JP2014123303A - Monitoring system - Google Patents

Abstract

A monitoring system is provided that makes it possible to acquire escape information useful for identifying a bandit that runs away.
A monitoring system that transmits to a monitoring center escape information relating to a moving object that escapes from a monitoring area when the monitoring area is in an abnormal state, and in the monitoring area after an abnormality occurs in the monitoring area. A tracking unit that tracks a moving body existing in the camera, a photographing unit that captures the moving body being tracked, an escape determination unit that determines whether or not the mobile body has left the monitoring area, and the mobile unit in the escape determination unit Provides a monitoring system comprising: an escape information generation unit that generates escape information from images for a predetermined time before and after the determination, and a transmission unit that transmits the escape information to the monitoring center. To do.
[Selection] Figure 3

Description

  The present invention relates to a monitoring system that captures a situation when a bandit escapes from a building, and more particularly, to a monitoring system that can acquire escape information useful for identifying a bandit that runs away.

2. Description of the Related Art Conventionally, there has been proposed a monitoring system in which various sensors are installed in a building and its surrounding monitoring area, and when the sensor detects an abnormality, the mobile robot moves to the place where the abnormality is detected and images the monitoring area.
For example, Patent Document 1 discloses a monitoring system in which a ground-traveling mobile robot moves to a place where an abnormality occurs and images an abnormal situation based on signals from a sensor that detects a fire or a sensor that detects an intruder. It is disclosed. Such a monitoring system may monitor a wide monitoring area such as a factory or a shopping mall where a parking lot is provided. In the system of Patent Document 1, the mobile robot travels to a place where the sensor detects an abnormality, and performs imaging of the place where the abnormality has occurred, notification to the monitoring center, and the like.

JP 2009-181270 A

By the way, bandits that infiltrate buildings such as factories and steal goods in factories often use automobiles to facilitate carrying out and escape of safes. That is, it is often the case that a car is parked in a parking lot of a factory or the like and then invades the factory. For the surveillance system, in order to identify the bandits, information related to identifying the car such as the license plate, car color, vehicle type, etc., information related to the flight, such as the escape direction after leaving the surveillance area and the number of bandits, This is very useful information for subsequent investigations.

However, in the conventional monitoring system, it is not assumed that it is determined whether or not the bandit has escaped, and if the guard arrives at the place where the abnormality occurred and there is no bandit, it is determined that the bandit has escaped. In other words, a system has been adopted that confirms the escape of bandits after the security guard has confirmed. For this reason, even if the mobile robot is shooting the escape situation of the bandits, it is difficult to provide information for identifying the bandits to escape to the security guards and police who are heading for the occurrence of abnormalities quickly. was there.

Even if the mobile robot can shoot the escape bandit, it is easy for the observer to judge whether it is the escape bandit or the user of the surveillance area by looking at the image. is not.

Furthermore, it is possible to send images to the guards and police when the guards provide escape information to the guards and police who are heading to the location where the abnormality occurred. Equipment that allows the guards to check the images. In some cases, there is a problem of how to reliably transmit the escape information by oral or text such as a telephone.

  Accordingly, an object of the present invention is to realize a monitoring system that can determine whether a bandit has escaped by a flying robot, acquire the bandit's escape information, and quickly transmit the information to the monitoring center.

  Furthermore, an object of the present invention is to realize a monitoring system in which escape information can be easily transmitted to others.

  In order to achieve such an object, the present invention provides a monitoring system that transmits to a monitoring center escape information relating to a moving object that escapes from a monitoring area when the monitoring area is in an abnormal state. A tracking unit that tracks a moving object that exists in the monitoring area after it has occurred, an imaging unit that images the moving object that is being tracked, an escape determination unit that determines whether the moving object has left the monitoring area, and an escape determination A monitoring system having an escape information generation unit that generates escape information from images for a predetermined time before and after the determination, and a transmission unit that transmits the escape information to the monitoring center. provide. At this time, it is preferable that the escape information generation unit uses the image for the predetermined time as the escape information.

  Thereby, since this invention transmits escape information, such as the person who escaped from the monitoring area | region where abnormality has generate | occur | produced, and a motor vehicle, to the monitoring center, the fact that it escaped in the monitoring center and the mode at that time can be confirmed easily. .

  Furthermore, it is preferable that an image processing unit that recognizes the characteristics of the moving body from the image and converts the recognition result into text data, and the escape information generation unit include the text data in the escape information.

  As a result, not only images but also features of moving objects can be received as text data, so it is easy to accurately transmit runaway information using text data even if the opponent does not have equipment to display images. become.

  Further, the image processing unit determines the direction in which the moving object has escaped from the images before and after the moving object is determined to have exited the monitoring area by the escape determining unit, and the direction is used as the recognition result as text data. Is preferred. In addition, it is preferable that the image processing unit extracts a person from an image obtained by photographing a moving body and converts the number of persons into text data as a recognition result.

In addition, the image processing unit determines whether the moving body is a car or a person based on images before and after the escape determining unit determines that the moving body has left the monitoring area, and the determination result is used as text data. Is preferable.
In addition, the image processing unit may extract a car from an image of a moving body, recognize feature information such as a license plate, car type, and car color of the car, and use the feature information as text data as a recognition result. Is preferred.

  In addition, it is preferable that the photographing unit is a flying robot that moves to the current position of the moving body required by the tracking unit and photographs the moving body. In the case of a flying robot, it is possible to capture an image suitable for processing of the characteristics of a person or a car in the image processing unit.

  ADVANTAGE OF THE INVENTION According to this invention, the escape information regarding the bandit which escapes from a monitoring area | region can be rapidly transmitted to a monitoring center.

Illustration explaining the flying image of a flying robot Diagram showing the detection area of the laser sensor Overall configuration diagram of the monitoring system Functional block diagram of security equipment Functional block diagram of the robot control module Functional block diagram of a flying robot Processing flow of security device when moving object is detected Functional block diagram of image processing module Explanatory drawing of license plate extraction in image processing module Illustration of vehicle type determination in the image processing module Explanatory drawing of vehicle color determination in image processing module Illustration of counting people Illustration of tracking (runaway direction)

Embodiments of a monitoring system according to the present invention will be described below. A schematic operation image of the monitoring system 1 will be described with reference to FIG. FIG. 1 (a) shows a state where the flying robot 3 starts flying when a bandit enters the building B while riding in the automobile 7 during the security set mode. As described above, when the security device 2 detects the occurrence of an abnormality in the monitoring area E, the monitoring system 1 activates the flying robot 3 together with an abnormality report to the monitoring center. Then, images taken by the automobile 7 into which the flying robot 3 has entered are sequentially transmitted to the monitoring center.
FIG. 1B shows a situation where a bandit emerges from the building B, gets into the automobile 7 and escapes. The bandit detects that it has left the building B with the laser sensor 4 and tracks the movement of the bandit in the parking lot. The flying robot 3 flies aiming at the bandit being tracked by the laser sensor 4 and shoots while tracking the bandit. The bandit gets in the car 7 to escape and escapes from the surveillance area E. At this time, the flying robot 3 keeps shooting while tracking the automobile 7, recognizes the vehicle information and the escape direction from the taken image, generates text data, and sends the escape information together with the images before and after the escape to the monitoring center. Send. During tracking, the security device 2 always transmits an image captured by the flying robot 3 to the monitoring center.

FIG. 3 is a diagram schematically showing the overall configuration of the monitoring system 1. The monitoring system 1 includes a security device 2, a flying robot 3, a laser sensor 4, a building sensor 5 installed in a monitoring area E, and a center device 6 installed in a monitoring center connected via a network. ing. The center device 6 is connected to the security device 2 via an IP network, receives an image captured by the flying robot 3 from the security device 2, a detection signal from the sensor 5 in the building, and the like and displays it on the monitor. The monitor looks at this monitor, grasps the status of the monitoring area E, and executes an appropriate response. Further, although the network is described as an IP network, the network is not limited to this as long as there is no problem in image transmission / reception such as a general public network or a mobile phone network.

The flying robot 3 receives a wireless flight control signal from the security device 2, flies while photographing to a predetermined target position, and transmits the photographed image to the security device 2. FIG. 6 is a diagram showing functional blocks of the flying robot 3.
The flying robot 3 includes an antenna 31 for performing wireless communication with the security device 2, four rotors 32 for flying such as ascending / descending / turning direction / advancing, a motor for providing driving force to the rotor 32, and the like. A rotor drive unit 33, an altitude sensor 34 for projecting and receiving a laser beam vertically below to measure the current altitude of the flying robot 3, and a distance measuring sensor for projecting and receiving a laser beam in the horizontal direction and surroundings to measure the surrounding situation of the flying robot 3 35, a camera 36 that captures a color image of the front of the flying robot 3, an illumination 37 that is an LED illumination that is turned on when the surroundings are dark and assists the camera 36, and a robot controller that controls the entire flying robot 3. 38, a power source 39 which is a lithium polymer battery for supplying power to each part of the flying robot 3.

The robot control unit 38 also acquires communication control means 381 for controlling wireless communication with the security device 2 via the antenna 31, acquisition start / end of the camera 36 and images taken by the camera 36, and communication control means 381. Is transmitted from the communication control means 381 as scan data using the altitude information measured by the camera control means 382, the distance measuring sensor 35 and the altitude sensor 34, and the distance data between the surrounding object and the own device. A scanning unit 383 that performs processing such as transmission to the device 2 and a flight control unit 384 that controls the rotor driving unit 33 based on the flight control signal from the security device 2 to control the flying robot 3 to fly to the target position. It is composed of

Next, the security device 2 will be described in detail with reference to FIGS. 1, 4, and 5. The security device 2 is installed inside the building B in the monitoring area E shown in FIG. The security device 2 includes a sensor 5 in the building installed at an appropriate location for detecting an intruder into the building B, a laser in the monitoring area E and outside the building B such as a parking lot. Each sensor 4 is connected.
FIG. 4 is a diagram illustrating functional blocks of the security device 2. The security device 2 includes a security mode switching unit 21 that performs a switching operation between a security set state monitored by the monitoring center and a security release state that is not monitored by the monitoring center, a laser sensor 4, a sensor 5 in the building, and the like. A sensor interface 22 that receives input of signals from the sensors, a flying robot communication unit 25 that communicates with the flying robot 3, images captured by the flying robot 3, abnormal signals detected by various sensors, and the like are connected to the center device 6 and the network. A monitoring center communication unit 26 for performing communication, a storage unit 24 composed of peripheral components such as ROM / RAM storing programs and various data and parameters necessary for processing of the security device 2, and security The security control unit 23 is composed of a CPU, MPU, etc. for overall control of the entire apparatus 2.

  Here, information stored in the storage unit 24 will be described. The monitoring space map 241 is information that represents the monitoring area E in three dimensions, and is map information that represents the monitoring space from the ground to a height required for the flight of the flying robot 3. In the present embodiment, information on objects existing in the monitoring space in advance, such as the presence of a fence that partitions the monitoring area E from the outside, the building B, and the installation position of the laser sensor 4 is stored. Note that the monitoring space map 241 also includes three-dimensional information inside the building B, and places where people can enter and exit are registered, such as doors and windows.

The in-building sensor arrangement information 242 is position information in the monitoring space map 241 of the monitoring location of each in-building sensor 5. This is determined in advance by a security plan, and a position on the monitoring space map 241 is associated with each in-building sensor 5.

The laser sensor parameter 243 is information including the correspondence between the position of the laser sensor 4 in the monitoring space map 241 and the position in the detection area of the laser sensor 4 and the position on the monitoring space map 241. It is a parameter for converting the determined position into a position on the monitoring space map 241.

The various parameters 244 are various parameters such as the IP address of the center device 6 and data for communication with the flying robot 3 necessary for the security device 2 to monitor the monitoring area E. In addition to these, the storage unit 24 stores various programs for realizing the functions of the security device 2.

Next, the security control unit 23 will be described in detail. The security control unit 23 reads a software module (not shown) in the storage unit 24 and performs each process by the CPU or the like.

The moving body tracking module 231 is software for analyzing the signal of the laser sensor 4 input from the sensor interface 22. Specifically, the search signal which is the result of the laser sensor 4 scanning the detection area with laser light is analyzed in time series. If there is no new approaching object or the like in the detection area, the search signal of the laser sensor 4 input in time series does not change so much, and the analysis result indicates that there is no moving object. On the other hand, if there is a new approaching object or the like in the detection area, the search signal of the laser sensor 4 changes, and the position in the detection area where the change has occurred is obtained by analysis. Further, using the laser sensor parameter 243 of the storage unit 24, the position is converted into a position on the monitoring space map 241 to calculate the position / size / movement direction of the approaching object, and the approaching object is tracked on the monitoring space map 241. . Further, when the approaching object stops, there is no change in the signal thereafter, so it can be determined that the car or person being tracked has stopped or stopped. Further, it is also detected that the approaching object being tracked has gone out of the monitoring area E. When it is detected that it has gone out, that is, when it has escaped, the escape information generation module 235 is notified of the escape detection.
The analysis result of the moving body tracking module 231 is output to an abnormality determination module 232, a robot control module 233, an image processing module 234, and an escape information generation module 235, which will be described later.

The abnormality determination module 232 receives a security set / release signal from the security mode switching unit 21 and signals from the in-building sensor 5 and the laser sensor 4 and determines whether an abnormality has occurred in the monitoring area E. When receiving the security set signal from the security mode switching unit 21, the abnormality determination module 232 sets the monitoring area E to the security set mode that warns, and when receiving the security release signal, sets the monitoring area E to the security release mode that is not warning. In the security release mode, no special processing is performed even if a detection signal from the in-building sensor 5 or the laser sensor 4 is received. On the other hand, in the security set mode, when a detection signal from the in-building sensor 5 or the laser sensor 4 is received, it is determined that an abnormality has occurred, and the monitoring center communication unit 26 notifies the center device 6 of the abnormality. Along with the abnormality report, the robot control module 233 is controlled to start the flying robot 3. And the process which transmits the image which the flying robot 3 received from the flying robot communication part 25 image | photographed from the monitoring center communication part 26 to the center apparatus 6 is continued until an abnormal state is cancelled | released. Further, when the escape information generation module 235 described later generates the escape information, the escape information is transmitted to the center device 6. Although there are various methods for canceling the abnormal state, the description thereof is omitted because it is not relevant to the present invention.

When the robot control module 233 receives the activation signal of the flying robot 3 from the abnormality determination module 232, the robot control module 233 performs flight control of the flying robot 3 from the flying robot communication unit 25.

Here, the robot control module 233 will be described in detail with reference to FIG. FIG. 5 is a functional block diagram of the robot control module 233. The robot control module 233 includes target position setting means A for determining a target position to be reached by the flying robot 3, flight path calculation means RO for calculating a flight path for reaching the target position set by the target position setting means A, Robo control means C for generating and transmitting a flight control signal to the flying robot 3 so as to fly along the flight path calculated by the flight path calculation means B, and a current flight position on the monitoring space map 241 of the flying robot 3 Flight position calculating means D for calculating

The target position setting means a sets the position on the monitoring space map 241 of the car or person that is the approaching object calculated by the moving body tracking module 231 as a target position where the position can be taken from an altitude of about 5 m above. Here, the distance of about 5 m varies depending on various performances such as the resolution and angle of view of the camera 36, but is high enough to allow the flying robot 3 to photograph the entire vehicle or person. Note that when shooting a license plate of an automobile, the altitude of about 2 m is set depending on the depression angle of the camera 36, and a position where the image can be taken from the rear of the automobile is set as a target position.

Returning to FIG. 4, the image processing module 234 processes the image captured by the flying robot 3 received from the flying robot communication unit 25.

Here, the image processing module 234 will be described in detail with reference to FIG. FIG. 8 shows functional blocks of the image processing module 234. The image processing module 234 sequentially acquires images taken by the flying robot 3 in time series, and stores image data for processing in the storage unit 24, and notification of escape detection from the moving body tracking module 231. When received, the image acquisition means for acquiring a predetermined number of images before and after the escape detection from the storage unit 24, and the moving body extraction means for extracting a car or a person from the image acquired by the image acquisition means, When the moving body is an automobile, the vehicle information recognition means H that recognizes the license plate, the vehicle type, and the color of the vehicle, the number measuring means for measuring the number of persons when the moving body is a person, and the moving body on the image A tracking language that tracks and determines the direction of escape, and a natural language that allows humans to understand the results of recognition, measurement, and determination of vehicle information recognition means, person counting means, and tracking means. And a text data generating means le to be converted in the text data. Here, the predetermined number before and after the escape is detected is set in advance according to the situation such as the size of the monitoring area E and the number necessary for various recognition processes.

The moving body extracting means extracts a region where a person and / or a car is shown from the image. That is, the image is scanned using the person template and the car template stored in advance in the various parameters 244 of the storage unit 24. Then, assuming that a person or a car exists in the matched area, the area is extracted by distinguishing between the person and the car.

The vehicle information recognition means H recognizes the license plate information of the automobile, the vehicle type of the automobile, and the color of the automobile from the image extracted by the moving body extraction means as the automobile. Here, the extraction method will be described in the order of license plate information, vehicle type, and vehicle color.

A process of reading a number from an image of a car license plate performed by the car information recognizing means will be described with reference to FIG. The image I1 is an image obtained by extracting the area of the automobile from the image taken by the flying robot 3, and is an image of the back of the automobile. The vehicle information recognition unit H extracts from the image I1 a license plate image I2, which is a region located at the center and below the vehicle and surrounded by edges. If the license plate image cannot be extracted, it is determined that the license plate is not shown in the input image. When the license plate image is extracted, the number information for identifying the automobile is recognized from the license plate image I2. That is, since the character displayed on the license plate has a predetermined format for position, character type (numbers, kanji, etc.) and arrangement, each character is extracted using character recognition technology accordingly. For example, hiragana (use symbol) is on the left of a large number (series designation number), kanji (land transportation branch office name) is on the upper left, and a small number (classification number) is on the upper right. Using the position information, each character is cut out from the license plate image, and the number information is recognized from the license plate image by a known character recognition technique. Then, the recognized number information is converted into text by the text data generating means. In the example of FIG. 9, the text data “Nerima, 500, O, 1234” is extracted.

The process for determining the type of automobile from the image taken by the automobile information recognition means will be described with reference to FIG. The image I3 is an image obtained by extracting the region of the automobile from the image taken by the flying robot 3, and is an image of the left side of the automobile. In addition, in order to determine the vehicle type of the automobile from the shape, the same is true regardless of which of the left and right side images is used. First, “vehicle type silhouette” which is one of various parameters 244 in the storage unit 24 is stored. For example, as shown in FIG. 10, there are three types of automobile silhouettes such as a sedan, a minivan, and a truck.
When acquiring the image I3, the vehicle information recognition unit H extracts the region of the vehicle portion from the image by the segmentation method using the feature information of the vehicle such as the tire, the vehicle body, and the window of the vehicle. In FIG. 10, a region indicated by a dotted line is extracted as a silhouette of a car. Then, the extracted silhouette and the vehicle type silhouette are compared, and the vehicle type having a high likelihood is set as the vehicle type of the automobile shown in the image I3. In FIG. 10, since the likelihood of “sedan” is the highest, it is determined as “sedan”. Then, the text data generation means converts the determination result “sedan” into text.
In the present embodiment, the likelihood of the “vehicle type silhouette” stored in advance is determined and determined. However, instead of this, the image I3 is input to a plurality of learning discriminators learned for each vehicle type, and the vehicle type is directly selected. Other methods such as determination may be employed. In addition, when the automobile part cannot be extracted from the image I3, the vehicle type cannot be determined from the image captured by the flying robot 3.

Processing for determining the color of the car performed by the car information recognition unit H from the captured image will be described with reference to FIG. The image I4 is an image obtained by extracting the area of the automobile from the image taken by the flying robot 3, and is a color image of the body of the automobile. In addition, when considering the possibility that the color of the vehicle differs between the left and right, both the left and right images are used. Upon obtaining the image I4, the vehicle information recognizing means H identifies the body region of the vehicle from the image as shown in FIG. Extract.

Further, the body region excluding the tire and window is extracted from the extracted automobile part region as shown in FIG. 11C, and the body region is further divided into a plurality of blocks.

For each image in the divided area, the color information (RGB value) is examined to identify the color of the portion. Here, the color is specified from a correspondence table between color information (RGB luminance ratio) and color, as described in FIG.
That is, the RGB value is examined for each pixel included in the divided area, and the pixels of the entire divided area are aggregated to obtain the average luminance of each RGB value. With reference to the correspondence table shown in FIG. 11D, the obtained combination of average luminance values of RGB values is specified as the color of the divided area.
For example, when the combination of the average brightness of the RGB values of a certain divided area is (220, 30, 60), the color of the divided area is specified as red. Similarly, when the combination of the average luminances of the RGB values of the other divided areas is (110, 110, 110), since each component has the same brightness, the color of the divided area is specified as gray. To do. And a vehicle color is specified based on the color decided for every division area. For this purpose, the colors specified for each partial region are totaled, and the most common color for the body region is determined as the color of the entire vehicle body. For example, if all the divided areas are dark blue, “single dark blue” is determined as the car color. Further, if the upper side of the divided area is red and the lower side is black, “red and black two-tone color” is set as the vehicle color. Then, the text data generation means converts the determination result “red and black two-tone color” into text.

  Next, the person counting means counts the number of areas extracted as a person by the moving body extracting means. In FIG. 12, since the area surrounded by the dotted line is extracted as a person, “1” is counted. Then, the text data generation means converts the count result “1” into text.

The tracking means is means for tracking the automobile and / or the person on the image to determine the escape direction. First, when the moving body extraction means first extracts the automobile area, a template such as a color distribution and shape, a position on the monitoring space map 241 is assigned from the image of the automobile area. And the likelihood with the template of the motor vehicle area extracted in the frame image acquired next is calculated. The template is updated assuming that the automobile area having the likelihood equal to or larger than the predetermined value is the image of the automobile in the next frame image. By repeating this in sequence, the same vehicle can be tracked. The tracking means obtains the position of the center of gravity of each automobile area and determines the moving direction of the automobile from the movement locus of the center of gravity position. In the tracking process, when there is no car area or person area corresponding to the template in the next frame image, the car or person tracking process ends.

Here, the tracking process will be described in detail with reference to FIG. FIG. 13 shows an example of frame images arranged in time series held in the storage unit 24 photographed by the flying robot 3. The frame images held in the storage unit 24 are deleted from the oldest ones after a certain time has elapsed. In the same figure, the frame image at time t ₀ is a frame image showing the automobile area (area surrounded by a dotted line) when the moving body extracting means first extracts the area where the automobile 7 is shown. Thereafter, the vehicle 7 is tracked, and the state in which the vehicle 7 escapes from the monitoring area E is a frame image taken at times t _n , t _{n + 1} , t _{n + 2} , t _{n + 3} .

The automobile 7 tries to escape from the monitoring area E at time tn _{+ 1} . The time t _{n + 1} that is the time of the escape is detected from the tracking result of the automobile 7 by the moving body tracking module 231. In the present embodiment, t _{n + 1} is obtained by the moving body tracking module 231, but the image processing module 234 may detect when the automobile 7 leaves the monitoring area E from the image. Using the frame images before and after the time t _{n + 1} , here, t _{n to} t _{n + 3} , the movement direction obtained from the movement locus of the automobile 7 by the tracking means, that is, “the left direction after leaving the gate” is the escape direction. And
Further, the tracking means converts the obtained “Left direction from the gate” into the “West direction” indicating the direction in the monitoring space map 241. Then, the text data generating means converts the “west direction”, which is the escape direction obtained by the tracking means, into text.
The text data generating means stores the text data as the recognition result by associating the recognition results of the car information recognition means H, the number of people counting means, and the tracking means with the image and shooting time as the object of image processing. The data is sequentially stored in the unit 24.

Next, returning to FIG. 4, the escape information generation module 235 will be described. When the escape information generation module 235 detects that the vehicle or person has left the monitoring area E by the moving body tracking module 231, the escape information generation module 235 monitors the images for a predetermined time before and after stored in the storage unit 24 as escape information. The data is transmitted from the center communication unit 26 to the center device 6. Here, the predetermined time before and after is a time determined appropriately in consideration of the size of the monitoring area E. Here, “as escape information” means that the center device 6 can reproduce the image by distinguishing it from other images when the escape information flag is turned ON as an attribute of each frame image. The method is not limited to this method, and any method may be adopted as long as the center device 6 can reproduce the image file including a series of scenes by distinguishing it from other images.
Further, the escape information generation module 235 reads the vehicle information, the number of people, and the escape direction that are text data generated by the image processing module 234 from the storage unit 24, and the vehicle or person specified by the moving body tracking module 231 Along with images for a predetermined time before and after coming out of the monitoring area E, it is transmitted to the center device 6 as escape information. The escape information, which is such text data, facilitates the transmission of the escape information to a person who does not have equipment capable of confirming an image, such as the center device 6. Note that the moving body tracking module 231 may omit images for a predetermined time before and after the car or person leaves the monitoring area E, and transmit only escape information that is text data.

Returning to FIG. 3, the laser sensor 4 is installed outdoors, and monitors the approach of the parking area in the monitoring area E and the surroundings of the building B. FIG. 2 is a diagram showing a detection area of the laser sensor 4. As shown in the figure, the laser sensor 4-1 is installed with the building B direction from the upper left of the monitoring area E as a detection area, and the laser sensor 4-2 detects the back of the building B direction from the lower right of the monitoring area E. It is installed so that.

The laser sensor 4 transmits a search signal that is a laser beam in a radial manner so as to scan a preset detection area, and receives the search signal that is reflected back to the object in the detection area. Then, the distance to the object is calculated from the time difference between transmission and reception, and the direction in which the search signal is transmitted and the calculated distance are obtained.

And the laser sensor 4 transmits the result of the scanning unit which scanned the detection area with the predetermined period to the security apparatus 2. As a result, the moving object tracking module 231 of the security device 2 enables the outdoor object placement status in the monitoring area E, the presence / absence of an approaching object, the tracking of an automobile, and the like. In this embodiment, since the purpose is to monitor the approach of a vehicle traveling on the ground, scanning is performed in one step in the horizontal direction. However, depending on the purpose of monitoring, scanning in a plurality of steps may be performed in the vertical direction. Also good.

The in-building sensors 5 (5a to 5f) are appropriately installed at various locations in the building B as shown in FIG. For example, for a window or door, a magnet sensor that detects opening or closing of the window or door, a glass breakage sensor on a glass window, an infrared sensor that detects a human body inside a room, an image sensor that detects an intruder in an image, etc. It is installed at the place. Each building sensor 5 is stored in the security device 2 as building sensor arrangement information 242 in association with a detection location on the monitoring space map 241.

Processing for controlling the flying robot 3 by the security device 2 will be described with reference to FIG. First, when the automobile 7 enters the monitoring area E during the security set, the security device 2 detects an abnormality based on the signal from the laser sensor 4. The security device 2 notifies the center device 6 of an abnormality when the abnormality occurs, and starts control of the flying robot 3.
When the abnormality determination module 232 of the security device 2 detects the automobile 7 and determines that an abnormality has occurred, the target position setting means a of the robot control module 233 is the current center-of-gravity position of the automobile 7 analyzed by the moving body tracking module 231. A position at a distance of 3.5 m from the position and an altitude of 5 m is set as a target position as a position on the monitoring space map 241 (S71).

Then, the flight route calculation means b calculates the flight route by the A * route search algorithm using the target position set in step S71, the current position of the flying robot 3, and the monitoring space map 241. When the current position and the target position are set, the A * route search algorithm calculates a route that can be reached safely and in the shortest in consideration of the arrangement state of the monitoring space map 241 and the size of the flying robot 3 (S72). ). Since the flying robot 3 is located at a predetermined standby position until the activation signal is received, that position is the current position. At other times, the flight position calculation means D receives the scan data acquired by the scanning means 383 of the flying robot 3 and calculates a place where the scan data matches the monitoring space map 241. The current position is calculated. In the present embodiment, the current position is calculated based on the scan data. However, the present invention is not limited to this, and the flying robot 3 is provided with a GPS signal receiving function, and the current position is calculated based on the GPS signal. Also good.

Next, the moving body tracking module 231 tracks the position of the moving body that is an automobile or a person based on the signal from the laser sensor 4 (S73). Then, as a result of the tracking, it is determined whether or not the moving body that is a car or a person is moving (S74). If it is determined in step S74 that the moving body is not moving (S74-No), the process proceeds to step S78, and a flight control signal for flying to the target position is transmitted from the robot control module 233 to the flying robot 3.

On the other hand, if it is determined in step S74 that the vehicle or a moving body that is a person has moved (S74-Yes), it is further determined in step S74 whether the vehicle 7 has moved out of the monitoring area E (S75). Here, since the outside of the monitoring region E is outside the detection area of the laser sensor 4, it means that the moving body tracked by the laser sensor 4 has disappeared. That is, when the mobile body tracking module 231 cannot detect a mobile body that is a car or a person being tracked, it is determined that the mobile body tracking module 231 has moved out of the monitoring area E.

If a moving body that is a car or a person is detected in the monitoring area E in which tracking can be continued in step S75 (S75-No), the target position is changed and set based on the current position of the moving body that is a car or a person. (S76), the process proceeds to step S78, and the flight control signal for flying to the target position is transmitted from the robot control module 233 to the flying robot 3.

On the other hand, when a moving body that is a car or a person comes out of the monitoring area E in step S75 (S75-Yes), the position at which the car or moving body leaves the monitoring area E is changed to the target position as the escape position ( In step S <b> 77, the process proceeds to step S <b> 78, and a flight control signal for flying from the robot control module 233 to the target position is transmitted to the flying robot 3. Although not described in this flow, when a moving body that is a car or a person leaves the monitoring area E, shooting on the spot is continued for about 10 seconds, and then designated in advance. The standby place is set as the target position and the process returns to the standby place.

In step S78, the robot control means C calculates the flight control signal of the flying robot 3 so that the flying robot 3 can fly along the route calculated by the flight path calculation means B. A specific flight control signal is the number of rotations of each of the four rotors 32 in the flying robot 3. Then, a flight control signal is transmitted from the flying robot communication unit 25 as a radio signal.

When the flying robot 3 receives the flight control signal from the antenna 31, the flying robot 3 flies based on the received flight control signal. Specifically, the flight control signal received from the antenna 31 is input to the flight control means 384, and the number of rotations of each rotor 32 is individually controlled from the rotor drive unit 33 to fly. After the flight is started, these steps S72 to S78 are repeatedly processed to take an image while tracking the automobile.

Here, although not described in the flow shown in FIG. 7, when the flying robot 3 first receives the flight control signal, the camera control unit 382 activates the camera 36 and starts transmitting the captured image to the security device 2. . In addition, the scanning unit 383 activates the distance measuring sensor 35 and the altitude sensor 34 and starts transmitting scan data to the security device 2.

As described above, in the monitoring system 1, the monitor can monitor the monitor of the monitoring center and quickly confirm the characteristics of the automobile with the image and text data. Moreover, since it is text data, it can be easily communicated to others by telephone.

In the present embodiment, the flying robot 3 is controlled by the security control unit 23 of the security device 2, but all or part of the functions of the security device 2 may be appropriately mounted on the flying robot 3. Good.

In the present embodiment, the position of the flying robot 3 is calculated from the scan data by the security device 2, but the position may be calculated by a GPS signal.

In the present embodiment, the moving object is tracked using the signal of the laser sensor 4, but after the distance measuring sensor 35 of the flying robot 3 can capture the moving object, the moving object is moved based on the scan data. The body may be tracked.

In this embodiment, the flying robot 3 captures a moving body. However, a large number of monitoring cameras are installed in the monitoring area E, and the moving body tracking module 231 controls the shooting location of the monitoring camera. You may do it.

1 ... Monitoring system 2 ... Security device (control unit)
3 ... Flying robot 4 ... Laser sensor (object sensor)
5 ... In-building sensor

Claims (8)

A monitoring system that transmits to the monitoring center escape information about a moving object that escapes from the monitoring area when the monitoring area is in an abnormal state,
A tracking unit that tracks a moving object existing in the monitoring area after an abnormality occurs in the monitoring area;
An imaging unit for imaging the moving body being tracked;
An escape determination unit for determining whether or not the moving object has exited the monitoring area;
When the escape determination unit determines that the mobile body has exited the monitoring area, the escape information generation unit generates escape information from images for a predetermined time before and after the determination,
And a transmission unit that transmits the escape information to the monitoring center.   The monitoring system according to claim 1, wherein the escape information generation unit uses the image for the predetermined time as escape information. Furthermore, the image processing unit for recognizing the characteristics of the moving object being tracked from the image and converting the recognition result into text data,
The monitoring system according to claim 1, wherein the escape information generation unit includes the text data in the escape information.   The image processing unit determines a direction in which the moving object has escaped from images before and after the escape determining unit determines that the moving object has exited the monitoring area, and the direction is converted into text data as a recognition result. The monitoring system according to claim 3.   The monitoring system according to claim 3 or 4, wherein the image processing unit extracts a person from an image obtained by photographing the moving body, and uses the number of persons as text data as a recognition result.   The image processing unit determines whether the moving body is a car or a person from images before and after the escape determining unit determines that the moving body has exited the monitoring area, and uses the determination result as a recognition result as text. The monitoring system according to any one of claims 3 to 5, wherein the monitoring data is converted into data.   The image processing unit extracts a car from an image of the moving body, recognizes feature information such as a license plate, a car type, and a car color of the car, and converts the feature information into text data as a recognition result. The monitoring system according to any one of claims 3 to 6. The monitoring system according to any one of claims 1 to 7, wherein the photographing unit is a flying robot that moves to a current position of the moving body required by the tracking unit and photographs the moving body.