JP7089926B2 - Control system - Google Patents

Description

The present invention relates to a control device that searches for a moving object capable of photographing an abnormality that has occurred from a plurality of moving objects such as security guards, drones, and airships that monitor a monitoring area with a camera.

In recent years, when an abnormality such as a fire or an unauthorized intrusion is detected in a customer's property, a security system for efficiently rushing a security guard to the position where the abnormality occurs (the position where the abnormality is detected) has been used. For example, Patent Document 1 discloses a security system that periodically detects the position of a moving object such as a security guard or a security vehicle, and when an abnormality is detected, quickly selects the moving object closest to the position where the abnormality occurs. Has been done.

Japanese Patent Application Laid-Open No. 2003-228781

By the way, recently, security operations using not only humans such as security guards but also non-human robots such as unmanned airships equipped with cameras and drones (autonomous flying robots) have been used as moving objects to confirm the abnormalities that have occurred. It's being done. Assuming that anomalies are confirmed using multiple types of moving objects with different activity altitude zones, even if the moving object closest to the location where the abnormality occurs is selected as in the conventional technique, the relevant moving object is applicable. It is not always possible to properly confirm the abnormality of the selected moving object. For example, it may be assumed that an obstacle cannot be reliably photographed because it becomes a blind spot of an obstacle at any position of the movement destination of the selected moving object.

Therefore, an object of the present invention is to make it possible to reliably confirm the state of an abnormality that has occurred by searching for a moving body that can reliably photograph the position where the abnormality has occurred.

In order to achieve the above-mentioned object, the current occurrence position, which is the position of the abnormality generated in the monitoring area, is input, and at least the current occurrence position can be photographed from one or more moving objects equipped with a photographing unit. It is a control device that searches for a moving object that can be photographed, and has a spatial model that expresses the monitoring area as a three-dimensional virtual space, and a memory that stores in advance an activity altitude zone that indicates an active altitude range for each moving object. A visible space calculation means for calculating a visible space indicating a space in which the current generation position can be seen from the current generation position and the space model, and at least the activity altitude zone in the visible space as a candidate space. Provided is a control device including a candidate space detecting means for detecting and a searching means for searching a moving body in which the candidate space exists as the photographable moving body.

Further, as a preferred embodiment of the present invention, the storage unit further stores the imaging direction, which is a range of angles that the imaging unit can photograph for each moving object, and the search means uses the imaging direction. It is determined from each position in the candidate space whether or not the current generation position can be photographed, and the photographable moving body is searched based on the determination result.

Further, as a preferred embodiment of the present invention, the storage unit stores the imaged direction indicating the direction in which the position where the abnormality of the type occurs should be imaged for each type of abnormality, and the visible space calculation means is described. The visible space shall be calculated using the current occurrence position, the imaged direction corresponding to the type of abnormality generated at the current occurrence position, and the space model.

Further, as a preferred embodiment of the present invention, the visible space calculation means shall calculate the visible space using the number of pixels and the angle of view of the photographing unit.

Further, as a preferred embodiment of the present invention, the visible space calculation means shall calculate the visible space based on the magnitude of damage caused by the abnormality generated at the current occurrence position.

Further, as a preferred embodiment of the present invention, the search means further sets a plurality of representative points in a neighborhood region including the current occurrence position in the spatial model, and uses the spatial model and the photographing direction to describe the above. It is determined from each position in the candidate space whether or not each of the current generation position and the representative point can be photographed, and based on the determination result, the moving body capable of photographing the vicinity region from the moving body is photographed. It shall be searched as a possible moving object.

As described above, according to the present invention, it is possible to search for a moving body capable of reliably photographing the position where the abnormality has occurred, and it is possible to reliably confirm the state of the occurrence of the abnormality.

It is a figure which shows the whole system configuration of the control system 5. It is a functional block diagram of the control device 1. It is a figure which shows the example of the space model 111. It is a table which shows the moving body information 112. It is a table which shows abnormality information 113. It is a schematic diagram of the image-taking direction in the case of a fire abnormality (a) and the case of a riot abnormality (b). It is a block diagram explaining the process of a control unit 12. It is explanatory drawing of the visible space calculation process. It is explanatory drawing of the candidate space detection process. It is a flowchart which shows the operation of a search process. It is a figure explaining the example of the monitored place in another embodiment.

Hereinafter, the configuration of the embodiment of the present invention will be described with reference to FIG. 1, which shows the schematic configuration of the control system 5 to which the present invention is applied. The control system 5 has a security device 2 that detects an abnormality that has occurred in a predetermined outdoor space (hereinafter referred to as a “monitoring area”), and an abnormality by rushing to the location where the abnormality has occurred and photographing the location of the abnormality. A mobile body 3 such as an airship 3a, a drone 3b, and a security guard 3c for checking the state, and a control device 1 connected to each mobile body 3 and a security device 2 via a communication network 4 such as the Internet or a public telephone line. It is composed of.

The moving body 3 includes a photographing unit (not shown) and moves so as to photograph an abnormality that has occurred in the monitoring area. The photographing unit is a so-called camera including an image pickup element such as a CCD element and a C-MOS element, an optical system component, and the like. The shooting unit is a fixed camera installed on the main body of the moving body 3 if it is a drone 3b or an airship 3a, and a wearable camera installed on the chest, head, etc. if the moving body 3 is a guard 3c. be. Further, the mobile body 3 is connected to the control device 1 via a communication network 4 so as to be able to transmit information by wireless communication such as a wireless LAN or LTE (Long Term Evolution). In addition, the mobile body 3 determines its current position based on signals from navigation satellites in the Global Navigation Satellite System (GNSS) and received radio wave strengths from radio wave transmitters such as a plurality of beacons. It is estimated, and the current position is associated with its own identifier and transmitted to the control device 1.

The security device 2 is a so-called security controller installed in one or a plurality of security target properties in the surveillance area, and when a sensor (not shown) or a surveillance camera installed in the security target property detects an abnormality, these sensors are used. Receives a detection signal from a surveillance camera or the like. Based on the received detection signal, the security device 2 notifies the control device 1 of the type of abnormality (intrusion, fire, etc.) and the position where the abnormality occurs (position where the abnormality is detected) via the communication network 4. The "current occurrence position" in the present invention corresponds to the occurrence position of the abnormality.

The control device 1 is a so-called computer installed in a security center at a remote location, and is selected from a plurality of mobile bodies 3 that monitor the inside of the monitoring area based on a report from the security device 2 via the communication network 4. , Search for a moving body 3 for photographing the generation position. In particular, the control device 1 of the present invention is characterized in that it searches for a moving body 3 capable of appropriately photographing the generation position by the photographing unit included in the moving body 3 from a plurality of moving bodies 3. , It is possible to confirm the abnormal state appropriately and quickly. The control device 1 instructs the mobile body 3 obtained as a result of the search to photograph the generation position via the communication network 4.

FIG. 2 shows a block diagram of the control device 1. As shown in FIG. 2, the control device 1 is roughly configured including a storage unit 11, a control unit 12, a display unit 13, an input unit 14, and a communication unit 15. The display unit 13 is an information display device such as a display. The controller using the control device 1 confirms the search result displayed and output on the display unit 13, that is, the moving body 3 capable of appropriately photographing the generation position. The input unit 14 is an information input device such as a keyboard, a mouse, a touch panel, and a reading device for a portable storage medium. The administrator of the control device 1 can use the input unit 14 to store, for example, the three-dimensional shape data of the spatial model 111, which will be described later, in the storage unit 11 and set various setting information. Further, the controller uses the input unit 14 to input to instruct the moving body 3 to confirm the abnormal state based on the search result displayed and output to the display unit 13. The communication unit 15 is a communication interface for communicating with the mobile body 3 and the security device 2 via the communication network 4.

The storage unit 11 is an information storage device such as a ROM, RAM, and HDD. The storage unit 11 stores various programs and various data, and inputs and outputs these information to and from the control unit 12. The various data include the spatial model 111, the moving object information 112, the abnormality information 113, and various other information used for processing by the control unit 12 (for example, a shooting direction master table, an approach prohibited distance master table, and a candidate space, which will be described later). Information etc.) is memorized.

The space model 111 is a coordinate representing a three-dimensional virtual space including three-dimensional shape data created by modeling an object (obstacle) such as a real-world building, ground, or tree existing in the monitoring area. Information. In the present embodiment, the three-dimensional shape data in the spatial model 111 is created by three-dimensional CAD based on the shape information of the monitoring area. However, the present invention is not limited to this, and data obtained by capturing the three-dimensional shape of the monitoring area with a three-dimensional laser scanner or the like may be used, and height information created by performing stereo photography or laser distance measurement from an aircraft is also included. It may be data representing a three-dimensional shape by polygon data. The spatial model 111 created in this way is stored in the storage unit 11 by being set and registered by the administrator from the input unit 14. FIG. 3 shows the space model 111 used in the present embodiment as a three-dimensional shape in a coordinate system representing a three-dimensional virtual space (hereinafter referred to as “model coordinate system”).

The mobile body information 112 is information about each mobile body 3 that monitors the monitoring area. As shown in FIG. 4, the mobile body information 112 includes a mobile body ID which is an identifier of the mobile body 3, a mobile body type (for example, a guard, a guard vehicle, a drone, an airship, a traveling robot, etc.), and each movement. This is table information in which the current position received from the body 3 via the communication network 4, the activity altitude zone of the moving body 3, and the shooting information about the shooting unit included in the moving body 3 are associated with each other.

The activity altitude zone is information indicating the altitude range in which each moving object 3 is permitted to perform monitoring activities in the monitoring area, and is the safety, privacy protection, service user's request, and administration associated with the activity of the moving object 3. It is set by the administrator in consideration of various conditions such as airspace regulations in the institution. In the present embodiment, the activity altitude zone in which the altitude range in which the activity is recognized for each moving body 3 is expressed as a three-dimensional geometric shape (coordinate information) in the model coordinate system is stored. For example, in a particular area of the surveillance area, certain types of drones can only fly within a range of altitudes within 3m to 10m, and must fly at a distance of 2m from the building directly below. If there are conditions that do not meet, the spatial model 111 is used to obtain a three-dimensional geometric shape in the altitude range that satisfies these conditions, and the coordinate information of the geometric shape is stored as the activity altitude band corresponding to the moving body ID of the drone. do. It should be noted that not only the three-dimensional geometric shape in the model coordinate system but also the voxel space generated based on the space model 111 is used, and the voxel identifier in the altitude range in which the activity is recognized for each moving body 3 is used as the activity altitude zone. It may be memorized as.

The shooting information is information defined by the shooting direction, depth, and angle of view of the shooting unit included in the moving body 3. Here, the shooting direction is information representing a settable angle range for the visual axis (optical axis) of the shooting unit. In the present embodiment, the shooting directions are the yaw angle (α °), the pitch angle (β °), and the roll angle (γ °) in the right-handed Cartesian coordinate system (α, β, γ), respectively. Specifies the angle range of. The shooting direction is set in consideration of the installation angle of the shooting unit with respect to the moving body 3, the movable range of the shooting unit, the movable range of the posture of the moving body 3, and the like. The depth is a so-called depth of field defined by the distance value between the maximum depth and the minimum depth, and is the image resolution (number of pixels), the angle of view, and the size of the image to be captured in the captured image of the photographing unit of the moving body 3. It is a value set according to information such as (the number of horizontal pixels, the number of vertical pixels). For example, when the object to be photographed is the face of an intruder, the range of the number of pixels between the eyes (the number of pixels between the right eye and the left eye) desired to be obtained in the photographed image is determined as a condition, and the image is photographed at a predetermined image resolution and angle of view. It is possible to obtain the maximum depth and the minimum depth that satisfy the conditions when the object is photographed. Further, as the angle of view, the horizontal angle of view and the vertical angle of view of the photographing unit are set.

The abnormality information 113 is information related to one or more abnormalities detected in the monitoring area, and is updated by the control unit 12 when a report from the security device 2 is received. As shown in FIG. 5, the abnormality information 113 includes an abnormality ID which is an identifier of the abnormality, the type of the abnormality (for example, intrusion, fire, riot, etc.), the position where the abnormality occurs, the shooting direction of the abnormality, and the shooting direction of the abnormality. It is table information in which the approach prohibited distance and the maximum shooting distance are associated with each other. Here, the position where the abnormality occurs is the position where the abnormality reported from the security device 2 (for example, the position information consisting of latitude, longitude, and altitude is detected) is used as the coordinate information (x, y, This is the information converted to z).

The imaged direction is information indicating the direction to be imaged with respect to the position where the abnormality occurs by the imaged portion of the moving body 3, and in the present embodiment, the imaged direction is defined by the horizontal angle range and the vertical angle range. It is stored as a value to be used. In the present embodiment, it is assumed that the imaged direction master table in which the type of abnormality and the imaged direction are associated with each other is stored in the storage unit 11 in consideration of the ease of grasping the abnormal situation by the administrator. When an abnormality report is received from the security device 2, the imaged direction corresponding to the type of the abnormality is read from the imaged direction master table and set in association with the identifier of the abnormality. For example, in the case of a fire abnormality on the ground, shooting from a position directly above the position where the fire occurred may pose a danger to the moving object 3 to be shot. Therefore, when the horizontal direction is 0 °, the vertical angle range is 0. It is set to ° to 45 ° and the horizontal angle range is set to 0 ° to 360 °. On the other hand, in the case of an abnormality such as a riot, if the moving body 3 is photographed from the side, it is not preferable because the moving body 3 may be involved in the riot, and the photograph is taken from a bird's-eye view to grasp the scale of the riot. Therefore, the vertical angle range is set to 45 ° to 90 °, and the horizontal angle range is set to 0 ° to 360 °. 6 (a) and 6 (b) show schematic views showing the three-dimensional shape of the photographed direction in the case of these fire abnormalities and the case of riot abnormalities. The direction to be photographed is not limited to the horizontal angle range and the vertical angle range, and may be only the horizontal angle range or only the vertical angle range.

The approach prohibition distance is information indicating a range in which the moving body 3 cannot approach, and a distance value set according to the abnormality is stored. In the present embodiment, the administrator stores in advance the access prohibition distance master table in which the type of abnormality and the access prohibition distance are associated with each other in consideration of the magnitude of damage to the moving body 3 that can be received from the abnormality. When an abnormality report is received from the security device 2, the access prohibition distance corresponding to the type of the abnormality is read from the access prohibition distance master table and set in association with the identifier of the abnormality. And. The maximum shooting distance is set in operation to reduce the calculation load by omitting the calculation at a distance because it is difficult to confirm the state of the abnormality even if the image is taken from an extremely far distance from the position where the abnormality occurred. In addition, it is information indicating the maximum distance value that can be taken away from the position where the abnormality occurs. In this embodiment, the maximum shooting distance is set as a fixed value (for example, 30 m).

The control unit 12 has a microprocessor unit such as a CPU, a memory such as a ROM and a RAM, and peripheral circuits thereof, and executes various signal processing. The control unit 12 has a visible space calculation means 121, a candidate space detection means 122, and a search means 123 implemented as a functional module of a program operating on the microprocessor unit. These functional modules are realized by the control unit 12 executing the program stored in the storage unit 11. FIG. 7 is a diagram illustrating various processes (visible space calculation process, candidate space detection process, search process) performed by each functional module in the control unit 12. Hereinafter, the processing of the control unit 12 will be described in detail with reference to FIGS. 7 to 10. In this embodiment, it is assumed that each of the following processes is executed each time a report is received from the security device 2 and the abnormality information 113 is updated.

The visible space calculation means 121 uses the abnormality information 113 of the storage unit 11 and the space model 111 to provide a space (hereinafter referred to as “visible space”) in which the position where the abnormality occurs can be seen without being obstructed by obstacles. Performs visible space calculation processing for calculation. FIG. 8 is a diagram for explaining the visible space calculation process, and is a diagram showing a part of the space model 111 including the abnormality occurrence position O when viewed from the horizontal direction (right sideways). In the visible space calculation process, first, as shown in FIG. 8A, the abnormality information 113 is referred to to correspond to the abnormality ID (abnormality ID related to the abnormality updated by the notification) to be calculated in the visible space. The shooting space S is obtained using the shooting direction and the maximum shooting distance. Subsequently, in the visible space calculation process, as shown in FIG. 8B, the shooting space S'is obtained by using the obtained shooting space S, the space model 111, the position where the abnormality occurs, and the approach prohibition distance. Here, the photographing space S'is a space excluding the space range of the access prohibition distance from the abnormality occurrence position O in the photographing space S, and is an obstacle of the space model 111 (buildings 111a and trees 111b in FIG. 8). ) And the space that does not interfere with. Finally, in the visible space calculation process, as shown in FIG. 8C, whether or not the abnormality occurrence position O can be visually recognized from each position by performing a line-of-sight analysis from each position in the obtained shooting space S'. Is determined, and the visible space S'' is obtained as a space in which the generation position O can be visually recognized. In the present embodiment, when the obtained shooting space S'is divided by voxels of a predetermined size and a straight line from the position of the center of gravity of each voxel toward the generation position O is obtained, the straight line is an obstacle of the space model 111. A space consisting of a set of voxels that does not interfere with obstacles is obtained as a visible space S'' by performing a visual analysis by determining whether or not the space interferes with the voxels.

The candidate space detecting means 122 uses the visible space S'' calculated by the visible space calculating means and the activity altitude zone of each moving body 3, and is a visible space in which the moving body 3 can act for each moving body 3. Performs a candidate space detection process to detect a candidate space that indicates the space inside. In the candidate space detection process, the moving body information 112 is referred to, the active altitude zone is read out for each moving body 3, and a space in which the read active altitude zone and the visible space S'' calculated by the visible space calculation means overlap is a candidate. Calculated as space. In the present embodiment, among the voxels in the visible space S ″, a set of voxels overlapping the activity altitude zone is obtained as a candidate space. FIG. 9 is an explanatory diagram of the candidate space detection process in the case of a drone as the moving body 3. The space indicated by the reference numeral T in FIG. 9 represents the activity altitude zone of the moving body 3 stored in the moving body information 112. The space C in which the visible space S ″ obtained by the visible space calculation means 121 and the activity altitude zone T of the drone read from the moving object information 112 overlap is the candidate space C for the drone. The candidate space detecting means 122 performs the candidate space detection process for all the moving bodies 3, obtains the candidate space information in which the moving body ID and the candidate space C are associated with each other, and temporarily stores the candidate space information in the storage unit 11.

The search means 123 searches for the moving body 3 capable of taking a picture of the abnormality occurrence position O by using the candidate space information obtained by the candidate space detecting means 122, the shooting information of the moving body information 112, and the abnormality information 113. Perform a search process. FIG. 10 is a flowchart showing a search process in the search means 123.

The loop 1 in FIG. 10 means that processing is performed for each moving body 3 of the moving body information 112, and means that the processing in the loop 1 is executed by the number of the moving bodies 3. In the following description, the moving body 3 to be processed in the loop 1 is referred to as a “target moving body”. In the search process, first, the candidate space information temporarily stored in the storage unit 11 is referred to, and it is determined whether or not the candidate space exists in the target moving body (ST1). When the candidate space exists (ST1-Yes), that is, when there is at least one voxel constituting the candidate space of the target moving object, the processing of loop 2 is executed. Loop 2 in FIG. 10 means that processing is performed for each voxel constituting the candidate space of the target moving object, and means that processing in loop 2 is executed for each voxel constituting the candidate space. In the following description, the voxel to be processed in loop 2 is referred to as “target voxel”.

Next, the search means 123 uses the coordinates of the center of gravity position of the target boxel and the shooting direction of the moving body information 112 to generate a coordinate conversion matrix V that converts the abnormality occurrence position O from the model coordinate system to the camera coordinate system. Find (ST2). The camera coordinate system obtained here is a three-dimensional coordinate system of the photographing unit when the optical center of the photographing unit is installed at the position of the center of gravity of the target voxel and the moving body information 112 is directed to the photographing direction. Since the shooting direction is information representing the angle range of yaw, pitch, and roll, a plurality of angles included in the angle range are obtained for each of the yaw, pitch, and roll for each predetermined angle (for example, 1 °). For example, when the yaw angle range is set to 0 ° to 360 °, 360 angles of 0 °, 1 °, 2 °, ..., 359 ° can be obtained. Similarly, the pitch and roll angles included in the angle range are obtained. Then, the coordinate transformation matrix V is obtained for the number of combinations consisting of the obtained yaw, pitch, and roll angles.

Next, the search means 123 obtains a projective transformation matrix P for converting from the camera coordinate system to the two-dimensional coordinates (image coordinate system) in the captured image by using the angle of view and the depth of the moving body information 112 (. ST3). Next, the search means 123 converts the coordinates of the generation position O of the spatial model 111 into the two-dimensional coordinates of the camera coordinate system by using the obtained coordinate conversion matrix V and the projection conversion matrix P (ST4). It is determined whether or not the dimensional coordinates are included in the captured image (ST5). At this time, the determination is made using all the coordinate transformation matrices V obtained in ST2. Then, when the generation position O is included in the coordinates of the captured image, when at least one determination result is obtained (ST5-Yes), it is determined that the target moving object can be imaged from the position of the target voxel. , The target voxel is determined as a shootable voxel (ST6).

When the processing of the loop 2 is completed for all the voxels constituting the candidate space of the target moving body, the search means 123 determines whether or not there is a photographable voxel in the target moving body (ST7). When there is at least one photographable voxel (ST7-Yes), it is determined that the target moving body can photograph the abnormality occurrence position O (ST8). On the other hand, when there is no shootable voxel (ST7-No) or when there is no candidate space in ST1 (ST1-No), the target moving object cannot shoot the abnormality occurrence position O. judge. When the processing of the loop 1 is completed for all the moving bodies 3 described in the moving body information 112, the search means 123 outputs the moving body ID of the moving body 3 capable of photographing the abnormality occurrence position O as a search result (). ST10).

The display unit 13 is an information display device such as a display. The control unit 12 displays and outputs the search result output by the search means 123 to the display unit 13.

As described above, in the control system 5 of the present embodiment, the controller browses the search results displayed and output on the display unit 13 of the control device 1, so that the controller appropriately determines the abnormality generated in the monitoring area. It is possible to quickly grasp the moving body 3 that can be photographed (hereinafter referred to as “photographable moving body”). Then, the controller selects the photographable moving object closest to the abnormality occurrence position O from the plurality of photographable moving objects, and performs an abnormality shooting on the selected photographable moving object on the communication network. By transmitting the instruction via 4, the abnormal state generated in the monitoring area can be quickly confirmed.

Further, the control system 5 of the present embodiment determines whether or not the abnormality occurrence position O can be photographed from each position in the candidate space using the photographing direction of the photographing unit, and the abnormality occurs based on the determination result. Search for a moving object that can shoot position O. Therefore, it is abnormal after considering not only whether or not there is a candidate space (a space consisting of positions without blind spots), but also whether or not it is possible to shoot including the shooting conditions by the shooting unit at the position in the candidate space. In order to determine whether or not the generation position O can be photographed, it is possible to search for the moving body 3 that can photograph the abnormality more accurately and appropriately.

Further, since the control system 5 of the present embodiment calculates the visible space using the abnormality occurrence position O, the imaged direction, and the spatial model, the abnormality occurrence position O can be photographed from a predetermined direction. Since it is possible to search for moving objects, the controller can better grasp the abnormal condition.

By the way, the present invention is not limited to the above embodiment, and may be further implemented in various different embodiments within the scope of the technical idea described in the claims. Moreover, the effect described in the embodiment is not limited to this.

In the above embodiment, the search means 123 uses the shooting information of the moving body information 112 and the shooting direction of the abnormality information 113 when the searchable moving body is obtained. However, as another simple embodiment, it is a movable body that can be photographed depending on whether or not each moving body 3 has a candidate space calculated by the candidate space detecting means 122 without using these information. It may be determined whether or not. In this case, that is, when it is determined to be Yes in ST1 of FIG. 10, the processing of loop 2 (ST2 to ST7) is omitted and the processing of ST8 is performed.

In the above embodiment, the candidate space detecting means 122 obtains the candidate space of each moving body 3, and the searching means 123 determines whether or not each moving body 3 can photograph the abnormality occurrence position O from the candidate space. By doing so, a moving object that can be photographed is searched. However, the candidate space detecting means 122 is omitted, and the search means 123 determines whether or not the abnormality occurrence position O can be photographed from the position in the visible space of each moving body 3 calculated by the visible space calculating means 121. , A moving body having a position in the visible space where the generation position O can be photographed may be output as a photographable moving body. In this case, the processing of ST1 in FIG. 10 is omitted, and in loop 2, the processing of ST2 to ST6 is performed with the voxels constituting the visible space as the target voxels.

In the above embodiment, the maximum shooting distance that defines the range of the visible space is set as a fixed distance value, but the maximum shooting distance is not limited to this, and the maximum shooting distance is set according to the shooting conditions of the shooting unit included in each moving body 3. It may be set. Specifically, the resolution (number of pixels) of the photographing unit may be further stored as the moving body information 112, and the maximum shooting distance may be set using the resolution (number of pixels) and the angle of view. For example, the larger the resolution (number of pixels) or the narrower the angle of view, the larger the maximum shooting distance is set. As a result, the candidate space at a distance where the abnormality to be photographed is too small to be seen can be excluded from the calculation target in the search process in advance, and the calculation cost can be reduced.

In the above embodiment, the search process in the search means 123 searches for the moving body 3 capable of photographing the abnormality occurrence position O as the photographing movable body. However, not limited to this, the search means 123 can photograph a region including the abnormality occurrence position O and within a predetermined distance range from the abnormality occurrence position O (hereinafter, referred to as “nearby region”). The moving body 3 may be searched for as a shootable moving body. FIG. 11 is a diagram obtained by cutting out a part of the spatial model 111 to explain the neighborhood region. Reference numerals 111a and 111b correspond to buildings and trees existing in the monitoring area, respectively, and the location shown by the broken line is the neighborhood region. Corresponds to. As shown in FIG. 11, before the search process is performed, the search means 123 uses the spatial model 111 and the occurrence position O to form a vicinity consisting of a circle having a radius r centered on the abnormality occurrence position O in the model coordinate system. The area (three-dimensional shape) is obtained, and the positions (three-dimensional coordinates) of a predetermined number of representative points (white circles) are obtained from the positions included in the obtained neighboring area. Then, in the search process, the search means 123 not only determines whether or not the abnormality occurrence position O can be photographed from each position in the candidate space (the position of the center of gravity of the target voxel in the loop 2), but also determines the position of each representative point. Also, it is determined whether or not shooting is possible, and the moving body 3 in which the position (boxel) of the candidate space where the generation position O and the positions of all the representative points can be shot exists is used as the moving body 3 which can shoot the vicinity area. You may ask. As a result, it is possible to search for a photographable moving object that can appropriately grasp not only the abnormality occurrence position O but also the situation around the abnormality occurrence position O. Further, in another embodiment, the visible space calculation means 121 not only obtains the visible space from the abnormality occurrence position O in the visible space calculation process, but also calculates the visible space from each representative point. Then, in the candidate space detection process, the candidate space detecting means 122 can activate the moving body 3 for each moving body 3 by using the visible space of the generation position O, the visible space of each representative point, and the activity altitude zone. Find the common space of each visible space as a candidate space. Then, the search means 123 may obtain the moving body 3 having the above candidate space as a photographable moving body capable of photographing a nearby region.

In the above embodiment, the approach prohibition distance is set according to the approach prohibition distance master table that is fixedly set for each type of abnormality in consideration of the magnitude of damage of the abnormality. However, the present invention is not limited to this, and the approach prohibition distance may be dynamically set according to the magnitude of the damage caused by the abnormality. For example, based on the report from the security device 2, the number of sensors that have detected an abnormality and the captured monitoring image are analyzed, and the magnitude of damage is determined based on the analysis result. Alternatively, when the security device 2 detects an abnormality, it also notifies the control device 1 of information regarding the magnitude of the damage caused by the abnormality. Based on the notification or the analysis result, the visible space calculation means 121 of the control device 1 may set the approach prohibition distance to a larger value as the magnitude of the damage of the abnormality is larger. Thereby, it is possible to search for a photographable moving body capable of photographing the abnormality occurrence position O from a safe position according to the magnitude of the abnormality damage. Further, the approach prohibition distance may be defined by a function that changes according to the horizontal angle and the vertical angle, instead of setting the distance to the space centered on the abnormality occurrence position O to be uniform. In addition, a space consisting of an inaccessible distance may be defined by using a geometric shape defined for each type of abnormality. Further, when the photographable moving body is a moving body 3 capable of photographing a nearby area as in the other embodiment described above, the size of the distance range r defining the nearby area is set to the size of the anomaly (abnormal spatial). It may be set according to the size). As a result, it is possible to search for a photographable moving body that can more appropriately grasp the situation around the abnormality occurrence position O.

In the above embodiment, as the activity altitude zone, the altitude range in which the activity is recognized for each moving body 3 is stored in the three-dimensional geometric shape in the model coordinate system. However, the present invention is not limited to this, and it may be stored as a numerical range indicating an altitude range in which activity is recognized for each moving body 3. In this case, the candidate space detecting means 122 calculates the three-dimensional geometric shape in the model coordinate system in which the activity is recognized for each moving body 3 by using the activity altitude zone and the space model 111. As a result, even when the activity altitude is dynamically changed as in a strong wind, it is possible to obtain search results according to the change.

In the above embodiment, the photographed direction master table in which the type of abnormality and the photographed direction are fixedly associated is referred to, and the photographed direction corresponding to the detected abnormality type is associated with the abnormality ID of the abnormality. Is remembered. However, the present invention is not limited to this, and the controller who received the report may determine the magnitude of the abnormal damage based on the report and set the shooting direction using the input unit 14. Alternatively, the control device 1 analyzes the number of sensors that have detected an abnormality and the captured monitoring image based on the report from the security device 2, determines the magnitude of the damage based on the analysis result, and makes the determination. The shooting direction may be set based on the result.

1 ... Control device 2 ... Security device 3 ... Mobile 4 ... Communication network 5 ... Control system 11 ... Storage unit 12 ... Control unit 13 ... Display unit 14.・ ・ Input unit 15 ・ ・ ・ Communication unit 111 ・ ・ ・ Spatial model 112 ・ ・ ・ Moving object information 113 ・ ・ ・ Abnormal information 121 ・ ・ ・ Visible space calculation means 122 ・ ・ ・ Candidate space detection means 123 ・ ・ ・ Search means

Claims (6)

A control system in which the current occurrence position, which is the position of the abnormality generated in the monitoring area, is input, and a photographable moving object capable of photographing at least the current occurrence position is searched from one or more moving objects equipped with a photographing unit. It ’s a device,
A spatial model that expresses the monitoring area as a three-dimensional virtual space, and a storage unit that stores in advance an activity altitude zone that indicates an altitude range in which each moving object can be active.
A visible space calculation means for calculating a visible space indicating a space in which the current generation position can be seen from the current generation position and the space model.
A candidate space detecting means for detecting at least the activity altitude zone in the visible space as a candidate space,
A search means for searching a moving body in which the candidate space is detected as the photographable moving body, and
A control device equipped with. The storage unit further stores the imaging direction, which is a range of angles that can be captured by the imaging unit, for each moving object.
The search means uses the shooting direction to determine whether or not the current generation position can be shot from each position in the candidate space, and searches for the shootable moving object based on the determination result. The control device according to 1. The storage unit stores the imaged direction indicating the direction in which the position where the abnormality of the type occurs should be imaged for each type of abnormality.
Claim 1 or claim that the visible space calculation means calculates the visible space using the current occurrence position, the imaged direction corresponding to the type of abnormality generated at the current occurrence position, and the space model. 2. The control device according to 2. The control device according to any one of claims 1 to 3, wherein the visible space calculation means calculates the visible space using the number of pixels and the angle of view of the photographing unit. The control device according to any one of claims 1 to 4, wherein the visible space calculation means calculates the visible space based on the magnitude of damage caused by an abnormality occurring at the current occurrence position. The search means further sets a plurality of representative points in a neighborhood region including the current generation position in the space model, and uses the space model and the photographing direction to generate the current generation from each position in the candidate space. 2. Claim 2 that determines whether or not each of the position and the representative point can be photographed, and searches for a moving object capable of photographing the vicinity region from the moving objects as the imageable moving object based on the determination result. The control device described in .

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