JP2000358234A - Remote camera monitoring method and device - Google Patents

Abstract

(57) [Summary] An object of the present invention is to easily and appropriately monitor a desired monitoring point in a remote camera monitoring method and apparatus. A remote camera monitoring method for a camera monitoring system, comprising: a remote camera that can be turned by remote control; and a camera control device that displays video information obtained by remotely controlling the camera on a monitor screen. In the above, all video information about a predetermined monitoring area obtained by remote control of the camera 10 in advance is synthesized on one plane, and the monitoring synthesized image is displayed on the monitor screen W2, and The camera 10 is controlled to rotate in the direction of the designated position in accordance with the position designation information of the external input for the monitoring composite image, and the obtained video information of the designated position is displayed on the monitor screen W3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote camera monitoring method and apparatus, and more particularly, to one or more remote cameras which can be turned by remote control, and video information obtained by remotely controlling the cameras. The present invention relates to a remote camera monitoring method for a camera monitoring system including a camera control device that displays on a monitor screen, and a device therefor.

[0002] This type of camera monitoring system is used for remote monitoring of a wide range (each direction), such as the road conditions in various directions centering on the upstream and downstream of rivers, most of harbors, and road intersections. It is desired that a desired monitoring point can be quickly and accurately monitored by a simple operation of a monitoring person.

[0003]

2. Description of the Related Art FIG. 15 is a diagram for explaining a conventional technique, and shows a configuration of a conventional camera monitoring system. For example, cameras 10a and 10b are provided in the vicinity of each intersection of a road to take charge of the respective monitoring areas a and b.
a and 10b are connected to the monitoring terminals 20a and 20b of the monitoring center 200 via cables. Now camera 1
Focus on the side of 0a. The camera 10a moves from 0 °
It can rotate 340 degrees and -70 degrees to 20 degrees in the vertical direction, and further has zoom and autofocus functions. The image captured by the camera 10a is input to the monitoring terminal 20a and displayed in real time in the window area Wa of the display screen.

With such a configuration, the conventional observer remotely controls the turning angle and the like of the camera 10a using the pointing device 27 such as a mouse, depending on the display image of the window area Wa and the azimuth of the camera 10a. I had done a key monitoring point P _a1 ~P _a4 monitoring of such. Camera 10
The same applies to the side b.

[0005] By the way, as described above, the remote control of the camera 10a relying on the monitoring image and the turning angle of the camera 10a, if the observer is not familiar with the terrain and the situation of the monitoring area a, the camera is required. It becomes extremely difficult to aim the 10a at a target monitoring point. Further, in the case where one observer monitors a plurality of monitoring areas a, b, etc., one monitoring person monitors a plurality of monitoring areas a, b, etc., which are irrelevant to each other (different reference angles of 0 °). It is necessary to be familiar with the terrain and the situation, and this is almost impossible.

In this regard, a so-called monitoring point preset method has conventionally been known. The preset scheme, along with registers the advance key multiple monitoring points P _a1 to P _a4, etc.,該監camera 10a viewing points P _a1
To P _a4 turning control angle for directing the like H, may be provided a position table, such as into a V, when selecting the monitoring point P _a3 there is a supervisor, the camera 10a is automatically directed to the monitoring point P _a3 It is something that can be done.

[0007]

However, according to the above-mentioned preset method, monitoring of each of the main monitoring points can be performed relatively easily. I don't feel good. For this reason,
Furthermore, it is difficult to control the camera as desired even if it is desired to monitor the surroundings. As a result, conventionally, only a specific monitoring point in the monitoring area has been monitored exclusively, and the original monitoring function of the camera monitoring system has not been sufficiently exhibited.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to provide a remote camera monitoring method and apparatus capable of easily and appropriately monitoring a desired monitoring point. is there.

[0009]

The above-mentioned problem is solved, for example, by referring to FIG.
Is solved. That is, the remote camera monitoring method of the present invention (1) includes a remote camera 10 that can be turned by remote control, and a camera control device 2 that displays video information obtained by remotely controlling the camera on a monitor screen.
In a remote camera monitoring method for a camera monitoring system comprising a camera screen 0, all video information of a predetermined monitoring area obtained by remote control of the camera 10 in advance is combined on one plane, and the combined image for monitoring is displayed on a monitor screen. The camera 10 is displayed on the monitor screen W2, and the camera 10 is turned in the direction of the designated position in accordance with the position designation information of the external input with respect to the monitoring composite image on the monitor screen, and the obtained video information of the designated position is displayed on the monitor screen W3. To display.

In FIG. 1, a camera control device 20 remotely controls the camera 10 in advance, synthesizes all the obtained video information about a predetermined monitoring area on one plane, and generates a monitoring synthetic image. For example, it is displayed on the monitor screen W2. Here includes video information of the entire monitoring area with major multiple monitoring points P _a1 to P _a4 like each partial image. Therefore, the monitor can quickly and correctly grasp the entire image of the monitored area without any geographical knowledge of the monitored area.

Also, in this state, the observer operates the monitor screen W2.
When a desired position (for example, a monitoring point P _a3 ) is specified, the camera control device 20 controls the camera 10 to turn in the direction of the specified position in accordance with the position specifying information, and displays the obtained video information of the specified position on, for example, a monitor screen. Display on W3. Thus, a desired monitoring position in the monitoring area can be easily and appropriately monitored. In addition, the observer can accurately obtain the geographical realization of where the site is being monitored.

The above problem is solved by, for example, the configuration shown in FIG. That is, in the remote camera monitoring method of the present invention (2), a plurality of cameras 10a to 10a to 10a to 10d which are distributed in monitoring areas separated from each other and can be turned by remote control
10c and a camera control device 20 for displaying video information obtained by remotely controlling each of the cameras on a monitor screen. All the video information for each of the predetermined monitoring areas obtained by the control are combined on one plane, and the respective monitoring composite images are simultaneously displayed on, for example, the monitor screens W2a to W2c. The corresponding cameras 10a to 10c are controlled to turn in the respective designated position directions according to the respective externally designated position designation information C1a, C8b, C16c for each monitoring composite image, and the obtained video information of each designated position is displayed on, for example, a monitor screen W3a. ~ W3c.

[0013] Therefore, the observer can quickly and correctly grasp the whole image of a plurality of monitoring areas that are wide and unrelated to each other. Also, a desired monitoring position in each monitoring area can be easily and appropriately monitored.

The above problem is solved by, for example, the configuration shown in FIG. That is, the remote camera monitoring method according to the present invention (3) includes a plurality of cameras 10a to 10c which are arranged close to a common monitoring area and which can be turned by remote control.
In a remote camera monitoring method of a camera monitoring system including a camera control device 20 for displaying video information obtained by remotely controlling each camera on a monitor screen, a predetermined camera (for example, 10a) is remotely controlled in advance. All the video information about the predetermined monitoring area obtained as a result is combined on one plane, the monitoring composite image is displayed on, for example, the monitor screen W2a, and the external input to the monitoring composite image on the monitor screen is performed. Multiple pieces of position designation information C2
a, each corresponding camera 10a according to C8b, C16c
10 to 10c are controlled in the direction of each designated position, and the obtained video information of each designated position is displayed on, for example, monitor screens W3a to W3c.

Therefore, the observer can quickly and correctly grasp the whole image of the monitoring area such as complicated terrain that requires simultaneous monitoring of a plurality of places. Further, it becomes possible to easily and appropriately monitor a plurality of desired monitoring positions in the monitoring area.

The camera control device of the present invention (4) displays on a monitor screen one or more remote cameras that can be turned by remote control, and video information obtained by remotely controlling the cameras. In a camera control device of a camera monitoring system including a camera control device, all video information about a predetermined monitoring area obtained by remotely controlling a predetermined camera in advance is combined on one plane, and a monitoring composite image is formed. Monitoring composite image display control means for displaying on a monitor screen, position input means for displaying a cursor on the monitor composite image on the monitor screen and designating and inputting an arbitrary position on the monitor composite image; In accordance with the input position designation information, the predetermined camera is controlled to turn in the designated position direction,
A monitoring video display control means for displaying the obtained video information of the designated position on a monitor screen.

Preferably, in the present invention (5), in the above-mentioned present invention (4), the monitoring synthetic image display control means includes a plurality of predetermined monitoring areas previously obtained by remote controlling a plurality of cameras respectively. All the video information for each image are synthesized on one plane, and the respective monitoring synthesized images are simultaneously displayed on the monitor screen. The position input means displays a cursor for each monitoring synthesized image on the monitor screen. Thus, an arbitrary position can be designated and input for each monitoring composite image, and the monitoring video display control means controls the turning of the corresponding camera in the direction of the designated position in accordance with the input position designation information.

Preferably, in the present invention (6), in the above-mentioned present invention (4), the monitoring synthetic image display control means controls the entirety of a predetermined monitoring area obtained by remotely controlling a predetermined camera in advance. The video information is synthesized on one plane, and the monitoring composite image is displayed on the monitor screen. The position input means displays a plurality of cursors on the monitoring composite image on the monitor screen, and the cursor is arbitrarily selected for each cursor. The position can be designated and input, and the surveillance image display control means controls the turning of the corresponding camera in the direction of the designated position according to the inputted position designation information.

Preferably, in the present invention (7), in the above-mentioned present inventions (4) to (6), the camera is provided with a zooming function by remote control, and the position input means is one or two of a monitor screen. A frame-shaped cursor having a size representing an imaging range corresponding to each designated zoom magnification is displayed on the above-described monitoring composite image.

According to the present invention (7), the image capturing range of the camera 10 that changes according to the zoom magnification is displayed by the frame-shaped cursor of the corresponding size on the composite image for monitoring, so that the observer intends. It is possible to faithfully indicate the imaging range.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Note that the same reference numerals indicate the same or corresponding parts throughout the drawings.

FIG. 2 is a diagram showing the configuration of the remote camera monitoring system according to the embodiment, and shows the simplest case in which a single monitoring terminal controls a single monitoring camera. In the figure, reference numeral 10 denotes a remotely installed camera system, 11 denotes a camera for remote monitoring, 12 denotes an electric zoom lens, 13 denotes a turning mechanism, 14 denotes a frame thereof, 20 denotes a monitoring terminal, and 21 denotes the camera monitoring system. C that performs main control
PU and 22 are a program memory (PMEM) for storing various application programs (FIGS. 3 to 6 and the like) executed by the CPU 21, and 23 is a camera interface (CIF) for connecting the camera system 10 to the monitoring terminal 20;
4 is a CR for displaying a composite image for monitoring, a monitoring video, and the like.
A main display unit (MDSP) composed of T or the like; 24a, a display screen thereof; 25, a video interface (VIF) for connecting the main display unit 24 to the monitoring terminal 20; 25a, a video RAM (VRAM) for storing display images; 26 is a keyboard (KBD), 27 is a pointing device (PD) such as a mouse or a joystick, 28 is a data memory (DMEM) for storing image data to be processed, etc.
A and B are temporary storage areas for processing image data, G is a synthesis area for monitoring image data, 29 is a hard disk device (HDD) as a secondary storage device, and 30 is a CPU 2
1 common bus.

Although not shown, the turning mechanism 13 of the camera includes a control unit for controlling the turning mechanism. The camera 11 is rotated 0 ° to 3 in the horizontal direction H by the turning mechanism 13.
It is possible to turn within a range of 40 °, and in the vertical direction V, −
It is pivotable in the range of 70 ° to 20 °. Inset (a)
Shows the angle of view and resolution of the camera 11. Z of camera 11
The angle of view (viewing angle) at (zoom magnification) = × 1 is 30 ° in the horizontal direction and 15 ° in the vertical direction. Also camera 11
Has a resolution of 640 pixels in the horizontal direction and 480 pixels in the vertical direction. The electric zoom lens 12 has a focal length of 1 m
Remote control is possible in m units, and the focal length at Z = × 1 is 8 mm. Incidentally, when Z = × 2, the focal length = 16 mm, when Z = × 4, the focal length = 32 mm, Z = ×
8, the focal length is 64 mm or the like.

The camera interface 23 is connected to the camera 11
Control information relating to the azimuth angle (posture) and zoom of the camera 11 and the state signal (azimuth angle detection signal,
Focal length detection signal). Thereby, the azimuth control of the camera 11 in the horizontal and vertical directions in units of 1 ° and the focal length (zoom magnification) of the electric zoom lens 12 in units of 1 mm can be adjusted. The camera 11 has an autofocus function. On the other hand, a video signal from the camera 11 (for example, a standard color video signal NTSC)
Is input to the camera interface 23 via a coaxial cable (or an optical cable), where it is sampled,
It is converted into digital image data of the corresponding luminance Y and color difference U, V.

FIG. 3 is a flowchart of the remote camera monitoring process according to the embodiment. FIG. 3A shows the main processing, and when the power is turned on to the monitoring terminal 20 or a refresh button RF described later is clicked, the processing is input to this processing. In steps S1 and S2, preprocessing for generating a monitoring composite image is performed. That is, in step S1, a horizontal pitch angle determination process, which will be described later, is performed, and a horizontal pitch angle h of the camera 11 for efficiently generating a monitoring composite image is obtained. In step S2, a vertical pitch angle determination process described later is performed, and the vertical pitch angle v of the camera 11 is similarly obtained. The processing in steps S1 and S2 may be omitted by appropriately determining the horizontal pitch angle h and the vertical pitch angle v in advance.

In step S3, a monitoring image synthesizing process described later is performed. That is, images in the entire range (horizontal 0 ° to 340 ° and vertical −70 ° to 20 °) that can be imaged by the camera 11 are sequentially imaged at the horizontal / vertical pitch angles h / v, and all images are displayed on the main display unit. 24 so that they can be displayed on the display screen 24a. In step S4, a table for converting the designated position on the composite image on the display screen 24a into the control angle of the camera 11 is generated. This conversion can be obtained by calculation when necessary, and in this case, the processing in step S4 can be omitted. Hereinafter, the details of each of the above processes will be described.

FIG. 4 is a flowchart of the horizontal pitch angle determination processing according to the embodiment, and FIG. 7 is an image diagram of the processing. First, the outline of the operation of the horizontal pitch angle determination processing will be described with reference to FIG. The image (imaging) data a (H, V) at a certain azimuth (H, V) of the camera 11 is stored in the memory area A.
And the image data b (H + 1, V) when the camera 11 is shifted by 1 ° in the horizontal direction is stored in the memory area B, respectively.
The maximum number of coincidences C1 of the pixel data is counted by comparing the two image data a and b with a phase shift sequentially in the horizontal (X-axis) direction of the memory area.

The inset (a) shows the relationship between the comparison phase difference φ _H and the number of coincidences C of pixel data. Since both image data a and b are shifted by 1 ° in the horizontal direction, they are in phase (X _A
= 0, X _B = 0), the number of coincidences C of the pixel data is small. However, the position where both images coincide (ie, X
Compared starting from _{A = 640/20, X B} = 0), this time largest match number C1 <C _max (However, C _max = 640
× 480), after which the number of matches decreases again. Therefore, the maximum number of matches C1 is detected, and it is checked whether this is less than a predetermined threshold α (for example, 10% of _Cmax ).

If it is not less than the predetermined threshold value α, the image (imaging) data b (H + 2, V) when the camera 11 is further shifted by 1 ° in the horizontal direction is stored in the memory area B, and Data a (H, V), b (H + 2, V)
The maximum matching number C2 of the pixel data between them is determined, and it is checked whether or not this is less than a predetermined threshold α. At this time, the coincidence (overlap) area between the two image data a and b is reduced,
Generally, C1> C2. Thereafter, the process proceeds in the same manner, and the maximum number of coincidences Ch of the pixel data between the two image data a (H, V) and b (H + h, V) when the camera 11 is shifted h ° in total in the horizontal direction is obtained. The Ch <α
In this case, the shift angle h ° at this time is defined as the horizontal pitch angle.

Next, the processing flow of FIG. 4 will be described. In step S21, various registers are initialized. That is, the horizontal angle control register H = H ₀ (desired value / default value), the vertical angle control register V = V ₀ (desired value / default value), the zoom magnification register Z = 1 (× 1), the horizontal pitch of the camera 11 Initialize the corner register h = 0. In step S22, the camera 11 is controlled to the azimuth (H, V) and the zoom magnification Z,
Wait for control completion. Completion of control can be detected by monitoring a state signal (azimuth, focal length, etc.) from the camera 11. Upon completion of the control, in step S23, the video a at that time is input, and this is converted into sampled and digitized image data a. In step S24, the image data a is developed in the memory area A.

In step S25, the contents of the registers H and n are incremented by + 1 °. In step S26, the attitude of the camera 11 is controlled to the azimuth (H, V), and the control is waited for. When the control is completed, the image b at that time is input in step S27,
This is converted into image data b. In step S28, the image data b is expanded in the memory area B. Step S29
Then, the matching data amount is calculated for the image data a and b. The comparison of the pixel data uses, for example, the luminance data Y. If the difference between the two luminance data Y is within a predetermined range, it is determined that they match. Also, if necessary, the accuracy of comparison match / non-position discrimination is improved by considering the color difference data U and V. In step S30, it is determined whether or not the matching data amount ≧ α. If the matching data amount ≧ α, the process returns to step S25, and the camera 1
The same processing as described above is performed on image data b captured by shifting 1 by 1 ° in the horizontal direction.

Thereafter, the flow proceeds in the same manner. When the coincidence data amount <α is finally determined in step S30, the flow proceeds to step S31, and the contents of the register h at that time (= h
°) is determined as the horizontal pitch angle of the camera 11 at the time of monitoring screen synthesis described later.

FIG. 5 is a flowchart of the vertical pitch angle determination processing according to the embodiment, and FIG. 8 is an image diagram of the processing. First, the outline of the operation of the vertical pitch angle determination processing will be described with reference to FIG. Image data a (H, V) at a certain azimuth (H, V) of the camera 11 is stored in the memory area A, and image data b obtained when the camera 11 is shifted by 1 ° in the vertical direction.
(H, V + 1) is stored in the memory area B, respectively, and the two image data a and b are sequentially shifted in phase in the vertical (Y-axis) direction of the memory area to make a comparison. Count.

The inset (a) shows the relationship between the comparison phase difference φ _V and the number of coincidences C of pixel data. Since both image data a and b are shifted by 1 ° in the vertical direction, they are in-phase (Y _A
= 0, Y _B = 0), the number of coincidences C of the pixel data is small. However, the position where both images coincide (Y _A = 4
(80/20, Y _B = 0), the maximum number of matches C1 <C _max is obtained at this time, and after that, the number of matches decreases again. Therefore, the maximum number of matches C1 is detected, and it is checked whether or not this is less than a predetermined threshold β (for example, 10% of _Cmax ).

If it is not less than the predetermined threshold value β, the two image data a when the camera 11 is further shifted by 1 ° in the vertical direction.
The maximum matching number C2 of the pixel data between (H, V) and b (H, V + 2) is obtained, and it is checked whether or not this is less than a predetermined threshold α. Thereafter, the process proceeds in the same manner, and both image data a (H, H) when the camera 11 is shifted by a total of v ° in the vertical direction.
V) and b (H, V + v), the maximum number of coincidences Cv of pixel data is obtained. If Cv <β, the shift angle v ° at this time is set as the vertical pitch angle of the camera 11.

Next, the processing flow of FIG. 5 will be described. Since the basic processing algorithm is the same as that described in FIG. 4, the same step numbers are assigned and the description is omitted. The following description focuses on the differences. That is, in step S21 ', the vertical pitch angle register is initialized to v = 0. In step S25 ', the contents of the registers V and v are incremented by + 1 °. In step S30 ', the matching data amount ≧ β
It is determined whether or not. Then, in step S31 ′, the content of the register v (= v °) is determined to be the vertical pitch angle of the camera 11 at the time of monitoring screen synthesis described later.

FIG. 6 is a flowchart of the monitoring image synthesizing process according to the embodiment, and FIG. 9 is an image diagram of the process. First, an outline of the operation of the monitoring image combining process will be described with reference to FIG. The storage area in the horizontal (X-axis) direction of the memory area G is 1024 (0 to 1023) pixels, which corresponds to the resolution (1024 pixels) in the horizontal (X-axis) direction of the display screen 24a. Horizontal resolution of camera 11 = 6
Since there are 40 pixels (angle of view = 20 °), if all the horizontal captured images (360 °) of the monitoring area are arranged in the horizontal direction as they are, 640 × (360/20) = 111520 pixels.
In order to fit this on 1024 pixels of the display screen 24a, each input image SG is substantially 1024/11520.
It is compressed into ≒ 0.089 times of the image data SG ₁₁ to SG _n1. On the other hand, is a resolution = 768 pixels in the vertical (Y-axis) direction of the display screen 24a, to accommodate the respective compressed image data SG ₁₁ to SG _{1 m} of the total vertical image of the monitoring area (105 ° min), the memory It is sufficient if the storage area in the vertical (Y-axis) direction of the area G = 299 (0 to 298) pixels.

An example of image synthesis is performed in the following manner. First, the camera 11 is set to an azimuth (H.V) = (0 °, -70 °).
A directed, the compressed image data obtained SG ₁₁ memory areas G
From the address (X ₁ , Y ₁ ). Next, camera 1
1 to azimuth (H.V) = (18 °, -70 °)
The resulting compressed image data SG ₂₁ to expand from the address of the memory area _{G (X 2, Y 1)} . At this time, the image data S
The image data S is stored in the overlapping portion of the two storage areas G ₁₁ and SG _21.
Since the image data SG ₁₁ and the same image data of the G ₂₁ are overwritten, two images SG _11, SG ₂₁ leads smoothly in the horizontal direction.

In the same manner as in the method described with reference to FIG. 7, an area where the pixel data is the same for the image data SG ₁₁ and SG ₂₁ is detected, and the corresponding area is deleted from the image data SG _21. image data S of the image data SG ₂₁ of
In the manner connect to G ₁₁ may be written to the memory area G. In this way, the images SG ₁₁ and SG ₂₁ are more accurately connected in the horizontal direction.

Thereafter, the process proceeds in the same manner, and finally, the image data SG _n1 (n = 19) is overwritten. At this time, h × n = 18
° × 19 = 342 °> 340 ° (horizontal limit angle), so the last image is the azimuth (H, V) of camera 11 = (3
The image is captured at (40 °, −70 °) and is developed from the corresponding address (X, Y) = (X _n , Y ₁ ) in the memory area G.

Next, the camera 11 is set to an azimuth (HV) = (0
°, -57 °), and the obtained compressed image data SG ₁₂
Is the address (X, Y) of the memory area G = (X ₁ , Y ₂ )
Expand from At this time, since the image data SG ₁₁ and the same image data of the image data SG _11, SG image data SG ₁₂ is the overlapping portion of both the storage area of ₁₂ are overwritten, two images SG _11, SG ₁₂ is Connects smoothly in the vertical direction. Hereinafter, it overwrites the image SG ₂₂ to SG _n2 in the same manner as described above. Further proceed in the same manner as described above, and finally, the images SG _{1m to} SG _nm
Is overwritten, and thus the monitoring image data is synthesized such that the entire monitoring area can be recognized at a glance.

Next, the monitoring image synthesizing process shown in FIG. 6 will be described. In step S41, various registers are initialized. That is, the azimuth control registers (H, V) of the camera 11
= (0 °, -70 °), zoom magnification register Z = 1 (×
Initialize to 1). The storage address of the image data in the memory area G (X, Y) = initialized to (X _1, Y _1). Furthermore, switch flags SW1 = 0 and SW2 = 0 for controlling the flow of this processing flow are initialized. In step S42, the attitude of the camera 11 is controlled and the control is waited for. Upon completion of the control, in step S43, the captured image SG (H, V) at that time is input and digitized, and if necessary, the image size is compressed to reduce the image data SG.
(H, V) is generated. In step S44, the image data SG (H, V) is developed in the memory area G (X, Y).
In step S45, it is determined whether or not SW1 = 1 (combination in one horizontal direction is completed).

If SW1 is not 1, step S46
To update the azimuth of the camera 11 and the storage area of the memory area G in the horizontal direction (H = H + h, X = X + x).
Here, h ° is the horizontal pitch angle of the camera 11, and x is the number of horizontal pitch pixels in the memory area G. In a step S47, it is determined whether or not H ≧ 340 °. If H ≧ 340 ° is not satisfied, the process returns to step S42, and the next image data SG (H +
h, V) from the memory area (X + x, Y). Thereafter, the process proceeds in a similar manner, and eventually, H is determined in step S47.
If ≧ 340 °, the flow proceeds to step S48,
H = 340 ° (horizontal limit control angle of camera 11), X
= X _n (the storage address of the memory area G corresponding to H = 340 °). When the image synthesis processing in one horizontal direction is completed in the next round, SW1 is changed to 1 and the process returns to step S42.

Next, SW1 = 1 in the determination of step S45.
, The fu proceeds to step S49, and furthermore, SW2 =
1 (completion of image synthesis in the vertical direction) is determined. SW
If not 2 = 1, the azimuth angle of the camera 11 in Step S50 (H, V) = ( 0, V + v) is updated, the expansion address (X, Y) of the memory areas G Accordingly = (X _1, Y +
Update to y). In addition, SW1 is updated to 0 (resume image synthesis in one horizontal direction). In step S52, V ≧ 20 °
(Vertical limit control angle of the camera 11) or not, and
If not V ≧ 20 °, the flow returns to step S42 to store the next image data SG (H, V + v) in the memory area (X, Y +
Expand from y).

Thereafter, the process proceeds in the same manner, and eventually, step S
If V ≧ 20 ° in the determination of 52, the flow is step S
Proceeding to 53, V = 20 ° (vertical limit control angle of the camera 11), Y = Y _m (memory area G corresponding to V = 20 °)
To the storage addresses of the respective). The next time the horizontal image synthesizing process is restarted and the next vertical image synthesizing process is completed, SW1 = 0, SW2
= 1 and returns to step S42. Thus, if it is determined in the step S49 that SW2 = 1, the process is terminated.

FIG. 10 is an image diagram of the screen-camera angle conversion table generation processing according to the embodiment. This conversion table is generated for the purpose of converting the designated position on the composite image on the display screen 24a into the azimuth control information of the camera 11. Is done. FIG. 10A is an image diagram of the horizontal axis conversion processing, in which the horizontal axis is the horizontal coordinate X of the display screen 24a and the vertical axis is the camera 1
1 represents a horizontal control angle H. First, since an image in the range of 0 ≦ X ≦ 28 is included in the imaging range of the camera 11 with the horizontal azimuth angle H = 0 °, it is converted to H = 0 °. Then 29
The image in the range of <X <995 is 1 ° ≦ H ≦
Since it is included in the imaging range of 339 °, in this case, the nearest horizontal azimuth angle H is set to 1 ° so that a captured image substantially centered on the monitoring position corresponding to the designated coordinate X appears on the display screen.
Converted in units.

Now, assuming that the designated coordinates X = 30, the horizontal azimuth angle H = [(340/967) × (30-28)] = 1 °.
Is converted to Here, the symbol [] indicates rounding off to the decimal point. Note that the image at the designated coordinate X = 30 is also included in the imaging range of the horizontal azimuth angle H = 0 °, but if the image is taken at the horizontal azimuth angle H = 1 °, the image is such that the designated coordinate X is substantially at the center. Appears on the display screen. Therefore, even if the zoom is enlarged, it is possible to always view a captured image having the designated coordinate X substantially at the center. If the designated coordinates X = 511 (center), the horizontal azimuth angle H = [(340/967) × (511−).
28)] = 170 ° (center). Then 996
Since the image within the range of ≤X≤1023 is included in the imaging range of the camera 11 at the horizontal azimuth angle H = 340 °, H = 34.
Converted to 0 °.

FIG. 10B is an image diagram of the vertical axis conversion processing, in which the horizontal axis represents the relative vertical coordinate Y of the display screen 24 a and the vertical axis represents the vertical control angle V of the camera 11. Incidentally, obtained by relative vertical coordinate _{Y = (Y a + Y)} -Y a. Here, the coordinate Y _a is a base coordinate when superimposing the composite image on the display screen 24a. First, an image in the range of 0 ≦ Y ≦ 21 is included in the imaging range of the vertical azimuth angle V = −70 ° of the camera 11, and is therefore converted to V = −70 °. Then 22
Since the image in the range of <Y <277 is included in the imaging range of −69 ° ≦ V ≦ 19 °, in this case, a captured image that is substantially centered on the monitoring position corresponding to the designated coordinate Y is displayed on the display screen. Is converted to the nearest vertical azimuth angle V in units of 1 °.

Now, assuming that the designated coordinate Y = 23, the relative displacement angle V 'in the vertical direction = [(90/256) × (23-2)
1)] = 1 ° (absolute azimuth angle V = −69 °). If the designated coordinate Y is 149 (center), the vertical relative displacement angle V ′ = [(90/256) × (149−
21)] = 45 ° (absolute azimuth angle V = −25 °: center). Next, since the image within the range of 277 ≦ Y ≦ 298 is included in the imaging range of the camera 11 with the vertical azimuth angle V = 20 °, it is converted to V = 20 °.

Returning to FIG. 3, in step S5, the generated synthetic image for monitoring and the like is window-displayed on the display screen 24a of the main display unit 24. In step S6, a frame cursor C is displayed on the composite image. In step S7, event interruption by clicking the mouse 27 or the like is permitted. Step S
In step 8, an event interruption wait (IDLE) is set.

FIG. 3B shows a monitoring video display process according to the embodiment, in which the user moves the frame cursor on the monitoring composite image on the screen and moves the mouse 27 at a desired position.
Double-click to interrupt this process. In step I1, the subsequent event interruption is not permitted. In step I2, the attitude (azimuth) control information of the camera 11 is obtained using the screen-camera control angle conversion table generated in step S4 based on the designated (center) coordinates of the frame cursor C. In step I4, the attitude of the camera 11 is controlled based on the obtained azimuth information (H, V), and the completion of the attitude control is awaited. When the control is completed, in step I5, the monitoring video of the camera 11 is input, converted into monitoring video data of a required size, and the raw monitoring video is displayed on a part of the display screen 24a. Thereafter, this video display is performed continuously. In step I6, the event interruption is permitted, and the process exits.

FIG. 3C shows the zoom selection process according to the embodiment. When the user clicks the zoom selection button on the display screen 24a, the user interrupts this process.
In step I11, the subsequent event interruption is not permitted. In step I12, the size of the frame cursor C on the display screen 24a is changed to a size corresponding to the designated zoom magnification. That is, if the designated zoom magnification Z is small, the camera 1
Since the substantial angle of view (viewing angle) of No. 1 increases, the size of the frame cursor C increases in proportion thereto. If the designated zoom magnification Z is large, the substantial angle of view (viewing angle) of the camera 11 becomes small, and the size of the frame cursor C becomes small in proportion to this. In this way, the observer can easily recognize which portion of the monitoring composite image can be monitored. In step I13, zoom control information (focal length information) of the camera 11 corresponding to the selected zoom magnification.
Generate In step I14, the camera 11 is zoom-controlled using the zoom control information, and the control is awaited. When the control is completed, in step I15, the event interruption is permitted, and the process exits.

Next, the processing image after step S5 will be described with reference to the drawings. FIG. 11 is an image diagram of a remote camera monitoring process according to the embodiment. Display screen 24
The size of a is (1024 × 768) pixels, the upper window area W1 is a toolbar display area where various control icons are arranged, and the lower window area W2
Is a display area of the generated monitoring synthetic image, and
The remaining window area W3 is a display area for live monitoring video.

On the toolbar, a refresh button “R” for refreshing (re-synthesizing) the monitoring synthetic image is displayed.
F ", a stop button" ST "for stopping the display of the monitoring video, a zoom selection button" x1 "to" x16 "for selecting a zoom magnification of the camera 11, a focal length of the camera 11 (zoom magnification). Up / Down buttons “△”, “▽”, etc., for raising / lowering by 1 mm are displayed. These are graphic user interfaces (GUIs) for personal computers, etc.
It can be easily generated and controlled using technology.

The camera 11 is located in the window area W2.
Monitoring range (H = 0 ° to 340 °, V = −70 ° to 2
0 °) composite image for monitoring captured and synthesized in advance
(SG ₁₁~ SG_nm) Is displayed. Preferably, Win
Around the dough area W2, azimuth information of the monitoring area (H = 0)
° -340 °, V = -70 ° -20 °)
You. The monitor also clicks the refresh button “RF”.
Refresh the composite image for monitoring at any time by clicking
it can.

Further, a frame cursor C is displayed on the composite image for monitoring in the window area W2. The display position of this frame cursor C is a pointing device (mouse etc.)
27 allows it to be moved to any position. Frame cursor C
Has horizontal and vertical center lines passing through the center thereof, and the coordinates (X, Y) of the intersection are converted into the azimuth control information (H, V) nearest to the camera 11. The coordinates (X, Y) of the intersection correspond to the approximate center of the window area W3 (raw video). Also, frame cursor C
Changes the size of the frame to a size corresponding to the zoom magnification according to the selection of the zoom and the up / down operation.

The figure shows the frame cursor C1 when the designated zoom Z = 1. The size of the frame cursor C1 is the same as the size of one partial composite image SG constituting the monitoring composite image. Also, for example, when the designated zoom Z is changed to 4, the size of the frame cursor C is also changed in conjunction with this,
The figure shows the frame cursor C4 in this case. The size of the frame cursor C4 is one-fourth the size of the frame cursor C1, and the user can grasp exactly which part of the video on the monitoring composite image can be monitored simply by looking at the frame cursor C4 ( I can). Although not shown, the size of the frame cursor C is minutely changed according to the up / down operation of the designated zoom. Preferably, an accurate zoom magnification at this time is displayed in a window. Thus, the user can instantly access the monitoring video of a desired area of the entire monitoring area at a desired magnification.

Further, in the window area W3 of FIG. 11, a monitoring image of the monitoring position surrounded by the frame cursor C4 is displayed in real time. When the window area W3 (that is, the monitoring image) is small, the window area W3
3 can be displayed so that a part thereof is overlapped with the window area W2. In this way, even if the screen size is as shown in the figure, an image of the camera 11 at the full resolution (640 × 480 pixels) can be displayed.
Alternatively, as shown in FIG. 2, the sub display unit (SDS
P) 31 may be provided so that the main display unit (MDSP) 24 exclusively displays a composite image for monitoring and the like, and the sub-display unit 31 may exclusively display monitoring video.

FIG. 12 is an image diagram (1) of a remote camera monitoring system according to another embodiment.
0 shows a typical example of remote control of a plurality of remote monitoring cameras 10a to 10c. FIG.
(A) shows the system configuration diagram, and here,
A plurality of camera systems 10a to 10c for handling independent monitoring areas along a long river are distributed and arranged. Each of the camera systems 10a to 10c is connected to a monitoring center 200 via a network (communication line) 100.
Is connected to the monitoring terminal 20. Preferably, three sub display units 31a to 31c are connected to the monitoring terminal 20.

FIG. 12B shows a display mode of an example of the display screen 24a. In this case, the CPU 21 displays toolbars related to screen control, zoom control, and the like in the common window area W1. Further, the cameras 10a to 10c are sequentially and remotely controlled to generate respective monitoring composite images, and these are displayed in three window regions W2a to W2c, respectively. Therefore, the observer in this case can easily grasp on a single screen the entire situation (geographical configuration) of each of the three independent remote monitoring areas. In each of the window areas W2a to W2c, three frame cursors Ca to Cc, whose monitoring positions and zoom designations can be individually controlled, are respectively displayed. The example frame cursor sizes are C1a (Z = 1) and C8b ( Z = 8),
C16c (Z = 16).

On the other hand, window areas W3a to W3c for displaying raw captured images of the cameras 10a to 10c are provided on the sub-display sections 31a to 31c, respectively. Therefore, the observer in this case can monitor the live picked-up images of the three independent monitoring areas simultaneously. Further, the observer selects the camera 10a, for example, and selects the refresh button “R
When "F" is clicked, the monitoring composite image in the window area W2a is refreshed.

FIG. 13 is an image diagram (2) of a remote camera monitoring system according to another embodiment, in which a single monitoring terminal 2 is used.
0 shows still another typical example of remotely controlling a plurality of remote monitoring cameras 10a to 10c. FIG.
FIG. 3A shows a system configuration diagram of a camera system 10a in charge of main monitoring of a monitoring area in a corner of a port having relatively complicated terrain, and monitoring of the camera system 10a. Camera systems 10b and 10c provided for the purpose of assisting each other are provided close to each other, and each of the camera systems 10a to 10c is connected to the monitoring terminal 20 of the monitoring center 200 via a communication line or the like. Preferably, two sub display units 31b and 31c are connected to the monitoring terminal 20.

FIG. 13B shows a display mode of an example of the display screen 24a. In this case, the CPU 21 displays toolbars related to screen control, zoom control, and the like in the common window area W1. Further, the main camera 10a is remotely controlled to generate a monitoring synthetic image, and the generated synthetic image is displayed in a single window area W2a. Therefore, the observer in this case can easily grasp the entire situation (geographical configuration) of the single monitored area. Also, in this window area W2a, three frame cursors Ca to Cc whose respective monitoring positions and zoom designations can be individually controlled are displayed, and the sizes of the example frame cursors are C2a (Z = 2) and C8b (Z8). = 8), C16c
(Z = 16).

A window area W3a for displaying a raw captured image of the main camera 10a is provided on the display screen 24a, while a window area W3b for displaying a raw captured image of the sub cameras 10b and 10c. , W3c are provided on the sub display units 31b, 31c, respectively. Therefore, in this case, the observer can basically perform the original surveillance work using the main camera 10a and simultaneously monitor live images of other places using the sub cameras 10b and 10c. At this time, since the sub cameras 10b and 10c are provided close to the main camera 10a, the field of view is substantially the same as that of the main camera 10a.
b, 10c, the main camera 10a
Can be properly performed by using the monitoring synthetic image synthesized by using.

Although the above embodiments have been described with specific numerical examples (angle of view, control angle, resolution, etc.), it is clear that the present invention is not limited to these.

The camera 11 can be an infrared camera or the like.

Although a plurality of preferred embodiments of the present invention have been described, it is to be understood that various changes in the configuration, control, processing, and combinations thereof can be made without departing from the spirit of the present invention. Not even.

[0068]

As described above, according to the present invention, the observer can easily grasp the entire image of the monitored space without geographical knowledge of one or more sites to be monitored. Therefore, a desired monitoring point can be easily and appropriately monitored. Therefore, there is a great deal of contribution to the functioning of the remote camera monitoring system and the improvement of operability.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a diagram showing a configuration of a remote camera monitoring system according to an embodiment.

FIG. 3 is a flowchart of a remote camera monitoring process according to the embodiment.

FIG. 4 is a flowchart of a horizontal pitch angle determination process according to the embodiment.

FIG. 5 is a flowchart of a vertical pitch angle determination process according to the embodiment.

FIG. 6 is a flowchart of a monitoring image synthesizing process according to the embodiment;

FIG. 7 is an image diagram of horizontal pitch angle determination processing according to the embodiment.

FIG. 8 is an image diagram of a vertical pitch angle determination process according to the embodiment.

FIG. 9 is an image diagram of a monitoring image synthesizing process according to the embodiment;

FIG. 10 is an image diagram of a screen-camera angle conversion table generation process according to the embodiment.

FIG. 11 is an image diagram of a remote camera monitoring process according to the embodiment.

FIG. 12 is an image diagram (1) of a remote camera monitoring system according to another embodiment.

FIG. 13 is an image diagram (2) of a remote camera monitoring method according to another embodiment.

FIG. 14 is a diagram illustrating a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Camera system 11 Camera 12 Electric zoom lens 13 Rotation mechanism part 14 Mount 20 Monitoring terminal 21 CPU 22 Program memory (PMEM) 23 Camera interface (CIF) 24 Main display part (MDSP) 24a Display screen 25 Video interface (VIF) 25a Video RAM (VRAM) 26 Keyboard (KBD) 27 Pointing device (PD) 28 Data memory (DMEM) 29 Hard disk drive (HDD) 30 Common bus 31 Secondary display unit (SDSP) 100 Network 200 Monitoring center

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5C054 AA01 CA04 CC02 CE12 CE15 CF06 CG02 CH01 EA01 EA05 FA09 FC12 FE01 FE17 HA18

Claims (7)

[Claims] 1. A remote camera monitoring method for a camera monitoring system comprising: a remote camera that can be turned by remote control; and a camera control device that displays video information obtained by remotely controlling the camera on a monitor screen. All the video information about a predetermined monitoring area obtained by remote control of the camera in advance is combined on one plane, and the monitoring composite image is displayed on the monitor screen, and the monitoring composite image on the monitor screen is displayed. A remote camera monitoring method, characterized in that the camera is controlled to turn in the direction of a designated position in accordance with position designation information of an external input to an image, and the obtained video information of the designated position is displayed on a monitor screen. 2. A plurality of cameras distributed in a monitoring area separated from each other and capable of turning by remote control, and a camera control device for displaying video information obtained by remotely controlling each of the cameras on a monitor screen. In a remote camera monitoring method for a camera monitoring system comprising: a camera monitoring system, all video information for each predetermined monitoring area obtained by remotely controlling each camera in advance is synthesized on one plane, and each monitoring synthesis is performed. The images are simultaneously displayed on the monitor screen, and each corresponding camera is controlled to rotate in the direction of each designated position in accordance with each position designation information of an external input for each of the synthesized images for monitoring on the monitor screen. And displaying the video information on a monitor screen. 3. A plurality of cameras arranged close to a common monitoring area and capable of turning by remote control, and a camera control device for displaying video information obtained by remotely controlling each of the cameras on a monitor screen. In a remote camera monitoring method for a camera monitoring system comprising: (a) combining all video information of a predetermined monitoring area obtained by remotely controlling a predetermined camera in advance on one plane, and combining the monitoring composite image on a monitor screen; In accordance with a plurality of position designation information of the external input to the monitoring composite image on the monitor screen, each corresponding camera is controlled to turn in each designated position direction, and the obtained video information of each designated position is displayed on the monitor screen. A method for monitoring a remote camera, the method being displayed above. 4. One or two pivotable by remote control
In a camera control device of a camera monitoring system including the above remote camera and a camera control device for displaying video information obtained by remotely controlling the camera on a monitor screen, a predetermined camera is remotely controlled in advance. Monitoring synthetic image display control means for synthesizing all of the obtained video information for the predetermined monitoring area on one plane and displaying the monitoring synthetic image on a monitor screen; A position input means capable of displaying a cursor on the monitor and specifying and inputting an arbitrary position on the monitoring composite image; and controlling the turning of the predetermined camera in a specified position direction in accordance with the input position specifying information. A camera control device comprising: a monitoring video display control unit that displays video information of a position on a monitor screen. 5. A composite image display control unit for monitoring combines all video information for each predetermined monitoring area obtained by remote-controlling a plurality of cameras in advance on a single plane, and monitors each of the images. The composite image for monitoring is simultaneously displayed on the monitor screen, and the position input means displays a cursor for each composite image for monitoring on the monitor screen so that an arbitrary position can be designated and input for each composite image for monitoring. 5. The camera control device according to claim 4, wherein the video display control unit controls turning of a corresponding camera in a specified position direction in accordance with the input position specification information. 6. 6. A monitoring composite image display control means for synthesizing all video information on a single plane for a predetermined monitoring area obtained by remotely controlling a predetermined camera in advance, and displaying the monitoring composite image on a monitor screen. The position input means displays a plurality of cursors on the monitor composite image on the monitor screen, and allows an arbitrary position to be designated and input for each cursor, and the monitor video display control means displays 5. The camera control device according to claim 4, wherein the camera is controlled to turn in the direction of the designated position according to the designated position designation information. 7. The camera has a zoom magnification function by remote control, and the position input means has a frame having a size representing an imaging range corresponding to each designated zoom magnification on one or more monitoring synthetic images on a monitor screen. The camera control device according to claim 4, wherein a shape cursor is displayed.