JP3960758B2 - Monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a monitoring device including an imaging unit and an electric swivel for rotating the imaging unit in a horizontal and / or vertical direction.
[0002]
[Prior art]
As a monitoring device, there is one that detects a moving object and outputs an alarm by determining the presence or absence of movement based on an image captured by a monitoring camera.
[0003]
The presence / absence of motion is determined using a plurality of images having a time difference. That is, the video is divided into a plurality of regions (feature amount calculation regions), and the presence / absence of motion is determined based on temporal changes in luminance and color difference in each region.
[0004]
Conventionally, the feature amount calculation area set in the screen is fixed. Therefore, when the surveillance camera is fixed, the imaging area of each feature amount calculation area is always the same area, so it is possible to determine the presence or absence of movement. However, when the surveillance camera is mounted on an electric swivel and the surveillance camera is turned in the horizontal and vertical directions, the imaging area of each feature amount calculation area changes, so it is possible to determine the presence or absence of movement. Disappear.
[0005]
[Problems to be solved by the invention]
An object of the present invention is to provide a monitoring device that can perform normal motion detection even in a monitoring device in which a monitoring camera is turned by an electric turntable.
[0006]
[Means for Solving the Problems]
According to a first monitoring apparatus of the present invention, an image pickup means, an electric turntable for rotating the image pickup means in a horizontal and / or vertical direction, and an electric turntable move according to a predetermined movement path of the electric turntable. In addition, an electric swivel base control means for intermittently controlling the electric swivel base at regular intervals, a plurality of feature amount calculation areas are set in the effective video area, and for each feature amount calculation area at predetermined time intervals. Extracting means for extracting an image feature amount from the video imaged by the imaging means, and each time the image feature amount for each feature amount calculation area is extracted by the extraction means, the image feature for each feature amount calculation area extracted this time The amount of temporal variation or the temporal variation rate for each feature amount calculation region is calculated by comparing the amount and the image feature amount for each feature amount calculation region extracted last time, and based on the calculation result Each feature calculation Means for determining whether the electric swivel is stationary or moving before performing the motion determination by the motion determination means in a monitoring device comprising a motion determination means for determining the presence or absence of movement for each region; When it is determined that the electric swivel is moving, there is provided a means for prohibiting movement determination by the movement determination means.
[0007]
According to a second monitoring device of the present invention, the image pickup means, the electric turntable for rotating the image pickup means in the horizontal and / or vertical direction, and the electric turntable move according to a predetermined movement path of the electric turntable. In addition, the electric swivel base control means for continuously moving the electric swivel base, a plurality of feature amount calculation areas are set in the effective image area, and the image pickup means is provided for each feature amount calculation area at predetermined time intervals. Extraction means for extracting the image feature amount from the video imaged in step, and each time the image feature amount for each feature amount calculation region is extracted by the extraction means, the image feature amount for each feature amount calculation region extracted this time The temporal variation amount or temporal variation rate for each feature amount calculation region is calculated by comparing the image feature amount for each feature amount calculation region extracted last time, and each feature is calculated based on the calculation result. Quantity calculation area In the monitoring device provided with a motion determination means for determining the presence or absence of motion every time, the entire feature amount calculation area composed of all the feature amount calculation areas set in the effective video area is moved along with the movement of the electric swivel base. Thus, the first changing means to be moved so that the imaging area corresponding to the entire area for calculating the feature quantity is the same area, and a part of the entire area for calculating the feature quantity after being changed by the first changing means is an effective image. In the case of deviating from the area, the whole area for calculating feature amount is further increased by the size of one feature amount calculating area in a direction opposite to the direction in which part of the entire area for calculating feature amount deviates from the effective video area. Before performing the movement determination by the second changing means to be moved and the movement determining means, it is determined whether or not the entire area for calculating the feature amount has been moved by the second changing means, and the second changing means Characteristic When the entire area for calculation has just been moved, the image feature quantity for each image feature quantity calculation area previously extracted by the extraction means is calculated before the movement determination by the movement determination means. Means is provided for shifting a part of the entire calculation area by one feature amount calculation area in the same direction as the direction deviating from the effective video area.
[0008]
According to a third monitoring apparatus of the present invention, an imaging means, an electric swivel for rotating the imaging means in the horizontal and / or vertical directions, a plurality of feature amount calculation areas are set in the effective video area, and a predetermined time For each feature quantity calculation area, an extraction means for extracting an image feature quantity from the video imaged by the imaging means for each feature quantity calculation area, each time an image feature quantity for each feature quantity calculation area is extracted by the extraction means, By comparing the image feature amount for each feature amount calculation region with the image feature amount for each feature amount calculation region extracted last time, the temporal variation amount or temporal variation rate for each feature amount calculation region is calculated. A motion determination unit that calculates the presence / absence of motion for each feature amount calculation region based on the calculation result, a centroid calculation unit that calculates a centroid of motion based on the motion determination result by the motion determination unit, and an imaging unit Screen In a monitoring apparatus having an electric swivel control means for controlling the electric swivel so that the center coincides with the center of gravity of the movement, for feature amount calculation composed of all feature amount calculation areas set in the effective image area The whole area is changed by the first changing means and the first changing means to move the imaging area corresponding to the whole area for calculating the feature amount to be the same area as the electric swivel base moves. When a part of the whole area for amount calculation deviates from the effective video area, a part of the whole area for feature quantity calculation has a size corresponding to one feature amount calculation area in a direction opposite to the direction deviating from the effective video area. The second changing means for further moving the entire area for calculating feature amount by the amount, and whether the entire area for calculating feature amount is moved by the second changing means before performing the motion determination by the motion determining means. or not If it is immediately after the entire area for feature amount calculation is moved by the second changing means, each image feature amount calculated by the extracting means before the motion determination by the motion determining means is calculated. The image feature quantity for each area is provided with means for shifting the feature quantity calculation area by one feature quantity calculation area in the same direction as a part of the entire feature quantity calculation area deviating from the effective video area. .
[0009]
In the first to third monitoring devices, the image feature amount for each feature amount calculation region includes the luminance signal integrated value for each feature amount calculation region, the color difference signal integrated value for each feature amount calculation region, and each feature. One arbitrarily selected from the high-frequency component integrated value for each quantity calculation region or any combination thereof is used.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below.
[0011]
[1] Configuration of surveillance camera device
[0012]
FIG. 1 shows the configuration of the surveillance camera device.
[0013]
The monitoring camera device includes a monitoring camera 10, an electric swivel base 20 for rotating the monitoring camera 10 in the horizontal and vertical directions, and a controller 30. A VTR 31, an alarm device 32, and the like are connected to the controller 30.
[0014]
The surveillance camera 10 includes a lens 1, a CCD 2, a preprocessing circuit 3, a YC separation circuit 4, an area integration circuit 5, a microcomputer (hereinafter referred to as a microcomputer) 6, and a signal processing circuit 7.
[0015]
The CCD 2 photoelectrically converts the optical image in the monitoring area through the lens 1 and outputs it as an electrical signal. The output signal of the CCD 2 is sent to the preprocessing circuit 3. The preprocessing circuit 3 includes a CDS circuit, an AGC circuit, and an ADC.
[0016]
The output signal of the CCD 2 is subjected to correlated double sampling processing by the CDS circuit, further gain-adjusted to an optimum amplitude by the AGC circuit, converted to a digital signal by the ADC, and input to the YC separation circuit 4.
[0017]
The YC separation circuit 4 generates a luminance signal Y and color difference signals RY and BY from the digital CCD signal. The signals Y, RY, and BY generated by the YC separation circuit 4 are sent to the VTR 31 via the signal processing circuit 7 and the controller 30, and recorded on the magnetic tape. The signals Y, RY, and BY generated by the YC separation circuit 4 are sent to the integration circuit 5 for each region.
[0018]
The region-by-region integration circuit 5 divides one screen into a plurality of regions having the same area (feature amount calculation regions), and in each feature amount calculation region, integration processing or average processing is performed for each of the signals Y, RY, and BY. To do. In this example, it is assumed that integration processing is performed for each of the signals Y, RY, and BY.
[0019]
In this embodiment, as shown in FIG. 2, a total of 64 feature amount calculation areas e0 to e63 each having 8 areas in the horizontal direction and 8 areas in the vertical direction are set in the effective video area S. A rectangular area composed of all the feature quantity calculation areas e0 to e63 is referred to as an entire feature quantity calculation area. The upper left position P of the entire feature amount calculation area is referred to as an area start position.
[0020]
The integration results (hereinafter referred to as image feature values) for each of the signals Y, RY, and BY integrated for each feature amount calculation area e0 to e63 are sent to the microcomputer 6. The microcomputer 6 receives a Vsync signal as a video vertical synchronization signal as an interrupt signal from a timing control section (not shown). The microcomputer 6 receives an interrupt signal from the timing control unit, and performs motion determination in synchronization with video output. Further, the microcomputer 6 controls the electric turntable 20.
[0021]
Although not shown, the microcomputer 6 also controls the zoom magnification. The microcomputer 6 recognizes the current zoom magnification.
[0022]
[2] Description of main processing
FIG. 3 shows a main processing procedure performed by the microcomputer 6.
[0023]
When the power is turned on, the microcomputer 6 performs initial parameter settings (step 1).
[0024]
Thereafter, the microcomputer 6 enters an input standby state until the Vsync signal is input (step 2). When the Vsync signal is input, the following processing is performed.
[0025]
When the Vsync signal is input (step 2), the microcomputer 6 determines the set processing mode (steps 3, 5, 7, 9), and performs processing according to the set processing mode (step 4, 6, 8, 10) are executed. Then, the process returns to step 2.
[0026]
There are the following four types of processing modes.
(1) Fixed mode: A mode in which the surveillance camera 10 is fixed without controlling the electric swivel base 20. In this case, the imaging angle of view is fixed.
(2) Auto-preset mode: A mode in which the electric swivel base 20 is controlled so that the imaging angle of view is switched intermittently at regular intervals.
(3) Programmable pan / tilde mode: A mode in which the electric swivel base 20 is controlled so as to gradually (continuously) change the imaging field angle.
(4) Automatic tracking mode: A mode in which the electric swivel base 20 is controlled so that the center of gravity of the area where the motion is detected is at the center of the screen.
[0027]
[3] Description of fixed mode processing
[0028]
FIG. 4 shows the procedure of the fixed mode process in step 4 of FIG.
[0029]
First, the image feature quantity for each feature quantity calculation area is acquired from the area integration circuit 5 and stored (step 21). The image feature amount includes a luminance integrated value, a BY integrated value, and an RY integrated value.
[0030]
Next, the presence or absence of motion is determined for each region by comparing the image feature amount for each region stored in the previous field with the image feature amount for each region acquired this time (step 22).
[0031]
That is, for each region, the amount of change between the luminance integrated value of the previous field and the luminance integrated value acquired this time, the amount of change between the BY integrated value of the previous field and the BY integrated value acquired this time, A fluctuation amount between the RY integrated value of the field and the RY integrated value acquired this time is calculated. Then, in a certain area, if at least one of the fluctuation amount of the luminance integrated value, the fluctuation amount of the BY integrated value, and the fluctuation amount of the RY integrated value is equal to or greater than a predetermined threshold value, the area is in motion. Is determined. Note that the fluctuation rate may be calculated instead of the fluctuation amount.
[0032]
Note that the memory of the microcomputer 6 stores the previous field feature quantity storage area for storing the previous field image feature quantity and the current field image feature quantity as a storage area for storing the image feature quantity for each region. The current field feature quantity storage area is provided, and after the presence / absence determination of the motion is performed, the image feature quantity acquired this time is copied to the previous field feature quantity storage area and the current field feature quantity Clear the save area.
[0033]
When the process of step 22 is performed, it is determined whether or not the number of areas determined to have motion is equal to or greater than a predetermined number (step 23). If it is determined that the number of areas determined to have motion is greater than or equal to the predetermined number, an alarm signal is output to the controller 30 (step 24), and the current fixed mode processing is terminated. The controller 30 drives the alarm device 32 when an alarm signal is sent.
[0034]
If the number of areas determined to have motion is less than the predetermined number, the current fixed mode process is terminated.
[0035]
[4] Explanation of auto preset mode processing
[0036]
FIG. 5 shows the procedure of the auto preset mode process in step 6 of FIG.
[0037]
In the auto preset mode, the swivel base 20 is moved intermittently at predetermined time intervals in accordance with the first swivel base position transition data table stored in the memory in the microcomputer 6.
[0038]
First, similarly to step 21 in FIG. 4, the image feature amount for each feature amount calculation region is acquired and stored from the region integration circuit 5 (step 31).
[0039]
Next, as in step 22 in FIG. 4, by comparing the image feature amount for each region stored in the previous field with the image feature amount for each region acquired this time, the presence or absence of motion for each region is determined. Determine (step 32).
[0040]
When the process of step 32 is performed, it is determined whether or not the swivel base 20 is stationary (step 33). When the swivel base 20 is stationary, it is determined whether or not the number of areas determined to be moving is equal to or greater than a predetermined number, similarly to step 23 in FIG. 4 (step 34). If it is determined that the number of areas determined to be moving is greater than or equal to a predetermined number, an alarm signal is output to the controller 30 (step 35), and then the process proceeds to step 36.
[0041]
If it is determined in step 33 that the swivel base 20 is not stationary, that is, if the swivel base 20 is turning, or if it is determined in step 34 that the number of moving regions is less than a predetermined number The process proceeds to step 36.
[0042]
When it is determined that the swivel base 20 is turning, the processing of steps 34 and 35 is not performed because the feature amount calculation in the previous field is performed when the turn base 20 is turning. This is because the imaging area corresponding to the entire area and the imaging area corresponding to the entire area for calculating the feature amount in the current field are different, so that the presence / absence of motion cannot be accurately determined.
[0043]
In step 36, it is determined whether or not it is time to move the swivel base 20. That is, it is determined whether or not a predetermined time has elapsed after the swivel base 20 is in a stationary state. If a certain time has elapsed after the swivel base 20 is in a stationary state, the next target position is acquired based on the first swivel base position transition data table, and the target position is updated (step 37). . Then, the process proceeds to step 38. If the fixed time has not elapsed after the swivel base 20 is in a stationary state, the process proceeds to step 38 without updating the target position.
[0044]
In step 38, it is determined whether or not the current position of the turntable 20 matches the target position. If the current position matches the target position, a stationary (horizontal stop and vertical stop) command is stored in the memory area for storing a control command for the swivel base 20 (step 39). Then, the process proceeds to step 42.
[0045]
When the current position and the target position do not match, the moving direction of the swivel base 2 for moving the swivel base 20 toward the target position is determined, and a control command for storing the control command for the swivel base 20 is stored. Store in the memory (step 40).
[0046]
The control command indicating the moving direction of the swivel base 20 includes a control command indicating the left-right direction and a control command indicating the up-down direction. There are three types of control commands indicating the left and right directions, left, right, and as it is. In addition, there are three types of control commands indicating the up and down directions, ie, up, down, and as it is.
[0047]
When the control command indicating the moving direction of the swivel base 2 is stored in the memory, the current position is updated (step 41). That is, the position after the swivel base 20 is controlled in step 42 to be described later is calculated according to the moving direction determined in step 40, and the current position is updated to the calculated position. The new current position is calculated from the current position so far, the angular velocity per field of the swivel base 20, and the moving direction of the swivel base 20 set in step 40. The angular velocity per field of the turntable 20 is set in advance. Thereafter, the process proceeds to step 42.
[0048]
In step 42, the control command is read from the memory area for storing the control command for the swivel base 20, and the swivel base 20 is controlled according to the read control command. Then, the current auto preset mode process is terminated.
[0049]
[5] Description of programmable pan / tilt mode processing
[0050]
FIG. 6 shows the procedure of the programmable pan / tilt mode processing in step 8 of FIG.
[0051]
In the programmable pan / tilt mode, the swivel base 20 is continuously moved according to the second swivel base position transition data table stored in the memory in the microcomputer 6.
[0052]
First, in the area start position change and over detection process for the previous field (see step 61 described later), a part of the entire feature amount calculation area (upper end, lower end, left end, or right end) becomes an effective video area. It is determined whether or not it has been exceeded (step 51).
[0053]
If it is determined that a part of the entire feature amount calculation area exceeds the effective video area, area shift processing is performed (step 52). In other words, the feature quantity for each area of the previous field held in the memory is displayed for one column or one line of the feature quantity calculation area in a direction in which a part of the entire feature quantity calculation area exceeds the effective video area. shift. Further, identification data for invalidating the area is stored in the memory in the area where the feature quantity of the previous field does not exist due to this shift. Then, the process proceeds to step 53. Details of the area shift processing will be described later.
[0054]
If it is not determined that a part of the entire feature amount calculation area exceeds the effective video area, the process proceeds to step 53.
[0055]
In step 53, as in step 21 of FIG. 4, the image feature quantity for each feature quantity calculation area is acquired from the area integration circuit 5 and stored.
[0056]
Next, as in step 22 in FIG. 4, by comparing the image feature amount for each region stored in the previous field with the image feature amount for each region acquired this time, the presence or absence of motion for each region is determined. Determination is made (step 54). However, the area invalidated in step 52 is regarded as a still area without performing motion determination.
[0057]
When the process of step 54 is performed, it is determined whether or not the number of areas determined to be moving is equal to or greater than a predetermined number, similarly to step 23 of FIG. 4 (step 55). If it is determined that the number of areas determined to be moving is greater than or equal to the predetermined number, an alarm signal is output to the controller 30 (step 56), and then the process proceeds to step 57. If it is determined in step 55 that the number of regions with movement is less than the predetermined number, the process proceeds to step 57.
[0058]
In step 57, the current position of the swivel base 20, the current position so far, the angular velocity per field of the swivel base 20, and the currently set moving direction of the swivel base 20 (determined in step 60 in the previous field). The direction of travel).
[0059]
Next, it is determined whether or not the current position matches the target position (step 58). If the current position matches the target position, the next target position is acquired based on the second turntable position transition data table, and the target position is updated (step 59). Then, the process proceeds to step 60. If the current position does not match the target position, the process proceeds to step 60 without updating the target position.
[0060]
In step 60, the moving direction of the swivel base 20 for moving the swivel base 20 toward the target position is determined and stored in a memory for storing a control command for the swivel base 20.
[0061]
Thereafter, area start position change and over detection processing is performed (step 61). In the area start position change and over detection process, first, the area start position P (see FIG. 2) of the entire feature amount calculation area is updated. In this update process, if the imaging area corresponding to the current feature quantity calculation entire area on the camera screen is set as the feature quantity calculation imaging area, the swivel base 20 is moved on the camera screen after step 62 described later. The upper left position of the region corresponding to the feature amount calculation imaging region at is calculated as the new region start position. The new area start position is calculated based on the moving direction of the turntable 20 determined in step 60 and the turning speed (number of pixels / field) of the turntable 20 calculated from the zoom magnification.
[0062]
Then, after the swivel base 20 is moved in step 62, which will be described later, based on the calculated new region start position, a part of the entire feature amount calculation region defined by the new region start position becomes an effective video region. Judge whether to exceed. After the swivel base 20 is moved in step 62 to be described later, if a part of the entire feature amount calculation area defined by the new area start position does not exceed the effective video area, the area start position P is set to the new area start position P. Change to the region start position.
[0063]
After the swivel base 20 is moved in step 62, which will be described later, if a part of the entire feature amount calculation area defined by the new area start position exceeds the effective video area, the area start position P is set to the new area start position P. Only one column or one row of the feature amount calculation area in a direction opposite to the direction in which a part of the entire feature amount calculation area defined by the new area start position exceeds the effective video area with respect to the area start position Change to the shifted position. In this case, the direction in which a part of the entire feature amount calculation area exceeds the effective video area is stored in the memory.
[0064]
When the region start position change and over detection processing is completed, the control command is read from the memory for storing the control command for the swivel base 20, and the swivel base 20 is controlled according to the read control command (step 62). Then, the current programmable pan / tilt mode processing is terminated.
[0065]
[6] Explanation of automatic tracking mode processing
[0066]
FIG. 7 shows the procedure of the automatic tracking mode process in step 10 of FIG.
[0067]
In the automatic tracking mode, the electric swivel base 30 is controlled so that the position of the center of gravity of the region where the motion is detected is at the center of the screen.
[0068]
First, in the area start position change and over detection process for the previous field (see step 78 described later), a part of the entire feature amount calculation area (upper end, lower end, left end, or right end) becomes an effective video area. It is determined whether or not it has been exceeded (step 71).
[0069]
If it is determined that a part of the entire feature amount calculation area exceeds the effective video area, area shift processing is performed (step 72). In other words, the feature quantity for each area of the previous field held in the memory is displayed for one column or one line of the feature quantity calculation area in a direction in which a part of the entire feature quantity calculation area exceeds the effective video area. shift. Further, identification data for invalidating the area is stored in the memory in the area where the feature quantity of the previous field does not exist due to this shift. Then, the process proceeds to step 73. Details of the area shift processing will be described later.
[0070]
If it is not determined that a part of the entire feature amount calculation area exceeds the effective video area, the process proceeds to step 73.
[0071]
In step 73, as in step 21 of FIG. 4, the image feature amount for each feature amount calculation region is acquired from the region integration circuit 5 and stored.
[0072]
Next, as in step 22 in FIG. 4, by comparing the image feature amount for each region stored in the previous field with the image feature amount for each region acquired this time, the presence or absence of motion for each region is determined. Determination is made (step 74). However, the area invalidated in step 72 is regarded as a still area without performing motion determination.
[0073]
When the process of step 74 is performed, the center of gravity of the motion is calculated for each horizontal direction / vertical direction based on the information of the area determined to have motion (step 75).
[0074]
Next, it is determined whether or not the swivel moving condition that the center of the screen is not in the vicinity of the center of gravity and there is an area determined to have motion is satisfied (step 76).
[0075]
If the turntable movement condition is not satisfied, that is, if the center of the screen is near the center of gravity or if there is no area determined to have movement, the memory area for storing the control command for the turntable 20 is stored. A still (horizontal stop and vertical stop) command is stored (step 77). Then, the process proceeds to step 79.
[0076]
When the swivel base moving condition is satisfied, the moving direction of the swivel base 20 for moving the swivel base 20 is determined so that the center of the screen is located at the center of gravity calculated in step 7. (Step 78). Then, the process proceeds to step 79.
[0077]
For example, when the center of gravity position is on the left side from the center of the screen, the moving direction of the swivel base 2 is determined to be left, and when the center of gravity position is on the right side of the screen center, the moving direction of the swivel base 2 is determined to be right. To do.
[0078]
In step 79, similarly to step 61 of FIG. 6, the region start position change and over detection processing are performed.
[0079]
When the region start position change and over detection processing ends, the control command is read from the memory for storing the control command for the swivel base 20, and the swivel base 20 is controlled in accordance with the read control command (step 80). And this automatic tracking mode process is complete | finished.
[0080]
[7] Explanation of area shift processing
[0081]
[7.1] Explanation of basic concept of area shift processing
[0082]
FIG. 11 shows an example in which a part of the entire feature amount calculation area exceeds the effective video area in the automatic tracking mode process. In FIG. 11, the number of feature amount calculation areas is 20 (4 rows × 5 columns) for convenience of explanation.
[0083]
In FIG. 11, F1 indicates the first frame, F2 indicates the second frame, and F3 indicates the third frame.
[0084]
Since the automobile in the first frame F1 has moved to the right, the swivel base 20 follows the automobile and turns to the right. For this reason, in the second frame, the region start position P of the entire feature amount calculation region is moved to the left as compared with the first frame F1.
[0085]
Since the automobile has further moved rightward from this state, the turntable 20 follows the automobile and turns rightward. For this reason, in the third frame F3, the region start position P of the entire feature amount calculation region deviates to the left from the left end of the effective video region S.
[0086]
In such a case, in the area start position change and over detection processing (see 79) in the field that has captured the image feature quantity for the second frame F2, the area start position P of the entire feature quantity calculation area is the effective video. The position P1 shifted from the left end of the area S to the left is changed to a position P2 shifted rightward by one column of the feature amount calculation area.
[0087]
In the region shift process (see step 72) in the field in which the feature amount for the third frame F3 is captured, the image feature amount for the second field F2, which is the previous field, is shifted leftward by one column. As a result, the image feature amounts of the second field F2 and the third field F3 in each region (h = 0, 1, 2, 3) excluding the rightmost column (h = 4) in the feature amount calculation region. Can be compared.
[0088]
[7.2] Explanation of overall processing procedure of region shift processing
[0089]
FIG. 8 shows the overall processing procedure of the area shift processing in step 52 of FIG. 6 or step 72 of FIG.
[0090]
In the area shift process, first, in the area start position change and over detection process for the previous field (see step 61 in FIG. 6 and 79 in FIG. 7), a part of the entire area for calculating the feature amount has an effective video area in the horizontal direction. It is determined whether or not it is determined that the distance has been exceeded (leftward or rightward) (step 81).
[0091]
If it is determined that a part of the entire feature amount calculation area has exceeded the effective video area in the horizontal direction, the horizontal area shift processing is performed (step 82), and then the process proceeds to step 83. If it is not determined that a part of the entire feature amount calculation area has exceeded the effective video area in the horizontal direction, the process proceeds to step 83.
[0092]
In step 83, in the region start position change and over detection processing for the previous field (see step 61 in FIG. 6 and 79 in FIG. 7), a part of the entire feature amount calculation region moves the effective video region in the vertical direction (upward direction). Alternatively, if it is determined that the distance has been exceeded (downward), the vertical region shift processing is performed (step 84), and the current region shift processing is terminated. If it is not determined that a part of the entire feature amount calculation area has exceeded the effective video area in the vertical direction, the current area shift process is terminated.
[0093]
[7.3] Description of horizontal region shift processing procedure
[0094]
FIG. 9 shows the procedure of the horizontal area shift process in step 82 of FIG.
[0095]
The feature amount calculation areas e0 to e63 (see FIG. 2) are represented by numbers 0 to 63. Further, the variable i is defined as a variable representing the number of the feature amount calculation area. Y (i) represents the luminance integrated value after the area shift of the previous field with respect to the area i, BY (i) represents the BY integrated value after the area shift of the previous field with respect to the area i, and RY (i). Represents the RY integrated value after the area shift of the previous field with respect to the area i.
[0096]
Further, y (A) represents the luminance integrated value before the area shift of the previous field with respect to the area A, and by (A) represents the BY integrated value before the area shift of the previous field with respect to the area A, and ry (A ) Represents the RY integrated value before the area shift of the previous field with respect to the area A.
[0097]
First, is it over right (whether the right end of the entire feature calculation area exceeds the right edge of the effective image area) or left over (whether the left end of the feature calculation area exceeds the left edge of the effective image area) ) Is determined (step 91).
[0098]
If it is determined in the above step 91 that it is left over, the routine proceeds to step 98 where “0” is set to the variable i. Then, it is determined whether or not the area indicated by i is the rightmost feature amount calculation area (step 99). That is, it is determined whether i is 7, 15, 23,.
[0099]
When the region is the right end feature amount calculation region, data DONT_DETECT indicating that no feature amount exists as the data Y (i), BY (i), and RY (i) of the right end region i after the region shift Is set (step 100). Then, the process proceeds to step 102.
[0100]
When the region is a feature amount calculation region other than the right end, data {Y (i), BY (i) and RY (i)} for the region i after the region shift is used as the data before the region shift for the region (i + 1). Data {y (i + 1), by (i + 1) and ry (i + 1)} are respectively set (step 101). As a result, the data before the region shift is shifted to the left by one column. Then, the process proceeds to step 102.
[0101]
In step 102, i is incremented by 1 (+1). Then, in order to determine whether or not the processing of steps 99 to 102 has been performed for all the regions, it is determined whether i has reached 64 (step 103).
[0102]
If i is less than 64, the process returns to step 99 and the processes of steps 99 to 103 are performed. In this way, when the processes of steps 99 to 103 are performed for all the areas, i reaches 64, and thus the current horizontal area shift process is terminated.
[0103]
If it is determined in the above step 91 that it is right over, the process proceeds to step 92 where “63” is set in the variable i. Then, it is determined whether or not the region indicated by i is the leftmost feature amount calculation region (step 93). That is, it is determined whether i is 0, 8, 16,.
[0104]
When the region is the leftmost feature amount calculation region, data DONT_DETECT indicating that no feature amount exists as the data Y (i), BY (i), and RY (i) of the leftmost region i after the region shift Is set (step 94). Then, the process proceeds to step 96.
[0105]
If the region is a feature amount calculation region other than the left end, the region shift for the region (i-1) is performed as data {Y (i), BY (i), and RY (i)} for the region i after the region shift. The previous data {y (i-1), by (i-1) and ry (i-1)} are set (step 95). As a result, the data before the region shift is shifted to the right by one column. Then, the process proceeds to step 96.
[0106]
In step 96, i is decremented by 1 (-1). Then, in order to determine whether or not the processing of steps 93 to 96 has been performed for all the regions, it is determined whether i is smaller than 0 (step 97).
[0107]
If i is greater than or equal to 0, the process returns to step 93 and the processes of steps 93 to 97 are performed. In this way, when the processes of steps 93 to 96 are performed for all the areas, i becomes smaller than 0, and thus the current horizontal area shift process is terminated.
[0108]
[7.4] Description of the vertical area shift processing procedure
[0109]
FIG. 10 shows the procedure of the vertical direction area shift processing in step 84 of FIG.
[0110]
First, is it over the bottom (whether the lower end of the whole area for calculating the feature amount is below the lower end of the effective video area) or over the top (the upper end of the whole area for calculating the feature quantity is above the upper end of the effective video area) (Step 91).
[0111]
If it is determined in the above step 91 that the upper is over, the process proceeds to step 118 to set “0” in the variable i. Then, it is determined whether or not the area indicated by i is a lower end feature amount calculation area (step 119). That is, it is determined whether i is a value from 56 to 63.
[0112]
When the area is a lower end feature quantity calculation area, data DONT_DETECT indicating that no feature quantity exists as data Y (i), BY (i) and RY (i) of the lower end area i after the area shift Is set (step 120). Then, the process proceeds to step 122.
[0113]
When the region is a feature amount calculation region other than the lower end, data {Y (i), BY (i) and RY (i)} for the region i after the region shift is used as the data before the region shift for the region (i + 8). Data {y (i + 8), by (i + 8) and ry (i + 8)} are set (step 121). As a result, the data before the region shift is shifted downward by one row. Then, the process proceeds to step 122.
[0114]
In step 122, i is incremented by 1 (+1). Then, in order to determine whether or not the processing of steps 1199 to 122 has been performed on all the regions, it is determined whether i has reached 64 (step 123).
[0115]
If i is less than 64, the process returns to step 119 and the processes of steps 119 to 123 are performed. In this way, when the processing of steps 119 to 123 is performed for all the regions, i reaches 64, and thus the current vertical direction region shift processing is terminated.
[0116]
If it is determined in the above step 111 that it is the lower over, the process proceeds to step 112 and “63” is set to the variable i. Then, it is determined whether or not the area indicated by i is the uppermost feature amount calculation area (step 113). That is, it is determined whether i is a value from 0 to 7.
[0117]
When the region is the upper feature amount calculation region, data DONT_DETECT indicating that no feature amount exists as data Y (i), BY (i), and RY (i) of the upper end region i after the region shift Is set (step 114). Then, the process proceeds to step 116.
[0118]
If the region is a feature amount calculation region other than the upper end, region shift for region (i-8) is performed as data {Y (i), BY (i), and RY (i)} for region i after region shift. The previous data {y (i-8), by (i-8) and ry (i-8)} are set (step 115). As a result, the data before the region shift is shifted upward by one row. Then, the process proceeds to step 116.
[0119]
In step 116, i is decremented by 1 (-1). Then, in order to determine whether or not the processing of steps 113 to 116 has been performed for all the regions, it is determined whether i is smaller than 0 (step 117).
[0120]
If i is greater than or equal to 0, the process returns to step 113 and the processes of steps 113 to 117 are performed. In this way, when the processes of steps 113 to 116 are performed for all the areas, i becomes smaller than 0, and thus the current vertical area shift process is terminated.
[0121]
In the above embodiment, as the image feature amount calculated for each feature amount calculation region, the luminance signal integrated value for each feature amount calculation region and the color difference signal integrated value for each feature amount calculation region are used. However, a high-frequency component integrated value for each feature amount calculation region may be used.
[0122]
【The invention's effect】
According to the present invention, it is possible to perform normal motion detection even in a monitoring device in which the monitoring camera is turned by the electric turntable.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a monitoring camera device.
FIG. 2 is a schematic diagram showing 64 feature amount calculation areas set in an effective video area.
FIG. 3 is a flowchart showing a main processing procedure performed by a microcomputer 6;
FIG. 4 is a flowchart showing a procedure of fixed mode processing in step 4 of FIG. 3;
FIG. 5 is a flowchart showing a procedure of auto-preset mode processing in step 6 of FIG. 3;
FIG. 6 is a flowchart showing a procedure of programmable pan / tilt mode processing in step 8 of FIG. 3;
FIG. 7 is a flowchart showing a procedure of automatic tracking mode processing in step 10 of FIG. 3;
FIG. 8 is a flowchart showing an overall processing procedure of region shift processing in step 52 of FIG. 6 or step 72 of FIG. 7;
FIG. 9 is a flowchart showing a procedure of horizontal area shift processing in step 82 of FIG. 8;
FIG. 10 is a flowchart illustrating a procedure of vertical direction area shift processing in step 84 of FIG. 8;
FIG. 11 is a schematic diagram illustrating an example of a case where a part of the entire feature amount calculation area exceeds the effective video area in the automatic tracking mode process;
[Explanation of symbols]
1 lens
2 CCD
3 Pre-processing circuit
4 YC separation circuit
5 Totalizing circuit for each area
6 Microcomputer
7 Signal processing circuit
10 surveillance cameras
20 Electric swivel
30 controller

Claims (3)

The image pickup means, the electric turntable for rotating the image pickup means horizontally and / or vertically, and the electric turntable is continuously moved so that the electric turntable moves in accordance with a predetermined movement path of the electric turntable. A plurality of feature quantity calculation areas are set in the effective video area, and the image feature quantity is extracted from the video imaged by the imaging means for each feature quantity calculation area every predetermined time. Each time the image feature quantity for each feature quantity calculation area is extracted by the extraction means, the image feature quantity for each feature quantity calculation area extracted this time, and each feature quantity calculation area previously extracted The temporal variation amount or temporal variation rate for each feature amount calculation region is calculated by comparing the image feature amount for each feature, and the presence / absence of motion is determined for each feature amount calculation region based on the calculation result Motion In the monitoring device comprises means,
The entire feature quantity calculation area composed of all the feature quantity calculation areas set in the effective video area is set so that the imaging area corresponding to the whole feature quantity calculation area becomes the same as the electric swivel base moves. First changing means to be moved,
In a case where a part of the entire area for calculating the feature amount after being changed by the first changing unit deviates from the effective video area, a direction in which a part of the entire area for calculating the feature amount deviates from the effective video area, The second changing means for further moving the whole area for calculating feature amount by the size of one feature amount calculating area, and for performing feature amount calculation by the second changing means before performing motion determination by the motion determining means. It is determined whether or not the entire area has just been moved. If the entire area for feature amount calculation has just been moved by the second changing means, before the movement determination by the movement determination means. The image feature quantity for each image feature quantity calculation area previously extracted by the extraction means is calculated by using one feature quantity calculation area in the same direction as a part of the entire feature quantity calculation area deviating from the effective video area. Min Means to
Monitoring device. The image pickup means, the electric swivel for rotating the image pickup means in the horizontal and / or vertical direction, and a plurality of feature amount calculation areas are set in the effective image area. Extracting means for extracting image feature values from the video imaged by the imaging means, and whenever the image feature values for each feature value calculation area are extracted by the extraction means, the image feature values for each feature value calculation area extracted this time And the image feature amount for each feature amount calculation region extracted last time to calculate the temporal variation amount or temporal variation rate for each feature amount calculation region, and based on the calculation result, A motion determination unit that determines the presence or absence of motion for each feature amount calculation region, a center of gravity calculation unit that calculates the center of gravity of the motion based on the motion determination result by the motion determination unit, and the center of the screen of the imaging unit matches the center of gravity of the motion like In the monitoring device comprising an electric swivel base control means for controlling the electric swivel slide,
The entire feature quantity calculation area composed of all the feature quantity calculation areas set in the effective video area is set so that the imaging area corresponding to the whole feature quantity calculation area becomes the same as the electric swivel base moves. First changing means to be moved,
In a case where a part of the entire area for calculating the feature amount after being changed by the first changing unit deviates from the effective video area, a direction in which a part of the entire area for calculating the feature amount deviates from the effective video area, The second changing means for further moving the whole area for calculating feature amount by the size of one feature amount calculating area, and for performing feature amount calculation by the second changing means before performing motion determination by the motion determining means. It is determined whether or not the entire area has just been moved. If the entire area for feature amount calculation has just been moved by the second changing means, before the movement determination by the movement determination means. The image feature quantity for each image feature quantity calculation area previously extracted by the extraction means is calculated by using one feature quantity calculation area in the same direction as a part of the entire feature quantity calculation area deviating from the effective video area. Min Means to
Monitoring device. The image feature value for each feature value calculation area is arbitrarily selected from the luminance signal integrated value for each feature value calculation area, the color difference signal integrated value for each feature value calculation area, and the high-frequency component integrated value for each feature value calculation area. monitoring device according to claim 1 or 2 is one or any combination thereof which is selected.

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