WO2013111479A1 - Monitoring system - Google Patents

Monitoring system Download PDF

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Publication number
WO2013111479A1
WO2013111479A1 PCT/JP2012/082904 JP2012082904W WO2013111479A1 WO 2013111479 A1 WO2013111479 A1 WO 2013111479A1 JP 2012082904 W JP2012082904 W JP 2012082904W WO 2013111479 A1 WO2013111479 A1 WO 2013111479A1
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WO
WIPO (PCT)
Prior art keywords
monitoring
information
image
vehicle
terminal device
Prior art date
Application number
PCT/JP2012/082904
Other languages
French (fr)
Japanese (ja)
Inventor
照久 高野
真史 安原
秋彦 香西
Original Assignee
日産自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日産自動車株式会社 filed Critical 日産自動車株式会社
Publication of WO2013111479A1 publication Critical patent/WO2013111479A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19639—Details of the system layout
    • G08B13/19647—Systems specially adapted for intrusion detection in or around a vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Definitions

  • the present invention relates to a monitoring system.
  • This application claims priority based on Japanese Patent Application No. 2012-011447 filed on Jan. 23, 2012.
  • 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).
  • An object of the present invention is to provide a monitoring system capable of continuously monitoring a predetermined point even when a camera mounted on a moving body is used.
  • the present invention selects a mobile monitoring terminal device that approaches or leaves a monitoring area set for monitoring a predetermined point, and transmits monitoring information including image information to the selected monitoring terminal device.
  • the above object is achieved by outputting a transmission command.
  • the monitoring terminal device since the image transmission command is output so as to transmit the monitoring information including the image information to the monitoring terminal device of the moving body that approaches or separates from the monitoring area, the monitoring terminal device is mounted on the moving body. Even in this case, it is possible to continuously monitor a predetermined monitoring point. As a result, the central monitoring device can monitor a certain point using the monitoring terminal device mounted on the moving body that moves at random.
  • FIG. 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 perspective view which shows arrangement
  • the monitoring system is embodied as a monitoring system 1 that centrally monitors the security of a city by authorities such as a police station and 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 acquires and processes 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 showing a specific configuration of the monitoring terminal device 10 and the central monitoring device 20.
  • the monitoring system of this embodiment continuously acquires monitoring information regarding a predetermined monitoring point.
  • 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 generation 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 acquiring a command from the central monitoring apparatus 20 And a function for reporting the occurrence of an abnormality.
  • the monitoring terminal device 10 can exchange information with the vehicle controller 17 that centrally controls the vehicle speed sensor 18, the navigation device 19, and other vehicle-mounted electronic devices.
  • the monitoring terminal device 10 can transmit the vehicle speed information acquired via the vehicle speed sensor 18 and the vehicle controller 17 to the central monitoring device 20 as a part of the monitoring information.
  • 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 vehicle V1, the private passenger car V2, and the emergency passenger car V3 are included, but 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.
  • 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 is composed of a GPS device and its correction device, etc., 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.
  • a command for requesting information such as an image transmission command is acquired from the central monitoring device 20 received via the telecommunication network 30 and the communication device 13, and the image processing device 12, the communication device 13, and the position detection device 15 are obtained.
  • Monitoring information including image information generated by the image processing device 12, position information of the moving object V detected by the position detection device 15, and time information from a clock built in the CPU is transmitted to the communication device 13. And output to the central monitoring device 20 through the telecommunication network 30.
  • the in-vehicle control device 14 can store monitoring information including image information, position information, time information, and the like for at least a predetermined time.
  • 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.
  • 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.
  • 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 stores an information acquisition function for acquiring the position information and image information output from the monitoring terminal device 10 described above, and stores the acquired monitoring information in the database 26 at least temporarily in association with the position information. And a display control function for displaying the map information from the map database, controlling the received position information on the map information, and displaying the received image information on the display 24.
  • the central monitoring device 20 refers to the database 26, selects a monitoring terminal device 10 of the passenger car V that approaches and / or separates from the monitoring area based on the selected monitoring point, and the selected monitoring terminal.
  • the apparatus 10 has a command output function that outputs an image transmission command that includes at least image information and transmits monitoring information including position information and time information as necessary.
  • the selection function of the present embodiment has a function of hopping the target passenger car V one after another as the passenger car V moves when the passenger car V that approaches and / or separates from the monitoring area is selected. Have. Specifically, when the previously selected passenger vehicle V passes through the monitoring area, the central monitoring device 20 selects the monitoring terminal device 10 of another passenger vehicle V that approaches this monitoring area.
  • 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 22 has a map database, displays map information from the map database on the display 24, and superimposes and displays 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 composed of, for example, 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.
  • 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.
  • the input device 25 is constituted by a keyboard or a mouse, and is used when inputting an information acquisition command output to a desired moving body V or inputting various information processing commands displayed on the display 24. It is done.
  • the monitoring point serving as the reference for the monitoring area can be input by the monitor via the input device 25.
  • the monitor can specify a monitoring point by clicking (selecting and inputting) the icon of each point superimposed on the map information, and set a monitoring area based on this monitoring point. it can.
  • the monitor can set a monitoring area surrounded by a plurality of selected points by continuously selecting and inputting each point superimposed and displayed on the map information on the basis of an arbitrary monitoring point. .
  • 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.
  • 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.
  • the cameras 11a to 11e are configured using an image sensor 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 this embodiment has a zoom-up function for enlarging and imaging a subject, and can arbitrarily change the focal length according to the control command, or can arbitrarily change the imaging magnification according to the control command.
  • 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)
  • 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.
  • 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.
  • the in-vehicle camera 11d installed at a predetermined position on the right side of the passenger car V such as the right side mirror portion is an object or road surface (right side view) that exists in the area SP4 on the right side of the passenger car V and in the surrounding space.
  • one in-vehicle camera 11e is installed, for example, on the ceiling of a passenger car, and images the area SP5 in the passenger compartment as shown in FIG. Used for crime prevention or crime reporting.
  • FIG. 4 is a view of the arrangement of the in-vehicle cameras 11a to 11e as viewed from above the passenger car V.
  • 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 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).
  • 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.
  • 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
  • the vehicle-mounted camera 11a is installed on the right side of the vehicle-mounted camera 11b.
  • FIG. 5A shows an example of an image GSP1 in which the front in-vehicle camera 11a images the area SP1
  • FIG. 5B shows an example of an image GSP2 in which the left-side in-vehicle camera 11b images the area SP2
  • FIG. 5D shows an example of an image GSP3 in which the area SP3 is imaged
  • FIG. 5D shows an example of an image GSP4 in which the right-side in-vehicle camera 11d images the area SP4
  • FIG. 5E shows an indoor in-vehicle camera 11e.
  • 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 appropriately determined 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.
  • the vehicle-mounted control apparatus 14 can transmit 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. It is converted into image information shown in 5E. Then, the in-vehicle control device 14 generates a monitoring image based on the four pieces of image information shown in FIGS. 5A to 5D (image generation function), and the monitoring image is projected on the side of the projection model of the columnar body. 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.
  • 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.
  • the in-vehicle control device 14 of the monitoring terminal device 10 of the present embodiment controls the image processing device 12 to acquire the imaging signals of the in-vehicle cameras 11a to 11e, respectively, and further clockwise or 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 order of installation of these in-vehicle cameras 11a to 11d.
  • 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 (counterclockwise) 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 order of installation 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. 6 is a diagram illustrating an example of the monitoring image K.
  • 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.
  • one monitoring image K when one monitoring image K is generated, four images acquired at substantially the same time as the photographing 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.
  • 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.
  • 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.
  • the vehicle-mounted control apparatus 14 of this embodiment produces
  • the monitoring terminal device 10 of the present embodiment generates the monitoring image K by compressing the data amount of the image 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.
  • the size of each image shown in FIGS. 5A to 5D is 480 ⁇ 640 pixels
  • compression processing is performed so that the size of the monitoring image K is 1280 ⁇ 240 pixels as shown in FIG. Do.
  • image processing and image reproduction can be performed.
  • the in-vehicle control device 14 of the present embodiment can also attach a line figure indicating the boundary of each arranged image to the monitoring image K.
  • 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.
  • the partition image functions as a frame of each captured image.
  • 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. .
  • the vehicle-mounted control apparatus 14 of this embodiment can also generate
  • image distortion is likely to occur.
  • 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.
  • the in-vehicle control device 14 reads out the same projection model information 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.
  • the mapping information addition function will be described.
  • 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. 8 is a diagram showing an example of the projection model M of the present embodiment
  • FIG. 9 is a schematic sectional view taken along the xy plane of the projection model M shown in FIG.
  • the projection model M of this 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).
  • 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.
  • the bottom surface of the projection model M of this 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 on the projection plane S as an image of the passenger car V viewed from above the viewpoint R (R1 to R8, hereinafter referred to as viewpoint R) above the projection model M surrounding the passenger car V.
  • the in-vehicle control device 14 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.
  • 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.
  • mapping information reference coordinates
  • 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.
  • 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.
  • 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 order in which the in-vehicle cameras 11a to 11d are arranged are projected sequentially and easily on the projection surface S on the side surface of the projection model M. be able to. That is, as shown in FIG.
  • 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.
  • the monitoring image K projected on the projection model M can show an image that can be seen as if looking around the passenger car V. That is, since the monitoring image K including 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 arranged in the horizontal direction in the column of the projection model M. An image around the passenger car V can be reproduced in the monitoring image K projected on the projection surface S of the projection model M of the columnar body while maintaining the positional relationship.
  • 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.
  • it may be stored in the central monitoring device 20 in advance.
  • the positions of the viewpoint R and the projection plane S shown in FIGS. 8 and 9 are examples, and can be arbitrarily set.
  • 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.
  • the in-vehicle control device 14 generates the monitoring image K based on the 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.
  • 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
  • the communication device 23 of the central monitoring device 20 receives the monitoring image K transmitted from the monitoring terminal device 10 and the mapping information associated with the monitoring image K. Moreover, the image information image
  • 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 transmits the acquired monitoring image K and mapping information to the image processing device 22.
  • the image processing apparatus 22 reads the projection model M stored in advance, and sets it on the side surface of the octagonal prism projection model M with the ground contact surface of the passenger car V shown in FIGS. 8 and 9 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.
  • 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.
  • FIG. 10 shows an example of a display image of the monitoring image K.
  • 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. 11 is a flowchart showing the operation on the monitoring terminal device 10 side
  • FIGS. 12A and 12B are flowcharts showing the operation on the central monitoring device 20 side
  • FIG. 13 is a diagram showing an example of database information.
  • the monitoring terminal device 10 As shown in FIG. 11, in the monitoring terminal device 10, surrounding video and indoor video are acquired from the in-vehicle camera 11 at a predetermined time interval (one routine shown in FIG. 11), and the image processing device 12 converts the video information into image information. 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 having GPS (step ST2).
  • 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 as monitoring information to the central monitoring device 20 via the communication device 13 and the telecommunications network 30 together with the abnormality information indicating that an abnormality has occurred.
  • 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.
  • 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.
  • step ST3 if the report button 16 has not been pressed, the process proceeds to step ST5 to communicate with the central monitoring device 20 and obtain a control command.
  • step ST6 the monitoring terminal device 10 determines whether or not an image transmission command has been acquired from the central monitoring device 20, and if an image transmission command has been acquired, the process proceeds to step ST7 where image information and position information are acquired.
  • the monitoring information including the time information is transmitted to the central monitoring device 20. Further, when a storage command is included in the image transmission command, image information, position information, and time information are stored.
  • step ST6 even if the image transmission command is not acquired from the central monitoring device 20, if the passenger vehicle V is present in the pre-defined priority monitoring area in step ST8, the process proceeds to step ST10 and the image information is obtained. Send monitoring information including. On the other hand, if the image transmission command is not acquired and it is not the priority monitoring area, the process proceeds to step ST9, and monitoring information not including image information, that is, time information and position information is transmitted to the central monitoring device 20.
  • FIG. 13 is a diagram illustrating an example of information stored in the database 26.
  • monitoring information including image information, position information, and time information acquired from the passenger car V (monitoring terminal device 10) is stored in association with the position information. That is, if position information is designated, a series of monitoring information can be called.
  • the monitoring information can include a mobile body ID (monitoring terminal device ID) for specifying the monitoring terminal device 10.
  • the mobile object ID may be the address of the communication device 13 of the monitoring terminal device 10.
  • step ST12 based on the position information acquired in step ST11, the passenger car V is displayed on the map information of the map database displayed on the display 24 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. 11, the supervisor can grasp the current position of the passenger car V in a timely manner.
  • step ST13 it is determined whether or not abnormality information notified from the monitoring terminal device 10 of the passenger car 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.
  • step ST14 If there is abnormality information, the passenger vehicle V to which the abnormality information is 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.
  • the processing from step ST13 to step 20 is an example in which abnormality information is reported, and the location of the passenger vehicle V that has reported abnormality information is selected as a monitoring point, but abnormality information is reported. Even if the monitor designates a place to be monitored arbitrarily, the processing from step ST13 to step 20 can be executed in the same manner. In this case, the place designated by the monitor becomes the monitoring point.
  • step ST15 the central monitoring device 20 selects a monitoring point to be monitored by paying attention to the position where the passenger vehicle V that has output the abnormality information is present.
  • the supervisor can also set arbitrarily.
  • the central monitoring device 20 selects another vehicle existing in the monitoring area within a predetermined distance from the monitoring point, that is, the monitoring terminal device 10, with reference to the monitoring point.
  • the monitoring area may be a circular area of the same distance from the monitoring point, a belt-like area of a predetermined distance along the up or down direction of the monitoring point, and when a right turn or a left turn is considered at an intersection or the like, A fan-shaped area having a predetermined distance and a predetermined central angle may be used.
  • the central monitoring device 20 preferably sends an image transmission command specifying the imaging time of the image information to the passenger vehicle V separated from the monitoring point.
  • the central monitoring device 20 of the present embodiment transmits an image transmission command to a vehicle passing through the monitoring area in the future in order to continue monitoring the status of the monitoring point.
  • Vehicles that pass through the surveillance area include vehicles that are approaching the surveillance area, that is, vehicles that include the surveillance area and have entered a larger area than the surveillance area, vehicles that are currently passing through the surveillance area, or surveillance areas.
  • a vehicle immediately after passing, a vehicle that is moving away from the monitoring area, that is, a vehicle that includes the monitoring area and exits from an area larger than the monitoring area, can be defined appropriately.
  • the method for selecting the passenger car existing in the monitoring area is not particularly limited.
  • the central monitoring device 20 selects the passenger car V whose traveling direction is the direction of the monitoring point and (YX) / V is less than a predetermined value. In the same step, the central monitoring device 20 transmits an image transmission command to the selected monitoring terminal device 10.
  • the image transmission command can include information specifying the imaging direction.
  • the central monitoring device 20 calculates the imaging direction based on the positional relationship between the monitoring point and the monitoring area.
  • the imaging direction may be expressed by an azimuth, or may be expressed by identification information of the in-vehicle camera 11 if the position of the in-vehicle camera 11 is known. Thereby, the image
  • monitoring including image information is automatically performed at the timing when the host vehicle enters the monitoring area from the monitoring point transmitted by the central monitoring device 20 and the current position. Information can also be sent to the central monitoring device 20.
  • step ST17 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.
  • an emergency passenger car such as a police car, an ambulance, or a fire engine.
  • image information may be attached and transmitted in order to notify the abnormal content.
  • 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.
  • step ST18 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 ST21 without performing the processes in steps ST14 to ST18.
  • step ST19 it is determined whether or not the centralized monitoring state of the monitoring point has been released. If it has been released, the processing from step 21 is performed. On the other hand, if it is not released, the monitoring point is continuously monitored. Therefore, when the passenger car V selected in the previous step ST16 passes through the monitoring area, the process returns to step ST16, and a new monitoring passenger car V is obtained. Select.
  • the method of selecting the newly monitored passenger vehicle V to be transitioned (hopped) is not particularly limited. For example, first, the road where the current position of the passenger vehicle that reported the abnormality report and other monitoring points (Y) exist is identified, With reference to the database 26, a passenger car V traveling on the road is extracted. Then, the position (X), the moving speed (V), and the traveling direction of the specified passenger car V are specified. The moving speed and the traveling direction of the passenger vehicle V may be obtained based on the temporal change of the position information, or may be obtained based on the moving speed acquired by being included in the monitoring information.
  • the central monitoring device 20 selects the passenger car V whose traveling direction of the passenger car V is the direction of the monitoring point and has the smallest (Y ⁇ X) / V as a target for transmitting an image transmission command next. Note that if (Y ⁇ X) / V is too small, the monitoring point is passed immediately, so a lower limit may be provided.
  • the monitoring passenger car V that can image the monitoring point is sequentially changed (hop), so that the passenger vehicle V on which the camera 11 is mounted moves. Also, it is possible to continuously image a predetermined monitoring point.
  • step ST21 it is determined whether there is an image information transmission command from an emergency passenger car such as a police car, an ambulance, or a fire engine. If an image transmission command is input, the process proceeds to step ST22. In step ST22, it is determined whether or not the passenger vehicle V exists in the area specified by the image information transmission command. If the passenger vehicle V exists, the process proceeds to step ST23. In step ST23, 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.
  • step ST21 the process proceeds to step ST24 without performing the processes of steps ST21 to ST23.
  • step ST24 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 ST25 to transmit image information 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 ST26 without performing the process of step ST22.
  • step ST26 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 ST27 is determined. 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 ST28 without performing the process of step ST27.
  • step ST28 based on the position information received from each passenger car V, the passenger car V is not traveling within a predetermined time within a predetermined area that is required to be monitored (not limited to the suspicious location and the priority monitoring area). 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 ST29, 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 ST28, the process returns to step ST11 of FIG. 12A without performing the process of step ST29.
  • the monitoring system 1 of this example selects the monitoring terminal device 10 of a moving body that approaches and / or separates from the monitoring area with the selected monitoring point as a reference, and for the selected monitoring terminal device 10, By outputting an image transmission command for transmitting monitoring information including at least image information, even if the camera 11 mounted on the passenger car V that moves at random is used instead of a predetermined place, the predetermined value is continuously determined. Can continue to monitor the monitoring point. As a result, the central monitoring device 20 can monitor a certain point using the monitoring terminal device 10 mounted on the randomly moving passenger car V.
  • the monitoring terminal device 10 of another passenger car that approaches this monitoring area is selected.
  • the monitoring passenger car V that can image the monitoring point is sequentially moved and continuously selected (hop), so that even if the passenger vehicle V on which the camera 11 is mounted moves, the predetermined monitoring point can be continuously imaged. .
  • the central monitoring device 20 since the central monitoring device 20 outputs an image transmission command including information for designating the imaging direction, the image of the monitoring point is reliably acquired by the camera 11 of the passenger car V in the monitoring area. can do. In addition, since only necessary image information can be transmitted, the amount of transmission data can be reduced.
  • the central monitoring device 20 outputs an image transmission command including information specifying the imaging time, and therefore when a monitoring point is selected after a lapse of time since the incident occurred Even so, the image information before and after the occurrence of the incident can be collected retrospectively by the image transmission command specifying the imaging time before and after the incident occurrence time.
  • the location information of the monitoring terminal device 10 to which the central monitoring device 20 has output the abnormality information is selected as a monitoring point and the monitoring terminal device 10 is narrowed down, so that the location where the abnormality has occurred is continued. Can continue to monitor.
  • the monitoring method of this example has the same operation and effect as the monitoring system including the monitoring terminal device 10 and the central monitoring device 20.
  • the position information of the passenger car V and the image information from the in-vehicle cameras 11a to 11e are acquired.
  • the image information from the fixed camera 11f installed in the city shown in FIG. May be obtained.
  • 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.
  • the in-vehicle camera 11e in the room is acquired. It may be omitted.
  • the number of the four on-vehicle cameras 11a to 11d may be three or less, particularly in an environment where image information can be acquired from many passenger cars V, such as a monitoring area where there is a large amount of traffic.
  • the central control device 21 corresponds to selection means, and the input device 25 corresponds to information acquisition means, abnormality information reception means, and command output means according to the present invention.

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Abstract

This monitoring system (1) is provided with monitoring terminal device (10) and a central monitoring device (20) capable of communicating via a telecommunication network (30). The central monitoring device (20) obtains monitoring information including at least position information outputted from the monitoring terminal device (10), selects a monitoring terminal device (10) in a mobile body which moves to or away from a prescribed monitoring area referenced to a monitoring point selected from the position information included in the obtained monitoring information, and, for the selected monitoring terminal device (10), outputs an image transmission command for transmitting monitoring information including image information.

Description

監視システムMonitoring system
　本発明は、監視システムに関するものである。
　本出願は、２０１２年１月２３日に出願された日本国特許出願の特願２０１２―０１１４４７に基づく優先権を主張するものであり、文献の参照による組み込みが認められる指定国については、上記の出願に記載された内容を参照により本出願に組み込み、本出願の記載の一部とする。 The present invention relates to a monitoring system.
This application claims priority based on Japanese Patent Application No. 2012-011447 filed on Jan. 23, 2012. For designated countries that are allowed 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.
　商店街、店舗の出入り口、家庭の玄関その他の街中に複数の防犯カメラ装置を設置し、当該防犯カメラ装置により撮像された周囲の映像を監視することで、異常の発生を検出する防犯装置が知られている（特許文献１）。 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).
特開２０１１－２１５７６７号公報JP 2011-215767 A
　しかしながら、ランダムに移動する移動体に搭載されたカメラを用いて街中の監視をする場合には、カメラが移動体とともに移動してしまうので、所定地点の映像を継続して取得することができずに、所定地点を継続して監視することができないという問題がある。 However, when monitoring a city using a camera mounted on a moving body that moves at random, the camera moves with the moving body, so it is not possible to continuously acquire images of predetermined points. In addition, there is a problem that a predetermined point cannot be continuously monitored.
　本発明は、移動体に搭載されたカメラを用いる場合であっても、継続して所定の地点を監視することができる監視システムを提供することを目的とする。 An object of the present invention is to provide a monitoring system capable of continuously monitoring a predetermined point even when a camera mounted on a moving body is used.
　本発明は、所定地点を監視するために設定された監視エリアに接近又は離隔する移動体の監視端末装置を選択し、選択された監視端末装置に対して画像情報を含む監視情報を送信する画像送信指令を出力することにより、上記目的を達成する。 The present invention selects a mobile monitoring terminal device that approaches or leaves a monitoring area set for monitoring a predetermined point, and transmits monitoring information including image information to the selected monitoring terminal device. The above object is achieved by outputting a transmission command.
　本発明によれば、監視エリアに接近又は離隔する移動体の監視端末装置に対して画像情報を含む監視情報を送信するように画像送信指令を出力するので、監視端末装置を移動体に搭載する場合であっても、継続して所定の監視地点を監視し続けることができる。この結果、中央監視装置はランダムに動く移動体に搭載された監視端末装置を用いて一定地点の監視を行うことができる。 According to the present invention, since the image transmission command is output so as to transmit the monitoring information including the image information to the monitoring terminal device of the moving body that approaches or separates from the monitoring area, the monitoring terminal device is mounted on the moving body. Even in this case, it is possible to continuously monitor a predetermined monitoring point. As a result, the central monitoring device can monitor a certain point using the monitoring terminal device mounted on the moving body that moves at random.
本発明の一実施の形態に係る監視システムを示す模式図である。1 is a schematic diagram showing a monitoring system according to an embodiment of the present invention. 図１の監視システムを示すブロック図である。It is a block diagram which shows the monitoring system of FIG. 図１の監視システムにおける車載カメラの配置及びその撮像範囲を示す斜視図である。It is a perspective view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. 図１の監視システムにおける車載カメラの配置及びその撮像範囲を示す平面図である。It is a top view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. フロントの車載カメラの撮影画像の一例を示す図である。It is a figure which shows an example of the picked-up image of a front vehicle-mounted camera. 右サイドの車載カメラの撮影画像の一例を示す図である。It is a figure which shows an example of the picked-up image of the right side vehicle-mounted camera. リアの車載カメラの撮影画像の一例を示す図である。It is a figure which shows an example of the picked-up image of a rear vehicle-mounted camera. 左サイドの車載カメラの撮影画像の一例を示す図である。It is a figure which shows an example of the picked-up image of the left side vehicle-mounted camera. 室内の車載カメラの撮影画像の一例を示す図である。It is a figure which shows an example of the picked-up image of an indoor vehicle-mounted camera. 複数の画像に基づいて生成された監視画像の一例を示す図である。It is a figure which shows an example of the monitoring image produced | generated based on the some image. 監視画像の歪み補正処理を説明するための図である。It is a figure for demonstrating the distortion correction process of the monitoring image. 投影モデルの一例を示す模式図である。It is a schematic diagram which shows an example of a projection model. 図１０に示す投影モデルのｘｙ面に沿う断面模式図である。It is a cross-sectional schematic diagram along xy plane of the projection model shown in FIG. 中央監視装置のディスプレイに表示される画像例を示す図である。It is a figure which shows the example of an image displayed on the display of a central monitoring apparatus. 図１の監視システムの監視端末装置側の主たる制御内容を示すフローチャートである。It is a flowchart which shows the main control content by the monitoring terminal device side of the monitoring system of FIG. 図１の監視システムの中央監視装置側の主たる制御内容を示すフローチャート（その１）である。3 is a flowchart (No. 1) showing main control contents on the central monitoring device side of the monitoring system of FIG. 図１の監視システムの中央監視装置側の主たる制御内容を示すフローチャート（その２）である。7 is a flowchart (No. 2) showing main control contents on the central monitoring device side of the monitoring system of FIG. データベースの情報例を示す図である。It is a figure which shows the example of information of a database.
　以下に示す一実施の形態は、本発明に係る監視システムを、街中の治安を警察署や消防署などの当局にて集中監視する監視システム１に具体化したものである。すなわち、複数の移動体のそれぞれの位置情報と、当該移動体の周囲の画像情報と、時刻情報とを所定のタイミングで取得し、これら位置情報と画像情報と時刻情報とを、無線通信を介して、当局に設置された中央監視装置へ送信し、これら位置情報を地図情報上に表示するとともに必要に応じて画像情報と時刻情報とをディスプレイに表示するものである。そのため、本例の監視システム１は、図１に示すように位置情報及び画像情報などの監視情報を取得する監視端末装置１０と、電気通信回線網３０を介して監視情報を取得して処理する中央監視装置２０とを備える。 In the following embodiment, the monitoring system according to the present invention is embodied as a monitoring system 1 that centrally monitors the security of a city by authorities such as a police station and 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 acquires and processes 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.
　図２は、監視端末装置１０及び中央監視装置２０の具体的構成を示すブロック図である。本実施形態の監視システムは、所定の監視地点に関する監視情報を継続的に取得する。 FIG. 2 is a block diagram showing a specific configuration of the monitoring terminal device 10 and the central monitoring device 20. The monitoring system of this embodiment continuously acquires monitoring information regarding a predetermined monitoring point.
　監視端末装置１０は、複数の移動体Ｖに搭載される端末装置であって、これら複数の移動体Ｖのそれぞれの位置情報を検出する位置検出機能と、複数の移動体のそれぞれに装着されたカメラで当該移動体の周囲を撮像して画像情報を生成する画像生成機能と、時刻検出機能と、所定のタイミングで位置情報、画像情報及び時刻情報を取得する情報取得制御機能と、取得された位置情報及び／又は画像情報を含む監視情報を生成する監視情報生成機能と、これら位置情報、画像情報及び時刻情報を中央監視装置２０へ出力するとともに中央監視装置２０からの指令を取得する通信機能と、異常の発生を通報する機能とを有する。そのため、複数の車載カメラ１１ａ～１１ｅ、画像処理装置１２、通信装置１３、車載制御装置１４、位置検出装置１５及び通報ボタン１６を備える。また、本実施形態の監視端末装置１０は、車速センサ１８、ナビゲーション装置１９その他の車載電子機器を集中制御する車両コントローラ１７と情報の授受が可能である。監視端末装置１０は、車速センサ１８、車両コントローラ１７を介して取得した車速情報は監視情報の一部として中央監視装置２０へ送信することができる。なお、時刻情報は主として事象の事後解析に供される情報であるため省略してもよい。 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 generation 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 acquiring a command from the central monitoring apparatus 20 And a function for 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. In addition, the monitoring terminal device 10 according to the present embodiment can exchange information with the vehicle controller 17 that centrally controls the vehicle speed sensor 18, the navigation device 19, and other vehicle-mounted electronic devices. The monitoring terminal device 10 can transmit the vehicle speed information acquired via the vehicle speed sensor 18 and the vehicle controller 17 to the central monitoring device 20 as a part of the monitoring information. Note that the time information is mainly information used for post-event analysis, and may be omitted.
　監視端末装置１０が搭載される移動体Ｖは、目的とする監視領域を走行するものであれば特に限定されず、乗用車、二輪車、産業車両、路面電車などの移動体を含み、乗用車には業務車両Ｖ１や自家用乗用車Ｖ２や緊急乗用車Ｖ３が含まれるが、なかでも特に予め決められた領域をランダム且つ常時走行するタクシーや路線バスＶ１などが好適に含まれる。図１には、タクシーＶ１、自家用乗用車Ｖ２、パトカー、消防車又は救急車などの緊急乗用車Ｖ３を例示するが、これらを総称する場合は移動体Ｖまたは乗用車Ｖという。 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 vehicle V1, the private passenger car V2, and the emergency passenger car V3 are included, but 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.
　それぞれの移動体Ｖには、複数の車載カメラ１１ａ～１１ｅ（以下、総称する場合はカメラ１１という。）、画像処理装置１２、通信装置１３、車載制御装置１４、位置検出装置１５及び通報ボタン１６が搭載されている。カメラ１１は、ＣＣＤカメラなどで構成され、移動体Ｖの周囲を撮像し、その撮像信号を画像処理装置１２へ出力する。画像処理装置１２は、カメラ１１からの撮像信号を読み出し、画像情報に画像処理する。この画像処理の詳細は後述する。 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.
　位置検出装置１５は、ＧＰＳ装置及びその補正装置などで構成され、当該移動体Ｖの現在位置を検出し、車載制御装置１４へ出力する。通報ボタン１６は、車室内に設置された入力ボタンであって、運転手や同乗者がインシデント（事故、火事、犯罪など治安に関する出来事）を発見した際に異常を通報するための情報を入力する手動ボタンである。この情報には、異常を通報した移動体Ｖの位置情報を含めることができる。 The position detection device 15 is composed of a GPS device and its correction device, etc., 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.
　車載制御装置１４は、ＣＰＵ，ＲＯＭ，ＲＡＭにより構成され、通報ボタン１６が押されたときに、画像処理装置１２、通信装置１３及び位置検出装置１５を制御し、画像処理装置１２で生成された画像情報と、位置検出装置１５で検出された移動体Ｖの位置情報と、ＣＰＵが内蔵する時計からの時刻情報とを通信装置１３及び電気通信回線網３０を介して中央監視装置２０へ出力する。また、電気通信回線網３０及び通信装置１３を介して受信された中央監視装置２０から画像送信指令などの情報を要求する指令を取得し、画像処理装置１２、通信装置１３及び位置検出装置１５を制御し、画像処理装置１２で生成された画像情報と、位置検出装置１５で検出された移動体Ｖの位置情報と、ＣＰＵが内蔵する時計からの時刻情報とを含む監視情報を、通信装置１３及び電気通信回線網３０を介して中央監視装置２０へ出力する。なお、車載制御装置１４は、画像情報、位置情報、時刻情報などを含む監視情報を少なくとも所定時間記憶しておくことができる。 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. . Also, a command for requesting information such as an image transmission command is acquired from the central monitoring device 20 received via the telecommunication network 30 and the communication device 13, and the image processing device 12, the communication device 13, and the position detection device 15 are obtained. Monitoring information including image information generated by the image processing device 12, position information of the moving object V detected by the position detection device 15, and time information from a clock built in the CPU is transmitted to the communication device 13. And output to the central monitoring device 20 through the telecommunication network 30. Note that the in-vehicle control device 14 can store monitoring information including image information, position information, time information, and the like for at least a predetermined time.
　通信装置１３は、無線通信が可能な通信手段であり、電気通信回線網３０を介して中央監視装置２０の通信装置２３と情報の授受を実行する。電気通信回線網３０が商用電話回線網である場合は携帯電話通信装置を汎用することができ、電気通信回線網３０が本例の監視システム１の専用電気通信回線網である場合は、それ専用の通信装置１３，２３を用いることができる。なお、電気通信回線網３０に代えて、無線ＬＡＮ、ＷｉＦｉ（登録商標）、ＷｉＭＡＸ（登録商標）、Ｂｌｕｅｔｏｏｔｈ（登録商標）、専用無線回線などを用いることもできる。 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.
　中央監視装置２０は、上述した監視端末装置１０から出力された位置情報及び画像情報を取得する情報取得機能と、取得した監視情報を位置情報と対応づけて少なくとも一時的にデータベース２６に記憶する蓄積機能と、地図データベースからの地図情報を表示するとともに、受信した位置情報を地図情報上に表示制御し、受信した画像情報をディスプレイ２４に表示する表示制御機能と、を有する。また、中央監視装置２０は、データベース２６を参照し、選択された監視地点を基準とする監視エリアに接近及び／又は離隔する乗用車Ｖの監視端末装置１０を選択する選択機能と、選択した監視端末装置１０に対して、画像情報を少なくとも含み、必要に応じて位置情報、時刻情報を含む監視情報を送信する画像送信指令を出力する指令出力機能とを有する。また、本実施形態の選択機能は、監視エリアに接近及び／又は離隔する乗用車Ｖを選択する際に、乗用車Ｖが移動するに伴って対象となる乗用車Ｖを次々と遷移させる（hop）機能を有する。具体的に、中央監視装置２０は、先に選択した乗用車Ｖが監視エリアを通過する場合には、この監視エリアに接近する別の乗用車Ｖの監視端末装置１０を選択する。 The central monitoring device 20 stores an information acquisition function for acquiring the position information and image information output from the monitoring terminal device 10 described above, and stores the acquired monitoring information in the database 26 at least temporarily in association with the position information. And a display control function for displaying the map information from the map database, controlling the received position information on the map information, and displaying the received image information on the display 24. The central monitoring device 20 refers to the database 26, selects a monitoring terminal device 10 of the passenger car V that approaches and / or separates from the monitoring area based on the selected monitoring point, and the selected monitoring terminal. The apparatus 10 has a command output function that outputs an image transmission command that includes at least image information and transmits monitoring information including position information and time information as necessary. Further, the selection function of the present embodiment has a function of hopping the target passenger car V one after another as the passenger car V moves when the passenger car V that approaches and / or separates from the monitoring area is selected. Have. Specifically, when the previously selected passenger vehicle V passes through the monitoring area, the central monitoring device 20 selects the monitoring terminal device 10 of another passenger vehicle V that approaches this monitoring area.
　中央制御装置２１は、ＣＰＵ，ＲＯＭ，ＲＡＭにより構成され、画像処理装置２２、通信装置２３及びディスプレイ２４を制御して、監視端末装置１０から送信された位置情報、画像情報及び時刻情報を受信し、必要に応じて画像処理を施したうえでディスプレイ２４に表示する。 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.
　画像処理装置２２は、地図データベースを有し、当該地図データベースからの地図情報をディスプレイ２４に表示するとともに、監視端末装置１０の位置検出装置１５により検出された位置情報を当該地図情報上に重畳表示する。また、監視端末装置１０の車載カメラ１１で撮像され、画像処理装置１２で処理された画像情報をディスプレイ２４に表示するための画像処理を施す。 The image processing device 22 has a map database, displays map information from the map database on the display 24, and superimposes and displays 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.
　ディスプレイ２４は、たとえば一つの画面上に２つのウィンド画面が表示できる大きさの液晶表示装置又は２つのウィンド画面をそれぞれ表示する２つの液晶表示装置により構成することができる。そして、一方のウィンド画面には、地図情報上に各移動体Ｖの位置情報を重ね合わせた画面を表示し（図１参照）、他方のウィンド画面には、車載カメラ１１で撮像された映像に係る画像情報を表示する。 The display 24 can be composed of, for example, 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. 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.
　入力装置２５は、キーボード又はマウスで構成され、所望の移動体Ｖに対して出力される情報取得指令を入力したり、ディスプレイ２４に表示される各種情報の処理指令を入力したりする場合に用いられる。先述した監視端末装置１０の選択処理において、監視エリア領域の基準となる監視地点は入力装置２５を介して監視者が入力することもできる。特に限定されないが、監視者は、地図情報上に重畳表示された各地点のアイコンをクリック(選択入力)することにより監視地点を指定し、この監視地点を基準とする監視エリアを設定することができる。もちろん、監視者は、任意の監視地点を基準として、地図情報上に重畳表示された各地点を連続的に選択入力することにより選択された複数の地点に囲まれる監視エリアを設定することができる。 The input device 25 is constituted by a keyboard or a mouse, and is used when inputting an information acquisition command output to a desired moving body V or inputting various information processing commands displayed on the display 24. It is done. In the above-described selection process of the monitoring terminal device 10, the monitoring point serving as the reference for the monitoring area can be input by the monitor via the input device 25. Although not particularly limited, the monitor can specify a monitoring point by clicking (selecting and inputting) the icon of each point superimposed on the map information, and set a monitoring area based on this monitoring point. it can. Of course, the monitor can set a monitoring area surrounded by a plurality of selected points by continuously selecting and inputting each point superimposed and displayed on the map information on the basis of an arbitrary monitoring point. .
　通信装置２３は、無線通信が可能な通信手段であり、電気通信回線網３０を介して監視端末装置１０の通信装置１３と情報の授受を実行する。電気通信回線網３０が商用電話回線網である場合は携帯電話通信装置を汎用することができ、電気通信回線網３０が本例の監視システム１の専用電気通信回線網である場合は、それ専用の通信装置１３，２３を用いることができる。 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.
　次に車載カメラ１１ａ～１１ｅの装着位置と撮像範囲について説明する。ここでは移動体Ｖとして乗用車Ｖを例に挙げて説明する。カメラ１１ａ～１１ｅはＣＣＤ等の撮像素子を用いて構成され、４つの車載カメラ１１ａ～１１ｄは乗用車Ｖの外部の異なる位置にそれぞれ設置され、車両周囲の４方向をそれぞれ撮影する。本実施形態のカメラ１は、被写体を拡大して撮像するズームアップ機能を備え、制御指令に従って任意に焦点距離を変更し、又は制御指令に従って任意に撮像倍率を変更することができる。 Next, the 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 image sensor 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 this embodiment has a zoom-up function for enlarging and imaging a subject, and can arbitrarily change the focal length according to the control command, or can arbitrarily change the imaging magnification according to the control command.
　例えば、図３に示すように、フロントグリル部分などの乗用車Ｖの前方の所定位置に設置された車載カメラ１１ａは、乗用車Ｖの前方のエリアＳＰ１内及びその前方の空間に存在する物体又は路面（フロントビュー）を撮影する。また、左サイドミラー部分などの乗用車Ｖの左側方の所定位置に設置された車載カメラ１１ｂは、乗用車Ｖの左側方のエリアＳＰ２内及びその周囲の空間に存在する物体又は路面（左サイドビュー）を撮影する。また、リアフィニッシャー部分やルーフスポイラー部分などの乗用車Ｖの後方部分の所定位置に設置された車載カメラ１１ｃは、乗用車Ｖの後方のエリアＳＰ３内及びその後方の空間に存在する物体又は路面（リアビュー）を撮影する。また、右サイドミラー部分などの乗用車Ｖの右側方の所定位置に設置された車載カメラ１１ｄは、乗用車Ｖの右側方のエリアＳＰ４内及びその周囲の空間に存在する物体又は路面（右サイドビュー）を撮影する。なお、図３には図示を省略したが、１つの車載カメラ１１ｅは、乗用車の室内の例えば天井部に設置され、図４に示すように室内のエリアＳＰ５を撮像し、タクシーの無賃乗車や強盗などの犯罪防止又は犯罪通報に供される。 For example, as shown in FIG. 3, 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 the right side mirror portion is an object or road surface (right side view) that exists in the area SP4 on the right side of the passenger car V and in the surrounding space. Shoot. Although not shown in FIG. 3, one in-vehicle camera 11e is installed, for example, on the ceiling of a passenger car, and images the area SP5 in the passenger compartment as shown in FIG. Used for crime prevention or crime reporting.
　図４は、各車載カメラ１１ａ～１１ｅの配置を乗用車Ｖの上空から見た図である。同図に示すように、エリアＳＰ１を撮像する車載カメラ１１ａ、エリアＳＰ２を撮像する車載カメラ１１ｂ、エリアＳＰ３を撮像する車載カメラ１１ｃ、エリアＳＰ４を撮像する車載カメラ１１ｄの４つは、乗用車Ｖのボディの外周ＶＥに沿って左回り（反時計回り）又は右回り（時計回り）に沿って設置されている。つまり、同図に矢印Ｃで示す左回り（反時計回り）に乗用車Ｖのボディの外周ＶＥに沿って見ると、車載カメラ１１ａの左隣りに車載カメラ１１ｂが設置され、車載カメラ１１ｂの左隣りに車載カメラ１１ｃが設置され、車載カメラ１１ｃの左隣りに車載カメラ１１ｄが設置され、車載カメラ１１ｄの左隣りに車載カメラ１１ａが設置されている。逆に同図に示す矢印Ｃの方向とは反対に（時計回り）に乗用車Ｖのボディの外周ＶＥに沿って見ると、車載カメラ１１ａの右隣りに車載カメラ１１ｄが設置され、車載カメラ１１ｄの右隣りに車載カメラ１１ｃが設置され、車載カメラ１１ｃの右隣りに車載カメラ１１ｂが設置され、車載カメラ１１ｂの右隣りに車載カメラ１１ａが設置されている。 FIG. 4 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.
　図５Ａは、フロントの車載カメラ１１ａがエリアＳＰ１を撮像した画像ＧＳＰ１の一例を示し、図５Ｂは、左サイドの車載カメラ１１ｂがエリアＳＰ２を撮像した画像ＧＳＰ２の一例を示し、図５Ｃは、リアの車載カメラ１１ｃがエリアＳＰ３を撮像した画像ＧＳＰ３の一例を示し、図５Ｄは、右サイドの車載カメラ１１ｄがエリアＳＰ４を撮像した画像ＧＳＰ４の一例を示し、図５Ｅは、室内の車載カメラ１１ｅが室内エリアＳＰ５を撮像した画像ＧＳＰ５の一例を示す画像図である。ちなみに、各画像のサイズは、縦４８０ピクセル×横６４０ピクセルである。画像サイズは特に限定されず、一般的な端末装置で動画再生が可能なサイズであればよい。 5A shows an example of an image GSP1 in which the front in-vehicle camera 11a images the area SP1, FIG. 5B shows an example of an image GSP2 in which the left-side in-vehicle camera 11b images the area SP2, and FIG. 5D shows an example of an image GSP3 in which the area SP3 is imaged, FIG. 5D shows an example of an image GSP4 in which the right-side in-vehicle camera 11d images the area SP4, and FIG. 5E 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.
　なお、車載カメラ１１の配置数及び配置位置は、乗用車Ｖの大きさ、形状、検出領域の設定手法等に応じて適宜に決定することができる。上述した複数の車載カメラ１１は、それぞれの配置に応じた識別子が付されており、車載制御装置１４は、各識別子に基づいて各車載カメラ１１のそれぞれを識別することができる。また、車載制御装置１４は、指令信号に識別子を付することにより、特定の車載カメラ１１に撮像指令その他の指令を送信することができる。 It should be noted that the number and position of the in-vehicle camera 11 can be appropriately determined 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 transmit an imaging command and other commands to a specific vehicle-mounted camera 11 by attaching an identifier to the command signal.
　車載制御装置１４は、画像処理装置１２を制御して車載カメラ１１によって撮像された撮像信号をそれぞれ取得し、画像処理装置１２は、各車載カメラ１１からの撮像信号を処理して図５Ａ～図５Ｅに示す画像情報に変換する。そして、車載制御装置１４は、図５Ａ～図５Ｄに示す４つの画像情報に基づいて監視画像を生成するとともに（画像生成機能）、この監視画像を柱体の投影モデルの側面に設定された投影面に投影するためのマッピング情報を監視画像に対応づけ（マッピング情報付加機能）、中央監視装置２０へ出力する。以下、画像生成機能とマッピング情報付加機能について詳述する。 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. It is converted into image information shown in 5E. Then, the in-vehicle control device 14 generates a monitoring image based on the four pieces of image information shown in FIGS. 5A to 5D (image generation function), and the monitoring image is projected on the side of the projection model of the columnar body. 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.
　なお、乗用車Ｖの周囲を撮像した４つの画像情報に基づいて監視画像を生成し、これにマッピング情報を関連付ける処理は、本例のように監視端末装置１０で実行するほか、中央監視装置２０で実行することもできる。この場合には、乗用車Ｖの周囲を撮像した４つの画像情報を監視端末装置１０から中央監視装置２０へそのまま送信し、これを中央監視装置２０の画像処理装置２２及び中央制御装置２１にて監視画像を生成するとともにマッピング情報を関連付け、投影変換すればよい。 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.
　まず、画像生成機能について説明する。本実施形態の監視端末装置１０の車載制御装置１４は、画像処理装置１２を制御して各車載カメラ１１ａ～１１ｅの撮像信号をそれぞれ取得し、さらに乗用車Ｖのボディの外周に沿って右回り又は左回りの方向に設置された車載カメラ１１ａ～１１ｄの画像情報がこれらの車載カメラ１１ａ～１１ｄの設置順に配置されるように、一枚の監視画像を生成する。 First, the image generation function will be described. The in-vehicle control device 14 of the monitoring terminal device 10 of the present embodiment controls the image processing device 12 to acquire the imaging signals of the in-vehicle cameras 11a to 11e, respectively, and further clockwise or 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 order of installation of these in-vehicle cameras 11a to 11d.
　上述したように、本実施形態において、４つの車載カメラ１１ａ～１１ｄは乗用車Ｖのボディの外周ＶＥに沿って左回り（反時計回り）にカメラ１１ａ、１１ｂ、１１ｃ、１１ｄの順に設置されているので、車載制御装置１４は、これらの車載カメラ１１ａ～１１ｄの設置の順序（車載カメラ１１ａ→１１ｂ→１１ｃ→１１ｄ）に従って、各車載カメラ１１ａ～１１ｄが撮像した４枚の画像が一体となるように水平方向に繋げ、一枚の監視画像を生成する。本実施形態の監視画像において、各画像は乗用車Ｖの接地面(路面)が下辺となるように配置され、各画像は路面に対して高さ方向（垂直方向）の辺で互いに接続される。 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 (counterclockwise) 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 order of installation 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.
　図６は、監視画像Ｋの一例を示す図である。同図に示すように、本実施形態の監視画像Ｋは、図面左側から図面右側へ向かう方向Ｐに沿って、フロントの車載カメラ１１ａがエリアＳＰ１を撮像した撮像画像ＧＳＰ１、左サイドの車載カメラ１１ｂがエリアＳＰ２を撮像した撮像画像ＧＳＰ２、リアの車載カメラ１１ｃがエリアＳＰ３を撮像した撮像画像ＧＳＰ３、及び右サイドの車載カメラ１１ｄがエリアＳＰ４を撮像した撮像画像ＧＳＰ４が、水平方向にこの順序で並べて配置され、これら４つの画像が一連の画像とされている。このように生成された監視画像Ｋを、路面(車両の接地面)に対応する画像を下にして左端から右側へ順番に表示することにより、監視者は、車両Ｖの周囲を反時計回りに見回したのと同様にディスプレイ２４上で視認することができる。 FIG. 6 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.
　なお、一つの監視画像Ｋを生成する際には、各車載カメラ１１ａ～１１ｄの撮影タイミングを略同時にして取得した４つの画像が用いられる。これにより、監視画像Ｋに含まれる情報を同期させることができるので、所定タイミングにおける車両周囲の状況を正確に表現することができる。 It should be noted that when one monitoring image K is generated, four images acquired at substantially the same time as the photographing 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.
　また、カメラの撮像タイミングが略同時である各撮像画像から生成した監視画像Ｋを経時的に記憶し、所定の単位時間あたりに複数の監視画像Ｋが含まれる動画の監視画像Ｋを生成するようにしてもよい。撮像タイミングが同時の画像に基づいて動画の監視画像Ｋを生成することにより、車両周囲の状況の変化を正確に表現することができる。 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.
　ところで、各撮像領域の画像をそれぞれ経時的に記憶し、各撮像領域ごとに生成した動画の監視画像Ｋを中央監視装置２０へ送信した場合には、中央監視装置２０の機能によっては、複数の動画を同時に再生できない場合がある。このような従来の中央監視装置２０においては、複数の動画を同時に再生表示することができないため、各動画を再生する際には画面を切り替えて動画を一つずつ再生しなければならない。つまり、従来の中央監視装置２０では、複数方向の映像（動画）を同時に見ることができず、車両周囲の全体を一画面で監視することができないという不都合がある。 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.
　これに対して本実施形態の車載制御装置１４は、複数の画像から一つの監視画像Ｋを生成するので、中央監視装置２０の機能にかかわらず、異なる撮像方向の画像を同時に動画再生することができる。つまり、監視画像Ｋを連続して再生（動画再生）することにより、監視画像Ｋに含まれる４枚の画像を同時に連続して再生（動画再生）し、方向の異なる領域の状態変化を一画面で監視することができる。 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 reproducing the monitoring image K (moving image reproduction), four images included in the monitoring image K are simultaneously reproduced (moving image reproduction), and the state change of the regions in different directions is displayed on one screen. Can be monitored.
　また、本実施形態の監視端末装置１０は、監視画像Ｋの画素数が各車載カメラ１１ａ～１１ｄの画像の画素数と略同一になるように画像のデータ量を圧縮して監視画像Ｋを生成することもできる。図５Ａ～図５Ｄに示す各画像のサイズは４８０×６４０ピクセルであるのに対し、本実施形態では、図６に示すように監視画像Ｋのサイズが１２８０×２４０ピクセルとなるように圧縮処理を行う。これにより、監視画像Ｋのサイズ（１２８０×２４０＝３０７，２００ピクセル）が、各画像のサイズ（４８０×６４０×４枚＝３０７，２００ピクセル）と等しくなるので、監視画像Ｋを受信した中央監視装置２０側の機能にかかわらず、画像処理及び画像再生を行うことができる。 In addition, the monitoring terminal device 10 of the present embodiment generates the monitoring image K by compressing the data amount of the image 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. 5A to 5D is 480 × 640 pixels, in this embodiment, compression processing is performed so that the size of the monitoring image K is 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.
　さらに、本実施形態の車載制御装置１４は、配置された各画像の境界を示す線図形を、監視画像Ｋに付することもできる。図６に示す監視画像Ｋを例にすると、車載制御装置１４は、配置された各画像の境界を示す線図形として、各画像の間に矩形の仕切り画像Ｂｂ，Ｂｃ，Ｂｄ，Ｂａ，Ｂａ´を監視画像Ｋに付することができる。このように、４つの画像の境界に仕切り画像を配置することにより、一連にされた監視画像Ｋの中で、撮像方向が異なる各画像をそれぞれ別個に認識させることができる。つまり、仕切り画像は各撮像画像の額縁として機能する。また、各撮像画像の境界付近は画像の歪みが大きいので、撮像画像の境界に仕切り画像を配置することにより、歪みの大きい領域の画像を隠すことや、歪みが大きいことを示唆することができる。 Furthermore, the in-vehicle control device 14 of the present embodiment can also attach a line figure indicating the boundary of each arranged image to the monitoring image K. Taking the monitoring image K shown in FIG. 6 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. .
　また、本実施形態の車載制御装置１４は、後述する投影モデルの側面に設定された投影面に４つの画像を投影させた場合の歪みを補正してから、監視画像Ｋを生成することもできる。撮影された画像の周辺領域は画像の歪みが生じやすく、特に広角レンズを用いた車載カメラ１１である場合には撮像画像の歪みが大きくなる傾向があるため、画像の歪みを補正するために予め定義された画像変換アルゴリズムと補正量とを用いて、撮像画像の歪みを補正することが望ましい。 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.
　特に限定されないが、車載制御装置１４は、図７に示すように、中央監視装置２０において監視画像Ｋを投影させる投影モデルと同じ投影モデルの情報をＲＯＭから読み出し、この投影モデルの投影面に撮像画像を投影し、投影面において生じた歪みを予め補正することもできる。なお、画像変換アルゴリズムと補正量は車載カメラ１１の特性、投影モデルの形状に応じて適宜定義することができる。このように、投影モデルの投影面に関し画像Ｋを投影した場合の歪みを予め補正しておくことにより、歪みの少ない視認性の良い監視画像Ｋを提供することができる。また、歪みを予め補正しておくことにより、並べて配置された各画像同士の位置ズレを低減させることができる。 Although not particularly limited, as shown in FIG. 7, the in-vehicle control device 14 reads out the same projection model information 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.
　次に、マッピング情報付加機能について説明する。本実施形態の監視端末装置１０において、車載制御装置１４は、乗用車Ｖの接地面を底面とする柱体の投影モデルＭの側面に設定された投影面に、生成された監視画像Ｋを投影するためのマッピング情報を監視画像Ｋに対応づける処理を実行する。マッピング情報は、監視画像Ｋを受信した中央監視装置２０に、容易に投影基準位置を認識させるための情報である。図８は本実施形態の投影モデルＭの一例を示す図、図９は図８に示す投影モデルＭのｘｙ面に沿う断面模式図である。 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. 8 is a diagram showing an example of the projection model M of the present embodiment, and FIG. 9 is a schematic sectional view taken along the xy plane of the projection model M shown in FIG.
　図８，９に示すように、本実施形態の投影モデルＭは、底面が正八角形で、鉛直方向（図中ｚ軸方向）に沿って高さを有する正八角柱体である。なお、投影モデルＭの形状は、底面の境界に沿って隣接する側面を有する柱体であれば特に限定されず、円柱体、若しくは三角柱体、四角柱体、六角柱体などの角柱体、又は底面が多角形で側面が三角形の反角柱体とすることもできる。 8 and 9, the projection model M of this 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.
　また、同図に示すように、本実施形態の投影モデルＭの底面は乗用車Ｖの接地面と平行である。また、投影モデルＭの側面の内側面には、投影モデルＭの底面に接地する乗用車Ｖの周囲の映像を映し出す投影面Ｓａ，Ｓｂ，Ｓｃ，Ｓｄ（以下、投影面Ｓと総称する。）が設定されている。投影面Ｓは、投影面Ｓａの一部と投影面Ｓｂの一部、投影面Ｓｂの一部と投影面Ｓｃの一部、投影面Ｓｃの一部と投影面Ｓｄの一部、投影面Ｓｄの一部と投影面Ｓａの一部により構成することもできる。監視画像Ｋは、乗用車Ｖを取り囲む投影モデルＭの上方の視点Ｒ（Ｒ１～Ｒ８、以下、視点Ｒと総称する。）から乗用車Ｖを俯瞰した映像として投影面Ｓに投影される。 Also, as shown in the figure, the bottom surface of the projection model M of this 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 on the projection plane S as an image of the passenger car V viewed from above the viewpoint R (R1 to R8, hereinafter referred to as viewpoint R) above the projection model M surrounding the passenger car V.
　本実施形態の車載制御装置１４は、右端又は左端に配置された撮像画像の基準座標を、マッピング情報として監視画像Ｋに対応づける。図６に示す監視画像Ｋを例にすると、車載制御装置１４は、投影モデルＭに投影される際の、監視画像Ｋの始端位置又は終端位置を示すマッピング情報（基準座標）として、右端に配置された撮像画像ＧＳＰ１の左上頂点の座標Ａ（ｘ、ｙ）と、左端に配置された撮像画像ＧＳＰ２の右上頂点の座標Ｂ（ｘ、ｙ）とを監視画像Ｋに付する。なお、始端位置又は終端位置を示す撮像画像の基準座標は特に限定されず、左端に配置された監視画像Ｋの左下頂点、又は右端に配置された監視画像Ｋの右下頂点としてもよい。またマッピング情報は、監視画像Ｋの画像データの各画素に付してもよいし、監視画像Ｋとは別のファイルとして管理してもよい。 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. 6 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.
　このように、監視画像Ｋの始端位置又は終端位置を示す情報、つまり投影処理において基準とする基準座標をマッピング情報として監視画像Ｋに対応づけることにより、監視画像Ｋを受信した中央監視装置２０が、容易に投影処理時における基準位置を認識することができるので、車載カメラ１１ａ～１１ｄの配置順に並べられた監視画像Ｋを、投影モデルＭの側面の投影面Ｓに容易且つ迅速に順次投影することができる。すなわち、図９に示すように車載カメラ１１ａの撮像方向に位置する投影面Ｓａに車両前方の撮像画像ＧＳＰ１を投影し、車載カメラ１１ｂの撮像方向に位置する投影面Ｓｂに車両右側方の撮像画像ＧＳＰ２を投影し、車載カメラ１１ｃの撮像方向に位置する投影面Ｓｃに車両後方の撮像画像ＧＳＰ３を投影し、車載カメラ１１ｄの撮像方向に位置する投影面Ｓｄに車両左側方の撮像画像ＧＳＰ４を投影することができる。 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 order in which the in-vehicle cameras 11a to 11d are arranged are projected sequentially and easily on the projection surface S on the side surface of the projection model M. be able to. That is, as shown in FIG. 9, 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.
　これにより、投影モデルＭに投影された監視画像Ｋは、あたかも乗用車Ｖの周囲を見回したときに見える映像を示すことができる。つまり、車載カメラ１１ａ～１１ｄの設置順序に応じて水平方向一列に配置された４つの画像を含む監視画像Ｋは、投影モデルＭの柱体において、同じく水平方向に並ぶ側面に投影されるので、柱体の投影モデルＭの投影面Ｓに投影された監視画像Ｋに、乗用車Ｖの周囲の映像をその位置関係を維持したまま再現することができる。 Thereby, the monitoring image K projected on the projection model M can show an image that can be seen as if looking around the passenger car V. That is, since the monitoring image K including 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 arranged in the horizontal direction in the column of the projection model M. An image around the passenger car V can be reproduced in the monitoring image K projected on the projection surface S of the projection model M of the columnar body while maintaining the positional relationship.
　なお、本実施形態の車載制御装置１４は、監視画像Ｋの各座標値と投影モデルＭの各投影面Ｓの座標値との対応関係をマッピング情報として記憶し、監視画像Ｋに付することができるが、中央監視装置２０に予め記憶させてもよい。 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.
　また、図８，９に示す視点Ｒ、投影面Ｓの位置は例示であり、任意に設定することができる。特に、視点Ｒは、操作者の操作によって変更可能である。視点Ｒと監視画像Ｋの投影位置との関係は予め定義されており、視点Ｒの位置が変更された場合には所定の座標変換を実行することにより、新たに設定された視点Ｒから見た監視画像Ｋを投影面Ｓ（Ｓａ～Ｓｄ）に投影することができる。この視点変換処理には公知の手法を用いることができる。 Further, the positions of the viewpoint R and the projection plane S shown in FIGS. 8 and 9 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.
　以上のように、本実施形態の車載制御装置１４は、所定タイミングで撮影された画像情報に基づいて監視画像Ｋを生成し、この監視画像Ｋにマッピング情報、基準座標、境界を示す線図形（仕切り画像）の情報を対応づけ、撮像タイミングに従って経時的に記憶する。特に限定されないが、車載制御装置１４は、所定の単位時間あたりに複数の監視画像Ｋを含む一つの動画ファイルとして監視画像Ｋを記憶してもよいし、ストリーミング方式で転送・再生が可能な形態で監視画像Ｋを記憶してもよい。 As described above, the in-vehicle control device 14 according to the present embodiment generates the monitoring image K based on the 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
　中央監視装置２０の通信装置２３は、監視端末装置１０から送信された監視画像Ｋとこの監視画像Ｋに対応づけられたマッピング情報を受信する。また、室内の車載カメラ１１ｅにて撮影された画像情報は別途受信する。この監視画像Ｋは、上述したとおり乗用車Ｖのボディの異なる位置に設置された４つの車載カメラ１１の画像が、乗用車Ｖのボディの外周に沿って右回り又は左回りの方向に沿って設置された車載カメラ１１ａ～１１ｄの設置順序（車両Ｖのボディの外周に沿う右回り又は左回りの順序）に従って配置されたものである。また、この監視画像Ｋには、監視画像Ｋを八角柱体の投影モデルＭの投影面Ｓに投影させるためのマッピング情報が対応づけられている。通信装置２３は取得した監視画像Ｋ及びマッピング情報を画像処理装置２２へ送信する。 The communication device 23 of the central monitoring device 20 receives the monitoring image K transmitted from the monitoring terminal device 10 and the mapping information associated with the monitoring image K. 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 transmits the acquired monitoring image K and mapping information to the image processing device 22.
　画像処理装置２２は、予め記憶している投影モデルＭを読み出し、マッピング情報に基づいて、図８及び図９に示す乗用車Ｖの接地面を底面とする八角柱体の投影モデルＭの側面に設定された投影面Ｓａ～Ｓｄに監視画像Ｋを投影させた表示画像を生成する。具体的には、マッピング情報に従い、受信した監視画像Ｋの各画素を、投影面Ｓａ～Ｓｄの各画素に投影する。また、画像処理装置２２は、監視画像Ｋを投影モデルＭに投影する際に、監視画像Ｋと共に受信した基準座標に基づいて、監視画像Ｋの開始点(監視画像Ｋの右端又は左端)を認識し、この開始点が予め投影モデルＭ上に定義された開始点(投影面Ｓの右端又は左端)と合致するように投影処理を行う。また、画像処理装置２２は、監視画像Ｋを投影モデルＭに投影する際に、各画像の境界を示す線図形(仕切り画像)を投影モデルＭ上に配置する。仕切り画像は、予め投影モデルＭに付しておくこともでき、投影処理後に監視画像Ｋに付すこともできる。 The image processing apparatus 22 reads the projection model M stored in advance, and sets it on the side surface of the octagonal prism projection model M with the ground contact surface of the passenger car V shown in FIGS. 8 and 9 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.
　ディスプレイ２４は、投影モデルＭの投影面Ｓに投影した監視画像Ｋを表示する。図１０は、監視画像Ｋの表示画像の一例を示す。なお、マウスやキーボードなどの入力装置２５又はディスプレイ２４をタッチパネル式の入力装置２５とすることで、監視者の操作により視点を自在に設定・変更することができる。視点位置と投影面Ｓとの対応関係は上述の画像処理装置２２又はディスプレイ２４において予め定義されているので、この対応関係に基づいて、変更後の視点に応じた監視画像Ｋをディスプレイ２４に表示することができる。 The display 24 displays the monitoring image K projected on the projection plane S of the projection model M. FIG. 10 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.
　次に本実施形態に係る監視システム１の動作について説明する。図１１は監視端末装置１０側の動作を示すフローチャート、図１２Ａ，１２Ｂは中央監視装置２０側の動作を示すフローチャート、図１３はデータベースの情報例を示す図である。 Next, the operation of the monitoring system 1 according to this embodiment will be described. FIG. 11 is a flowchart showing the operation on the monitoring terminal device 10 side, FIGS. 12A and 12B are flowcharts showing the operation on the central monitoring device 20 side, and FIG. 13 is a diagram showing an example of database information.
　図１１に示すように、監視端末装置１０においては、所定の時間間隔（同図に示す１ルーチン）で車載カメラ１１から周囲の映像と室内の映像を取得し、画像処理装置１２によって画像情報に変換する（ステップＳＴ１）。また、ＧＰＳを備える位置検出装置１５から当該監視端末装置１０が搭載された乗用車Ｖの現在位置情報を検出する（ステップＳＴ２）。 As shown in FIG. 11, in the monitoring terminal device 10, surrounding video and indoor video are acquired from the in-vehicle camera 11 at a predetermined time interval (one routine shown in FIG. 11), and the image processing device 12 converts the video information into image information. 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 having GPS (step ST2).
　ステップＳＴ３では、異常を通報する通報ボタン１６が押されたか否かを判断し、通報ボタン１６が押された場合はステップＳＴ４へ進み、ステップＳＴ１にて取得した画像情報と、ステップＳＴ２で取得した位置情報と、ＣＰＵの時刻情報とを関連付け、これらを、異常が発生した旨の異常情報とともに、監視情報として通信装置１３及び電気通信回線網３０を介して中央監視装置２０へ送信する。これにより、事故、犯罪などの治安に関する異常が発生したことを、乗用車Ｖの位置情報と、乗用車Ｖの周囲の画像情報と共に中央監視装置２０へ自動送信されるので、街中の監視がより一層強化されることになる。なお、本例では最初のステップＳＴ１及びＳＴ２において画像情報と位置情報とを取得するが、ステップＳＴ３とＳＴ４との間のタイミングでこれら画像情報と位置情報とを取得してもよい。 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 as monitoring information to the central monitoring device 20 via the communication device 13 and the telecommunications 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.
　ステップＳＴ３に戻り、通報ボタン１６が押されていない場合はステップＳＴ５へ進み、中央監視装置２０と通信し、制御指令を取得する。 Returning to step ST3, if the report button 16 has not been pressed, the process proceeds to step ST5 to communicate with the central monitoring device 20 and obtain a control command.
　続いて、ステップＳＴ６において、監視端末装置１０は、中央監視装置２０から画像送信指令を取得したか否かを判断し、画像送信指令を取得した場合にはステップＳＴ７へ進み、画像情報、位置情報、時刻情報を含む監視情報を中央監視装置２０に送信する。また、画像送信指令に記憶指令が含まれている場合には画像情報、位置情報、時刻情報を記憶する。 Subsequently, in step ST6, the monitoring terminal device 10 determines whether or not an image transmission command has been acquired from the central monitoring device 20, and if an image transmission command has been acquired, the process proceeds to step ST7 where image information and position information are acquired. The monitoring information including the time information is transmitted to the central monitoring device 20. Further, when a storage command is included in the image transmission command, image information, position information, and time information are stored.
　ステップＳＴ６に戻り、中央監視装置２０から画像送信指令を取得しない場合であっても、ステップＳＴ８において乗用車Ｖが予め定義された重点監視領域に存在する場合には、ステップＳＴ１０へ進み、画像情報を含む監視情報を送信する。他方、画像送信指令を取得せず、重点監視領域でもない場合には、ステップＳＴ９へ進み、画像情報を含まない監視情報、つまり時刻情報、位置情報を中央監視装置２０へ送信する。 Returning to step ST6, even if the image transmission command is not acquired from the central monitoring device 20, if the passenger vehicle V is present in the pre-defined priority monitoring area in step ST8, the process proceeds to step ST10 and the image information is obtained. Send monitoring information including. On the other hand, if the image transmission command is not acquired and it is not the priority monitoring area, the process proceeds to step ST9, and monitoring information not including image information, that is, time information and position information is transmitted to the central monitoring device 20.
　図１２ＡのステップＳＴ１１では、すべての乗用車Ｖから位置情報、時刻情報を取得し、データベース２６に少なくとも一時的に蓄積する。図１３は、データベース２６に蓄積される情報の一例を示す図である。図１３に示すように、乗用車Ｖ（監視端末装置１０）から取得された画像情報、位置情報、時刻情報を含む監視情報は、位置情報に対応づけて記憶されている。つまり、位置情報を指定すると、一連の監視情報を呼び出すことができる。また、この監視情報には、監視端末装置１０を特定するための移動体ＩＤ（監視端末装置ＩＤ）を含ませることができる。移動体ＩＤは監視端末装置１０の通信装置１３のアドレスであってもよい。 In step ST11 of FIG. 12A, position information and time information are acquired from all the passenger cars V, and at least temporarily stored in the database 26. FIG. 13 is a diagram illustrating an example of information stored in the database 26. As shown in FIG. 13, monitoring information including image information, position information, and time information acquired from the passenger car V (monitoring terminal device 10) is stored in association with the position information. That is, if position information is designated, a series of monitoring information can be called. The monitoring information can include a mobile body ID (monitoring terminal device ID) for specifying the monitoring terminal device 10. The mobile object ID may be the address of the communication device 13 of the monitoring terminal device 10.
　ステップＳＴ１２において、ステップＳＴ１１で取得した位置情報に基づいて乗用車Ｖを、ディスプレイ２４に表示された地図データベースの地図情報上に図１の左上に示すように表示する。乗用車Ｖの位置情報は、図１１の１ルーチン毎の所定のタイミングにて取得され送信されるので、監視者は乗用車Ｖの現在位置をタイムリーに把握することができる。 In step ST12, based on the position information acquired in step ST11, the passenger car V is displayed on the map information of the map database displayed on the display 24 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. 11, the supervisor can grasp the current position of the passenger car V in a timely manner.
　ステップＳＴ１３では、乗用車Ｖの監視端末装置１０から通報される異常情報、すなわち事故、犯罪などの治安に関する異常が発生した旨の通報を受信したか否かを判断する。この異常情報は、乗用車Ｖの搭乗者が監視端末装置１０の通報ボタン１６を押すことで出力される。 In step ST13, it is determined whether or not abnormality information notified from the monitoring terminal device 10 of the passenger car 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.
　異常情報がある場合は、ステップＳＴ１４にて異常情報が出力された乗用車Ｖを特定し、その乗用車の監視端末装置１０から画像情報および時刻情報を受信し、画像情報をディスプレイ２４に表示する。また、図１左上に示すように、地図情報上に表示されたその乗用車を他の乗用車と識別できるように色彩を変更するなど、強調表示を行う。これにより、異常が発生した位置を地図情報上で視認することができるとともに、異常内容をディスプレイ２４にて把握することができる。なお、ステップＳＴ１３～ステップ２０までの処理は、異常情報が通報された場合を例にした処理であり、異常情報を通報した乗用車Ｖの存在位置が監視地点として選択されるが、異常情報が通報されず、監視者が任意に監視すべき場所を指定した場合であっても同様にステップＳＴ１３～ステップ２０までの処理を実行することができる。この場合は、監視者が指定した場所が監視地点となる。 If there is abnormality information, the passenger vehicle V to which the abnormality information is 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. Note that the processing from step ST13 to step 20 is an example in which abnormality information is reported, and the location of the passenger vehicle V that has reported abnormality information is selected as a monitoring point, but abnormality information is reported. Even if the monitor designates a place to be monitored arbitrarily, the processing from step ST13 to step 20 can be executed in the same manner. In this case, the place designated by the monitor becomes the monitoring point.
　ステップＳＴ１５において、中央監視装置２０は、異常情報を出力した乗用車Ｖが存在する位置を注目して監視をするべき監視地点として選択する。本例では、異常情報を通報した乗用車Ｖの位置であるが、監視者が任意に設定することもできる。 In step ST15, the central monitoring device 20 selects a monitoring point to be monitored by paying attention to the position where the passenger vehicle V that has output the abnormality information is present. In this example, although it is the position of the passenger vehicle V which reported abnormality information, the supervisor can also set arbitrarily.
　さらに、ステップＳＴ１６において、中央監視装置２０は、監視地点を基準として、この監視地点から所定距離以内の監視エリアに存在する他車両、つまり監視端末装置１０を選択する。監視エリアは、監視地点から同一距離の円形エリアとしてもよいし、監視地点の上り方向又は下り方向に沿う所定距離の帯状エリアとしてもよいし、交差点などで右折又は左折が考えられる場合には、所定距離、所定中心角の扇形状エリアとしてもよい。 Furthermore, in step ST16, the central monitoring device 20 selects another vehicle existing in the monitoring area within a predetermined distance from the monitoring point, that is, the monitoring terminal device 10, with reference to the monitoring point. The monitoring area may be a circular area of the same distance from the monitoring point, a belt-like area of a predetermined distance along the up or down direction of the monitoring point, and when a right turn or a left turn is considered at an intersection or the like, A fan-shaped area having a predetermined distance and a predetermined central angle may be used.
　本実施形態では、監視地点の選択が異常発生時点から遅れる可能性があることを考慮して、監視地点に接近する乗用車Ｖのみならず監視地点から離隔する乗用車Ｖをも選択の対象とする。中央監視装置２０は、監視地点から離隔する乗用車Ｖに対しては、画像情報の撮像時刻を指定した画像送信指令を送出することが好ましい。これにより、インシデントが発生してから時間が経過した後に監視地点が選択された場合であっても、インシデント発生時刻の前後の撮像時刻を指定した画像送信指令により、インシデント発生前後の画像情報を遡って収集することができる。 In this embodiment, considering that there is a possibility that the selection of the monitoring point may be delayed from the time of occurrence of the abnormality, not only the passenger vehicle V approaching the monitoring point but also the passenger vehicle V separated from the monitoring point is selected. The central monitoring device 20 preferably sends an image transmission command specifying the imaging time of the image information to the passenger vehicle V separated from the monitoring point. As a result, even if a monitoring point is selected after the time has elapsed since the incident occurred, the image information before and after the incident occurred can be traced back by the image transmission command specifying the imaging time before and after the incident occurrence time. Can be collected.
　他方、本実施形態の中央監視装置２０は、監視地点の状況を監視し続けるため、将来、監視エリアを通過する車両に画像送信指令を送信する。監視エリアを通過する車両には、監視エリアに接近しつつある車両、つまり監視エリアを包含し、監視エリアよりも広いエリアに進入した車両、監視エリアを現在通過しつつある車両、又は監視エリアを通過した直後の車両、監視エリアから離隔しつつある車両、つまり監視エリアを包含し、監視エリアよりも広いエリアから出る車両を含み、適宜に定義することができる。監視エリア内に存在する乗用車を選択する手法は特に限定されないが、例えば、まず、異常通報をした乗用車の現在位置その他の監視地点（Ｙ）が存在する道路を特定し、データベース２６を参照して、その道路を走行する乗用車Ｖを抽出する。そして、特定した乗用車Ｖの位置（Ｘ）、移動速度（Ｖ）、及び進行方向を特定する。乗用車Ｖの移動速度、進行方向は、位置情報の経時的変化に基づいて求めてもよいし、監視情報に含ませて取得した移動速度に基づいて求めてもよい。続いて、中央監視装置２０は、乗用車Ｖの進行方向が監視地点の方向であり、（Ｙ－Ｘ）／Ｖが所定値未満の乗用車Ｖを選択する。そして、同ステップにおいて、中央監視装置２０は、選択された監視端末装置１０へ画像送信指令を送信する。 On the other hand, the central monitoring device 20 of the present embodiment transmits an image transmission command to a vehicle passing through the monitoring area in the future in order to continue monitoring the status of the monitoring point. Vehicles that pass through the surveillance area include vehicles that are approaching the surveillance area, that is, vehicles that include the surveillance area and have entered a larger area than the surveillance area, vehicles that are currently passing through the surveillance area, or surveillance areas. A vehicle immediately after passing, a vehicle that is moving away from the monitoring area, that is, a vehicle that includes the monitoring area and exits from an area larger than the monitoring area, can be defined appropriately. The method for selecting the passenger car existing in the monitoring area is not particularly limited. For example, first, the road where the current position of the passenger car that reported the abnormality and other monitoring points (Y) exist is identified, and the database 26 is referred to. Then, the passenger car V traveling on the road is extracted. Then, the position (X), the moving speed (V), and the traveling direction of the specified passenger car V are specified. The moving speed and the traveling direction of the passenger vehicle V may be obtained based on the temporal change of the position information, or may be obtained based on the moving speed acquired by being included in the monitoring information. Subsequently, the central monitoring device 20 selects the passenger car V whose traveling direction is the direction of the monitoring point and (YX) / V is less than a predetermined value. In the same step, the central monitoring device 20 transmits an image transmission command to the selected monitoring terminal device 10.
　画像送信指令には、撮像方向を指定する情報を含めることができる。撮像方向は、監視地点と監視エリアとの位置関係に基づいて中央監視装置２０が算出する。撮像方向は、方位で表現してもよいし、車載カメラ１１の位置が既知であれば車載カメラ１１の識別情報で表現してもよい。これにより、監視エリア内の乗用車Ｖのカメラ１１で監視地点の映像を確実に取得することができる。また、必要な画像情報のみを送信させることができるので、送信データ量を低減させることができる。 The image transmission command can include information specifying the imaging direction. The central monitoring device 20 calculates the imaging direction based on the positional relationship between the monitoring point and the monitoring area. The imaging direction may be expressed by an azimuth, or may be expressed by identification information of the in-vehicle camera 11 if the position of the in-vehicle camera 11 is known. Thereby, the image | video of a monitoring point can be reliably acquired with the camera 11 of the passenger car V in a monitoring area. In addition, since only necessary image information can be transmitted, the amount of transmission data can be reduced.
　なお、監視端末装置１０がナビゲーション装置を備えている場合には、中央監視装置２０が発信する監視地点と現在位置とから、自車両が監視エリアに侵入したタイミングで自動的に画像情報を含む監視情報を中央監視装置２０へ送出することもできる。 When the monitoring terminal device 10 includes a navigation device, monitoring including image information is automatically performed at the timing when the host vehicle enters the monitoring area from the monitoring point transmitted by the central monitoring device 20 and the current position. Information can also be sent to the central monitoring device 20.
　ステップＳＴ１７では、異常情報を出力した乗用車Ｖの位置情報をパトカー、救急車、消防車等の緊急乗用車へ送信する。この場合に、異常内容を報知するために画像情報を添付して送信してもよい。これにより、現場からの通報が入る前に緊急乗用車を出動させることができ、事故や犯罪に対する迅速な対処が可能となる。 In step ST17, 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.
　ステップＳＴ１８では、監視端末装置１０から受信した全ての位置情報、画像情報および時刻情報を記録媒体へ記録する。この記録は、事故や犯罪の発生後においてこれらを解決する際に用いられる。なお、ステップＳＴ１３にて異常情報がない場合はステップＳＴ１４～ＳＴ１８の処理を行うことなくステップＳＴ２１へ進む。 In step ST18, 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 ST21 without performing the processes in steps ST14 to ST18.
　ステップＳＴ１９では、監視地点の集中監視状態が解除されたか否かを判断し、解除されていれば、ステップ２１以降の処理を行う。他方解除されていない場合には、監視地点を継続して監視し続けるため、先のステップＳＴ１６において選択された乗用車Ｖが監視エリアを通過する場合には、ステップＳＴ１６へ戻り、新たな監視乗用車Ｖを選択する。 In step ST19, it is determined whether or not the centralized monitoring state of the monitoring point has been released. If it has been released, the processing from step 21 is performed. On the other hand, if it is not released, the monitoring point is continuously monitored. Therefore, when the passenger car V selected in the previous step ST16 passes through the monitoring area, the process returns to step ST16, and a new monitoring passenger car V is obtained. Select.
　新たに、遷移する（ホッピングする）監視乗用車Ｖを選択する手法は特に限定されないが、例えば、まず、異常通報を通報した乗用車の現在位置その他の監視地点（Ｙ）が存在する道路を特定し、データベース２６を参照して、その道路を走行する乗用車Ｖを抽出する。そして、特定した乗用車Ｖの位置（Ｘ）、移動速度（Ｖ）、及び進行方向を特定する。乗用車Ｖの移動速度、進行方向は、位置情報の経時的変化に基づいて求めてもよいし、監視情報に含ませて取得した移動速度に基づいて求めてもよい。続いて、中央監視装置２０は、乗用車Ｖの進行方向が監視地点の方向であり、（Ｙ－Ｘ）／Ｖが最も小さい乗用車Ｖを次に画像送信命令を送信する対象として選択する。なお、（Ｙ－Ｘ）／Ｖが小さすぎると、すぐに監視地点を通過してしまうので、下限値を設けてもよい。 The method of selecting the newly monitored passenger vehicle V to be transitioned (hopped) is not particularly limited. For example, first, the road where the current position of the passenger vehicle that reported the abnormality report and other monitoring points (Y) exist is identified, With reference to the database 26, a passenger car V traveling on the road is extracted. Then, the position (X), the moving speed (V), and the traveling direction of the specified passenger car V are specified. The moving speed and the traveling direction of the passenger vehicle V may be obtained based on the temporal change of the position information, or may be obtained based on the moving speed acquired by being included in the monitoring information. Subsequently, the central monitoring device 20 selects the passenger car V whose traveling direction of the passenger car V is the direction of the monitoring point and has the smallest (Y−X) / V as a target for transmitting an image transmission command next. Note that if (Y−X) / V is too small, the monitoring point is passed immediately, so a lower limit may be provided.
　このように、監視地点の集中監視状態が継続される限り、監視地点を撮像できる監視乗用車Ｖを順次、移り変えて(hop)選択し続けるため、カメラ１１が搭載された乗用車Ｖが移動しても所定の監視地点を継続的に撮像することができる。 As described above, as long as the centralized monitoring state of the monitoring point is continued, the monitoring passenger car V that can image the monitoring point is sequentially changed (hop), so that the passenger vehicle V on which the camera 11 is mounted moves. Also, it is possible to continuously image a predetermined monitoring point.
　集中監視が解除された後において、ステップ２１以降を実行することができる。ステップＳＴ２１では、パトカー、救急車又は消防車などの緊急乗用車から画像情報の送信指令があるか否かを判断し、画像送信指令が入力された場合にはステップＳＴ２２へ進む。ステップＳＴ２２では、画像情報の送信指令で特定された地域に乗用車Ｖが存在するか否かを判断し、乗用車Ｖが存在する場合はステップＳＴ２３へ進む。そして、ステップＳＴ２３において、画像情報の送信指令で特定された地域に存在する乗用車Ｖに対して画像情報の送信指令を出力する。これにより、次のルーチンの図１２ＡのステップＳＴ１１にてその乗用車Ｖからの画像情報を取得することができ、これを緊急乗用車に転送したり、緊急乗用車からの送信指令の意味を把握したりすることができる。なお、ステップＳＴ２１及びＳＴ２２に該当しない場合はステップＳＴ２１～ＳＴ２３の処理を行うことなくステップＳＴ２４へ進む。 ∙ After centralized monitoring is canceled, step 21 and subsequent steps can be executed. In step ST21, it is determined whether there is an image information transmission command from an emergency passenger car such as a police car, an ambulance, or a fire engine. If an image transmission command is input, the process proceeds to step ST22. In step ST22, it is determined whether or not the passenger vehicle V exists in the area specified by the image information transmission command. If the passenger vehicle V exists, the process proceeds to step ST23. In step ST23, 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. 12A 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. If not corresponding to steps ST21 and ST22, the process proceeds to step ST24 without performing the processes of steps ST21 to ST23.
　ステップＳＴ２４では、予め設定された犯罪多発遅滞などの不審箇所の近傍領域に乗用車Ｖが存在するか否かを判断し、存在する場合はステップＳＴ２５へ進んでその乗用車Ｖに対して画像情報の送信指令を出力する。不審箇所とは治安の悪い通り、街などである。これにより、不審箇所である通りや街の監視を強化することができ、犯罪の未然防止が期待できる。なお、不審箇所の近傍領域に乗用車Ｖが存在しない場合はステップＳＴ２２の処理を行うことなくステップＳＴ２６へ進む。 In step ST24, 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 ST25 to transmit image information 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 ST26 without performing the process of step ST22.
　ステップＳＴ２６では、詳細を監視しておくべき重点監視対象を撮像できる重点監視位置の近傍に乗用車Ｖが存在するか否かを判断し、重点監視位置の近傍に乗用車Ｖが存在する場合はステップＳＴ２７へ進んでその乗用車Ｖに対して重点監視対象を拡大した画像情報の送信を求める重点監視指令を出力する。これにより、重点監視対象を詳細に監視することができ、特定された重点監視対象において事件や事故の原因となる不審物の発見を効果的に行うことができ、犯罪の未然防止が期待できる。なお、重点監視位置の近傍に乗用車Ｖが存在しない場合はステップＳＴ２７の処理を行うことなくステップＳＴ２８へ進む。 In step ST26, 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 ST27 is determined. 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 ST28 without performing the process of step ST27.
　ステップＳＴ２８では、各乗用車Ｖから受信した位置情報に基づいて、監視が必要とされる所定領域（不審箇所及び重点監視領域には限定されない）内に、一定時間内に乗用車Ｖが走行していない路線があるか否かを判断し、そのような路線があった場合において、その路線を走行する乗用車Ｖがあるか否かを監視する。そして、直近にその路線を走行する乗用車Ｖが存在すれば、ステップＳＴ２９へ進み、その乗用車Ｖに対して画像情報の送信指令を出力する。これにより、不審箇所や重点監視領域以外の区域であって乗用車Ｖの通行量が少ない路線の画像情報を自動的に取得することができる。なお、ステップＳＴ２８の条件を満足する路線がない場合はステップＳＴ２９の処理を行うことなく図１２ＡのステップＳＴ１１へ戻る。 In step ST28, based on the position information received from each passenger car V, the passenger car V is not traveling within a predetermined time within a predetermined area that is required to be monitored (not limited to the suspicious location and the priority monitoring area). 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 ST29, 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 ST28, the process returns to step ST11 of FIG. 12A without performing the process of step ST29.
　以上のとおり、本実施形態の監視システムは以下の効果を奏する。
（１）本例の監視システム１は、選択された監視地点を基準とする監視エリアに接近及び／又は離隔する移動体の監視端末装置１０を選択し、選択した監視端末装置１０に対して、少なくとも画像情報を含む監視情報を送信する画像送信指令を出力することにより、予め決まった場所ではなく、ランダムに移動する乗用車Ｖに搭載されたカメラ１１を用いる場合であっても、継続して所定の監視地点を監視し続けることができる。この結果、中央監視装置２０はランダムに動く乗用車Ｖに搭載された監視端末装置１０を用いて一定地点の監視を行うことができる。 As described above, the monitoring system of the present embodiment has the following effects.
(1) The monitoring system 1 of this example selects the monitoring terminal device 10 of a moving body that approaches and / or separates from the monitoring area with the selected monitoring point as a reference, and for the selected monitoring terminal device 10, By outputting an image transmission command for transmitting monitoring information including at least image information, even if the camera 11 mounted on the passenger car V that moves at random is used instead of a predetermined place, the predetermined value is continuously determined. Can continue to monitor the monitoring point. As a result, the central monitoring device 20 can monitor a certain point using the monitoring terminal device 10 mounted on the randomly moving passenger car V.
（２）本例の監視システム１では、中央監視装置２０が先に選択した乗用車Ｖが監視エリアを通過する場合には、この監視エリアに接近する別の乗用車の監視端末装置１０を選択することにより、監視地点を撮像できる監視乗用車Ｖを順次、移り変えて(hop)選択し続けるので、カメラ１１が搭載された乗用車Ｖが移動しても所定の監視地点を継続的に撮像することができる。 (2) In the monitoring system 1 of this example, when the passenger vehicle V previously selected by the central monitoring device 20 passes through the monitoring area, the monitoring terminal device 10 of another passenger car that approaches this monitoring area is selected. Thus, the monitoring passenger car V that can image the monitoring point is sequentially moved and continuously selected (hop), so that even if the passenger vehicle V on which the camera 11 is mounted moves, the predetermined monitoring point can be continuously imaged. .
（３）本例の監視システム１では、中央監視装置２０が撮像方向を指定する情報を含む画像送出指令を出力するので、監視エリア内の乗用車Ｖのカメラ１１で監視地点の映像を確実に取得することができる。また、必要な画像情報のみを送信させることができるので、送信データ量を低減させることができる。 (3) In the monitoring system 1 of this example, since the central monitoring device 20 outputs an image transmission command including information for designating the imaging direction, the image of the monitoring point is reliably acquired by the camera 11 of the passenger car V in the monitoring area. can do. In addition, since only necessary image information can be transmitted, the amount of transmission data can be reduced.
（４）本例の監視システム１では、中央監視装置２０が撮像時刻を指定する情報を含む画像送出指令を出力するので、インシデントが発生してから時間が経過した後に監視地点が選択された場合であっても、インシデント発生時刻の前後の撮像時刻を指定した画像送信指令により、インシデント発生前後の画像情報を遡って収集することができる。 (4) In the monitoring system 1 of the present example, the central monitoring device 20 outputs an image transmission command including information specifying the imaging time, and therefore when a monitoring point is selected after a lapse of time since the incident occurred Even so, the image information before and after the occurrence of the incident can be collected retrospectively by the image transmission command specifying the imaging time before and after the incident occurrence time.
（５）本例の監視システム１では、中央監視装置２０が異常情報を出力した監視端末装置１０の位置情報を監視地点として選択し、監視端末装置１０を絞り込むので、異常が発生した場所を継続的に監視し続けることができる。 (5) In the monitoring system 1 of this example, the location information of the monitoring terminal device 10 to which the central monitoring device 20 has output the abnormality information is selected as a monitoring point and the monitoring terminal device 10 is narrowed down, so that the location where the abnormality has occurred is continued. Can continue to monitor.
（６）本例の監視方法は、上記監視端末装置１０と中央監視装置２０とを備える監視システムと同様の作用及び効果を奏する。 (6) The monitoring method of this example has the same operation and effect as the monitoring system including the monitoring terminal device 10 and the central monitoring device 20.
　なお、上述した実施形態では、乗用車Ｖの位置情報と車載カメラ１１ａ～１１ｅからの画像情報を取得するようにしたが、図１に示す、街中に設置された固定カメラ１１ｆからの画像情報と組み合わせて取得してもよい。また、位置情報と画像情報を取得する乗用車Ｖは、図１に示すように予め決められた領域を走行するタクシーＶ１やバスを用いることが望ましいが、自家用乗用車Ｖ２や緊急乗用車Ｖ３を用いてもよい。 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.
　また、上述した実施形態では、乗用車Ｖに５つの車載カメラを搭載し、このうち４つの車載カメラ１１ａ～１１ｄを用いて３６０°周囲の映像を画像情報として取得したが、室内の車載カメラ１１ｅを省略してもよい。また、交通量が多い監視領域のように多くの乗用車Ｖから画像情報が取得できる環境等であれば特に、４つの車載カメラ１１ａ～１１ｄを３つ以下にしてもよい。 In the above-described embodiment, five in-vehicle cameras are mounted on the passenger car V, and images around 360 ° are acquired as image information using the four 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, particularly in an environment where image information can be acquired from many passenger cars V, such as a monitoring area where there is a large amount of traffic.
　上記中央制御装置２１は選択手段に相当し、入力装置２５は本発明に係る情報取得手段、異常情報受付手段及び指令出力手段に相当する。 The central control device 21 corresponds to selection means, and the input device 25 corresponds to information acquisition means, abnormality information reception means, and command output means according to the present invention.
１…車両監視システム
　１０…監視端末装置
　　１１，１１ａ～１１ｅ…車載カメラ
　　１１ｆ…街中固定カメラ
　　１２…画像処理装置
　　１３…通信装置
　　１４…車載制御装置
　　１５…位置検出装置
　　１６…通報ボタン
　　１７…車両コントローラ
　　１８…車速センサ
　　１９…ナビゲーション装置
　２０…中央監視装置
　　２１…中央制御装置
　　２２…画像処理装置
　　２３…通信装置
　　２４…ディスプレイ
　　２５…入力装置
　３０…電気通信回線網
Ｖ，Ｖ１，Ｖ２，Ｖ３…移動体
Ｍ…投影モデル
Ｓ，Ｓａ，Ｓｂ、Ｓｃ、Ｓｄ…投影面
Ｒ１～Ｒ８…視点 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 17 ... Vehicle controller DESCRIPTION OF SYMBOLS 18 ... Vehicle speed sensor 19 ... Navigation device 20 ... Central monitoring device 21 ... Central control device 22 ... Image processing device 23 ... Communication device 24 ... Display 25 ... Input device 30 ... Telecommunications network V, V1, V2, V3 ... Mobile M ... Projection model S, Sa, Sb, Sc, Sd ... Projection planes R1-R8 ... Viewpoint

Claims (6)

  1. 　複数の移動体のそれぞれの位置情報を検出する位置検出手段と、前記複数の移動体のそれぞれに装着され、当該移動体の周囲を撮像して画像情報を生成する画像生成手段と、を備える監視端末装置から無線通信を介して監視情報を取得する中央監視装置を備える監視システムであって、
    　前記中央監視装置は、
    　前記監視端末装置から出力された位置情報及び時刻情報を少なくとも含む監視情報を取得する情報取得手段と、
    　前記取得する監視情報に含まれる位置情報の中から監視地点を選択し、前記選択された監視地点を基準とする所定の監視エリアに接近及び／又は離隔する移動体の監視端末装置を選択する選択手段と、
    　前記選択された移動体の監視端末装置に対して、画像情報を含む監視情報を送信する画像送信指令を出力する指令出力手段と、を備えることを特徴とする監視システム。     A monitoring device comprising: position detection means for detecting position information of each of the plurality of moving bodies; and image generation means that is attached to each of the plurality of moving bodies and images the surroundings of the moving bodies to generate image information. A monitoring system including a central monitoring device that acquires monitoring information from a terminal device via wireless communication,
    The central monitoring device is
    Information acquisition means for acquiring monitoring information including at least position information and time information output from the monitoring terminal device;
    Selection for selecting a monitoring point from position information included in the acquired monitoring information, and selecting a monitoring terminal device for a moving body that approaches and / or moves away from a predetermined monitoring area based on the selected monitoring point Means,
    Command output means for outputting an image transmission command for transmitting monitoring information including image information to the selected mobile terminal monitoring terminal device.
  2. 　前記選択手段は、前記先に選択した移動体が前記監視エリアを通過する場合には、当該監視エリアに接近する別の移動体の監視端末装置を選択することを特徴とする請求項１に記載の監視システム。 The said selection means selects the monitoring terminal device of another moving body which approaches the said monitoring area, when the said moving body selected previously passes the said monitoring area. Monitoring system.
  3. 　前記画像送信指令は、撮像方向を指定する情報を含むことを特徴とする請求項１又は２に記載の監視システム。 The monitoring system according to claim 1 or 2, wherein the image transmission command includes information for specifying an imaging direction.
  4. 　前記画像送信指令は、撮像時刻を指定する情報を含むことを特徴とする請求項１～３の何れか一項に記載の監視システム。 The monitoring system according to any one of claims 1 to 3, wherein the image transmission command includes information specifying an imaging time.
  5. 　前記中央監視装置において、
    　前記情報取得手段は、前記監視端末装置から異常状態である旨の異常情報を含む監視情報を取得し、
    　前記選択手段は、前記異常情報が出力された監視端末装置の位置情報を、前記監視地点として選択することを特徴とする請求項１～４の何れかに記載の監視システム。     In the central monitoring device,
    The information acquisition means acquires monitoring information including abnormal information indicating an abnormal state from the monitoring terminal device,
    The monitoring system according to any one of claims 1 to 4, wherein the selection unit selects position information of the monitoring terminal device from which the abnormality information is output as the monitoring point.
  6. 　複数の移動体に搭載された監視端末装置から、各移動体の位置情報を少なくとも含む監視情報を取得するステップと、
    　前記取得した監視情報に基づいて、前記監視情報に含まれる前記位置情報の中から選択された監視地点を基準とする所定の監視エリアに接近及び／又は離隔する移動体の監視端末装置を選択するステップと、
    　前記選択された移動体に対して、画像情報を含む監視情報を送信する画像送信指令を出力するステップと、を備えることを特徴とする監視方法。     Obtaining monitoring information including at least position information of each moving body from monitoring terminal devices mounted on a plurality of moving bodies;
    Based on the acquired monitoring information, a monitoring terminal device of a moving body that approaches and / or separates from a predetermined monitoring area based on the monitoring point selected from the position information included in the monitoring information is selected. Steps,
    A step of outputting an image transmission command for transmitting monitoring information including image information to the selected moving body.
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CN104767981A (en) * 2015-05-05 2015-07-08 国家电网公司 Distribution network wireless audio/video repair command system
JP2020187432A (en) * 2019-05-10 2020-11-19 トヨタ自動車株式会社 Information processing device and information processing program
JP7298285B2 (en) 2019-05-10 2023-06-27 トヨタ自動車株式会社 Information processing device and information processing program
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