JP6769293B2 - Monitoring device - Google Patents

Description

The present invention relates to a monitoring device that monitors a monitoring area using an optical range finder and a camera device.

As a camera device used in a system for monitoring a monitoring area, for example, a PTZ camera having a pan / tilt / zoom function may be adopted. Since such a camera device can control the imaging position, one camera device can image a relatively wide area. Therefore, the above-mentioned system may be configured by the camera device alone.

In a system composed of a single camera device in this way, the following problems occur when the monitoring area is wide. That is, in this case, normally, the entire monitoring area is imaged by a camera device, intrusion detection is performed by image recognition using the captured image, and if there is an intrusion, the intrusion direction is enlarged and the image is taken. Such control will be performed. However, it is difficult to sufficiently improve the accuracy and speed of intrusion detection by image recognition. Therefore, in a system composed of a single camera device, it is difficult to quickly and surely image the intrusion direction when the intrusion occurs in a wide range of monitoring areas.

Therefore, in a security system that requires a wide range of monitoring, such as outdoor security, a system configured by combining a laser radar device (corresponding to an optical range finder) such as a laser range finder and a camera device is adopted. Often. For example, in Patent Documents 1 and 2, an intruder is detected by scanning a monitoring area using a laser radar device, and the intruder is continuously imaged by a camera device by following the movement of the detected intruder. The technology is disclosed. According to such technology, an intruder is quickly detected (position measurement) by monitoring a wide area with a laser radar device, and the camera's imaging direction is controlled in the detected direction to ensure reliable imaging of the intruder. Is possible.

Japanese Patent No. 3011121 Japanese Unexamined Patent Publication No. 2014-175843

The laser radar device measures the distance to an object that reflects the laser beam based on the time from the time when the laser beam is irradiated to the time when the reflected light is received. Therefore, the laser radar device may not be able to measure the distance and detect an object having a relatively low reflectance (hereinafter, referred to as a low-reflection object) at a portion irradiated with the laser beam.

That is, when the low-reflection object is irradiated with the laser light, most of the irradiated laser light is absorbed by the low-reflection object, so that only a very small intensity of reflected light can be obtained. Therefore, the laser radar device cannot receive the reflected light of the intensity required for performing distance measurement for a low-reflection object, and cannot detect (distance measurement).

Then, when an intruder attempting to enter the surveillance area uses a low-reflection object such as a carbon material to cover at least a part of his / her body that may be irradiated with laser light, the laser radar device is used. Conventional security systems may not be able to detect such intruders because they cannot be detected.

Further, if the laser radar device itself is covered with a low-reflection object by an intruder who has invaded the monitoring area in this way, the object cannot be detected by the laser radar device over the entire area of the monitoring area. This would allow an intruder to easily bypass the surveillance and could not function as a security system at all.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a monitoring device capable of detecting even a low reflection object.

The monitoring device according to claim 1 monitors a preset monitoring area, and is an optical range finder, a camera device that captures a predetermined area in the monitoring area, and a camera control that controls the camera device. It has a department. The optical range meter irradiates laser light so as to scan the monitoring area in a predetermined detection direction, receives the reflected light of the irradiated laser light, and from the time of irradiation of the laser light to the time of receiving the reflected light. The distance to the object that reflected the laser beam is measured based on the time of.

The intrusion detection unit detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder. When the intrusion of an object is detected by the intrusion detection unit, the camera control unit controls the camera device so as to image an area including the object. That is, when the monitoring device detects the intrusion of an object into the monitoring area based on the distance measurement by the optical range finder, the camera device takes an image of the invading object. Therefore, when the invading object is not a low-reflection object, the monitoring device can quickly detect the invasion and reliably image the intruded object.

Further, the monitoring device includes a background information acquisition unit and a low-reflection object detection unit, which can detect the intrusion even when the invading object is a low-reflection object. That is, the background information acquisition unit acquires in advance background information indicating the direction with the background, which is the direction in which the background object exists among the irradiation directions of the laser beam. The background object referred to here is an object that originally exists in the background of the monitoring area (rearward when viewed from the optical range finder). For example, when the monitoring area is a site such as a parking lot adjacent to a building, , Fences, gates, etc. that exist around the parking lot are assumed.

By acquiring such background information in advance, the monitoring device can detect the presence of a low-reflection object as follows. That is, when the laser beam is irradiated in the direction with the background where the background object exists, the distance to the object is measured when the object exists in the irradiation direction, and when the object does not exist in the irradiation direction. The distance to the background should be measured.

However, when the object existing in the irradiation direction is a low-reflection object, the laser light is absorbed by the low-reflection object, so that the optical range finder cannot measure the distance. In consideration of such a point, in the low reflection object detection unit, when the laser beam is irradiated in the background direction, if the distance is not measured by the optical range finder, the low reflection object exists in the background direction. Detect that. By doing so, the monitoring device can detect the intrusion of a low-reflection object even if it invades the monitoring area.

Then, when the low-reflection object detection unit detects the presence of the low-reflection object, the camera control unit sets the camera device so as to image the region including the direction in which the presence of the low-reflection object is detected. Control. Therefore, the monitoring device can quickly detect the intrusion of the object and reliably image the object regardless of whether or not the object that has entered the monitoring area is a low-reflection object.

According to the monitoring device according to claim 1, although it is possible to detect the direction in which the low-reflection object that has entered the monitoring area exists, it is not possible to detect the position. By the way, if the size (length in the detection direction) of the low-reflection object is constant, the range in the direction in which the distance is not measured by the optical range finder changes according to the distance to the low-reflection object. Specifically, the shorter the distance to the low-reflection object, the wider the range in the direction in which the distance is not measured, and the farther the distance, the narrower the range in the direction in which the distance is not measured.

In consideration of such a point, the monitoring device according to claim 1 estimates the position of the low-reflection object as follows. That is, the monitoring device according to claim 1 further includes a monitoring object size setting unit that sets the monitoring object size, which is the length in the detection direction of the object to be monitored. Then, when the low-reflection object detection unit detects the existence of the low-reflection object, the position of the low-reflection object is determined by using the range in the direction in which the distance is not measured by the optical range finder and the set monitoring object size. To estimate. By doing so, the monitoring device according to claim 1 can also detect the position of a low-reflection object.

Further, in this case, when the position of the low-reflection object is estimated by the low-reflection object detection unit, the camera control unit controls the camera device so as to image a region including the estimated position. In this way, even if a low-reflection object invades the monitoring area, the low-reflection object can be detected and imaged more quickly and accurately. For example, when a monitoring device is applied to a security system, since the object to be monitored is mainly a human being, the shoulder width of an average person may be set as the monitoring object size. In this way, even if a person (intruder) who covers his / her body with a low-reflection object invades the surveillance area, the intruder is detected quickly and accurately and the camera device reliably captures the image. It becomes possible to fully fulfill the role of a security system.

When a background object exists over the entire monitoring area, the low-reflection object detection unit can reliably detect a low-reflection object that has entered the monitoring area, but a part around the monitoring area, that is, a laser. If there is no background object in a part of the light irradiation direction, the low-reflection object existing in that direction cannot be detected. Therefore, in the monitoring device according to claim 2 , when the background information acquisition unit does not acquire the background information about a part of the irradiation direction of the laser beam, the camera control unit performs the following control.

That is, in the camera control unit, the background information is not acquired during the period when the intrusion of the object is not detected by the intrusion detection unit and the existence of the low reflection object is not detected by the low reflection object detection unit. The camera device is controlled so as to capture an image. In this way, when the intrusion of an object into the monitoring area is not detected, the direction in which the background object does not exist is always imaged by the camera device. Therefore, even if a low-reflection object invades from a direction in which a background object does not exist, the object can be imaged by the camera device. Therefore, according to the second aspect of the present invention, even in an installation environment in which there is no background object in a part around the monitoring area, the intrusion of an object invading the monitoring area can be detected quickly and reliably. Can be imaged.

The monitoring device according to claim 3 further includes a priority monitoring area setting unit that sets a predetermined area in the monitoring area as a priority monitoring area. Then, the camera control unit captures the priority monitoring area during the period when the intrusion of the object is not detected by the intrusion detection unit and the low reflection object is not determined to exist by the low reflection object detection unit. To control. By doing so, for example, even a low-reflection object that has invaded from a direction in which a background object does not exist can be reliably imaged when passing through an area set as a priority monitoring area.

The priority monitoring area should be set to an area where the object to be monitored can pass reliably. For example, in the monitoring device according to claim 4 , the monitoring area is an area including a site adjacent to the building, and the priority monitoring area is set to an area including at least one of the entrance / exit and the window of the building. Objects (intruders) that have invaded the site, which is the surveillance area, often try to invade the building adjacent to the site. Therefore, if the area including the entrance and exit of the building and the window is set as the priority monitoring area in this way, even if it cannot be detected by the low-reflection object detection unit, such an intruder can be reliably imaged by the camera device. it can.

Further, in the monitoring device according to claim 5 , the monitoring area is set to an area including an installation portion of the optical range finder. As described above, if the optical range finder itself is covered with a low-reflection object by an intruder who has invaded the monitoring area, it may not be able to fulfill its role as a monitoring device at all. Therefore, if the area including the installation part of the optical range finder is set as the priority monitoring area, an intruder who could not be detected by the intrusion detection unit and the low reflection object detection unit reaches the installation part of the optical range finder. Even if it does, the intruder can be reliably imaged with the camera device before the optical rangefinder is covered with a low-reflection object.

In the monitoring device according to claim 6 , when the intrusion of an object is detected by the intrusion detection unit and the presence of a low reflection object is detected by the low reflection object detection unit, the camera control unit uses the intrusion detection unit. The camera device is controlled so as to preferentially image the detected object. The reason for controlling in this way is as follows.

That is, as an object detected by the monitoring device, an object having a normal reflectance (hereinafter referred to as a normal object) that can obtain reflected light having a sufficient intensity for distance measurement is obtained rather than a low-reflection object. There are many. Therefore, as described above, when a normal object and a low-reflection object are detected at the same time, the image of the normal object detected by the intrusion detection unit is the image of the low-reflection object detected by the low-reflection object detection unit. By prioritizing over, it is possible to detect rarely existing low-reflection objects that could not be detected by the conventional technology, while maintaining the same level of accuracy as the conventional technology in terms of the detection accuracy of ordinary objects. It will be possible.

In the monitoring device according to claim 7 , when the intrusion detection unit detects the intrusion of an object and the low reflection object detection unit detects the existence of a low reflection object, the camera control unit detects a low reflection object. The camera device is controlled so as to preferentially image a low-reflection object detected by the unit. The reason for controlling in this way is as follows.

That is, it is considered that the object detected by the intrusion detection unit can be continuously detected (tracked) thereafter, so that it should be possible to capture the image even if the camera device does not immediately perform the imaging. Is. On the other hand, it is not always possible to continuously detect the existence of a low-reflection object. Therefore, as described above, when a normal object and a low-reflection object are detected at the same time, by giving priority to imaging a low-reflection object that cannot be detected at the same time, the object detected by the intrusion detection unit can be regarded as an object. Both low-reflection objects can be reliably imaged by the camera device.

In the monitoring device according to claim 8 , the background information acquisition unit determines the direction in which the distance is measured among the irradiation directions of the laser beam based on the measurement result of the distance by the optical range finder during the period when the monitoring is not executed. The background information is acquired with the direction with the background. By doing so, it is possible to acquire background information that accurately represents the presence / absence and arrangement of background objects existing in the installation environment in which the optical rangefinder or the like is actually installed, and the detection accuracy of low-reflection objects can be improved. It can be further enhanced.

For example, when the monitoring area is a parking lot, the presence / absence of background objects and their arrangement may change depending on the presence / absence of parked vehicles and the open / closed state of the gate. Therefore, in the monitoring device according to claim 9 , the background information acquisition unit acquires the background information at each timing when the monitoring is started. In this way, the background information is updated to the latest information every time the monitoring is started, so even if the situation of the background object changes, it is low based on the background information that reflects the change. It becomes possible to detect a reflecting object, and the accuracy of the detection can be further improved.

The figure which shows the 1st Embodiment and shows typically the structure of the security system. Diagram schematically showing the monitoring area to be monitored by the security system A diagram schematically showing the flow of initial setting of a security system A diagram schematically showing the flow of monitoring operation by the security system Diagram to illustrate updating the monitoring area The figure which shows the content of the camera control when an object is not detected Figure 1 schematically showing the installation environment where there is no background object in a part of the monitoring area Figure 2 schematically showing the installation environment where there is no background object in a part of the monitoring area The second embodiment is shown, and FIG. 1 is a diagram schematically showing an installation environment in which no background object exists in all of the monitoring areas. Figure 2 schematically showing the installation environment where there are no background objects in all of the monitoring areas. The third embodiment is shown, and the figure which shows typically the monitoring apparatus and the monitoring target.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In each embodiment, substantially the same configuration is designated by the same reference numerals and the description thereof will be omitted.
(First Embodiment)
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 8.

The security system 1 shown in FIG. 1 is a system that performs intrusion monitoring security for a preset monitoring area. In the present embodiment, as shown in FIG. 2, the site including the parking lot adjacent to the store (building) such as a car dealer is the monitoring area 2. Around the monitoring area 2, there are a fence 3, a gate 4, and a building wall 5, which is a wall of a store.

As shown in FIG. 1, the security system 1 includes a laser radar device 6, a camera device 7, and a monitor device 8. In this case, the laser radar device 6 and the camera device 7 configure a monitoring device 9 that monitors the monitoring area 2. As shown in FIG. 2, the laser radar device 6 is installed near the center of the building wall 5, and the camera device 7 is installed near the left end of the building wall 5 in FIG. The laser radar device 6 and the camera device 7 are attached to a dedicated pole or the like (not shown).

As shown in FIG. 1, the laser radar device 6 includes a control unit 10, a storage unit 11, a laser scanning unit 12, a distance measuring unit 13, an intrusion detection unit 14, a background information acquisition unit 15, a low reflection object detection unit 16, and monitoring. It includes an object size setting unit 17, a priority monitoring area setting unit 18, a camera control unit 19, an input / output unit 20, and the like.

The control unit 10 is mainly composed of a microcomputer having a CPU, ROM, RAM, etc. (not shown), and controls the laser scanning unit 12 and the like by executing a computer program stored in the storage unit 11 and the like. In the present embodiment, the distance measurement unit 13, the intrusion detection unit 14, the background information acquisition unit 15, the low reflection object detection unit 16, the monitoring object size setting unit 17, the priority monitoring area setting unit 18, and the camera control unit 19 are It is realized by software by a computer program executed by the control unit 10. Further, the laser scanning unit 12 and the distance measuring unit 13 constitute an optical range finder 21.

The storage unit 11 is composed of a memory element (not shown), a storage device such as an HDD, or the like, and stores a computer program, various information used in various processes described later, and the like. The input / output unit 20 inputs a command signal from a higher-level control device (not shown), outputs a notification of an object detection result, and the like.

The laser scanning unit 12 is defined in advance as a laser irradiation unit 22, a mirror 23 that reflects the laser light emitted from the laser irradiation unit 22 toward the monitoring area and receives the light reflected by an object in the monitoring area. It includes a motor 24 that rotationally drives the mirror 23 with angular resolution and a scanning cycle, and a laser light receiving unit 25 that receives reflected light. The scanning cycle is set to an extremely short cycle on the order of milliseconds (for example, 30 ms) so as not to overlook the movement of the object to be monitored.

With such a configuration, the laser beam is irradiated so as to scan the inside of the monitoring area 2 in a predetermined detection direction (in this case, the horizontal direction). Then, the reflected light reflected by the object existing in the monitoring area 2 is received by the laser light receiving unit 25. Note that this configuration is an example, and may be a configuration that drives the laser irradiation unit 22 (a configuration that does not use the mirror 23 during irradiation).

The distance measuring unit 13 measures the distance to the object that reflected the laser beam based on the time from the time when the laser beam is irradiated to the time when the reflected light is received. The intrusion detection unit 14 detects the position of an object existing in the monitoring area 2, that is, detects the intrusion of an object into the monitoring area 2, based on the distance measurement result of the distance measurement unit 13. When the intrusion detection unit 14 detects the intrusion of an object into the monitoring area 2, the intrusion detection unit 14 notifies the security manager and the user of the detection result via the input / output unit 20 and the like.

In the above configuration, the fence 3 and the gate 4 originally exist around the monitoring area 2. These fences 3 and gate 4 correspond to background objects existing in the background of the monitoring area 2 (rearward when viewed from the laser radar device 6). In the above configuration, when the laser beam is irradiated in the direction in which the background object exists (hereinafter referred to as the direction with the background), if a normal object exists in the irradiation direction, the distance to the object is measured. If there is no object in the irradiation direction, the distance to the background wall 3 or gate 4 should be measured.

However, when the low-reflection object M is present in the irradiation direction, the laser light is absorbed by the low-reflection object M, so that the distance measuring unit 13 cannot measure the distance. In this embodiment, in consideration of such a point, it is possible to detect the presence of the low reflection object M as follows.

That is, the background information acquisition unit 15 acquires the background information in advance. The background information is information in which the direction with the background, which is the direction in which the background object exists, and the background distance value, which is the distance to the background object, are associated with each other in the irradiation direction of the laser beam. Specifically, the background information acquisition unit 15 is the direction in which the distance is measured among the irradiation directions of the laser beam based on the distance measurement result by the distance measurement unit 13 during the period when the monitoring by the security system 1 is not executed. Is used as the direction with the background to acquire the background information. Further, the background information acquisition unit 15 acquires such background information at each timing when the monitoring by the security system 1 is started.

Then, during the period when the monitoring by the security system 1 is being executed, the low-reflection object detection unit 16 will not measure the distance by the distance measuring unit 13 when the laser beam is irradiated in the background-existing direction. Detects the presence of a low-reflection object M in. When the low-reflection object detection unit 16 detects the existence of the low-reflection object M in the monitoring area 2, the low-reflection object detection unit 16 notifies the security manager and the user of the detection result via the input / output unit 20 and the like. According to such a method, the low-reflection object detection unit 16 can detect the direction in which the low-reflection object M that has invaded the monitoring area 2 exists, but cannot detect the position.

By the way, if the size of the low-reflection object M is constant, the range (angle range) in the direction in which the distance is not measured by the distance measuring unit 13 changes according to the distance to the low-reflection object M. Specifically, the shorter the distance to the low-reflection object M, the wider the angle range, and the farther the distance, the narrower the angle range. The size in this case is the length (horizontally long) in the detection direction (horizontal direction) described above.

In consideration of such a point, in the present embodiment, the position of the low reflection object M is estimated as follows. That is, the monitoring object size setting unit 17 sets the monitoring object size, which is the size of the object to be monitored. Such a setting is executed in the initial setting described later, for example, in response to a predetermined operation by the user. The size of the monitored object (model size) may be determined according to the object to be detected. In the case of the security system 1 of the present embodiment, since the object to be monitored is mainly a human being, the shoulder width of an average person or the like is set as the monitoring object size.

Then, when the low reflection object detection unit 16 detects the existence of the low reflection object M, the low reflection object detection unit 16 uses the angle range in the direction in which the distance is not measured by the distance measurement unit 13 and the set monitoring object size. Find the distance to the object M. For example, the distance L to the low reflection object M can be obtained based on the following equation (1). However, let θ be the angle range in the direction in which the distance is not measured, and let S be the size of the monitored object.
L = (S / 2) ÷ tan (θ / 2)… (1)

According to the above equation (1), when the monitored object size S is, for example, 50 cm, the distance L to the low reflection object is 25 cm when the angle range θ is 90 degrees, and the distance is when the angle range θ is 60 degrees. L is about 43 cm, and if the angle range θ is 30 degrees, the distance L is about 93 cm. The low-reflection object detection unit 16 obtains the distance L to the low-reflection object M as described above, and estimates the approximate position of the low-reflection object M based on the distance L. As described above, in the present embodiment, it is possible to detect the approximate position of the low reflection object M.

The angle range in the direction in which the distance is not measured by the distance measuring unit 13 described above can be obtained by the continuous number of angles at which the reflected light is not received (the number of continuous reception defect angles). Therefore, the process for acquiring the angle range, and eventually the process for estimating the approximate position of the low-reflection object M, is sequentially executed in parallel with the process for normal object detection during one scanning cycle. can do. By doing so, the processing load in the control unit 10 is distributed, and it is possible to prevent the processing load from becoming excessive.

The priority monitoring area setting unit 18 sets a predetermined area in the monitoring area 2 as a priority monitoring area. Such a setting is executed in the initial setting described later, for example, in response to a predetermined operation by the user. The priority monitoring area is set in an area including a store entrance / exit 26 and a window (not shown) provided on the building wall 5. The priority monitoring area may be set to an area where an object (intruder) to be monitored can pass reliably, and includes an area including one of the entrance / exit 26 and a window, which are highly likely as an intrusion route, and It may be set in an area including an installation portion of the laser radar device 6.

The camera control unit 19 controls the operation of the camera device 7. In this case, the camera device 7 is a PTZ camera and has a pan function, a tilt function, a zoom function, a function of capturing a moving image and a still image, and the like. By having a zoom function, the camera device 7 can change the angle of view from an angle of view capable of identifying an object to be imaged to an angle of view for capturing the entire area of the monitoring area 2. In addition, "the object can be identified" here means that, for example, if the object is a human being, the face can be recognized.

When the intrusion of an object is detected by the intrusion detection unit 14, the camera control unit 19 controls the camera device 7 so as to image an area including the object. Specifically, the camera control unit 19 controls the pan and tilt functions so as to image the direction in which the object exists based on the position information of the object detected by the intrusion detection unit 14, and also controls the object. The zoom function is controlled so that the image is taken at an identifiable angle of view. That is, the camera control unit 19 follows the movement of the object detected by the intrusion detection unit 14, and the camera device 7 continuously images the object. As a result, the security system 1 can automatically track an object that has entered the monitoring area 2.

Further, when the low-reflection object detection unit 16 detects the presence of the low-reflection object M, the camera control unit 19 images a region including the direction in which the low-reflection object M is detected to exist. Controls the camera device 7. Specifically, the camera control unit 19 has a pan and tilt function so as to image the direction in which the low reflection object M exists based on the position information of the low reflection object M estimated by the low reflection object detection unit 16. And control the zoom function so that the object is imaged at an identifiable angle of view. That is, the camera control unit 19 follows the movement of the low-reflection object M detected by the low-reflection object detection unit 16 and continuously images the low-reflection object M with the camera device 7. As a result, the security system 1 can automatically track the low-reflection object M that has entered the monitoring area 2.

The monitor device 8 includes a display unit 27, and displays an image captured by the camera device 7. The monitoring device 8 is provided in, for example, a security room (not shown), and is monitored by a security guard or the like.

Next, the initial setting of the security system 1 will be described with reference to FIG.
The initial setting of the security system 1 is executed by the installer or the user after the installation of the laser radar device 6 and the camera device 7 is completed. First, in step S1, the monitoring area 2 is initially set. The initial setting of the monitoring area 2 is performed as follows, for example. That is, the laser radar device 6 is operated to acquire background information (position information of the background object). Then, based on the acquired position information of the background object, an area surrounded by the background object (for example, the entire area of the parking lot surrounded by the fence 3 and the gate 4) is set as the monitoring area 2.

In the following step S2, the priority monitoring area described above is set. Then, in step S3, the camera control setting during the security release is performed. The camera control setting during security release is to set how to control the imaging operation by the camera device 7 during the period when the security by the security system 1 is not executed. Examples of the camera control setting during security release include auto patrol that sequentially images the entire area of the monitoring area 2 and fixed point monitoring that constantly images a predetermined area in the monitoring area 2. Then, in step S4, the above-mentioned monitoring object size is set.

Subsequently, the flow of the monitoring operation by the security system 1 will be described with reference to FIG.
The security system 1 starts security by operating the security set by the user, and ends security by operating the security release. For example, when security is executed by the security system 1 outside the business hours of a car dealer, the security set is operated after the business hours are over, and the security is released before the business hours start. Become. Therefore, in step S11, it is first determined whether or not the operation of the security set has been executed. When the operation of the security set is executed by the user, "YES" is set in step S11, the process proceeds to step S12, and the background information described above is acquired.

In the following step S13, the monitoring area 2 is updated based on the acquired background information (direction with background and background distance value). The update of the monitoring area 2 is carried out according to the following rules. That is, for a value in which the background distance value acquired in step S12 is smaller than the background distance value acquired at the time of initial setting, that is, a direction indicating a short distance, the monitoring area 2 is set based on the background information acquired in step S12. Update. Further, in the direction in which the background distance value acquired in step S12 is equal to or greater than the background distance value acquired at the time of initial setting, or the direction in which the background distance value cannot be measured, the monitoring area 2 is not updated and the initial setting is performed. The value at the time of setting is reflected.

For example, as shown in FIG. 5A, it is assumed that the entire area of the parking lot is set as the monitoring area 2 at the time of initial setting. Then, as shown in FIG. 5B, when the operation of the security set is executed, one vehicle 28 is parked in one corner of the parking lot, and the gate 4 is slightly opened due to forgetting to close the gate 4. If it is, the monitoring area 2 is updated because there is a place where a distance closer than the initial setting is measured.

As shown in FIG. 5B, the updated monitoring area 2B is an area in which only the area of the parked vehicle 28 is excluded from the monitoring area 2 at the time of initial setting. In this case, since the distance cannot be measured at the place where the gate 4 is open, it is the same area as the monitoring area 2 at the time of initial setting.

On the other hand, as shown in FIG. 5 (c), when the operation of the security set is executed, if there is no change in the condition of the installation location, there is no location where the distance closer than the initial setting is measured. , The monitoring area 2 is not updated, and the same area as at the time of initial setting becomes the monitoring area 2.

After executing step S13 for updating the monitoring area 2, the process proceeds to step S14, and security by the security system 1 is started. Then, in step S15, it is determined whether or not the security release operation has been executed. When the security release operation is executed by the user, "YES" is set in step S15, the process proceeds to step S16, and the security by the security system 1 is terminated.

Subsequently, the content of control by the camera control unit 19 during security execution will be described.
[1] When there is detection by the intrusion detection unit 14 or the low reflection object detection unit 16 When the intrusion detection unit 14 detects the intrusion of an object, the camera control unit 19 follows the movement of the detected object. The object is continuously imaged. When the low-reflection object detection unit 16 detects that a low-reflection object exists, the camera control unit 19 follows the movement of the detected low-reflection object and continuously captures the low-reflection object. To do.

When the intrusion of an object is detected by the intrusion detection unit 14 and the presence of a low reflection object is detected by the low reflection object detection unit 16, the camera control unit 19 detects the object by the intrusion detection unit 14. When the low-reflection object is detected by the low-reflection object 16 at substantially the same timing (at the same time), the camera device 7 is controlled so as to preferentially image the object detected by the intrusion detection unit 14.

[2] When there is no detection by the intrusion detection unit 14 and the low reflection object detection unit 16 In the camera control unit 19, the intrusion of an object is not detected by the intrusion detection unit 14, and the low reflection object detection unit 16 detects low reflection. The camera device 7 is controlled based on the control content shown in FIG. 6 during the period when the existence of the object is not detected.

(A) When a background object exists over the entire monitoring area 2 As shown in FIGS. 2 and 5A, when a background object exists over the entire monitoring area 2, all the laser beam irradiation directions Since the background information of the above is acquired, the low-reflection object detecting unit 16 can reliably detect the low-reflection object that has entered the monitoring area 2.

Therefore, the camera control unit 19 controls the camera device 7 so as to constantly or periodically image the priority monitoring area when the priority monitoring area is set. If the camera device 7 cannot capture the entire area of the priority monitoring area at one time, the camera control unit 19 may control the camera device 7 so as to auto-patroll the priority monitoring area.

Further, when the priority monitoring area is not set, the camera control unit 19 controls the camera device 7 based on the camera control setting during security release. That is, the camera control unit 19 controls the camera device 7 to execute an auto patrol that sequentially takes an image over the entire area of the monitoring area 2, a fixed point monitoring that constantly takes an image of a predetermined area in the monitoring area 2, and the like.

(B) When there is no background object in at least a part around the monitoring area 2 As shown in FIGS. 5 (b), 7 and 8, for example, a part of the monitoring area 2 due to forgetting to close the gate 4. When there is no background object in, the low-reflection object detection unit 16 cannot detect the low-reflection object existing in that direction because the background information about a part of the irradiation direction of the laser beam is not acquired.

Therefore, the camera control unit 19 controls the camera device 7 so as to constantly or periodically image the priority monitoring area when the priority monitoring area is set, and when the priority monitoring area is not set, the camera control unit 19 controls the camera device 7. The camera device 7 is controlled so as to constantly or periodically image the regions R1 and R2 (see FIGS. 7 and 8) in the direction in which the background information is not acquired. In this case, the camera control unit 19 detects the intrusion of the object by image recognition or the like using the image captured by the camera device 7, and if there is an intrusion, controls such that the intrusion direction is enlarged and the image is taken. As a result, it is possible to continuously image an object that has invaded from a direction in which no background object exists.

As shown in FIG. 8, when the gate 4 is completely open and the range in the direction in which the background object is not acquired is wide, or when the camera device 7 cannot image the entire area in that direction at once. The camera control unit 19 may control the camera device 7 so as to automatically patrol the direction in which the background information is not acquired.

As described above, the following effects can be obtained according to the present embodiment.
The intrusion detection unit 14 detects the intrusion of an object into the monitoring area 2 based on the distance measurement result by the distance measurement unit 13 that measures the distance to the object that reflects the laser beam. Then, when the intrusion of an object is detected by the intrusion detection unit 14, the camera control unit 19 controls the camera device 7 so as to image an area including the object. That is, the monitoring device 9 of the present embodiment can quickly detect the intrusion of a normal object into the monitoring area 2 and reliably image the object, as in the prior art.

Further, the background information acquisition unit 15 has acquired in advance background information indicating the direction in which the background is present among the irradiation directions of the laser beam, and the low reflection object detection unit 16 has the laser beam in the direction with the background. If the distance is not measured by the distance measuring unit 13 at the time of irradiation, it is detected that a low reflection object exists in the direction with the background. Therefore, the monitoring device 9 of the present embodiment can detect the intrusion of a low-reflection object even if it invades the monitoring area 2.

Then, when the low-reflection object detection unit 16 detects the existence of the low-reflection object, the camera control unit 19 captures the region including the direction in which the presence of the low-reflection object is detected. Control the device 7. Therefore, according to the monitoring device 9 of the present embodiment, regardless of whether or not the object that has invaded the monitoring area 2 is a low-reflection object, the invasion of the object is quickly detected and the object is reliably captured by the camera. The image can be taken by the device 7.

Further, the monitoring device 9 includes a monitoring object size setting unit 17 for setting the monitoring object size. As described above, if the size of the low-reflection object is constant, the angle range in the direction in which the distance is not measured by the distance measuring unit 13 changes according to the distance to the low-reflection object. Therefore, when the low-reflection object detection unit 16 detects the existence of the low-reflection object, the low-reflection object detection unit 16 obtains the distance to the low-reflection object using the above angle range and the set monitoring object size, and determines the distance to the low-reflection object. Estimate the approximate position.

Then, when the position of the low-reflection object is estimated by the low-reflection object detection unit 16, the camera control unit 19 controls the camera device 7 so as to image a region including the estimated position. That is, in this case, the camera control unit 19 can follow the movement of the low-reflection object, control the imaging direction of the camera device 7, and continuously image the low-reflection object. Therefore, according to the monitoring device 9 of the present embodiment, the low-reflection object that has entered the monitoring area 2 can be detected more quickly and accurately and imaged by the camera device 7.

In the security system 1 in which the monitoring device 9 is used, since the object to be monitored is mainly a human being, the size of the monitoring object is set to an average person's shoulder width or the like. In this way, even if a person (intruder) who covers his / her body with a low-reflection object M such as a carbon material invades the monitoring area 2, the intruder can be detected quickly and surely. The camera device 7 can reliably take an image, and can fully fulfill the role of the security system 1.

The monitoring device 9 includes a priority monitoring area setting unit 18 that sets a predetermined area in the monitoring area 2 as a priority monitoring area. When the priority monitoring area is set by the priority monitoring area setting unit 18, in the camera control unit 19, the intrusion of an object is not detected by the intrusion detection unit 14, and the low reflection object is detected by the low reflection object detection unit 16. The camera device 7 is controlled so as to image the priority monitoring area during a period when it is not determined to exist.

Here, in the security system 1 in which the monitoring device 9 is used, the monitoring area 2 is an area including a site (parking lot) adjacent to the store, and the priority monitoring area is an area including the entrance / exit 26 of the store and windows. Is set to. An intruder who has invaded the site of the monitoring area 2 often aims to invade a store adjacent to the site. Therefore, if the area including the entrance / exit 26 of the store and the window is set as the priority monitoring area in this way, even if there is an intruder that cannot be detected by the intrusion detection unit 14 and the low reflection object detection unit 16, the intruder can be detected. The image can be reliably captured by the camera device 7.

The priority monitoring area may be set in an area where the object to be monitored surely passes, and may be set in an area including the installation portion of the laser radar device 6, for example. If the laser radar device 6 itself is covered with a low-reflection object by an intruder who has invaded the monitoring area 2, the role of the monitoring device 9 may not be fulfilled at all.

Therefore, if the area including the installation portion of the laser radar device 6 is set as the priority monitoring area, the intruder who could not be detected by the intrusion detection unit 14 and the low reflection object detection unit 16 can reach the installation portion of the laser radar device 6. Even if it has arrived, the intruder can be reliably imaged by the camera device 7 before the laser radar device 6 is covered with the low-reflection object.

As shown in FIG. 2, the low-reflection object detection unit 16 can reliably detect a low-reflection object that has invaded the monitoring area 2 when a background object exists over the entire area of the monitoring area 2. When there is no background object in a part around the monitoring area 2 as shown in 7 and 8, the low reflection object existing in that direction cannot be detected.

Therefore, when the priority monitoring area is not set and the background information acquisition unit 15 does not acquire background information about a part of the irradiation direction of the laser beam, the camera control unit 19 performs the following control. Do. That is, the camera control unit 19 indicates a direction in which background information is not acquired during a period in which the intrusion of an object is not detected by the intrusion detection unit 14 and the low reflection object is not detected by the low reflection object detection unit 16. The camera device 7 is controlled so as to take an image.

In this way, when the intrusion of an object into the monitoring area 2 is not detected, the direction in which the background object does not exist is always imaged by the camera device 7. Therefore, even if a low-reflection object invades from a direction in which a background object does not exist, the object can be imaged by the camera device 7. Therefore, according to the monitoring device 9 of the present embodiment, even in an installation environment where there is no background object in a part around the monitoring area 2, the intrusion of an object invading the monitoring area 2 is detected quickly and reliably. Can be imaged.

In the present embodiment, the camera control unit 19 detects the intrusion of an object by the intrusion detection unit 14, and detects the existence of a low-reflection object by the low-reflection object detection unit 16, that is, the intrusion detection unit 14. When the intrusion detection of an object and the detection of a low-reflection object by the low-reflection object detection unit 16 are performed at the same time, the camera device 7 is controlled so as to preferentially image the object detected by the intrusion detection unit 14. The reason for controlling in this way is as follows.

That is, as the object detected by the monitoring device 9, there are more ordinary objects (objects having a normal reflectance that can obtain reflected light having sufficient intensity for distance measurement) than low-reflection objects. Therefore, by prioritizing the imaging of the normal object detected by the intrusion detection unit 14 over the imaging of the low reflection object detected by the low reflection object detection unit 16, the detection accuracy of the normal object is the same as that of the prior art. While maintaining a certain degree of accuracy, it is possible to detect rarely existing low-reflection objects that could not be detected by conventional techniques.

In the camera control unit 19, when the intrusion of an object is detected by the intrusion detection unit 14 and the presence of a low-reflection object is detected by the low-reflection object detection unit 16, that is, the intrusion of an object by the intrusion detection unit 14. When the detection and the low-reflection object detection unit 16 detect the low-reflection object at the same time, the camera device 7 preferentially images the low-reflection object detected by the low-reflection object detection unit 16. May be modified to control. The reason for controlling in this way is as follows.

That is, since it is considered that the object detected by the intrusion detection unit 14 can be continuously detected even after that, it should be possible to capture the image even if the camera device 7 does not immediately perform the imaging. is there. On the other hand, it is not always possible to continuously detect the existence of a low-reflection object. Therefore, in such a case, by giving priority to imaging a low-reflection object that cannot be detected at any time, the camera device 7 reliably images both the object detected by the intrusion detection unit 14 and the low-reflection object. be able to.

The background information acquisition unit 15 acquires background information based on the distance measurement result by the distance measurement unit 13 during the period when monitoring is not executed, with the direction in which the distance is measured as the direction with the background among the irradiation directions of the laser beam. I do. By doing so, it becomes possible to acquire background information that accurately represents the presence / absence and arrangement of background objects existing in the installation environment in which the laser radar device 6 or the like is actually installed, and the detection accuracy of low-reflection objects can be improved. It can be further enhanced.

The monitoring area 2 of the security system 1 in which the monitoring device 9 is used is an area including a parking lot of a car dealer. Therefore, the presence / absence of background objects and their arrangement may change depending on the presence / absence of parked vehicles and the open / closed state of the gate. Therefore, the background information acquisition unit 15 acquires the background information at each timing when the monitoring is started. In this way, the background information is updated to the latest information every time the monitoring is started, so even if the situation of the background object changes, it is low based on the background information that reflects the change. It becomes possible to detect a reflecting object, and the accuracy of the detection can be further improved.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to FIGS. 9 and 10.
In the present embodiment, as shown in FIGS. 9 and 10, the camera control unit 19 is a monitoring target in a monitoring area 31 in which no background object (such as the fence 3 or the gate 4 shown in FIG. 2) exists in the vicinity. The control contents of the above will be described. In this case, the background information acquisition unit 15 cannot acquire background information for all the irradiation directions of the laser beam. Therefore, the low-reflection object detection unit 16 cannot detect the low-reflection object even if the low-reflection object invades the monitoring area 31.

Therefore, as shown in FIG. 9, the area R3 near the building wall 5 including the doorway 26 and the window (not shown) is set as the priority monitoring area. With this setting, the camera control unit 19 images the region R3 including the entrance / exit 26 and the window, which are likely to be intrusion routes, if there is no detection by the intrusion detection unit 14 and the low reflection object detection unit 16. The camera device 7 is controlled so as to. As a result, even if a person (intruder) whose body is covered with a low-reflection object invades the monitoring area 31, the intruder can be reliably imaged before invading the store.

Further, as shown in FIG. 10, reflective objects 32 and 33 having relatively high reflectance may be installed at locations adjacent to the building wall 5 on both the left and right sides of the monitoring area 31. In this way, the background information acquisition unit 15 can acquire background information in the direction corresponding to the region R3 near the building wall 5. Therefore, the low-reflection object detection unit 16 can detect a low-reflection object existing in the region R3 including the entrance / exit 26 and the window, which are highly likely as an intrusion route.

In this case, when the intrusion detection unit 14 and the low-reflection object detection unit 16 do not detect an object, the camera control unit 19 uniformly patrols the entire monitoring area 31 except the area R3. The camera device 7 may be controlled so as to take an image. Even when the reflective objects 32 and 33 are installed in this way, it is possible to reliably image an intruder who has covered his / her body with a low-reflection object. Further, in any of the above-mentioned controls, if an intruder is detected and notified by image recognition using the captured image or the like, it is possible to prevent the intrusion into the store.

(Third Embodiment)
Hereinafter, the third embodiment will be described with reference to FIG.
The monitoring device 41 of the present embodiment has the same configuration as the monitoring device 9 described in the first embodiment, and the monitoring area to be monitored is the road 43 through which the vehicle 42 passes. In this case, the laser radar device 6 and the camera device 7 constituting the monitoring device 41 are provided adjacent to the side portion 43a of the road 43. The laser radar device 6 and the camera device 7 are attached to utility poles and dedicated poles (both not shown) provided along the road 43.

In this case, a plurality of reflective objects 44 to 46 are provided at predetermined intervals so as to be adjacent to the side portion 43b on the side opposite to the side portion 43a of the road 43. These reflecting objects 44 to 46 are, for example, poles provided along the road 43, and correspond to background objects existing in the background of the road 43 (rearward when viewed from the laser radar device 6) as a monitoring area.

According to the above configuration, when the vehicle 42, whose portion where the laser beam may be irradiated is a normal object, passes through the road 43, the intrusion detection unit 14 can detect the position. Therefore, in this case, the camera control unit 19 can control the camera device 7 so as to image the region including the detected vehicle 42.

On the other hand, when the vehicle 42, whose portion where the laser beam may be irradiated is a low reflection object, passes through the road 43, the distance cannot be measured by the distance measuring unit 13, so that the intrusion detection unit 14 is used. It cannot be detected. However, also in this case, the presence of the vehicle 42 can be detected by the low reflection object detection unit 16 as follows.

That is, in this case, the background information acquisition unit 15 has acquired background information in advance with the direction in which the reflecting objects 44 to 46 exist as the direction with the background. Then, when the low-reflection object detection unit 16 is irradiated with the laser beam in the direction with the background (the direction in which the reflective objects 44 to 46 exist), if the distance is not measured by the distance measurement unit 13, that direction (FIG. 11). In the case of, it is detected that a low-reflection object, that is, a vehicle 42 exists in the direction in which the reflective object 46 exists). In this case, the camera control unit 19 can control the camera device 7 so as to capture an image of a region including a direction in which the presence of the vehicle 42 is detected.

According to the above method, when a vehicle 42 including a low-reflection object passes through a road 43, the direction in which the vehicle 42 exists can be detected, but the position cannot be detected. That is, in the above method, it is not possible to specify which of the two lanes 43c and 43d of the road 43 the vehicle 42 including the low-reflection object is passing through.

Therefore, the low-reflection object detection unit 16 can additionally perform the following processing to specify the position of the low-reflection object in the present embodiment as well. That is, when it is detected that a low-reflection object exists, the time during which the distance value cannot be obtained in the detected direction (the direction in which any of the reflective objects 44 to 46 exists) is measured. Then, a predetermined calculation is performed using the measured duration and the average total length of various vehicles.

In this way, using one laser radar device 6 provided on one side portion 43a of the road 43, it is possible to identify which of the lanes 43c and 43d the detected vehicle 42 is passing through. Is possible.

(Other embodiments)
It should be noted that the present invention is not limited to each of the above-described embodiments and described in the drawings, and can be arbitrarily modified, combined, or extended without departing from the gist thereof.
The monitoring object size setting unit 17 and the priority monitoring area setting unit 18 may be provided as needed. When the monitoring object size setting unit 17 is omitted, the low reflection object detection unit 16 cannot detect the position of the low reflection object that has entered the monitoring area. In this case, when the low-reflection object detection unit 16 detects the existence of a low-reflection object, the camera control unit 19 controls the camera device 7 so as to image an area including all of the detected directions. , The intrusion of an object may be detected by image recognition using the captured image, and if there is an intrusion, the intrusion direction may be enlarged to take an image.

It is not always necessary to update the background information. For example, in an installation environment where the presence / absence and arrangement of background objects are unlikely to change, it is not necessary to acquire the background information only once after the installation of the laser radar device 6 or the like, and then not to acquire the background information.

7 ... Camera device, 9, 41 ... Monitoring device, 14 ... Intrusion detection unit, 15 ... Background information acquisition unit, 16 ... Low reflection object detection unit, 17 ... Monitoring object size setting unit, 18 ... Priority monitoring area setting unit, 19 ... camera control unit, 21 ... optical rangefinder.

Claims (9)

A monitoring device that monitors a preset monitoring area.
The laser light is irradiated so as to scan the inside of the monitoring area in a predetermined detection direction, the reflected light of the irradiated laser light is received, and the time from the irradiation time of the laser light to the reception time of the reflected light is An optical range meter that measures the distance to the object that reflected the laser beam based on
A camera device that captures a predetermined area in the monitoring area, and
A camera control unit that controls the camera device and
An intrusion detection unit that detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder.
A background information acquisition unit that acquires in advance background information indicating a direction with a background, which is a direction in which a background object exists among the irradiation directions of the laser beam.
When the laser beam is irradiated in the background direction, if the distance is not measured by the optical rangefinder, the low reflection object detection unit that detects the existence of a low reflection object in the background direction.
With
The camera control unit
When the intrusion of the object is detected by the intrusion detection unit, the camera device is controlled so as to image an area including the object.
When the presence of the low-reflection object is detected by the low-reflection object detection unit, the camera device is controlled so as to image a region including a direction in which the presence of the low-reflection object is detected .
Further, a monitoring object size setting unit for setting the monitoring object size, which is the length of the object to be monitored in the detection direction, is provided.
When the low-reflection object detection unit detects the presence of the low-reflection object, the low-reflection object detection unit determines the position of the low-reflection object by using the range in the direction in which the distance is not measured by the optical range finder and the monitoring object size. Estimate and
The camera control unit is a monitoring device that controls the camera device so as to image a region including the estimated position when the position of the low reflection object is estimated by the low reflection object detection unit . A monitoring device that monitors a preset monitoring area.
The laser light is irradiated so as to scan the inside of the monitoring area in a predetermined detection direction, the reflected light of the irradiated laser light is received, and the time from the irradiation time of the laser light to the reception time of the reflected light is An optical range meter that measures the distance to the object that reflected the laser beam based on
A camera device that captures a predetermined area in the monitoring area, and
A camera control unit that controls the camera device and
An intrusion detection unit that detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder.
A background information acquisition unit that acquires in advance background information indicating a direction with a background, which is a direction in which a background object exists among the irradiation directions of the laser beam.
When the laser beam is irradiated in the background direction, if the distance is not measured by the optical rangefinder, the low reflection object detection unit that detects the existence of a low reflection object in the background direction.
With
The camera control unit
When the intrusion of the object is detected by the intrusion detection unit, the camera device is controlled so as to image an area including the object.
When the presence of the low-reflection object is detected by the low-reflection object detection unit, the camera device is controlled so as to image a region including a direction in which the presence of the low-reflection object is detected .
When the background information about a part of the irradiation direction of the laser beam is not acquired by the background information acquisition unit.
The camera control unit acquires the background information during a period in which the intrusion of the object is not detected by the intrusion detection unit and the presence of the low reflection object is not detected by the low reflection object detection unit. A monitoring device that controls the camera device so as to capture an image in a direction that is not set . A monitoring device that monitors a preset monitoring area.
The laser light is irradiated so as to scan the inside of the monitoring area in a predetermined detection direction, the reflected light of the irradiated laser light is received, and the time from the irradiation time of the laser light to the reception time of the reflected light is An optical range meter that measures the distance to the object that reflected the laser beam based on
A camera device that captures a predetermined area in the monitoring area, and
A camera control unit that controls the camera device and
An intrusion detection unit that detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder.
A background information acquisition unit that acquires in advance background information indicating a direction with a background, which is a direction in which a background object exists among the irradiation directions of the laser beam.
When the laser beam is irradiated in the background direction, if the distance is not measured by the optical rangefinder, the low reflection object detection unit that detects the existence of a low reflection object in the background direction.
With
The camera control unit
When the intrusion of the object is detected by the intrusion detection unit, the camera device is controlled so as to image an area including the object.
When the presence of the low-reflection object is detected by the low-reflection object detection unit, the camera device is controlled so as to image a region including a direction in which the presence of the low-reflection object is detected .
Further, a priority monitoring area setting unit for setting a predetermined area in the monitoring area as a priority monitoring area is provided.
The camera control unit covers the priority monitoring area during a period in which the intrusion of the object is not detected by the intrusion detection unit and the presence of the low reflection object is not detected by the low reflection object detection unit. A monitoring device that controls the camera device so as to take an image . The monitoring area is an area including a site adjacent to the building.
The monitoring device according to claim 3 , wherein the priority monitoring area is set in an area including at least one of an entrance / exit and a window of the building. The monitoring device according to claim 3 or 4 , wherein the priority monitoring area is set in an area including an installation portion of the optical range finder. A monitoring device that monitors a preset monitoring area.
The laser light is irradiated so as to scan the inside of the monitoring area in a predetermined detection direction, the reflected light of the irradiated laser light is received, and the time from the irradiation time of the laser light to the reception time of the reflected light is An optical range meter that measures the distance to the object that reflected the laser beam based on
A camera device that captures a predetermined area in the monitoring area, and
A camera control unit that controls the camera device and
An intrusion detection unit that detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder.
A background information acquisition unit that acquires in advance background information indicating a direction with a background, which is a direction in which a background object exists among the irradiation directions of the laser beam.
When the laser beam is irradiated in the background direction, if the distance is not measured by the optical rangefinder, the low reflection object detection unit that detects the existence of a low reflection object in the background direction.
With
The camera control unit
When the intrusion of the object is detected by the intrusion detection unit, the camera device is controlled so as to image an area including the object.
When the presence of the low-reflection object is detected by the low-reflection object detection unit, the camera device is controlled so as to image a region including a direction in which the presence of the low-reflection object is detected .
When the intrusion of the object is detected by the intrusion detection unit and the presence of the low reflection object is detected by the low reflection object detection unit, the camera control unit detects the object by the intrusion detection unit. A monitoring device that controls the camera device so as to preferentially image the image . A monitoring device that monitors a preset monitoring area.
The laser light is irradiated so as to scan the inside of the monitoring area in a predetermined detection direction, the reflected light of the irradiated laser light is received, and the time from the irradiation time of the laser light to the reception time of the reflected light is An optical range meter that measures the distance to the object that reflected the laser beam based on
A camera device that captures a predetermined area in the monitoring area, and
A camera control unit that controls the camera device and
An intrusion detection unit that detects the intrusion of an object into the monitoring area based on the distance measurement result by the optical range finder.
A background information acquisition unit that acquires in advance background information indicating a direction with a background, which is a direction in which a background object exists among the irradiation directions of the laser beam.
When the laser beam is irradiated in the background direction, if the distance is not measured by the optical rangefinder, the low reflection object detection unit that detects the existence of a low reflection object in the background direction.
With
The camera control unit
When the intrusion of the object is detected by the intrusion detection unit, the camera device is controlled so as to image an area including the object.
When the presence of the low-reflection object is detected by the low-reflection object detection unit, the camera device is controlled so as to image a region including a direction in which the presence of the low-reflection object is detected .
The camera control unit exists by the low reflection object detection unit when the intrusion of the object is detected by the intrusion detection unit and the presence of the low reflection object is detected by the low reflection object detection unit. A monitoring device that controls the camera device so as to preferentially image the low-reflection object in which the detection is detected . Based on the distance measurement result by the optical range finder during the period when the monitoring is not executed, the background information acquisition unit sets the direction in which the distance is measured among the irradiation directions of the laser beam as the direction with the background. The monitoring device according to any one of claims 1 to 7 , wherein the background information is acquired as described above. The monitoring device according to claim 8 , wherein the background information acquisition unit acquires the background information at each timing when the monitoring is started.

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