JP4981737B2 - Monitoring system - Google Patents

Description

  The present invention relates to a monitoring system that monitors the state of the sea or the sea.

Conventionally, for example, a monitoring camera device disclosed in Patent Document 1 is known as a monitoring system for monitoring areas where lighting facilities such as harbor facilities, straits, and urban suburbs are scarce.
In Patent Document 1, a surveillance camera device is configured by combining an infrared camera and a high-sensitivity color camera, a wide area is detected by the infrared camera, and when an object is detected by the infrared camera, a high-sensitivity color camera in that direction is detected. To obtain a clear image.
JP 2002-162467 A

  However, in the monitoring apparatus disclosed in Patent Document 1, in the search using the infrared camera performed at the initial stage, if the viewing angle is too wide, the resolution is lowered and there is a possibility that the target may be overlooked. It was.

  The present invention has been made to solve the above problem, and an object of the present invention is to provide a monitoring system capable of suppressing oversight of a monitoring target and improving the monitoring performance.

In order to solve the above problems, the present invention employs the following means.
The present invention includes a distance measuring unit that measures a distance to a predetermined monitoring region, an imaging unit that acquires a monitoring image of the monitoring region, a display unit that displays the monitoring image acquired by the imaging unit, and a monitoring Based on the assumed size of the monitoring target to be the target, the minimum number of pixels required to view the monitoring target on the monitoring image, and the distance to the monitoring area measured by the distance measuring means, Boundary display means for obtaining a boundary for dividing the monitoring target into an area that can be displayed with the number of pixels equal to or greater than the minimum number of pixels on the monitoring screen acquired by the imaging means, and other areas; Provides a monitoring system for displaying a monitoring image divided by the boundary set by the boundary setting means.

According to such a configuration, it is possible to display a monitoring image in which a region where the monitoring target can be displayed with the number of pixels equal to or greater than the minimum number of pixels can be distinguished from other regions. As a result, it is possible to notify the operator of how far the monitoring target can be reliably detected. As a result, oversight of the monitoring target can be suppressed.
Further, by dividing the monitoring screen into two areas in this way, the operator can clearly grasp the areas that should be confirmed and the areas that do not need to be confirmed. As a result, the operator does not need to see a useless area, and the monitoring efficiency can be improved.

  The monitoring system includes a fluctuation amount measuring unit that measures a fluctuation amount when the position of the imaging unit fluctuates, and the boundary setting unit is configured to perform the fluctuation based on the fluctuation amount measured by the fluctuation amount measurement unit. The boundary displayed on the monitoring screen may be changed.

  For example, when the imaging unit or the like is mounted on a moving body such as a helicopter or a ship, the position and orientation of the imaging unit may vary due to the shaking of the moving body. Even under such circumstances, the fluctuation amount of the movement of the imaging means is measured, and the processing means changes the boundary based on the fluctuation amount, so that the monitoring performance can be maintained high. Furthermore, if the distance is acquired by the distance measuring means at the start of monitoring, the boundary is changed based on the fluctuation amount measured by the fluctuation amount measuring means for subsequent monitoring. Distance measurement is not required.

  In the monitoring system, the distance measuring unit is, for example, a laser radar.

  By using a laser radar as a distance measuring means, it is possible to efficiently perform wide-range ranging.

  In the monitoring system, the imaging unit is an infrared camera or a visible camera, and when a monitoring target is detected on a monitoring screen acquired by the infrared camera or the visible camera, the laser radar is used to detect the monitoring target. Monitoring may be performed continuously.

  In this way, object detection over a wide area is performed using an infrared camera having a wider viewing angle than laser radar, and after the object is confirmed, monitoring that has been confirmed using a laser radar that can obtain a clearer image By tracking and monitoring an object, it becomes possible to monitor efficiently and effectively.

  In the monitoring system, when the monitoring target is detected, the distance measuring unit measures the distance to the monitoring target, and based on the distance measurement result and information from the imaging condition setting unit or the boundary setting unit. The size of the monitoring target may be calculated.

This makes it possible to acquire not only the detection target but also the size.
According to another exemplary embodiment of the present invention, a distance measuring unit that measures a distance to a predetermined monitoring region, an imaging unit that acquires a monitoring image of the monitoring region, and the monitoring acquired by the imaging unit. Display means for displaying an image, an assumed size of the monitoring target to be monitored, a minimum number of pixels necessary for visually recognizing the monitoring target on the monitoring image, and the monitoring measured by the distance measuring means An imaging condition setting unit that determines an angle of view of the imaging unit based on a distance to an area, and the imaging unit performs imaging with the angle of view set by the imaging condition setting unit. .
According to such a configuration, on the monitoring screen acquired by the imaging means such as an infrared camera, an appropriate angle of view in which the monitoring target is displayed in a visually recognizable manner is set by the shooting condition setting means. Since monitoring by the imaging unit is started, when a monitoring target exists in the monitoring region, the monitoring target is reliably displayed on the display unit so as to be visible. Thereby, the oversight of the monitoring target can be suppressed, and the monitoring performance can be improved.
The monitoring system includes an input unit, and the imaging condition setting unit calculates an estimated size of the monitoring target input from the input unit and the number of pixels necessary for visually recognizing the monitoring target on the monitoring image. It is good also as setting the said angle of view using.
According to such a configuration, an operator can input and set an assumed size or the like to be monitored.

  According to the present invention, it is possible to suppress oversight of a monitoring target and improve monitoring performance.

Embodiments of a monitoring system according to the present invention will be described below with reference to the drawings.
[First Embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a monitoring system according to the first embodiment of the present invention. As shown in FIG. 1, a monitoring system 1 according to this embodiment includes a laser range finder (distance measuring means) 11, an infrared camera (imaging means) 12, a display device (display means) 13, and an input device (input means) 14. And a processing device (imaging condition setting means) 15.

  The orientation of the laser range finder 11 and the infrared camera 12 can be changed by being installed on an electric turntable (not shown) or the like. Moreover, the laser range finder 11 and the infrared camera 12 are each provided with a control device (not shown), and these control devices are configured according to information from the processing device 15 described later. Each camera 12 is controlled.

  When the predetermined monitoring area is designated, the laser range finder 11 measures the distance to the monitoring area and outputs the measured distance information to the processing device 15. The predetermined monitoring area may be designated by designating the predetermined monitoring area by directing the laser range finder 11 toward the direction of the predetermined monitoring area, or the pre-monitoring image acquired by the infrared camera 12. The operator may designate a location in FIG. 5 and information on this location may be input via the processing device 15.

The infrared camera 12 acquires a monitoring image (infrared image) of a predetermined monitoring area by adjusting the angle of view, orientation, and the like according to predetermined imaging conditions including an angle of view determined by the processing device 15 described later, The acquired monitoring image is output to the display device 13.
The display device 13 includes a display monitor, and displays a monitoring image acquired by the infrared camera 12 on the display monitor.

  The input device 14 is various input devices such as a keyboard and a mouse, and functions as a man-machine interface. Specifically, the input device 14 is input by the operator with the estimated size of the monitoring target, the minimum number of pixels necessary for visually recognizing the monitoring target on the monitoring image displayed on the display device 13, and the like. Then, the input information is output to the processing device 15.

The processing device 15 determines the angle of view of the infrared camera 12 based on the estimated size of the monitoring target input from the input device 14, the minimum number of pixels, and the distance information input from the laser range finder 11. Various shooting conditions necessary for controlling the infrared camera 12 such as the direction of the image are obtained, and these shooting conditions including the angle of view are output to the infrared camera 12.
In the present embodiment, it is assumed that the assumed size and the minimum number of pixels are input from the input device 14, but instead, this information is registered in advance in a storage device included in the processing device 15. This information may be read and set.

  Next, the operation of the monitoring system having the above configuration will be specifically described with reference to the drawings. In the following description, as shown in FIG. 3, the monitoring system 1 is installed in a helicopter and will be described by taking as an example a case of monitoring a state in a predetermined monitoring area set from the sky to the sea.

In FIG. 3, L0 is a distance from the monitoring system immediately below to the monitoring area, L0 ′ is a distance measured by the laser range finder 11, in other words, a linear distance from the monitoring system 1 to the monitoring area, and L1 to L2 are This is a default (initial) imaging range of the infrared camera 12, L1 is a position that is the lower end of the monitoring image, and L2 is a position that is the upper end of the monitoring image.
In FIG. 3, θ0 is an angle formed by a line connecting the distance L0 and the monitoring system 1 and a line extending vertically from the monitoring system 1, θ1 is an angle of view of the infrared camera 12 in a default setting, and θ2 is an infrared camera. 12 orientations (here, the angle in the central direction of the vertical angle of view is shown), h indicates the altitude of the monitoring system 1.
FIG. 4 is a diagram showing a monitoring screen when the infrared camera 12 performs imaging with default settings as shown in FIG. In the monitoring image, the upper end is set at the position of the distance L2, and the lower end is set at the position of the distance L1.

  FIG. 5 is a diagram showing an appropriate angle of view and orientation of the infrared camera 12 calculated by performing the following processing. In FIG. 5, θ 1 ′ indicates an appropriate angle of view of the infrared camera 12, and θ 2 ′ indicates the camera direction of the infrared camera 12. FIG. 6 is a diagram illustrating a monitoring image when the infrared camera 12 captures an image with an appropriate angle of view and orientation as illustrated in FIG. 5.

Hereinafter, the operation of the monitoring system according to the present embodiment will be described.
First, when the input device 14 is operated by the operator, the assumed size A of the monitoring target, and the minimum number of pixels q × q required to visually recognize the monitoring target on the monitoring screen displayed on the display device 13. Is input (step SA1 in FIG. 2).

  Next, by operating the laser range finder 11, the operator inputs an instruction to start ranging toward the desired monitoring area where the direction of the laser range finder 11 is desired to be monitored. Thereby, the laser range finder 11 is driven, and the distance L0 ′ to a certain point in the monitoring area is measured (step SA2 in FIG. 2). Information of the measured distance L0 ′ is output to the processing device 15.

The processing device 15 displays the minimum number of pixels q × q required for visual recognition input from the input device 14, the estimated size A to be monitored, the distance L 0 ′ measured by the laser range finder 11, and the display device 13. Using the number of pixels px × py of the monitoring screen to be calculated, an optimum angle of view when the monitoring area is imaged by the infrared camera 12 is calculated (step SA3 in FIG. 2).
The calculation is performed by the following method.

First, the photographing size per pixel is determined by A / q (m) from the estimated size A (m) to be monitored and the minimum number of pixels q × q.
Next, as shown in FIG. 7, since A / q (m) is imaged per pixel at a distance L0 ′ from the monitoring system 1, the angle of view (resolution) θm per pixel of the infrared camera 12 is captured. Is derived from the following equation (1).

θm = 2 · tan ⁻¹ ((A / 2q) / L0 ′) (1)

  Subsequently, the horizontal field angle setting value θ1 ′ of the infrared camera 12 is derived from the following equation (2) from the number of pixels px × py of the monitoring image acquired by the infrared camera 12.

θ1 ′ = θm × px = 2 · tan ⁻¹ ((A / 2q) / L0 ′) × px (2)

  Further, as shown in FIG. 5, the angle θ2 ′ formed by the line drawn from the monitoring system 1 in the vertical direction and the central axis of the infrared camera 12 as shown in FIG. It is derived by the formula. Here, as shown in FIG. 6, it is assumed that the position farthest from the monitoring system 1 in the monitoring area is set at the upper end of the monitoring screen.

  θ2 ′ = θ0−1 / 2 × θ1 ′ (3)

  Further, as described above, the distances L1 ′ and L2 ′ = L0 corresponding to the upper and lower ends of the monitoring screen after the angle of view and orientation of the infrared camera 12 are set, and the altitude h of the monitoring system 1 are (4 ) To (6).

From h / L0 ′ = cos θ0, h = L0 ′ · cos θ0 (4)
From L2 ′ / L0 ′ = sin θ0, L2 ′ = L0 ′ · sin θ0 (5)
From L1 ′ · h = tan (θ2′−1 / 2 × θ1 ′), L1 ′
= (L0 ′ · cos θ0) × (tan (θ2′−1 / 2 × θ1 ′)) (6)

  As a specific example, for example, size A = 1 (m), distance L0 ′ from the monitoring system 1 to the monitoring area = 1000 (m), the number of pixels of the infrared camera 12 px × py = 640 × 480 (pixels), Assuming that the minimum number of pixels q × q = 4 × 4 required for visually recognizing the monitoring target on the monitoring screen, A / q, θm, θ1 ′, θ2 ′, h, L2 ′, and L1 ′ are Each is calculated as follows.

L0 ′ = 1000 (m)
A / q = 0.25 (m)
θm≈14 × 10 ⁻³ (°)
θ1′≈9.2 (°)
θ2′≈55.4 (°)
h = 500 (m), L2 ′ = 866, L1 ′ = 613 (m)

When the processing device 15 calculates the angle of view and orientation of the infrared camera 12 according to the above-described arithmetic expression, the processing device 15 outputs these pieces of information to the infrared camera 12.
As a result, the infrared camera 12 captures an image with the angle of view and orientation set by the processing device 15 (step SA4 in FIG. 2). Then, the acquired monitoring image of the monitoring area is output to the display device 13. Thereby, as shown in FIG. 6, a monitoring screen in which the distances L1 to L0 are set at the upper and lower ends of the image is displayed on the display screen of the display device 13 (step SA5 in FIG. 2).

  As described above, according to the monitoring system 1 according to the present embodiment, the angle of view of the infrared camera 12 is set to an appropriate value before starting the monitoring by the infrared camera 12, so that the monitoring target is detected. In such a case, the monitoring target is always displayed on the monitoring screen so as to be visible. Thereby, the detection omission of the monitoring object can be suppressed, and the monitoring performance can be improved.

[Second Embodiment]
Next, a monitoring system according to the second embodiment of the present invention will be described.
In the first embodiment described above, the laser range finder 11 is employed as the distance measuring means. However, in the monitoring system according to the present embodiment, the laser radar 20 is employed.
As shown in FIG. 8, the laser radar 20 has a light transmission unit 21 that emits illumination light, and a timing at which the illumination light emitted from the light transmission unit 21 reaches an object and the reflected light reflected by the object arrives. A laser radar that opens and closes the shutter, converts the captured reflected light into an image signal and outputs the image signal, and controls each part such as the emission timing of the light transmitter 21 and the shutter opening / closing timing of the light receiver 22. And a control unit 23.

When distance measurement is performed using such a laser radar 21, illumination light is emitted at a predetermined frequency, and the shutter of the light receiving unit 22 is opened and closed at a predetermined timing. At this time, the illumination light is emitted from the light transmitting unit 21 and a certain object (for example, as shown in FIG. 3, the distance from the sky to the sea is set at a distance determined by the time until the shutter of the light receiving unit 22 is closed. In the case of measurement, if the sea surface is taken as an example), the illumination light is reflected by the object and returned, so the image output from the light receiving unit 22 is a bright image. On the other hand, if the reflected light cannot be captured, the image output from the light receiving unit 22 is a dark image.
In this way, the distance is obtained based on the illumination light emission timing when a bright image is obtained and the shutter opening / closing timing of the light receiving unit 22.

As described above, in the monitoring system according to the present embodiment, the laser radar 20 is employed as the distance measuring unit, and thus the following effects are obtained.
For example, when the distance is measured using the laser range finder 11 as in the monitoring system 1 according to the first embodiment described above, the distance measurement is limited to a certain point designated by the operator in the monitoring area. Distance measurement over a wide area is difficult.
On the other hand, since the laser radar 20 can irradiate illumination light over a wide area and measure the distance based on the reflected light, the distance is measured if there is any object in the area irradiated with the illumination light. Is possible. As described above, by employing the laser radar 20, it is possible to perform distance measurement over a wide area compared to the case where the laser range finder 11 is used, and distance measurement can be performed efficiently.

[Third Embodiment]
Next, a monitoring system according to a third embodiment of the present invention will be described with reference to the drawings.
The monitoring system 1 'according to the present embodiment has substantially the same configuration as the monitoring system 1 according to the first embodiment described above, but as shown in FIG. 9, a processing device (boundary setting means) 15' is a display device. The point connected to 13 ', the content of processing performed by the processing device 15', and the configuration of the monitoring screen displayed on the display device 13 'are different.
Hereinafter, about the monitoring system 1 'of this embodiment, description is abbreviate | omitted about the point which is common in the monitoring system 1 which concerns on 1st Embodiment, and a different point is mainly demonstrated.

FIG. 10 is a diagram illustrating an operation flow of the monitoring system 1 ′ according to the present embodiment.
First, when the operator inputs the estimated size of the monitoring target, the minimum number of pixels necessary for visually recognizing the monitoring target, etc., the input information is output to the processing device 15 ′ (FIG. 10). Step SB1).
Next, the distance to the monitoring region is measured by the laser range finder 11, and the measured distance is output to the processing device 15 ′ (step SB2 in FIG. 10).

  Next, the processing device 15 ′ uses the distance measured by the laser range finder 11, the estimated size of the monitoring target input from the input device 14, and the Px × Py acquired by the infrared camera 12 based on the minimum number of pixels. In the monitoring image, an area in which the monitoring target can be displayed with pixels equal to or larger than the minimum number of pixels is obtained, the displayable area and the non-displayable area are classified, and boundary information is output to the display device 13 ′ (step SB3 in FIG. 10). ).

Hereinafter, a calculation method of boundary information will be described.
For example, as shown in FIG. 11, assuming that the distance to the monitoring region acquired by the laser range finder 11 is L0 ′, and the center of the monitoring screen is a distance measuring point by the laser range finder 11. As shown in FIG. 12, each position on the monitoring screen is represented by using the angle θ0 of the infrared camera 12, the lower end of the screen can be represented as θ0− (θ1v / 2), and the upper end can be represented as θ0 + (θ1v / 2). . Here, θ1v is the vertical angle of view of the infrared camera 12.

Next, when the monitoring target of the assumed size A is displayed with the minimum number of pixels p × p, the shooting size per pixel is A / q (m).
The width W ′ of the shooting area is obtained by the following equation (7) from the shooting size and the number of pixels per pixel.
W ′ = A / q × px (m) (7)
Here, px is the number of pixels of the infrared camera 12 in the horizontal direction.

Subsequently, the altitude h of the monitoring system 1 is determined by the following equation (8) from the acquired distance information and the angle of view θ0 of the camera.
h = L0 ′ · cos θ0 (8)

Further, a distance L ″ to an arbitrary position L in the monitoring area is expressed by the following equation (9) using the altitude h.
L ″ = h / cos θ (9)
For example, distances L1 ″ and L2 ″ to the positions L1 and L2 of the monitoring area corresponding to the lower end and the upper end of the monitoring screen are expressed as follows from the above equation (9).
L1 ″ = h / cos (θ0−θ1v / 2)
L2 ″ = h / cos (θ0 + θ1v / 2)

Next, the screen width W on the monitoring screen corresponding to the distance L ″ to an arbitrary position in the monitoring area is obtained by the following equation (10).
W = 2L ″ · tan (θ1h / 2) (10)

  Then, the processing device 15 ′ obtains a distance L ″ corresponding to the width W0 of the imaging region, which is a boundary condition capable of displaying the monitoring target with minimum pixels or more, from the equations (7) and (10) above. The screen position corresponding to this distance L ″ is obtained as boundary information.

  As a specific example, for example, the size A = 1 (m), the distance L0 ′ from the monitoring system 1 to the monitoring area = 800 (m), the number of pixels of the infrared camera 12 px × py = 640 × 480 (pixels), The minimum number of pixels q × q = 4 × 4 required for viewing the monitoring target on the monitoring screen, the angle θ0 = 60 ° of the infrared camera 12 to the distance measuring point, and the horizontal angle of view θ1h of the infrared camera 12 = Assuming 12 ° and the vertical angle of view θ1v of the infrared camera 12 = 8 °, the distance L ″ where A / q, W ′, h, L1 ″, L2 ″, W = W0, and the screen position of the boundary line θ is calculated as follows.

A / q = 0.25 (m)
W ′ = 160 (m)
h = 400 (m)
L1 ″ = 715 (m)
L2 ″ = 912 (m)
(Screen width 191m at the top of the screen, screen width 150m at the bottom)
L ″ = 761 (m)
θ = 58 °
(Approximately 30% from the bottom of the screen)

  When the processing device 15 ′ calculates the boundary information on the monitoring screen in accordance with the above arithmetic expression, the processing device 15 ′ outputs the boundary information to the display device 13 ′.

  Subsequently, after the operator adjusts the direction of the infrared camera 12 to face the monitoring area, the infrared camera 12 captures the monitoring area. At this time, as in the first embodiment described above, the angle of view is not adjusted to an optimal value. Specifically, the angle of view is set to a default value. The monitoring image acquired by the infrared camera 12 is output to the display device 13 ′ (step SB4 in FIG. 10).

When the monitoring image is input from the infrared camera 12, the display device 13 ′ divides the monitoring image into two sections, that is, the pixels to be monitored are equal to or larger than the minimum number of pixels based on the boundary information input from the processing device 15 ′. A region that can be displayed by number and a region other than that are divided (step SB5 in FIG. 10), and a monitoring image that can visually recognize the division is generated and displayed on the display screen (step SB6 in FIG. 10).
For example, as illustrated in FIG. 11, the display device 13 ′ generates a monitoring image in which two regions are divided by describing a boundary on the monitoring image, and displays the monitoring image on the display screen. Alternatively, not only the boundary but also the two areas may be displayed in different colors.

  In this way, by displaying a monitoring image that can distinguish the area that can be displayed with the number of pixels greater than the minimum number of pixels and other areas, it is possible for the operator to reliably detect the monitoring object. It is possible to notify whether it is a proper area.

  As described above, according to the monitoring system 1 ′ according to the present embodiment, for example, since the infrared camera 12 has a fixed viewing angle, the image is displayed like the monitoring system 1 according to the first embodiment described above. Even if it is impossible to adjust the angle to the optimum value, the monitor image clearly shows how far the monitoring target can be detected, so the operator can check the monitoring screen. It is no longer possible to see impossible areas, and the efficiency of surveillance and search activities can be improved.

  In addition, since monitoring system 1 'which concerns on this embodiment is mounted in moving bodies, such as a helicopter, it is possible that the direction and altitude of the infrared camera 12 will change with the shaking of a helicopter. In order to cope with such a case, a fluctuation amount measuring device (not shown) for measuring the fluctuation amount of the position of the infrared camera 12 is provided, and the processing device 15 ′ is based on the fluctuation amount measured by the fluctuation amount measuring device. May move the boundary condition.

  By doing in this way, it becomes possible to change the boundary condition of the monitoring screen displayed on the display monitor of the display device 13 ′ according to the change in the direction of the infrared camera 12. Further, by changing the boundary condition of the monitoring screen based on the fluctuation amount in this way, it becomes unnecessary to perform distance measurement by the laser range finder 11 sequentially. Thereby, if the distance is acquired by the laser range finder 11 at the start of monitoring, it is not necessary to acquire distance information for the subsequent monitoring.

  In the present embodiment, the case where distance measurement is performed by the laser range finder 11 has been described, but a laser radar 20 (see FIG. 8) may be employed instead of the laser range finder 11. In this embodiment, since it is necessary to acquire distance information in a wide range, it is possible to effectively reduce processing and processing time by adopting the laser radar 20 suitable for distance measurement over a wide range. .

  In each embodiment described above, a distance measuring device other than the laser range finder 11 and the laser radar 20 may be employed as the distance measuring means. Examples of other devices include a device that performs optical distance measurement such as a stereoscope, and a device that performs radio wave distance measurement such as a radar.

[Fourth Embodiment]
Next, a monitoring system according to the fourth embodiment of the present invention will be described.
In the monitoring system according to each embodiment described above, the case where the monitoring is continuously performed by the infrared camera 12 has been described. However, in the monitoring system according to the present embodiment, when the monitoring target is detected by the search by the infrared camera 12. Is switched from detection by the infrared camera 12 to detection by the laser radar 20 (see FIG. 8).

  For this reason, the monitoring system according to the present embodiment further includes a laser radar 20. Here, when the laser radar 20 is employed as the distance measurement unit according to each of the above-described embodiments, the laser radar 20 may perform distance measurement and continuous monitoring after confirming the monitoring target.

  In this way, an object detection over a wide area is performed using the infrared camera 12 having a wider viewing angle than the laser radar 20, and after the object is confirmed, confirmation is performed using the laser radar 20 capable of obtaining a clearer image. By tracking and monitoring the already-monitored object, it becomes possible to monitor efficiently and effectively.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, in each of the above-described embodiments, after the monitoring target is detected, the monitoring is continuously performed, the distance information measured by the distance measuring unit, the number of pixels of the monitoring target displayed on the monitoring screen, and the like The processing devices 15 and 15 ′ may calculate the size of the monitoring target. By doing in this way, not only tracking of the monitoring target but also size information can be acquired.

It is the figure which showed schematic structure of the monitoring system which concerns on the 1st Embodiment of this invention. It is the figure which showed the operation | movement flow of the monitoring system which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating operation | movement of the monitoring system which concerns on the 1st Embodiment of this invention. It is the figure which showed the monitoring image when an infrared camera act | operates by default setting. It is a figure for demonstrating operation | movement of the monitoring system which concerns on the 1st Embodiment of this invention. It is the figure which showed the monitoring image when an infrared camera act | operates with the optimal angle of view. It is a figure for demonstrating operation | movement of the monitoring system which concerns on the 1st Embodiment of this invention. It is the figure which showed schematic structure of the laser radar with which the monitoring system which concerns on the 2nd Embodiment of this invention is provided. It is the figure which showed schematic structure of the monitoring system which concerns on the 3rd Embodiment of this invention. It is the figure which showed the operation | movement flow of the monitoring system which concerns on the 3rd Embodiment of this invention. It is a figure for demonstrating operation | movement of the monitoring system which concerns on the 3rd Embodiment of this invention. It is a figure for demonstrating operation | movement of the monitoring system which concerns on the 3rd Embodiment of this invention. It is the figure which showed an example of the monitoring image displayed on a display apparatus in the monitoring system which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

1, 1 'Monitoring system 11 Laser range finder 12 Infrared camera 13, 13' Display device 14 Input device 15, 15 'Processing device 20 Laser radar 21 Light transmitting unit 22 Light receiving unit 23 Laser radar control unit

Claims (5)

Distance measuring means for measuring the distance to a predetermined monitoring area;
Imaging means for acquiring a monitoring image of the monitoring area;
Display means for displaying the monitoring image acquired by the imaging means;
Based on the assumed size of the monitoring target to be monitored, the minimum number of pixels required to visually recognize the monitoring target on the monitoring image, and the distance to the monitoring region measured by the distance measuring means A boundary setting unit for obtaining a boundary for dividing the monitoring target into a region that can be displayed with the number of pixels equal to or greater than the minimum pixel number and a region other than the minimum pixel number on the monitoring screen acquired by the imaging unit;
The monitoring unit displays the monitoring image divided by the boundary set by the boundary setting unit. When the position of the image pickup means fluctuates, a fluctuation amount measuring means for measuring the fluctuation amount is provided,
The monitoring system according to claim 1 , wherein the boundary setting unit changes a boundary displayed on the monitoring screen based on a variation amount measured by the variation amount measurement unit. It said distance measuring means, the monitoring system according to claim 1 or claim 2 is a laser radar. The imaging means is an infrared camera or a visible camera,
The monitoring system according to claim 3 , wherein when a monitoring target is detected on a monitoring screen acquired by the infrared camera or visible camera, the monitoring target is continuously monitored using the laser radar. When the monitoring target is detected, the distance measuring unit measures the distance to the monitoring target, and based on the distance measurement result and information from the imaging condition setting unit or boundary setting unit, the size of the monitoring target is measured. The monitoring system according to any one of claims 1 to 4 , wherein the length is calculated.

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