this embodiment, it is determined whether the passenger vehicle V exists in the vicinity of the priority monitoring position based on the current position of the passenger vehicle V based on the image seen from the passenger vehicle V. This method may be used alone or together with the determination based on the current position.

  Specifically, the monitoring target template including the characteristics of the priority monitoring target viewed from the priority monitoring position or the vicinity thereof prepared in advance is compared with the characteristics of the acquired image information, and the image information and the priority monitoring target are compared. Based on the comparison result, the timing at which the passenger vehicle V is present in the vicinity of the priority monitoring position is determined. The exterior of buildings, such as government offices, facilities, stores, and event venues, often has morphological features. For example, the shape of an entrance, the number of entrances, the arrangement of entrances, the shape of a monument, characters and figures written on a signboard or a nameplate may be characteristic for each building. In the present embodiment, the feature on the form of the priority monitoring target viewed from the priority monitoring position or its vicinity is extracted, and the monitoring target template is prepared in advance. Then, the features of these monitoring target templates and the features extracted from the image information acquired by the camera 11 are pattern-matched, and the features of the image information captured by the camera 11 are the characteristics of a certain monitoring target template and the predetermined evaluation value. When the above matches, it can be determined that the passenger car V is present at or near the priority monitoring position. From the viewpoint of reducing the processing load on the monitoring terminal device 10, the monitoring target template to be subjected to pattern matching processing is narrowed down based on the current position detected by the position detection device 15 and the priority monitoring targets existing in the vicinity of the passenger car V are narrowed down. It is preferable to narrow down.

  Further, the priority monitoring target information can include area specifying information for specifying a gaze area that is a part of the priority monitoring target. For example, if a place where suspicious objects are likely to be placed, such as around a building entrance pillar or next to a trash can, can be specified in advance, the entire building or all the objects are not subject to priority monitoring, and the part that you want to strengthen monitoring is especially It can be a priority monitoring target. As a result, the priority monitoring target can be efficiently monitored at a high level.

  Furthermore, the priority monitoring target information includes attributes such as whether the priority monitoring target is a building such as a public office, a facility, a store, an event venue, or whether the monitoring target is an object such as a road installation or a pedestrian. Can be included. The vehicle-mounted control device 14 can specify the camera 11 that captures the periphery of the passenger vehicle V when generating image information according to the attribute of the priority monitoring target. That is, it is possible to cause the camera 11 specified according to the attribute of the priority monitoring target to execute imaging. For example, if the focus monitoring target is a roadside installation such as a trash can or a telephone box installed on the road, or a pedestrian moving on the road, it can be captured by the front camera 11a. When a pedestrian is a priority monitoring target, the front camera 11a is specified. In addition, when the priority monitoring target is on the right side or the left side of a road such as a public office, facility, store, event venue, etc., the image should be taken by the right side or left side camera 11b or 11d. Therefore, when a building such as a public office, a facility, a store, or an event venue is to be subject to priority monitoring, the right side camera 11d or the left side camera 11d is specified. Thus, since the camera 11 is selected according to the attribute of the priority monitoring target, the priority monitoring target can be appropriately imaged according to the attribute.

  The in-vehicle control device 14 can specify the imaging magnification when generating the image information according to the attribute of the priority monitoring target. That is, it is possible to cause the camera 11 specified according to the attribute of the priority monitoring target to perform imaging while increasing the imaging magnification. For example, if the focus monitoring target is a roadside installation such as a trash can or a telephone box installed on the road, or a pedestrian moving on the road, the image is captured at an imaging magnification A higher than the imaging magnification M that is normally set, When the priority monitoring target is a building such as a public office, a facility, a store, or an event venue, an image is captured at an imaging magnification B higher than the imaging magnification A. When the position of the camera 11 of the passenger car V is used as a reference, there is a building far behind the road installation and the sidewalk rather than a road installation along the road and a pedestrian walking along the sidewalk. Therefore, when a distant building is specified as a priority monitoring target, an image is taken at a higher imaging magnification B, and a road installation or a pedestrian existing along the traveling path of the passenger car V is specified as a priority monitoring target. In this case, the imaging is performed at an imaging magnification lower than the imaging magnification B but higher than the normal imaging magnification M. Thus, since the imaging magnification is changed according to the attribute of the priority monitoring target, the priority monitoring target can be appropriately imaged according to the attribute.

  The image information obtained by expanding the priority monitoring target acquired as described above is sent to the central monitoring device 20 via the telecommunication line 30 as a part of the monitoring image K or separately from the monitoring image K.

  The communication device 23 of the central monitoring device 20 receives the monitoring image K transmitted from the monitoring terminal device 10 and mapping information associated with the monitoring image K. Note that the central monitoring device 20 may receive the image information obtained by enlarging the priority monitoring target as a part of the monitoring image K, or may receive it separately. Moreover, the image information image | photographed with the indoor vehicle-mounted camera 11e is received separately. In this monitoring image K, as described above, images of the four in-vehicle cameras 11 installed at different positions of the body of the passenger car V are installed along the outer periphery of the body of the passenger car V along the clockwise or counterclockwise direction. The vehicle-mounted cameras 11a to 11d are arranged according to the installation order (clockwise or counterclockwise order along the outer periphery of the body of the vehicle V). The monitoring image K is associated with mapping information for projecting the monitoring image K onto the projection plane S of the octagonal prism projection model M. The communication device 23 sends the acquired monitoring image K and mapping information to the image processing device 22.

  The image processing device 22 reads the projection model M stored in advance, and sets the projection model M on the side surface of the octagonal prism projection model M with the ground contact surface of the passenger car V shown in FIGS. 10 and 11 as the bottom surface based on the mapping information. A display image is generated by projecting the monitoring image K onto the projected planes Sa to Sd. Specifically, according to the mapping information, each pixel of the received monitoring image K is projected onto each pixel of the projection surfaces Sa to Sd. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 recognizes the start point of the monitoring image K (the right end or the left end of the monitoring image K) based on the reference coordinates received together with the monitoring image K. Then, the projection processing is performed so that the start point coincides with the start point (the right end or the left end of the projection surface S) defined in advance on the projection model M. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 arranges a line figure (partition image) indicating the boundary of each image on the projection model M. The partition image can be attached to the projection model M in advance, or can be attached to the monitoring image K after the projection processing.

  The display 24 displays the monitoring image K projected on the projection plane S of the projection model M or image information in which the priority monitoring target is enlarged. FIG. 12 shows an example of a display image of the monitoring image K. In addition, by using the input device 25 such as a mouse or a keyboard or the display 24 as the touch panel type input device 25, the viewpoint can be freely set and changed by the operation of the supervisor. Since the correspondence relationship between the viewpoint position and the projection plane S is defined in advance in the image processing device 22 or the display 24 described above, the monitoring image K corresponding to the changed viewpoint is displayed on the display 24 based on this correspondence relationship. can do.

  FIG. 13 is a diagram illustrating a display example of image information in which the priority monitoring target A in FIG. 12 is enlarged. As shown in FIG. 13, a detailed image of the priority monitoring target A can be obtained. Furthermore, it is also possible to obtain image information (not shown) in which only the gaze region P that is a part of the priority monitoring target A shown in FIG. 13 is enlarged.

  Next, the operation of the monitoring system 1 according to this embodiment will be described. FIG. 3 is a flowchart showing the operation on the monitoring terminal device 10 side, and FIGS. 4A and 4B are flowcharts showing the operation on the central monitoring device 20 side.

  As shown in FIG. 3, in the monitoring terminal device 10, the surrounding video and the indoor video are acquired from the in-vehicle camera 11 at a predetermined time interval (one routine shown in FIG. 3), and image information is obtained by the image processing device 12. Conversion is performed (step ST1). Further, the current position information of the passenger car V on which the monitoring terminal device 10 is mounted is detected from the position detection device 15 (step ST2).

  In step ST3, it is determined whether or not the report button 16 for reporting the abnormality is pressed. If the report button 16 is pressed, the process proceeds to step ST4, and the image information acquired in step ST1 and the image information acquired in step ST2 are acquired. The positional information is associated with the CPU time information, and these are transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30 together with the abnormality information indicating that an abnormality has occurred. As a result, the occurrence of an abnormality related to security such as an accident or crime is automatically transmitted to the central monitoring device 20 together with the position information of the passenger car V and the image information around the passenger car V, thereby further strengthening the monitoring in the city. Will be. In this example, the image information and the position information are acquired in the first steps ST1 and ST2, but the image information and the position information may be acquired at a timing between steps ST3 and ST4.

  Furthermore, in step ST5, the vehicle-mounted control device 10 zooms up (enlarges) and captures an image of the priority monitoring target existing within a predetermined distance from the point where the abnormality occurs, and also has a frame higher than the frame rate at the time of step ST1. Image at rate. Thereby, it is possible to obtain an image with high imaging magnification that shows details of the priority monitoring target within a predetermined distance in the vicinity of the place where the abnormality has occurred. Even when another passenger vehicle V reports an abnormality, the same processing is performed when the passenger vehicle V is within a predetermined distance of the passenger vehicle V. Information about whether or not the own passenger vehicle V exists within a predetermined distance from the current position of the passenger vehicle V reporting the abnormality can be acquired from the central monitoring device 20.

  Returning to step ST3, if the notification button 16 is not pressed, the process proceeds to step ST6, where the priority monitoring command including the priority monitoring target information stored in advance in the in-vehicle control device 14 is read out and acquired, or the central monitoring device 20 The priority monitoring command including the priority monitoring position is acquired from the network via the telecommunication network 30. The priority monitoring command includes priority monitoring target information in which a priority monitoring position for monitoring a priority monitoring target to be monitored with priority is specified, and when the passenger vehicle V exists at the priority monitoring position, the priority monitoring target is This is a command for generating enlarged image information. The priority monitoring command is a command that is acquired when the in-vehicle control device 14 or the central monitoring device 20 determines that the passenger vehicle V is located at or near the priority monitoring position.

  In step ST7, when the priority monitoring command is acquired from the central monitoring device 20, the central monitoring device 20 compares the priority monitoring target information with the current position transmitted from the passenger vehicle V, and determines the priority monitoring position or the priority. The passenger car V located in the vicinity of the monitoring position is specified, and the priority monitoring command is sent to the monitoring terminal device 10 of the specified passenger car. The in-vehicle control device 14 determines whether or not the own vehicle is at a timing near the priority monitoring position, that is, within a predetermined distance range, based on the acquired priority monitoring command. In the priority monitoring command acquired from the central monitoring device 20, the timing for acquiring the image information in which the priority monitoring target is expanded may be specified by time or by position. When the timing for acquiring the image information in which the priority monitoring target is expanded is specified by the position, the timing for acquiring the image information in which the priority monitoring target is expanded as compared with the current position on the vehicle-mounted control device 14 side. Judging.

  As described above, the timing for acquiring the image information in which the priority monitoring target is expanded is to determine the timing at which the passenger vehicle V exists at the priority monitoring position based on the distance between the current position of the passenger vehicle V and the priority monitoring position. it can. In addition to this, the central monitoring device 20 compares the characteristics of the image information acquired from the monitoring terminal device 10 with the monitoring target template that includes the characteristics of the priority monitoring target as seen from the vicinity of the priority monitoring position. When it can be evaluated that the two match, it can be determined that the passenger vehicle V exists in the vicinity of the priority monitoring position. Moreover, the priority monitoring command can include a command for specifying the in-vehicle camera 11 used for imaging according to the attribute of the priority monitoring target. Further, the priority monitoring command can include area specifying information for specifying a gaze area that is a part of the priority monitoring target.

  If the monitoring terminal device 10 includes the priority monitoring target information, the timing at which the passenger vehicle V exists in the vicinity of the priority monitoring position on the monitoring terminal device 10 side without acquiring the priority monitoring command from the central monitoring device 20. Thus, it is possible to acquire image information in which the priority monitoring target is expanded. In this case, the timing at which the own passenger vehicle V exists at the priority monitoring position is determined based on the distance between the current position of the passenger vehicle V and the priority monitoring position. In addition to this, the passenger vehicle V is located in the vicinity of the priority monitoring position when it can be evaluated that the characteristics of the image information and the monitoring target template including the characteristics of the priority monitoring target viewed from the vicinity of the priority monitoring position match. It can be determined that it exists. In addition, when the priority monitoring target attribute is included in the priority monitoring target information, the in-vehicle camera 11 used for imaging can be specified, and image information can be acquired using the in-vehicle camera. In addition, when the focus monitoring target information includes region specifying information for specifying a gaze region that is a part of the focus monitoring target, the image information of the region can be acquired.

  If the own passenger vehicle exists in the vicinity of the priority monitoring position, the process proceeds to step ST8, and the priority monitoring target is zoomed in at a timing included in the priority monitoring command and predicted that the own passenger vehicle V exists in the priority monitoring position. Therefore, a zoom-up command is sent to the in-vehicle camera 11.

  In step ST9, it is determined whether or not the priority monitoring command includes a command for increasing the frame rate. When the command for increasing the frame rate is included in the priority monitoring command, the process proceeds to step ST10, in order to increase the frame rate for imaging, a relatively high frame rate after the change is set, and the in-vehicle camera 11 Send frame rate up command to. This frame rate can be set according to the moving speed of the passenger car V. And it progresses to step ST11, the monitoring information including the image information imaged at a high frame rate is expanded, the position information acquired at step ST2, and the time information of the CPU are associated with each other, and these are communicated with the communication device 13. And to the central monitoring device 20 via the telecommunication network 30. On the other hand, if the priority monitoring command does not include a command to increase the frame rate in step ST9, the process proceeds to step ST12, and monitoring information including image information obtained by zooming up the priority monitoring target is sent to the central monitoring device 20. To do.

  Even if there is no priority monitoring command in step ST7, the process proceeds to step ST13. If there is an image transmission command from the central monitoring device 20 in step ST13, the process proceeds to step ST14, where the image information acquired in step ST1, the position information acquired in step ST2, and the time information of the CPU are associated. These are transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. Thereby, even if the passenger of the passenger car V does not press the notification button 16, the required image information can be appropriately transmitted when requested by the supervisor operating the central monitoring device 20. In this example, the image information and the position information are acquired in the first steps ST1 and ST2, but the image information and the position information may be acquired at a timing between steps ST3 and ST4. As a result, when the priority monitoring command is acquired while executing the normal image transmission command, the image information obtained by zooming up the priority monitoring target or the image information obtained by zooming up and further increasing the frame rate is acquired. be able to. In addition, even if there is no image transmission command from the central monitoring device 20, the image information indicating the details of the required priority monitoring target can be appropriately transmitted from the monitoring terminal device 10. In addition, since this step ST7 overlaps with step ST23 of FIG. 4B, either one may be omitted.

  In step ST13, when the image transmission command is not acquired, the process proceeds to step ST15, and only the position information acquired in step ST2 is transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. Since the current position of each passenger car V is displayed on the map information on the central monitoring device 20 side (step ST12 in FIG. 4A), the current position of each passenger car V can be grasped in a timely manner.

  On the other hand, in the central monitoring device 20, as shown in FIG. 4A, in step ST11, position information and abnormality information are acquired from all the passenger cars equipped with the monitoring terminal device 10. If the communication load is not high, the image information may be acquired at this timing.

  In step ST12 of FIG. 4A, the passenger car V is displayed on the map information of the map database displayed on the display 24 based on the position information acquired in step ST11, as shown in the upper left of FIG. Since the position information of the passenger car V is acquired and transmitted at a predetermined timing for each routine in FIG. 3, the supervisor can grasp the current position of the passenger car V in a timely manner.

  In step ST13, it is determined whether or not abnormality information notified from the monitoring terminal device 10 of the passenger vehicle V, that is, a notification that an abnormality relating to security such as an accident or a crime has occurred has been received. This abnormality information is output when the passenger of the passenger car V presses the notification button 16 of the monitoring terminal device 10. If there is abnormality information, the passenger vehicle V to which abnormality information was output is identified in step ST14, image information and time information are received from the monitoring terminal device 10 of the passenger vehicle, and the image information is displayed on the display 24. Further, as shown in the upper left of FIG. 1, highlighting is performed such as changing the color so that the passenger car displayed on the map information can be distinguished from other passenger cars. Thereby, the position where the abnormality has occurred can be visually recognized on the map information, and the abnormality content can be grasped on the display 24.

  In the next step ST15, the passenger vehicle V traveling in the vicinity (within a predetermined distance) of the passenger vehicle V that has output the abnormality information is detected, and a transmission command of image information and time information is output to the passenger vehicle V. As a result, the image information can be acquired from the passenger car V that travels in the vicinity of the passenger vehicle V that has output the abnormality information. Therefore, the abnormality information can be obtained from a plurality of image information in addition to the image information from the passenger vehicle V that has output the abnormality information. The contents can be grasped in detail.

  In step ST16, the position information of the passenger car V that has output the abnormality information is transmitted to an emergency passenger car such as a police car, an ambulance, or a fire engine. In this case, image information may be attached and transmitted in order to notify the abnormal content. As a result, the emergency passenger car can be dispatched before a report from the site is entered, and it is possible to quickly deal with accidents and crimes.

  In step ST17, all position information, image information, and time information received from the monitoring terminal device 10 are recorded on the recording medium. This record is used to resolve these after an accident or crime. If there is no abnormality information in step ST13, the process proceeds to step ST18 without performing the processes in steps ST14 to ST17.

  In step ST18, it is determined whether there is an image information transmission command from an emergency passenger vehicle such as a police car, an ambulance, or a fire engine. If an image transmission command is input, the process proceeds to step ST19. In step ST19, it is determined whether or not the passenger car V exists in the area specified by the image information transmission command. If the passenger car V exists, the process proceeds to step ST20. Then, in step ST20, an image information transmission command is output to the passenger vehicle V existing in the area specified by the image information transmission command. Thereby, the image information from the passenger car V can be acquired in step ST11 of FIG. 4A of the next routine, and this is transferred to the emergency passenger car or the meaning of the transmission command from the emergency passenger car is grasped. be able to. In addition, when it does not correspond to step ST18 and ST19, it progresses to step ST21, without performing the process of steps ST18-ST20.

  In step ST21, it is determined whether or not there is a passenger car V in the vicinity of a suspicious location such as a preset crime-prone delay, and if so, the process proceeds to step ST22 and image information is transmitted to the passenger car V. Outputs a command. Suspicious areas are streets with poor security and streets. As a result, the monitoring of streets and streets that are suspicious places can be strengthened, and crime prevention can be expected. If the passenger vehicle V does not exist in the region near the suspicious part, the process proceeds to step ST23 without performing the process of step ST22.

  In step ST23, it is determined whether or not there is a passenger vehicle V in the vicinity of the priority monitoring position where the priority monitoring object whose details should be monitored can be imaged. If the passenger vehicle V exists in the vicinity of the priority monitoring position, step ST24 is performed. To the passenger vehicle V, and outputs a priority monitoring command for requesting transmission of image information in which the priority monitoring target is expanded. As a result, it is possible to monitor the priority monitoring target in detail, and to effectively detect a suspicious object that causes an incident or an accident in the specified priority monitoring target, so that prevention of crime can be expected. If there is no passenger vehicle V in the vicinity of the priority monitoring position, the process proceeds to step ST25 without performing the process of step ST24.

  In step ST25, based on the position information received from each passenger car V, the passenger car V has not traveled within a predetermined time within a predetermined area that is required to be monitored (not limited to suspicious points and priority monitoring areas). It is determined whether there is a route, and when there is such a route, it is monitored whether there is a passenger vehicle V traveling on the route. Then, if there is a passenger car V traveling on the route most recently, the process proceeds to step ST26, and an image information transmission command is output to the passenger car V. Thereby, it is possible to automatically acquire image information of a route that is a region other than the suspicious portion or the priority monitoring region and has a small traffic volume of the passenger car V. If there is no route that satisfies the condition of step ST25, the process returns to step ST11 of FIG. 4A without performing the process of step ST26.

As described above, the monitoring system of the present embodiment has the following effects.
(1) The monitoring system 1 of this example attaches the vehicle-mounted camera 11 to a plurality of passenger cars V, and when the surroundings are imaged by the vehicle-mounted camera, the monitoring system 1 is a priority monitoring target at a timing when the passenger vehicle V exists in the vicinity of the priority monitoring position. Therefore, it is possible to monitor in detail the focus monitoring target that the monitor wants to focus on. Among a plurality of mobile bodies that travel at random, using the in-vehicle camera 11 mounted on a mobile body that travels at or near the focus monitoring position for monitoring the focus monitoring target, the focus monitoring target that is to be monitored with priority is expanded. Acquired image information can be acquired. As a result, it is possible to monitor the details of the priority monitoring target without going to the site. In this way, detailed image information of the priority monitoring target can be acquired at a remote location, and a point different from the normal time can be noticed quickly, so that the occurrence of an incident or accident can be prevented in advance. By the way, although fixed cameras can only monitor certain monitoring targets, passenger cars V run at random, so the target to be focused on changes depending on the situation such as notification of events or accidents, event holdings, etc. Even in such a case, it is possible to monitor the status of the target by image information indicating in detail.
When acquiring the image information in which the priority monitoring target is enlarged, the default imaging magnification of the camera 11 at the normal time is changed to be high at the timing when the passenger vehicle V is in a state where the passenger vehicle V exists at or near the priority monitoring position. Similar operations and effects can be obtained even if image information in which the priority monitoring target is expanded from the normal time other than the timing at which the passenger vehicle V is present at or near the priority monitoring position is acquired.
Similarly, when acquiring image information in which the priority monitoring target is enlarged, the imaging magnification of the camera 11 in the imaging process executed immediately before the timing when the passenger vehicle V is in the state of being in the priority monitoring position or in the vicinity thereof is increased. The same operation and effect can be obtained by changing and acquiring image information in which the priority monitoring target is expanded more than before the passenger vehicle V reaches the priority monitoring position or its vicinity.

(2) Since the monitoring system 1 of this example changes the frame rate to a high level at the timing when the passenger vehicle V is present at or near the priority monitoring position and acquires image information in which the priority monitoring target is expanded, Images can be taken continuously. Since the moving image of the priority monitoring target can be obtained by imaging at a high frame rate, the priority monitoring target can be observed over time. Moreover, since the passenger car V is moving, the priority monitoring object can be imaged from different imaging directions, so that the importance monitoring object can be observed from multiple directions.

(3) Since the monitoring system 1 of this example sets the frame rate according to the moving speed of the passenger vehicle V, it is possible to reliably obtain image information in which the priority monitoring target is enlarged even when the vehicle speed is high.

(4) The monitoring system 1 of this example compares the prepared monitoring target template including the feature of the priority monitoring target with the feature of the actually acquired image information, and when the correlation value between the two is high Since it is determined that the timing at which the passenger car V is at or near the priority monitoring position, the position of the passenger car V can be determined from the cityscape. Although the position detection device 15 may not be able to accurately identify narrow streets, it can be accurately determined whether or not the passenger car V exists in the priority monitoring position or in the vicinity thereof by considering the cityscape. .

(5) Since the monitoring system 1 of the present example can specify the gaze area that is a part of the priority monitoring target by the area specifying information, it can acquire image information that enlarges the part that is particularly focused on the priority monitoring target. . Thereby, it is possible to acquire image information obtained by enlarging the shadow of a pillar such as a building, the leg portion of a post, the license plate of a suspicious vehicle, and the like.

(6) Since the monitoring system 1 of this example can select appropriate on-vehicle cameras 11a to 11d according to the attribute of the priority monitoring target, the image of the priority monitoring target can be reliably included in the image information.

(7) Since the monitoring system 1 of the present example can set an appropriate imaging magnification according to the attribute of the priority monitoring target, the priority monitoring target is expanded according to the distance from the passenger car V to the priority monitoring target. Image information can be acquired. As a result, it is possible to acquire image information enlarged at an appropriate imaging magnification even for a priority monitoring target located at a relatively distant place.

(8) When the monitoring system 1 of this example receives the priority monitoring command from the central monitoring device 20, the monitoring system 1 transmits image information in which the priority monitoring target is expanded. A detailed image of the monitoring target can be confirmed at the place where the central monitoring device 20 is installed. Also, only when detailed observation of the priority monitoring target is required, image information with the priority monitoring target expanded is transmitted, so that the communication capacity can be minimized and the decrease in communication speed can be suppressed. it can. Further, the information recording capacity can be minimized, and an inexpensive and small system can be obtained.

(9) Since the monitoring system 1 of this example outputs monitoring information including any of image information, position information, and time information to the central monitoring device 20 via the telecommunications network 30, a plurality of passenger cars V can receive a plurality of information. Can be accumulated in the central monitoring device 20.

(10) The central monitoring device 20 of this example causes the monitoring terminal device 10 to acquire image information in which the priority monitoring target is expanded, and displays the image information or position information on the display 24. Without doing so, it is possible to confirm the video of the desired priority monitoring target at the place where the central monitoring device 20 is installed. Further, when the position information is received from the monitoring terminal device 10, it is displayed on the map information on the display 24, so that the central monitoring device 20 can grasp the arrangement of the passenger cars V from which image information can be acquired. As a result, the distribution of the area from which image information can be acquired can be grasped, and it can be expected that the observer will contribute to the security plan.

(11) Since the central monitoring device 20 of the present example displays the priority monitoring target in an enlarged state using the display 24, the priority monitoring target can be enlarged and shown to the monitor.

(12) The priority monitoring targets in this example include buildings such as government offices, facilities, stores, and event venues that have been specified in advance, and humans, animals, objects, and other subjects located in these places, so they are in the city. From the monitoring targets, it is possible to select a target that the monitoring person wants to focus on.

(13) The monitoring method of this example has the same operations and effects as the monitoring system including the monitoring terminal device 10 and the central monitoring device 20.

  In the above-described embodiment, the position information of the passenger car V and the image information from the in-vehicle cameras 11a to 11e are acquired. However, in combination with the image information from the fixed camera 11f installed in the city shown in FIG. May be obtained. Further, as the passenger car V that acquires the position information and the image information, it is desirable to use a taxi V1 or a bus that travels in a predetermined area as shown in FIG. 1, but even if a private passenger car V2 or an emergency passenger car V3 is used. Good.

  In the above-described embodiment, five in-vehicle cameras are mounted on the passenger vehicle V, and images around 360 ° are acquired as image information using four of the in-vehicle cameras 11a to 11d, but the in-vehicle camera 11e in the room is acquired. It may be omitted. In addition, the number of the four on-vehicle cameras 11a to 11d may be three or less as long as it is an environment where image information can be acquired from many passenger cars V as in a monitoring area where there is a lot of traffic.

  The passenger vehicle V corresponds to a moving body according to the present invention, the position detection device 15 corresponds to a position detection unit according to the present invention, and the in-vehicle camera 11 and the image processing device 12 correspond to an image generation unit according to the present invention. The on-vehicle control device 14 corresponds to the information acquisition control means according to the present invention, the CPU of the on-vehicle control device 14 corresponds to the time detection means according to the present invention, and the notification button 16 is a command input according to the present invention. The communication device 13 corresponds to a command receiving means and an information output means according to the present invention, and the communication device 23 corresponds to an information input means, an abnormality information receiving means and a command output means according to the present invention, The display 24 corresponds to display means according to the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vehicle monitoring system 10 ... Monitoring terminal device 11, 11a-11e ... Vehicle-mounted camera 11f ... Street fixed camera 12 ... Image processing device 13 ... Communication device 14 ... Vehicle-mounted control device 15 ... Position detection device 16 ... Notification button 20 ... Central monitoring Device 21 ... Central control device 22 ... Image processing device 23 ... Communication device 24 ... Display 25 ... Input device 30 ... Telecommunication network V, V1, V2, V3 ... Moving object M ... Projection model S, Sa, Sb, Sc, Sd: Projection planes R1 to R8 ... Viewpoint

This emphasis monitoring position is a place suitable for the observation of the focused monitored, the focus monitoring position, without more visibility is blocked by the obstacles, visible without overall emphasis monitored hidden (imaging Preferably). When the priority monitoring target is imaged from this priority monitoring position, image information suitable for monitoring the priority monitoring target can be obtained. Moreover, in this embodiment, since the image information which expanded the priority monitoring object is acquired, the detailed condition of the priority monitoring object can be closely observed.

The priority monitoring position and the position defining the vicinity thereof are defined in advance in association with the priority monitoring target and may be stored in the in-vehicle control device 14 or stored in the central control device 21 and included in the priority monitoring command. The vehicle-mounted control device 14 may acquire the information via the telecommunication line 30. The position in the vicinity of the priority monitoring position can be defined by the distance from the priority monitoring position.

Claims (15)

A monitoring system comprising a monitoring terminal device that outputs monitoring information via wireless communication to a central monitoring device,
The monitoring terminal device
Position detecting means for detecting position information of each of the plurality of moving bodies;
Image generating means for generating image information by imaging the periphery of the moving body with a camera mounted on each of the plurality of moving bodies;
Information acquisition control means for controlling the position detection means and the image generation means, and acquiring the position information or the image information at a predetermined timing;
Monitoring information generating means for generating monitoring information including the acquired position information and / or image information,
The information acquisition control means acquires a priority monitoring command including priority monitoring target information in which a priority monitoring target to be monitored with priority and a priority monitoring position for monitoring the priority monitoring command are specified, and the acquired priority monitoring command Based on the above, the monitoring system is characterized in that image information in which the priority monitoring target is enlarged is acquired at a timing when the moving body is present at or near the priority monitoring position.   The information acquisition control means changes the frame rate at the time of generating the image information to be high at a timing when the moving body is present in the vicinity of the priority monitoring position or in the vicinity thereof based on the acquired priority monitoring command, The monitoring system according to claim 1, wherein the image information in which the priority monitoring target is expanded is acquired. It further comprises speed acquisition means for acquiring the moving speed of the moving body,
The monitoring system according to claim 2, wherein the information acquisition control unit sets the frame rate according to the moving speed acquired from the speed acquisition unit based on the acquired priority monitoring command.   The information acquisition control unit compares the monitoring target template including the characteristics of the priority monitoring target prepared from the priority monitoring position or the vicinity thereof prepared in advance with the characteristics of the acquired image information, and The monitoring according to any one of claims 1 to 3, wherein a timing at which the mobile body is present at or near the focus monitoring position is determined based on a comparison result between information and the focus monitoring target. system.   5. The monitoring system according to claim 1, wherein the priority monitoring target information includes area specifying information for specifying a gaze area that is a part of the priority monitoring target.   The information acquisition control means, based on a priority monitoring command including the priority monitoring target attribute, when the image generation means generates the image information according to the priority monitoring target attribute. The monitoring system according to claim 1, wherein a camera that picks up an image is specified.   The information acquisition control unit specifies an imaging magnification when the image generation unit generates the image information according to the priority monitoring target attribute based on the priority monitoring command including the priority monitoring target attribute. The monitoring system according to any one of claims 1 to 6, wherein: The wireless communication is communicated via a telecommunication network,
The monitoring terminal device includes command receiving means for acquiring the priority monitoring command from the central monitoring device via the telecommunications network,
The monitoring according to any one of claims 1 to 7, wherein the information acquisition control unit acquires image information in which the priority monitoring target is expanded when the command receiving unit receives the priority monitoring command. system. The wireless communication is communicated via a telecommunication network,
The said monitoring terminal device is provided with the information output means which outputs the monitoring information containing at least one of the said image information, the said positional information, or the said time information to the said central monitoring apparatus via the said telecommunication network. The monitoring system according to any one of the above. The position detecting means for detecting the position information of each of the plurality of moving bodies, the image generating means that is attached to each of the plurality of moving bodies and that captures the surroundings of the moving bodies and generates image information, and the acquired Monitoring information generation means for generating monitoring information including position information and / or image information, and a monitoring system including a central monitoring device that inputs monitoring information acquired from a monitoring terminal device via wireless communication,
The central monitoring device is
Information input means for inputting monitoring information including position information and image information output from the monitoring terminal device;
The priority monitoring target information that includes priority monitoring target information for which priority monitoring is performed and a priority monitoring position for monitoring the priority monitoring target, and the moving object is present at or near the priority monitoring position. Command output means for sending a focus monitoring command to generate image information in which the object is enlarged to the monitoring terminal device;
And a display unit configured to display the image information or the position information when image information in which the priority monitoring target is enlarged is input.   The monitoring system according to claim 10, wherein when the image information in which the priority monitoring target is enlarged is input, the display unit displays the priority monitoring target in an enlarged state.   The priority monitoring object includes a public office, facility, store, event venue, and humans, animals, objects, and other subjects located in these places, which are specified in advance. The monitoring system according to item. A monitoring system comprising a monitoring terminal device that outputs monitoring information via wireless communication to a central monitoring device,
The monitoring terminal device
Position detecting means for detecting position information of each of the plurality of moving bodies;
Image generating means for generating image information by imaging the periphery of the moving body with a camera mounted on each of the plurality of moving bodies;
Information acquisition control means for controlling the position detection means and the image generation means, and acquiring the position information or the image information at a predetermined timing;
Monitoring information generating means for generating monitoring information including the acquired position information and / or image information,
The information acquisition control means acquires a priority monitoring command including priority monitoring target information in which a priority monitoring target to be monitored with priority and a priority monitoring position for monitoring the priority monitoring command are specified, and the acquired priority monitoring command Based on the above, at the timing at which the moving body is present in the priority monitoring position or in the vicinity thereof, the imaging magnification immediately before the image generation unit acquires the image information immediately before reaching the timing is calculated based on the previous imaging magnification. A monitoring system characterized in that the imaging magnification is changed to a higher imaging magnification, and image information in which the priority monitoring target is enlarged than before the moving object reaches the priority monitoring position or the vicinity thereof is acquired. A monitoring system comprising a monitoring terminal device that outputs monitoring information via wireless communication to a central monitoring device,
The monitoring terminal device
Position detecting means for detecting position information of each of the plurality of moving bodies;
Image generating means for generating image information by imaging the periphery of the moving body with a camera mounted on each of the plurality of moving bodies;
Information acquisition control means for controlling the position detection means and the image generation means, and acquiring the position information or the image information at a predetermined timing;
Monitoring information generating means for generating monitoring information including the acquired position information and / or image information,
The information acquisition control means acquires a priority monitoring command including priority monitoring target information in which a priority monitoring target to be monitored with priority and a priority monitoring position for monitoring the priority monitoring command are specified, and the acquired priority monitoring command The normal imaging magnification set for causing the image generating means to acquire the image information at a normal time other than the timing at the timing at which the moving body is present at or near the focus monitoring position. And changing the imaging magnification to a higher imaging magnification than the imaging magnification, and acquiring the image information in which the focus monitoring target is expanded from the normal time other than the timing at which the moving body is present at or near the focus monitoring position. Monitoring system. Obtain location information for each of the multiple mobile objects
A priority monitoring command including priority monitoring target information that designates a priority monitoring target to be monitored and a priority monitoring position for monitoring this is acquired, and based on the acquired priority monitoring target information and the position information Acquiring the image information in which the focus monitoring target is enlarged by a camera provided on the moving body at a timing at which the moving body is present at or near the focus monitoring position;
Transmitting the monitoring information including the image information via wireless communication;
Receiving and displaying the transmitted image information.