WO2013111493A1 - Monitoring system - Google Patents

Description

Monitoring system

The present invention relates to a monitoring system.
This application claims priority based on Japanese Patent Application No. 2012-011439 filed on Jan. 23, 2012. For designated countries that are allowed to be incorporated by reference, The contents described in the application are incorporated into the present application by reference and made a part of the description of the present application.

A security device that detects the occurrence of abnormalities is known by installing multiple security camera devices in shopping streets, store entrances, home entrances, and other streets, and monitoring surrounding images captured by the security camera device (Patent Document 1).

JP 2011-215767 A

However, when a city is monitored using a camera mounted on a moving body that moves at random, a link with a high traveling frequency and a link with a low traveling frequency are generated. There is a problem that it cannot be monitored.

The object of the present invention is to provide a monitoring system capable of monitoring the entire city even when a camera mounted on a moving body is used.

The present invention achieves the above object by outputting a command for transmitting monitoring information of a monitoring point specified based on the traveling frequency of a moving object calculated for each link.

According to the present invention, since the command for transmitting the monitoring information related to the monitoring point of the link where the traveling frequency of the moving body is low is transmitted, it is a case where a link with a low traveling frequency occurs due to the mobile body moving randomly. However, the monitoring information regarding the monitoring point of the link can be acquired. As a result, the central monitoring device can monitor the entire city using the monitoring terminal device mounted on the moving body that moves randomly.

1 is a schematic diagram showing a monitoring system according to an embodiment of the present invention. It is a block diagram which shows the monitoring system of FIG. It is a perspective view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. It is a top view which shows arrangement | positioning and the imaging range of the vehicle-mounted camera in the monitoring system of FIG. It is a figure which shows an example of the picked-up image of a front vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the right side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of a rear vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the left side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of an indoor vehicle-mounted camera. It is a figure which shows an example of the monitoring image produced | generated based on the some image. It is a figure for demonstrating the distortion correction process of the monitoring image. It is a schematic diagram which shows an example of a projection model. It is a cross-sectional schematic diagram along xy plane of the projection model shown in FIG. It is a figure which shows the example of an image displayed on the display of a central monitoring apparatus. It is a flowchart which shows the main control content by the monitoring terminal device side of the monitoring system of FIG. 3 is a flowchart (No. 1) showing main control contents on the central monitoring device side of the monitoring system of FIG. 7 is a flowchart (No. 2) showing main control contents on the central monitoring device side of the monitoring system of FIG. It is a figure which shows the example of information of a database. It is a figure showing an example of information about run frequency. It is a 1st figure for demonstrating how to obtain | require a new path | route. It is a 2nd figure for demonstrating how to obtain | require a new path | route.

In the following embodiment, the monitoring system according to the present invention is embodied as a monitoring system 1 that centrally monitors the security of a city by authorities such as a police station and a fire station. That is, the position information of each of the plurality of moving objects, the image information around the moving objects, and the time information are acquired at a predetermined timing, and the position information, the image information, and the time information are acquired via wireless communication. The position information is displayed on the map information and, if necessary, the image information and the time information are displayed on the display. Therefore, the monitoring system 1 of this example acquires and processes monitoring information via the telecommunications network 30 and the monitoring terminal device 10 that acquires monitoring information such as position information and image information as shown in FIG. Central monitoring device 20 is provided.

FIG. 2 is a block diagram showing a specific configuration of the monitoring terminal device 10 and the central monitoring device 20. The monitoring system of this embodiment can acquire monitoring information related to monitoring points on links with low travel frequency.

The monitoring terminal device 10 is a terminal device mounted on a plurality of moving bodies V, and is mounted on each of the plurality of moving bodies and a position detection function that detects position information of each of the plurality of moving bodies V. An image generation function that captures the surroundings of the moving body with a camera and generates image information, a time detection function, an information acquisition control function that acquires position information, image information, and time information at a predetermined timing; A monitoring information generation function for generating monitoring information including position information and / or image information, and a communication function for outputting the position information, image information, and time information to the central monitoring apparatus 20 and acquiring a command from the central monitoring apparatus 20 And a function for reporting the occurrence of an abnormality. Therefore, a plurality of in-vehicle cameras 11a to 11e, an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16 are provided. In addition, the monitoring terminal device 10 of this embodiment includes a display 18 and a navigation device 19. Note that the time information is mainly information used for post-event analysis, and may be omitted.

The mobile body V on which the monitoring terminal device 10 is mounted is not particularly limited as long as it travels in the target monitoring area, and includes mobile bodies such as passenger cars, motorcycles, industrial vehicles, and trams. The vehicle V1, the private passenger car V2, and the emergency passenger car V3 are included, but in particular, a taxi or a route bus V1 that travels randomly and constantly in a predetermined area is particularly preferable. FIG. 1 illustrates an emergency passenger car V3 such as a taxi V1, a private passenger car V2, a police car, a fire engine or an ambulance, but these are collectively referred to as a moving body V or a passenger car V.

Each moving body V includes a plurality of in-vehicle cameras 11a to 11e (hereinafter collectively referred to as cameras 11), an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16. Is installed. The camera 11 is composed of a CCD camera or the like, images the surroundings of the moving object V, and outputs the image pickup signal to the image processing device 12. The image processing device 12 reads an imaging signal from the camera 11 and performs image processing on the image information. Details of this image processing will be described later.

The position detection device 15 is composed of a GPS device and its correction device, etc., detects the current position of the moving object V, and outputs it to the in-vehicle control device 14. The notification button 16 is an input button installed in the passenger compartment, and inputs information for reporting an abnormality when a driver or a passenger finds an incident (an incident related to security such as an accident, fire, or crime). It is a manual button. This information can include position information of the moving body V that has reported the abnormality.

The in-vehicle control device 14 includes a CPU, a ROM, and a RAM, and controls the image processing device 12, the communication device 13, and the position detection device 15 when the notification button 16 is pressed, and is generated by the image processing device 12. The image information, the position information of the moving object V detected by the position detection device 15, and the time information from the clock built in the CPU are output to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. . Also, a command for requesting information such as an image transmission command is acquired from the central monitoring device 20 received via the telecommunication network 30 and the communication device 13, and the image processing device 12, the communication device 13, and the position detection device 15 are obtained. Monitoring information including image information generated by the image processing device 12, position information of the moving object V detected by the position detection device 15, and time information from a clock built in the CPU is transmitted to the communication device 13. And output to the central monitoring device 20 through the telecommunication network 30. Note that the in-vehicle control device 14 can store monitoring information including image information, position information, time information, and the like for at least a predetermined time.

The communication device 13 is a communication means capable of wireless communication, and exchanges information with the communication device 23 of the central monitoring device 20 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used. Instead of the telecommunication network 30, a wireless LAN, WiFi (registered trademark), WiMAX (registered trademark), Bluetooth (registered trademark), a dedicated wireless line, or the like can be used.

The central monitoring device 20 includes an information acquisition function for acquiring the position information and image information output from the monitoring terminal device 10 described above, a storage function for storing the acquired monitoring information in association with the position information in the database 26, a database 26 and the map information MP including link information, a travel frequency calculation function for calculating the travel frequency of the passenger car V for each link of the link information, and monitoring included in the link to be monitored based on the calculated travel frequency A command output function for outputting a command for specifying a point and transmitting monitoring information of the monitoring point and the map information MP read from the map database are displayed, and the received position information is displayed and controlled on the map information MP. A display control function for displaying the obtained image information on the display 24.
The central monitoring device 20 specifies a monitoring point included in the link to be monitored based on the calculated traveling frequency, moves the moving object V to the specified monitoring point, and transmits the monitoring information of the monitoring point. A command output function for outputting a command can also be provided.

The central control device 21 includes a CPU, a ROM, and a RAM, and controls the image processing device 22, the communication device 23, and the display 24, and receives position information, image information, and time information transmitted from the monitoring terminal device 10. The image is displayed on the display 24 after being subjected to image processing as necessary.

The image processing device 24 has a map database, displays map information MP from the map database on the display 24, and displays position information detected by the position detection device 15 of the monitoring terminal device 10 on the map information MP. Superimposed display. Further, image processing for displaying image information captured by the vehicle-mounted camera 11 of the monitoring terminal device 10 and processed by the image processing device 12 on the display 24 is performed.

The display 24 can be composed of, for example, a liquid crystal display device having a size capable of displaying two window screens on one screen or two liquid crystal display devices each displaying two window screens. One window screen displays a screen in which the position information of each moving object V is superimposed on the map information MP (see FIG. 1), and the other window screen displays an image captured by the in-vehicle camera 11. The image information concerning is displayed.

The input device 25 is constituted by a keyboard or a mouse, and is used when inputting an information acquisition command output to a desired moving body V or inputting various information processing commands displayed on the display 24. It is done. When the above-described link and / or monitoring point with a low traveling frequency of the passenger car V is selected, the monitoring point can be input by the supervisor via the input device 25. Although not particularly limited, the monitor designates a monitoring point by clicking (selecting and inputting) the icon of each point superimposed on the map information MP, and sets a monitoring area based on this monitoring point. Can do.

The communication device 23 is a communication means capable of wireless communication, and exchanges information with the communication device 13 of the monitoring terminal device 10 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used.

Next, the mounting positions and imaging ranges of the on-vehicle cameras 11a to 11e will be described. Here, a passenger car V will be described as an example of the moving body V. The cameras 11a to 11e are configured using an image sensor such as a CCD, and the four on-vehicle cameras 11a to 11d are installed at different positions outside the passenger car V, respectively, and shoot four directions around the vehicle. The camera 1 of this embodiment has a zoom-up function for enlarging and imaging a subject, and can arbitrarily change the focal length according to the control command, or can arbitrarily change the imaging magnification according to the control command.

For example, as shown in FIG. 3, the in-vehicle camera 11 a installed at a predetermined position in front of the passenger car V such as a front grill portion is an object or road surface (in the area SP1 in front of the passenger car V and in the space in front thereof) Shoot the front view. The in-vehicle camera 11b installed at a predetermined position on the left side of the passenger car V such as the left side mirror portion is an object or road surface (left side view) that exists in the area SP2 on the left side of the passenger car V and in the surrounding space. Shoot. The in-vehicle camera 11c installed at a predetermined position in the rear part of the passenger car V, such as a rear finisher part or a roof spoiler part, is an object or road surface (rear view) existing in the area SP3 behind the passenger car V and in the space behind it. Shoot. The in-vehicle camera 11d installed at a predetermined position on the right side of the passenger car V such as the right side mirror portion is an object or road surface (right side view) that exists in the area SP4 on the right side of the passenger car V and in the surrounding space. Shoot. Although not shown in FIG. 3, one in-vehicle camera 11e is installed, for example, on the ceiling of a passenger car, and images the area SP5 in the passenger compartment as shown in FIG. Used for crime prevention or crime reporting.

FIG. 4 is a view of the arrangement of the in-vehicle cameras 11a to 11e as viewed from above the passenger car V. As shown in the figure, the in-vehicle camera 11a that images the area SP1, the in-vehicle camera 11b that images the area SP2, the in-vehicle camera 11c that images the area SP3, and the in-vehicle camera 11d that images the area SP4 are It is installed along the outer periphery VE of the body along the counterclockwise direction (counterclockwise) or the clockwise direction (clockwise). That is, when viewed along the outer periphery VE of the body of the passenger car V in the counterclockwise direction (counterclockwise) indicated by the arrow C in the figure, the in-vehicle camera 11b is installed on the left side of the in-vehicle camera 11a, and the left side of the in-vehicle camera 11b. The vehicle-mounted camera 11c is installed on the left side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the left side of the vehicle-mounted camera 11d. Conversely, when viewed along the outer periphery VE of the body of the passenger car V in the direction opposite to the direction of the arrow C shown in the figure (clockwise), the in-vehicle camera 11d is installed on the right side of the in-vehicle camera 11a. The vehicle-mounted camera 11c is installed on the right side, the vehicle-mounted camera 11b is installed on the right side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the right side of the vehicle-mounted camera 11b.

5A shows an example of an image GSP1 in which the front in-vehicle camera 11a images the area SP1, FIG. 5B shows an example of an image GSP2 in which the left-side in-vehicle camera 11b images the area SP2, and FIG. 5D shows an example of an image GSP3 in which the area SP3 is imaged, FIG. 5D shows an example of an image GSP4 in which the right-side in-vehicle camera 11d images the area SP4, and FIG. 5E shows an indoor in-vehicle camera 11e. It is an image figure which shows an example of image GSP5 which imaged indoor area SP5. Incidentally, the size of each image is vertical 480 pixels × horizontal 640 pixels. The image size is not particularly limited, and may be any size as long as a general terminal device can reproduce a moving image.

It should be noted that the number and position of the in-vehicle camera 11 can be appropriately determined according to the size, shape, detection area setting method, etc. of the passenger car V. The plurality of in-vehicle cameras 11 described above are assigned identifiers corresponding to the respective arrangements, and the in-vehicle control device 14 can identify each of the in-vehicle cameras 11 based on each identifier. Moreover, the vehicle-mounted control apparatus 14 can transmit an imaging command and other commands to a specific vehicle-mounted camera 11 by attaching an identifier to the command signal.

The in-vehicle control device 14 controls the image processing device 12 to acquire each image signal picked up by the in-vehicle camera 11, and the image processing device 12 processes the image pickup signal from each in-vehicle camera 11 to perform FIG. It is converted into image information shown in 5E. Then, the in-vehicle control device 14 generates a monitoring image based on the four pieces of image information shown in FIGS. 5A to 5D (image generation function), and the monitoring image is projected on the side of the projection model of the columnar body. Mapping information to be projected onto the surface is associated with the monitoring image (mapping information adding function) and output to the central monitoring device 20. Hereinafter, the image generation function and the mapping information addition function will be described in detail.

The process of generating a monitoring image based on the four pieces of image information obtained by imaging the periphery of the passenger car V and associating the mapping information with the monitoring image is executed by the monitoring terminal device 10 as in this example, and also by the central monitoring device 20. It can also be executed. In this case, four pieces of image information obtained by imaging the periphery of the passenger car V are transmitted as they are from the monitoring terminal device 10 to the central monitoring device 20, and are monitored by the image processing device 22 and the central control device 21 of the central monitoring device 20. It is only necessary to generate an image, associate mapping information, and perform projection conversion.

First, the image generation function will be described. The in-vehicle control device 14 of the monitoring terminal device 10 of the present embodiment controls the image processing device 12 to acquire the imaging signals of the in-vehicle cameras 11a to 11e, respectively, and further clockwise or along the outer periphery of the body of the passenger car V One monitoring image is generated so that the image information of the in-vehicle cameras 11a to 11d installed in the counterclockwise direction is arranged in the order of installation of these in-vehicle cameras 11a to 11d.

As described above, in the present embodiment, the four in-vehicle cameras 11a to 11d are installed in the order of the cameras 11a, 11b, 11c, and 11d in the counterclockwise direction (counterclockwise) along the outer periphery VE of the body of the passenger car V. Therefore, the vehicle-mounted control device 14 integrates the four images captured by the vehicle-mounted cameras 11a to 11d in accordance with the order of installation of the vehicle-mounted cameras 11a to 11d (vehicle-mounted cameras 11a → 11b → 11c → 11d). Are connected in the horizontal direction to generate a single monitoring image. In the monitoring image of the present embodiment, the images are arranged such that the ground contact surface (road surface) of the passenger vehicle V is the lower side, and the images are connected to each other at sides in the height direction (vertical direction) with respect to the road surface.

FIG. 6 is a diagram illustrating an example of the monitoring image K. As shown in the figure, the monitoring image K of the present embodiment includes a captured image GSP1 in which the front in-vehicle camera 11a images the area SP1 along the direction P from the left side to the right side in the drawing, and the left in-vehicle camera 11b. A captured image GSP2 obtained by imaging the area SP2, a captured image GSP3 obtained by the rear vehicle-mounted camera 11c imaging the area SP3, and a captured image GSP4 obtained by the right-side vehicle-mounted camera 11d imaging the area SP4 are arranged in this order in the horizontal direction. These four images are arranged as a series of images. The monitor image K generated in this way is displayed in order from the left end to the right side with the image corresponding to the road surface (vehicle contact surface) facing down, so that the monitor can rotate the periphery of the vehicle V counterclockwise. It can be visually recognized on the display 24 in a manner similar to the look around.

It should be noted that when one monitoring image K is generated, four images acquired at substantially the same time as the photographing timings of the in-vehicle cameras 11a to 11d are used. Thereby, since the information contained in the monitoring image K can be synchronized, the situation around the vehicle at a predetermined timing can be accurately expressed.

In addition, the monitoring image K generated from the respective captured images having substantially the same imaging timing of the camera is stored with time, and the moving image monitoring image K including the plurality of monitoring images K per predetermined unit time is generated. It may be. By generating the moving image monitoring image K based on the images having the same imaging timing, it is possible to accurately represent changes in the situation around the vehicle.

By the way, when the image of each imaging area is memorize | stored each time and the monitoring image K of the moving image produced | generated for every imaging area is transmitted to the central monitoring apparatus 20, depending on the function of the central monitoring apparatus 20, a several You may not be able to play videos at the same time. In such a conventional central monitoring apparatus 20, since a plurality of moving images cannot be reproduced and displayed at the same time, when reproducing each moving image, the moving images must be reproduced one by one by switching the screen. In other words, the conventional central monitoring device 20 has a disadvantage in that it cannot simultaneously watch images (moving images) in a plurality of directions and cannot monitor the entire vehicle periphery on a single screen.

On the other hand, since the vehicle-mounted control apparatus 14 of this embodiment produces | generates one monitoring image K from several images, regardless of the function of the central monitoring apparatus 20, it can reproduce simultaneously the moving image reproduction of the image of a different imaging direction. it can. That is, by continuously reproducing the monitoring image K (moving image reproduction), four images included in the monitoring image K are simultaneously reproduced (moving image reproduction), and the state change of the regions in different directions is displayed on one screen. Can be monitored.

In addition, the monitoring terminal device 10 of the present embodiment generates the monitoring image K by compressing the data amount of the image so that the number of pixels of the monitoring image K is substantially the same as the number of pixels of the images of the in-vehicle cameras 11a to 11d. You can also While the size of each image shown in FIGS. 5A to 5D is 480 × 640 pixels, in this embodiment, compression processing is performed so that the size of the monitoring image K is 1280 × 240 pixels as shown in FIG. Do. As a result, the size of the monitoring image K (1280 × 240 = 307,200 pixels) becomes equal to the size of each image (480 × 640 × 4 = 307,200 pixels). Regardless of the function on the apparatus 20 side, image processing and image reproduction can be performed.

Furthermore, the in-vehicle control device 14 of the present embodiment can also attach a line figure indicating the boundary of each arranged image to the monitoring image K. Taking the monitoring image K shown in FIG. 6 as an example, the in-vehicle controller 14 forms a rectangular partition image Bb, Bc, Bd, Ba, Ba ′ between the images as a line figure indicating the boundary between the arranged images. Can be attached to the monitoring image K. In this manner, by arranging the partition images at the boundaries of the four images, it is possible to recognize each image having a different imaging direction in the series of monitoring images K. That is, the partition image functions as a frame of each captured image. In addition, since the image distortion is large in the vicinity of the boundary of each captured image, it is possible to hide the image of the region with large distortion or to suggest that the distortion is large by arranging the partition image at the boundary of the captured image. .

Moreover, the vehicle-mounted control apparatus 14 of this embodiment can also generate | occur | produce the monitoring image K, after correct | amending the distortion at the time of projecting four images on the projection surface set to the side surface of the projection model mentioned later. . In the peripheral area of the captured image, image distortion is likely to occur. In particular, in the case of the in-vehicle camera 11 using the wide-angle lens, the distortion of the captured image tends to be large, so in order to correct the image distortion in advance. It is desirable to correct the distortion of the captured image using the defined image conversion algorithm and correction amount.

Although not particularly limited, as shown in FIG. 7, the in-vehicle control device 14 reads out the same projection model information as the projection model for projecting the monitoring image K in the central monitoring device 20 from the ROM, and images it on the projection plane of the projection model. It is also possible to project an image and correct in advance distortion generated on the projection surface. The image conversion algorithm and the correction amount can be appropriately defined according to the characteristics of the in-vehicle camera 11 and the shape of the projection model. In this way, by correcting in advance the distortion when the image K is projected with respect to the projection plane of the projection model, it is possible to provide the monitoring image K with good visibility with less distortion. Further, by correcting the distortion in advance, it is possible to reduce the positional deviation between the images arranged side by side.

Next, the mapping information addition function will be described. In the monitoring terminal device 10 of the present embodiment, the in-vehicle control device 14 projects the generated monitoring image K on the projection plane set on the side surface of the projection model M of the columnar body with the ground contact surface of the passenger car V as the bottom surface. A process for associating the mapping information for monitoring with the monitoring image K is executed. The mapping information is information for allowing the central monitoring device 20 that has received the monitoring image K to easily recognize the projection reference position. FIG. 8 is a diagram showing an example of the projection model M of the present embodiment, and FIG. 9 is a schematic sectional view taken along the xy plane of the projection model M shown in FIG.

8 and 9, the projection model M of this embodiment is a regular octagonal prism body having a regular octagonal bottom surface and a height along the vertical direction (z-axis direction in the figure). Note that the shape of the projection model M is not particularly limited as long as it is a column having side surfaces adjacent to each other along the boundary of the bottom surface, and is a cylinder, or a prism, such as a triangular column, a quadrangular column, or a hexagonal column, or An anti-rectangular column having a polygonal bottom surface and a triangular side surface can also be used.

Also, as shown in the figure, the bottom surface of the projection model M of this embodiment is parallel to the ground contact surface of the passenger car V. Projection surfaces Sa, Sb, Sc, and Sd (hereinafter collectively referred to as a projection surface S) that project an image around the passenger vehicle V that contacts the bottom surface of the projection model M are provided on the inner surface of the side surface of the projection model M. Is set. The projection surface S includes a part of the projection surface Sa and a part of the projection surface Sb, a part of the projection surface Sb and a part of the projection surface Sc, a part of the projection surface Sc and a part of the projection surface Sd, and the projection surface Sd. And a part of the projection surface Sa. The monitoring image K is projected on the projection plane S as an image of the passenger car V viewed from above the viewpoint R (R1 to R8, hereinafter referred to as viewpoint R) above the projection model M surrounding the passenger car V.

The in-vehicle control device 14 according to the present embodiment associates the reference coordinates of the captured image arranged at the right end or the left end with the monitoring image K as mapping information. Taking the monitoring image K shown in FIG. 6 as an example, the in-vehicle control device 14 is arranged at the right end as mapping information (reference coordinates) indicating the start end position or the end position of the monitoring image K when projected onto the projection model M. The coordinates A (x, y) of the upper left vertex of the captured image GSP1 and the coordinates B (x, y) of the upper right vertex of the captured image GSP2 arranged at the left end are attached to the monitoring image K. Note that the reference coordinates of the captured image indicating the start position or the end position are not particularly limited, and may be the lower left vertex of the monitoring image K arranged at the left end or the lower right vertex of the monitoring image K arranged at the right end. The mapping information may be attached to each pixel of the image data of the monitoring image K, or may be managed as a file different from the monitoring image K.

As described above, the information indicating the start position or the end position of the monitoring image K, that is, the reference coordinates used as a reference in the projection processing is associated with the monitoring image K as mapping information, whereby the central monitoring apparatus 20 that has received the monitoring image K Since the reference position at the time of the projection process can be easily recognized, the monitoring images K arranged in the order in which the in-vehicle cameras 11a to 11d are arranged are projected sequentially and easily on the projection surface S on the side surface of the projection model M. be able to. That is, as shown in FIG. 9, the captured image GSP1 in front of the vehicle is projected onto the projection surface Sa positioned in the imaging direction of the in-vehicle camera 11a, and the captured image on the right side of the vehicle is projected onto the projection surface Sb positioned in the imaging direction of the in-vehicle camera 11b. GSP2 is projected, a captured image GSP3 behind the vehicle is projected onto a projection plane Sc located in the imaging direction of the in-vehicle camera 11c, and a captured image GSP4 on the left side of the vehicle is projected onto the projection plane Sd positioned in the imaging direction of the in-vehicle camera 11d. can do.

Thereby, the monitoring image K projected on the projection model M can show an image that can be seen as if looking around the passenger car V. That is, since the monitoring image K including four images arranged in a line in the horizontal direction according to the installation order of the in-vehicle cameras 11a to 11d is projected on the side surfaces that are also arranged in the horizontal direction in the column of the projection model M. An image around the passenger car V can be reproduced in the monitoring image K projected on the projection surface S of the projection model M of the columnar body while maintaining the positional relationship.

Note that the in-vehicle control device 14 of the present embodiment stores the correspondence relationship between each coordinate value of the monitoring image K and the coordinate value of each projection plane S of the projection model M as mapping information, and attaches it to the monitoring image K. However, it may be stored in the central monitoring device 20 in advance.

Further, the positions of the viewpoint R and the projection plane S shown in FIGS. 8 and 9 are examples, and can be arbitrarily set. In particular, the viewpoint R can be changed by the operation of the operator. The relationship between the viewpoint R and the projection position of the monitoring image K is defined in advance, and when the position of the viewpoint R is changed, a predetermined coordinate transformation is performed, so that the viewpoint R is viewed from the newly set viewpoint R. The monitoring image K can be projected onto the projection surface S (Sa to Sd). A known method can be used for this viewpoint conversion processing.

As described above, the in-vehicle control device 14 according to the present embodiment generates the monitoring image K based on the image information captured at a predetermined timing, and the monitoring image K includes a line figure (mapping information, reference coordinates, and boundary). (Partition image) information is associated and stored over time according to the imaging timing. Although not particularly limited, the in-vehicle control device 14 may store the monitoring image K as a single moving image file including a plurality of monitoring images K per predetermined unit time, or can be transferred / reproduced by a streaming method. The monitoring image K may be stored in

The communication device 23 of the central monitoring device 20 receives the monitoring image K transmitted from the monitoring terminal device 10 and the mapping information associated with the monitoring image K. Moreover, the image information image | photographed with the indoor vehicle-mounted camera 11e is received separately. In this monitoring image K, as described above, images of the four in-vehicle cameras 11 installed at different positions of the body of the passenger car V are installed along the outer periphery of the body of the passenger car V along the clockwise or counterclockwise direction. The vehicle-mounted cameras 11a to 11d are arranged according to the installation order (clockwise or counterclockwise order along the outer periphery of the body of the vehicle V). The monitoring image K is associated with mapping information for projecting the monitoring image K onto the projection plane S of the octagonal prism projection model M. The communication device 23 transmits the acquired monitoring image K and mapping information to the image processing device 22.

The image processing apparatus 22 reads the projection model M stored in advance, and sets it on the side surface of the octagonal prism projection model M with the ground contact surface of the passenger car V shown in FIGS. 8 and 9 as the bottom surface based on the mapping information. A display image is generated by projecting the monitoring image K onto the projected planes Sa to Sd. Specifically, according to the mapping information, each pixel of the received monitoring image K is projected onto each pixel of the projection surfaces Sa to Sd. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 recognizes the start point of the monitoring image K (the right end or the left end of the monitoring image K) based on the reference coordinates received together with the monitoring image K. Then, the projection processing is performed so that the start point coincides with the start point (the right end or the left end of the projection surface S) defined in advance on the projection model M. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 arranges a line figure (partition image) indicating the boundary of each image on the projection model M. The partition image can be attached to the projection model M in advance, or can be attached to the monitoring image K after the projection processing.

The display 24 displays the monitoring image K projected on the projection plane S of the projection model M. FIG. 10 shows an example of a display image of the monitoring image K. In addition, by using the input device 25 such as a mouse or a keyboard or the display 24 as the touch panel type input device 25, the viewpoint can be freely set and changed by the operation of the supervisor. Since the correspondence relationship between the viewpoint position and the projection plane S is defined in advance in the image processing device 22 or the display 24 described above, the monitoring image K corresponding to the changed viewpoint is displayed on the display 24 based on this correspondence relationship. can do.

Next, the operation of the monitoring system 1 according to this embodiment will be described. FIG. 11 is a flowchart showing the operation on the monitoring terminal device 10 side, FIGS. 12A and 12B are flowcharts showing the operation on the central monitoring device 20 side, FIG. 13 is an example of database information, FIG. FIG. 16 is a first diagram for explaining how to obtain a new route, and FIG. 16 is a second diagram for explaining how to obtain a new route.

The processing shown in FIG. 11 is executed in the monitoring terminal device 10 mounted on the passenger car V, but can be mounted on a passenger car V3 belonging to a supervisor such as a police vehicle or an emergency vehicle, and can also monitor a taxi, a bus, and the like. It can be mounted on a business passenger car V1 or a private passenger car V2. That is, based on the monitoring information acquired from the passenger car V3 belonging to the monitor such as a police car, a command for transmitting the monitoring information of the monitoring point is transmitted to the business passenger car V1 such as a taxi or a bus or the private car V2. Can be done. On the other hand, based on the monitoring information acquired from commercial passenger cars V1 such as taxis and buses or private cars V2, a command to transmit monitoring information of monitoring points is transmitted to passenger cars V3 belonging to a monitor such as a police car. be able to. As will be described in detail later, by doing so, a taxi or the like is guided to a monitoring point of a link with a low traffic frequency of a police vehicle, or a police vehicle is guided to a monitoring point of a link with a low frequency of taxi or the like. be able to. Furthermore, it is possible to guide a police vehicle to a monitoring point of a link where the frequency of traffic of police cars is low in the past, and to guide a taxi or the like to a monitoring point of a link where the frequency of traffic such as taxis is low in the past.

As shown in FIG. 11, in the monitoring terminal device 10, surrounding video and indoor video are acquired from the in-vehicle camera 11 at a predetermined time interval (one routine shown in FIG. 11), and the image processing device 12 converts the video information into image information. Conversion is performed (step ST1). Further, the current position information of the passenger car V on which the monitoring terminal device 10 is mounted is detected from the position detection device 15 having GPS (step ST2).

In step ST3, it is determined whether or not the report button 16 for reporting the abnormality is pressed. If the report button 16 is pressed, the process proceeds to step ST4, and the image information acquired in step ST1 and the image information acquired in step ST2 are acquired. The positional information is associated with the CPU time information, and these are transmitted as monitoring information to the central monitoring device 20 via the communication device 13 and the telecommunications network 30 together with the abnormality information indicating that an abnormality has occurred. As a result, the occurrence of an abnormality related to security such as an accident or crime is automatically transmitted to the central monitoring device 20 together with the position information of the passenger car V and the image information around the passenger car V, thereby further strengthening the monitoring in the city. Will be. In this example, the image information and the position information are acquired in the first steps ST1 and ST2, but the image information and the position information may be acquired at a timing between steps ST3 and ST4.

Returning to step ST3, if the report button 16 has not been pressed, the process proceeds to step ST5 to communicate with the central monitoring device 20 and obtain a control command.

Subsequently, in step ST6, the monitoring terminal device 10 determines whether or not a monitoring information transmission command related to a monitoring point has been acquired from the central monitoring device 20, and if a monitoring information transmission command is acquired, the process proceeds to step ST7. It is determined whether or not the acquired monitoring information transmission command includes a route change command. If a route change command is included, the process proceeds to step ST8.

In step ST8, the monitoring terminal device 10 displays the designated monitoring point included in the route change command (route change command) or a link including the monitoring point on the output device 18. The output device of this embodiment includes a display and a speaker. This display method is not particularly limited, and the name of the facility existing at the monitoring point, the name of the street including the link, and the like can be presented to the occupant by text or voice. Moreover, the navigation apparatus 19 may superimpose the monitoring point or the link including the monitoring point on the map information MP and present it on the display 18. Thereby, the passenger | crew can confirm the position of the link containing the monitoring point with respect to the path | route which he / she intends or a monitoring point visually.

Then, the driver of the passenger car V confirms the monitoring point or the monitoring link to be monitored, and after step ST9 is determined that it is possible to stop by, the step ST9 and subsequent steps are performed. Since it may be impossible for business reasons to stop at a monitoring point or a monitoring link, the convenience of the passenger can be improved by displaying it once.

In subsequent step ST9, the monitoring terminal device 10 causes the navigation device 19 to calculate a route via the monitoring point included in the monitoring information transmission command or the link including the monitoring point. As a method for calculating a route from the current position to the destination via the designated monitoring point, a method known at the time of filing can be appropriately used. If the occupant can move along the newly calculated route, the occupant sets the route and executes route guidance. Then, the process proceeds to step ST10, and when it arrives at the designated monitoring point or link, the surroundings are imaged by the camera 11, and image information is generated. After arriving at the designated monitoring point or link, the process proceeds to step 101, and monitoring information including image information, position information, and time information is transmitted to the central monitoring device 20 in accordance with the contents of the monitoring information transmission command. In step ST7, when the route change command is not included in the monitoring information transmission command, the process proceeds to step ST101, and without changing the route, according to the monitoring information transmission command acquired in step ST6, image information, position information, Monitoring information including time information is transmitted to the central monitoring device 20.

Note that the monitoring information transmission command in the present embodiment may not necessarily require that image information be included. This is because, when a monitoring information request command is sent to the police or other supervisor, it is visually confirmed under the safety confirmation authority of the police or the like, and a simple report such as “abnormal / no abnormal” is monitored. This is because it can be information. Further, when a storage command is included in the monitoring information transmission command, image information, position information, and time information are stored.

Returning to step ST6, even if the monitoring information transmission command is not acquired from the central monitoring device 20, if the passenger vehicle V is present in the predefined priority monitoring area in step ST102, the process proceeds to step S103, where the image information Send monitoring information including On the other hand, if the image transmission command is not acquired and it is not the priority monitoring area, the process proceeds to step ST104, and monitoring information not including image information, that is, time information and position information is transmitted to the central monitoring device 20.

In step ST11 of FIG. 12A, position information and time information are acquired from all the passenger cars V and stored in the database 26. FIG. 13 is a diagram illustrating an example of information stored in the database 26. As shown in FIG. 13, monitoring information including image information, position information, and time information acquired from the passenger car V (monitoring terminal device 10) is stored in association with the position information. That is, if position information is designated, a series of monitoring information can be called. Further, the link ID to which the position information belongs may be associated with the vehicle speed of the passenger car. Further, the monitoring information can include a mobile body ID (monitoring terminal device ID) for specifying the monitoring terminal device 10. The mobile object ID may be the address of the communication device 13 of the monitoring terminal device 10.

In step ST12, the passenger car V is displayed on the map information MP of the map database displayed on the display 24 as shown in the upper left of FIG. 1 based on the position information acquired in step ST11. Since the position information of the passenger car V is acquired and transmitted at a predetermined timing for each routine in FIG. 11, the supervisor can grasp the current position of the passenger car V in a timely manner.

In step ST13, it is determined whether or not abnormality information notified from the monitoring terminal device 10 of the passenger car V, that is, a notification that an abnormality relating to security such as an accident or a crime has occurred has been received. This abnormality information is output when the passenger of the passenger car V presses the notification button 16 of the monitoring terminal device 10. If there is abnormality information, the passenger vehicle V to which abnormality information was output is identified in step ST14, image information and time information are received from the monitoring terminal device 10 of the passenger vehicle, and the image information is displayed on the display 24. Further, as shown in the upper left of FIG. 1, highlighting is performed, for example, by changing the color so that the passenger car displayed on the map information MP can be distinguished from other passenger cars. Thereby, the position where the abnormality has occurred can be visually recognized on the map information MP, and the abnormality content can be grasped on the display 24.

In the next step ST15, the passenger vehicle V traveling in the vicinity (within a predetermined distance) of the passenger vehicle V that has output the abnormality information is detected, and a transmission command for image information and time information is output to the passenger vehicle V. As a result, the image information can be acquired from the passenger vehicle V that travels in the vicinity of the passenger vehicle V that has output the abnormality information. The contents can be grasped in detail.

In step ST16, the position information of the passenger car V that has output the abnormality information is transmitted to an emergency passenger car such as a police car, an ambulance, or a fire engine. In this case, image information may be attached and transmitted in order to notify the abnormal content. As a result, the emergency passenger car can be dispatched before a report from the site is entered, and it is possible to quickly deal with accidents and crimes.

In step ST17, all position information, image information, and time information received from the monitoring terminal device 10 are recorded on the recording medium. This record is used to resolve these after an accident or crime. If there is no abnormality information in step ST13, the process proceeds to step ST21 without performing the processes in steps ST14 to ST17.

Here, returning to step ST13, if there is no abnormality information, the processing of steps ST111 to T114 is performed.

In step ST111, the central monitoring apparatus 20 refers to the database 26 and calculates and stores the traveling frequency for each link. The central monitoring device 20 refers to the map information MP included in the central monitoring device 20 based on the collected data shown in FIG. 13, and determines the number of passenger cars V on which the position information for each link included in the map information MP is plotted. The counted traveling frequency can be calculated. An example of travel frequency data in this embodiment is shown in FIG. As shown in FIG. 14, the traveling frequency indicated by the number of units per unit time is associated with the number of traveling units of the current link for each link. The unit time for calculating the running frequency can be arbitrarily set, and can be 1 hour, 4 hours, half a day, 8 to 5 o'clock, 5 o'clock or later, 1 day, and the like. Further, the unit time can be obtained by identifying weekdays and holidays and dividing the driving frequency into weekdays and holidays. In addition, a real-time traveling situation can be recognized by indicating the current number of traveling vehicles. For example, if the traveling frequency is low but the current number of traveling vehicles is large, it can be determined that there is no need to direct the passenger car V for monitoring. On the other hand, when the traveling frequency is high but the current traveling number is extremely low, it can be determined that the passenger car V for monitoring needs to be directed specially.

In subsequent step ST112, the central monitoring device 20 specifies a monitoring point based on the traveling frequency. The monitoring point specifying method is not particularly limited, but a link having a traveling frequency less than a predetermined value or a point on the link can be specified as the monitoring point. The threshold of the driving frequency used for specifying the monitoring point may be provided for each link in consideration of the traffic volume, or may be a common threshold.

Moreover, the central monitoring device 20 can specify a point on a link other than a link whose traveling frequency is higher than a predetermined value as a monitoring point. As a result, in addition to dispatching the passenger car V with the location of a link with a low travel frequency as a monitoring point, avoid a link with a high travel frequency and make the travel frequency uniform with a point on the other link as a monitoring point. It is possible to monitor city links with uniform frequency.

In the next step ST113, the central monitoring device 20 creates a route change command passing through the specified monitoring point, and transmits a monitoring information transmission command for the monitoring point including the route change command to the monitoring terminal device 10 in step ST114. The monitoring information transmission command according to the present embodiment does not necessarily include an image information transmission command, and may be a command that requests only a report of a determination such as “no abnormality / abnormal”. This is because when the monitoring information transmission command is transmitted to the police vehicle V3 belonging to the monitor, the monitoring effect can be obtained only by the determination of the monitor such as the police having the authority of safety confirmation. On the other hand, when the monitoring information transmission command is sent to the vehicle V2 belonging to a taxi company other than the monitoring company, a transportation company or the like, the monitoring information transmission command preferably includes a command for requesting transmission of image information. This is because safety cannot be confirmed by a taxi company, and safety needs to be confirmed by a police, security company or the like having the authority of safety confirmation based on the provided image information.

In addition, after specifying a monitoring point in step 112, a monitoring information transmission command including only information on the monitoring point may be sent to the monitoring terminal device 10. In this case, information on the monitoring point is presented to the occupant on the monitoring terminal device 10 side, and the occupant can cause the navigation device 19 on the passenger car V side to search for a route through the monitoring point.

After specifying a monitoring point in step 112, a command to move to the monitoring point may be included in the monitoring information transmission command and sent to the monitoring terminal device 10. Rather than simply indicating the position of the monitoring point, the moving body V can be forced to go to the monitoring point, so that the monitoring information at the monitoring point can be reliably acquired. Of course, the mode of the command to move to the monitoring point is not limited, and may be a voice command, a text command, a destination setting command or a travel route setting command for the navigation device 19. The command to move to the monitoring point may be sent only to the monitoring terminal device 10 (moving body) existing within a predetermined distance from the monitoring point. The command to move to the monitoring point may be sent only to the monitoring terminal device 10 (moving body) belonging to a monitor such as the police or the fire department, or is mounted on the moving body V for business use or private use according to the case. It may be sent only to the monitoring terminal device 10.

An example of a route change command is shown in FIGS. 15 and 16 as an example. As shown in FIG. 15, when a certain passenger car V is going from point A to point F, it is assumed that the route selected by itself is A → B → C → F (R11, R12). When it is determined that a route change command including a monitoring link Z or a monitoring point on the link Z with a low traveling frequency of the passenger vehicle V carrying the monitoring terminal device 10 is obtained from the central monitoring device 20 and the route can be changed. The route is changed from A → D → E → F (R21, R22) so as to pass through the link Z. The passenger car V equipped with the monitoring terminal device 10 heads for the link Z according to the route after the change, and centralizes monitoring information including image information captured at the monitoring point on the link Z or monitoring information including the presence or absence of an abnormality of the link Z. It is sent to the monitoring device 20.

Also, as shown in FIG. 16, it is assumed that the route selected by itself is A → B → C → F (R31, R32), as in the previous example. A route change command including a monitoring link W or a monitoring point on a link other than the link W having a high traveling frequency of the passenger vehicle V on which the monitoring terminal device 10 is mounted is acquired from the central monitoring device 20, and it is determined that the route can be changed. In this case, the route is changed from A → B → E → F (R41, R42) so as not to pass through the link W, that is, to pass through a link other than the link W. The passenger vehicle V equipped with the monitoring terminal device 10 moves to a link other than the link W according to the route after the change, and includes monitoring information including image information captured at a monitoring point on a link other than the link W or a link other than the link W. Monitoring information including the presence or absence of abnormality is sent to the central monitoring device 20.

Although not particularly limited, the central monitoring device 10 can acquire monitoring information from the monitoring terminal device 10 mounted on the passenger car V belonging to a monitor such as a police or a security company. A command for requesting monitoring information of a monitoring point specified based on the traveling frequency derived from the position information included in the monitoring information is mounted on the passenger car V belonging to a monitor such as the police or the security company. It may be sent to the monitoring terminal device 10 or may be sent to the monitoring terminal device 10 mounted on a business or private passenger car V such as a taxi or a transport vehicle other than the supervisor. That is, another police vehicle V3 may be dispatched to a monitoring point where the traveling frequency of the police vehicle V3 is low, or a business vehicle V2 such as a taxi may be dispatched to a monitoring point where the traveling frequency of the police vehicle V3 is low.

On the other hand, the central monitoring device 10 can acquire monitoring information from the monitoring terminal device 10 mounted on the passenger car V belonging to a trader / individual other than the monitoring person such as a taxi or a transportation company. And the instruction | command which requests | requires the monitoring information of the monitoring spot specified based on the driving frequency derived | led-out from the positional information etc. which are contained in this monitoring information was mounted in the passenger car V which belongs to monitoring persons, such as a police and a security company. You may send out to the monitoring terminal device 10, or you may send out to the monitoring terminal device 10 mounted in the passenger cars V for business or private use, such as a taxi and a transport vehicle other than a supervisor. That is, the police vehicle V3 may be dispatched to a monitoring point where the travel frequency of the business vehicle V2 is low (not high), or another business vehicle such as a taxi is used at a monitoring point where the travel frequency of the business vehicle V2 is low (not high). V2 may be dispatched.

In step ST21 shown in FIG. 12B, it is determined whether there is an image information transmission command from an emergency passenger car such as a police car, an ambulance, or a fire engine. If an image transmission command is input, the process proceeds to step ST22. In step ST22, it is determined whether or not the passenger vehicle V exists in the area specified by the image information transmission command. If the passenger vehicle V exists, the process proceeds to step ST23. In step ST23, an image information transmission command is output to the passenger vehicle V existing in the area specified by the image information transmission command. Thereby, the image information from the passenger car V can be acquired in step ST11 of FIG. 12A of the next routine, and this is transferred to the emergency passenger car or the meaning of the transmission command from the emergency passenger car is grasped. be able to. If not corresponding to steps ST21 and ST22, the process proceeds to step ST24 without performing the processes of steps ST21 to ST23.

In step ST24, it is determined whether or not there is a passenger car V in the vicinity of a suspicious location such as a preset crime-prone delay, and if so, the process proceeds to step ST25 to transmit image information to the passenger car V. Outputs a command. Suspicious areas are streets with poor security and streets. As a result, the monitoring of streets and streets that are suspicious places can be strengthened, and crime prevention can be expected. If the passenger vehicle V does not exist in the region near the suspicious part, the process proceeds to step ST26 without performing the process of step ST22.

In step ST26, it is determined whether or not there is a passenger vehicle V in the vicinity of the priority monitoring position where the priority monitoring object whose details should be monitored can be imaged. If the passenger vehicle V exists in the vicinity of the priority monitoring position, step ST27 is determined. To the passenger vehicle V, and outputs a priority monitoring command for requesting transmission of image information in which the priority monitoring target is expanded. As a result, it is possible to monitor the priority monitoring target in detail, and to effectively detect a suspicious object that causes an incident or an accident in the specified priority monitoring target, so that prevention of crime can be expected. If there is no passenger vehicle V in the vicinity of the priority monitoring position, the process proceeds to step ST28 without performing the process of step ST27.

In step ST28, based on the position information received from each passenger car V, the passenger car V is not traveling within a predetermined time within a predetermined area that is required to be monitored (not limited to the suspicious location and the priority monitoring area). It is determined whether there is a route, and when there is such a route, it is monitored whether there is a passenger vehicle V traveling on the route. Then, if there is a passenger car V traveling on the route most recently, the process proceeds to step ST29, and an image information transmission command is output to the passenger car V. Thereby, it is possible to automatically acquire image information of a route that is a region other than the suspicious portion or the priority monitoring region and has a small traffic volume of the passenger car V. If there is no route that satisfies the condition of step ST28, the process returns to step ST11 of FIG. 12A without performing the process of step ST29.

As described above, the monitoring system of the present embodiment has the following effects.
(1) Since the monitoring system 1 of the present example outputs a command to transmit monitoring information of a monitoring point specified based on the traveling frequency of the passenger car V calculated for each link, the link of the traveling frequency of the passenger vehicle V is low. Since a command requesting transmission of monitoring information related to a monitoring point is transmitted, even if a link with a low traveling frequency occurs due to a random movement of the passenger car V, monitoring information related to the monitoring point of the link is acquired. Can do. As a result, the central monitoring device 20 can uniformly monitor the city using the monitoring terminal device 10 mounted on a randomly moving passenger car.

(2) In the monitoring system 1 of this example, the image transmission command for transmitting the monitoring information including the image information of the monitoring point is output as a command, so that a taxi company other than the monitoring person is based on the driving frequency on behalf of the monitoring person. Thus, it is possible to provide the monitor with image information obtained by capturing the identified monitoring point. Thereby, the supervisor can judge the safety of each monitoring point, without actually going to the spot. As a result, it is possible to reduce the cost required for monitoring while monitoring the city without omission and improving the monitoring level.

(3) Since the monitoring system 1 of this example selects a point on the link with a low traveling frequency as the monitoring point, the passenger car V on which the monitoring terminal device 10 is mounted can travel all over the city. The same effect as 2) can be achieved.

(4) In the monitoring system 1 of this example, a link other than a link with high driving frequency, that is, a point on a link with low driving frequency is selected as a monitoring point. Therefore, a high driving frequency is avoided by avoiding a link with high driving frequency. The passenger car V can be guided to a link that does not exist. As a result, the passenger car V on which the monitoring terminal device 10 is mounted can be made to travel evenly in the city, and the same effect as the above (2) can be achieved.

(5) In the monitoring system 1 of this example, since monitoring information is acquired from the monitoring terminal device 10 mounted on the passenger car V belonging to a monitor such as a police or a security company, the passenger car belonging to a monitor such as a police or a security company It is possible to generate a command according to the traveling frequency for each link. As a result, it is possible to direct other passenger vehicles V by guiding links with low (not high) travel frequency of the supervisor while concentrating the supervisor in places where the security is poor and dangerous.

(6) In the monitoring system 1 of this example, since monitoring information is acquired from the monitoring terminal device 10 mounted on the passenger car V belonging to a person other than the monitoring person such as a taxi or a transportation company, the monitoring system 1 can be used for a trader or individual such as a taxi or a transportation company. A command according to the traveling frequency for each link of the passenger car to which the vehicle belongs can be generated. As a result, a link such as a low (not high) travel frequency of the trader / individual can be guided to supplement the monitoring by a supervisor such as the police.

(7) In the monitoring system 1 of this example, since the command is sent to the monitoring terminal device 10 mounted on the passenger car V belonging to the supervisor, another police vehicle V3 is dispatched to a monitoring point where the traveling frequency of the police vehicle V3 is low. The police vehicle V3 can be sent to a monitoring point where the travel frequency of the business vehicle V2 is low.

(8) In the monitoring system 1 of this example, since the command is sent to the monitoring terminal device 10 mounted on a business or private mobile body other than the supervisor, a taxi or the like is provided at a monitoring point where the traveling frequency of the police vehicle V3 is low. The business vehicle V2 can be dispatched, and another business vehicle V2 such as a taxi can be dispatched to a monitoring point where the travel frequency of the business vehicle V2 is low.

(9) By including a command to move to the specified monitoring point in the monitoring information transmission command and sending it to the monitoring terminal device 10, the mobile object V is forcibly directed to the monitoring point, and monitoring information at the monitoring point Can be surely acquired.

(10) In the monitoring system 1 of this example, since the monitoring point included in the command or the link including the monitoring point is displayed on the monitoring terminal device 10 side, the passenger of the passenger car V is required to monitor. Work can be performed while recognizing the location.

(11) In the monitoring system 1 of this example, in the navigation device on the monitoring terminal device 10 side, the monitoring point included in the command or the link including the monitoring point is displayed superimposed on the map information MP. The occupant can visually check the position of the monitoring point or the link including the monitoring point with respect to the route intended by the passenger.

(12) In the monitoring system 1 of this example, since the route that passes through the monitoring point included in the command or the link that includes the monitoring point is searched, the monitoring point is set as the via point on the route to the intended destination. Can be incorporated.

(13) The monitoring method of this example has the same operations and effects as the monitoring system including the monitoring terminal device 10 and the central monitoring device 20.

In the above-described embodiment, the position information of the passenger car V and the image information from the in-vehicle cameras 11a to 11e are acquired. However, in combination with the image information from the fixed camera 11f installed in the city shown in FIG. May be obtained. Further, as the passenger car V that acquires the position information and the image information, it is desirable to use a taxi V1 or a bus that travels in a predetermined area as shown in FIG. 1, but even if a private passenger car V2 or an emergency passenger car V3 is used. Good.

In the above-described embodiment, five in-vehicle cameras are mounted on the passenger car V, and images around 360 ° are acquired as image information using the four in-vehicle cameras 11a to 11d, but the in-vehicle camera 11e in the room is acquired. It may be omitted. In addition, the number of the four on-vehicle cameras 11a to 11d may be three or less, particularly in an environment where image information can be acquired from many passenger cars V, such as a monitoring area where there is a large amount of traffic.

The central control device 21 corresponds to travel frequency calculation means and command output means, and the communication device 23 and input device 25 correspond to information acquisition means, abnormality information reception means and command output means according to the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vehicle monitoring system 10 ... Monitoring terminal device 11, 11a-11e ... Vehicle-mounted camera 11f ... Street fixed camera 12 ... Image processing device 13 ... Communication device 14 ... Vehicle-mounted control device 15 ... Position detection device 16 ... Notification button 18 ... Output device , Display, speaker 19 ... navigation device 20 ... central monitoring device 21 ... central control device 22 ... image processing device 23 ... communication device 24 ... display 25 ... input device 30 ... telecommunications network V, V1, V2, V3 ... moving body M ... Projection model S, Sa, Sb, Sc, Sd ... Projection planes R1-R8 ... Viewpoint

Claims (13)

A monitoring device comprising: position detection means for detecting position information of each of the plurality of moving bodies; and image generation means that is attached to each of the plurality of moving bodies and images the surroundings of the moving bodies to generate image information. A monitoring system including a central monitoring device that acquires monitoring information from a terminal device via wireless communication,
The central monitoring device is
Information acquisition means for acquiring monitoring information including at least position information and time information output from the monitoring terminal device;
With reference to map information including the monitoring information and link information to be acquired, a travel frequency calculating means for calculating the travel frequency of the mobile body for each link of the link information;
A monitoring system comprising: command output means for specifying a monitoring point to be monitored based on the calculated traveling frequency and outputting a command for transmitting monitoring information of the monitoring point to the monitoring terminal device. . The monitoring system according to claim 1, wherein the command output means of the central monitoring device outputs an image transmission command for transmitting monitoring information including image information of the monitoring point as the command. 3. The monitoring system according to claim 1 or 2, wherein the command output means of the central monitoring device selects a point on the link having a low traveling frequency as a monitoring point. The monitoring system according to claim 1 or 2, wherein the command output means of the central monitoring device selects a point on a link other than the link having a high passing frequency as a monitoring point. The monitoring system according to any one of claims 1 to 4, wherein the information acquisition means of the central monitoring device acquires monitoring information from the monitoring terminal device mounted on a mobile body belonging to a monitor. . 6. The information acquisition means of the central monitoring device acquires monitoring information from the monitoring terminal device mounted on a business or private mobile body other than the supervisor. The monitoring system described in. The monitoring according to any one of claims 1 to 6, wherein the command output means of the central monitoring device sends the command to the monitoring terminal device mounted on a moving body belonging to a monitor. system. The command output means of the central monitoring device sends the command to the monitoring terminal device mounted on a business or private mobile body other than the monitor. The monitoring system according to item. 9. The command output means of the central monitoring apparatus, wherein the command for transmitting the monitoring information of the selected monitoring point includes a command for moving the moving body to the monitoring point. The monitoring system according to any one of the above. The monitoring terminal device includes an output device,
The monitoring system according to any one of claims 1 to 9, wherein the output device displays a monitoring point included in the command or a link including the monitoring point. The monitoring terminal device includes a navigation device having map information,
The monitoring system according to claim 10, wherein the navigation device superimposes a monitoring point included in the command or a link including the monitoring point on the map information and displays the same on the output device. The monitoring terminal device includes a navigation device having a map search function and a route search function for searching a route from the current position to the destination,
The monitoring system according to any one of claims 1 to 9, wherein the navigation device searches for the route via a monitoring point included in the command or a link including the monitoring point. Obtaining monitoring information including at least position information of each moving body from monitoring terminal devices mounted on a plurality of moving bodies;
With reference to map information including the acquired monitoring information and link information, calculating a traveling frequency of the moving body for each link of the link information;
A monitoring method comprising: specifying a monitoring point included in a link to be monitored based on the calculated traveling frequency, and outputting a command to transmit monitoring information of the monitoring point.

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