JP2006048395A - Apparatus and method for measuring speed - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed measuring apparatus and a speed measuring method capable of measuring the speed of a traveling vehicle flexibly correspondingly to a road condition or the like only by installing monitor cameras on one position. <P>SOLUTION: Two cameras 11A, 11B are mounted on respective rotary boards 13A, 13B in a head part 1 and installed so that a photographing direction between the two cameras 11A, 11B can be controlled to freely set monitoring points for a vehicle traveling on a road. Thus the speed measuring apparatus capable of flexibly correspond to a road condition by measuring the traveling time of a traveling vehicle between the monitoring points and calculating the traveling speed of the vehicle can be provided. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a speed measuring device and a speed measuring method using a camera image.

  As a method of measuring the traveling speed of a vehicle traveling on the road, there is a speed measuring method in which cameras are installed at two locations along the road, and the traveling vehicle is monitored and the traveling time of the shooting section distance is measured (for example, Patent Document 1).

  In this method, by extracting features from the video signal of the video information of the monitoring point captured by the two cameras, the video of the traveling vehicle passing through the monitoring point is automatically detected, and the difference (time) between the detection times The traveling speed is measured from the traveling distance between monitoring points. For this reason, for example, two cameras are required to be installed at two locations separated by several tens of meters or more along the road. In addition, there is also a problem that even if it is desired to change the measurement section in accordance with the traffic congestion situation or the like, since the two cameras are fixed, it is not possible to freely change the setting of the monitoring point for photographing.

In a place where only one camera can be installed, there is a method of measuring the transit time of two images on the same screen using a wide-angle lens for the image of one surveillance camera. It will be displayed at the position of both ends. Accordingly, the display video is small or distorted, and it is difficult to visually check. In addition, there is a problem that an error occurs in video processing for extracting the target video from the video information.

There is also a method of recognizing the shape of the target vehicle in the image captured by one camera and obtaining the speed by converting the speed at which the pattern moves on the screen, but the measurement accuracy depends on the pattern recognition. There is a problem that the measurement error is large.
Japanese Patent Laid-Open No. 6-3000526 (page 4, FIG. 1)

  Vehicle speed measurement using a conventional camera monitoring system can be performed freely at any time, depending on the problem that the speed cannot be measured unless cameras are installed at two locations separated by several tens of meters along the road. Even if it is desired to change, there is a problem that the monitoring point for flexible shooting cannot be changed because two cameras are fixedly installed. On the other hand, there is a problem that the measurement error is large in the method of measuring the speed from the video information photographed by one camera.

  The present invention has been made to solve the above problems, and provides a speed measurement device and a measurement method capable of measuring the speed of a traveling vehicle flexibly corresponding to road conditions and the like only by installing a surveillance camera in one place. The purpose is to do.

  In order to achieve the above object, a speed measuring device of the present invention contains a camera, a camera head installed in the vicinity of a road, and video information of a road vehicle connected to the camera and photographed by the camera. And a processing control means for calculating the traveling speed of the traveling vehicle by performing image processing, and a monitor for displaying the image information, the traveling speed of the traveling vehicle passing through two monitoring points separated by the camera In the speed measuring apparatus for measuring the camera, the camera head accommodates two cameras each mounted on a turntable by a common base and cover, and the processing control means sets the angle of the shooting direction of each camera. From the video information of the control means for transmitting the control signal of the attitude of the rotary base to the rotary base and the first and second cameras, the traveling vehicle is the first and second Detection of the first detection signal input from the feature extraction means with reference to a feature extraction means for detecting the passage of the viewing point and outputting first and second detection signals and a built-in timer The time is subtracted from the detection time of the second detection signal to calculate the traveling time between the first and second monitoring points of the traveling vehicle, and the first and second input from the control means The distance between the camera head and the road stored in the internal memory in advance is read out by calculating the travel distance between the first and second monitoring points according to the principle of triangulation. And measuring means for measuring a traveling speed of the traveling vehicle from the calculated traveling time and the calculated traveling distance.

  Further, the speed measuring method of the speed measuring device of the present invention includes a camera head that houses a camera and is installed in the vicinity of a road, and receives video information of a traveling vehicle on the road photographed by the camera, performs video processing, and In a speed measuring method of a speed measuring device, comprising: a processing control unit that calculates a traveling speed of a traveling vehicle; and a monitor that displays the video information, and measures the traveling speed of the traveling vehicle that passes two separate monitoring points. Two cameras housed in the camera head composed of one base and a cover, each attached to a turntable, have a first image of the first monitoring point and the other imaged the second monitoring point. The second video information is transmitted to the processing control means, and the processing control means includes control means, feature extraction means, and measurement means, and the control means The feature extraction means that has transmitted the control signal of the attitude of the turntable for setting the angle of the shadow direction to each of the turntables and received the respective video information from the first and second cameras, the traveling vehicle has When it is detected that the first and second monitoring points have passed, the first and second detection signals of the first and second monitoring points are output to the measuring means, and the first detection signal is output. The measuring means to which is inputted, subtracts the detection time of the first detection signal from the detection time of the second detection signal, and calculates the traveling time between the first and second monitoring points of the traveling vehicle. Triangulation by calculating and reading the angles of the shooting directions of the first and second cameras input from the control means and the distance between the camera head and the road stored in advance in the internal memory According to the principle of the first and the first And of calculating the travel distance between the monitoring points, and calculates the traveling speed of the traveling vehicle from said calculated travel time, and the calculated traveling distance.

  According to the present invention, it is possible to freely set a monitoring point of a vehicle traveling on a road by installing a camera head accommodated in the same container so that the shooting direction can be adjusted by attaching two cameras to a turntable, respectively. By doing so, it is possible to provide a speed measurement device for a traveling vehicle that can measure speed flexibly in response to road conditions by installing a camera in one place.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is an overall view of a speed measuring apparatus according to an embodiment of the present invention.

  A speed measuring device that measures the speed of a traveling vehicle traveling on a road in FIG. 1 includes a header unit 1, a processing control unit 2, and a monitor 3. Video information captured by the two cameras housed in the header section 1 installed on the side of the road etc. is sent to the processing control section 2 at the connection destination installed in the office or monitoring center via a cable or the like. Is output. And the speed measurement of the traveling vehicle image | photographed by image-processing by the process control part 2 is performed. The video information of the vehicle and the display signal of the measured speed data are output from the process control unit 2 to the monitor 3 and displayed on the screen. Further, the processing control unit 2 transmits a control signal for controlling the shooting direction of the camera and each camera zoom to the header unit 1.

FIG. 2 is a block diagram showing the configuration of the header unit 1. FIG. 3 is a conceptual diagram of the structure of the header unit 1. Hereinafter, the configuration and operation outline of the header unit 1 will be described with reference to FIGS. 2 and 3.
In FIG. 2, the header unit 1 has two video information systems, one of which is a system A including a camera 11A, a lens 12A and a turntable 13A to which the camera 11A is attached, and the other is a camera 11B and a lens 12B. And B system comprising a turntable 13B to which a camera 11B is attached. Both systems A and B transmit video information captured by the cameras 11A and 11B to the processing control unit 2, and rotate the turntables 11A and 11B that set the imaging directions of the cameras 11A and 11B from the processing control unit 2. A rotation control signal to be controlled and a zoom control signal for controlling the zoom angle of the lenses 12A and 12B are received. (Hereinafter, matters common to both the A and B systems will be described by omitting the symbols indicating A and B in each configuration, for example, like the camera 11). The lens 12 is basically a zoom lens, but may be a lens with a fixed angle of view.

  In FIG. 3A, the structure of the header portion 1 is obtained by adding a base 14, a cover 15, and a window 16 to the structure shown in FIG. A turntable 13 on which a camera 11 on which a lens 12 is mounted is mounted is attached to a base 14. The above configuration is covered with the cover 15, and each camera 11 photographs the target through the window 16. The base 14 is fixedly attached to a building such as a building or a structure such as a steel tower.

  The turntable 13 includes a turning drive mechanism and is mounted on the base 14, and the shooting direction of the camera 11 on the turntable 13 is set according to a rotation control signal from the processing control unit 2. When a zoom lens is used as the lens 12, the zoom angle of the lens 12 is set according to a zoom control signal from the processing control unit 2. FIG. 3B is an embodiment in which a part of the configuration of FIG.

FIG. 4 is a block diagram illustrating a configuration of the processing control unit 2. Hereinafter, the configuration and operation outline of the processing control unit 2 will be described with reference to FIG.
In FIG. 4, the processing control unit 2 includes a feature extraction unit 21 </ b> A, a feature extraction unit 21 </ b> B, a measurement unit 22, a control unit 23, a display processing unit 24, and a mixing amplification unit 25 that are connected to each other by an internal bus or the like. Consists of. The measurement unit 22 includes a timer 221 and a memory 222.

  Video information (camera video signal) received from the cameras 11A and 11B of the head unit 1 is input to the feature extraction units 21A and 21B and the mixing amplification unit 25.

  The feature extraction units 21A and 21B process the video information of the A and B systems. When the target traveling vehicle is detected from the camera video signals received from the cameras 11A and 11B, the detection signals are measured via the internal bus. To the unit 22. The measuring unit 22 refers to the detection signal and the timer 221 and generates the speed of the traveling vehicle by calculating the difference between the time when the two detection signals are input and the distance between the monitoring points captured by each camera 11. The speed data is output to the display processing unit 24 via the internal bus.

  The display processing unit 24 generates a display signal for displaying characters and marks necessary for monitoring from the input speed data and the like, and outputs the display signal to the mixing amplification unit 25. The mixing amplifying unit 25 converts the input camera video signal from the cameras 11 </ b> A and 11 </ b> B and the display signal from the display processing unit 24 into a monitoring video signal, and transmits it to the monitor 3.

  The control unit 23 controls the postures of the turntables 13A and 13B, and transmits control signals for setting the shooting directions of the cameras 11A and 11B to the turntables 13A and 13B. This control signal is also output to the measurement unit 22 via the internal bus to the measurement unit 22 and is used as angle data in the shooting direction for calculating the distance between the monitoring points as described later.

  In addition, when a posture monitor signal is transmitted from the turntable to the control unit 23 in response to the posture control of the turntable, the monitor signal may be output to the measurement unit 22 instead of the control signal.

  Further, the control unit 23 transmits a signal for setting the zoom angle of the lenses 12A and 12B to the lenses 12A and 12B. In addition to the default values, the position and zoom angle of the turntable are set to desired postures and zoom angles by an operator who monitors the screen of the monitor 3 with a pointer such as a key button (not shown) attached to the control unit 23 or a mouse. Is done.

FIG. 5 is a diagram showing the principle of speed measurement of the speed measuring device according to the present invention, and FIG. 6 is a display example of a monitor screen of a photographed video in the embodiment of the present invention.
Hereinafter, the operation of each component of the speed measuring device will be described with reference to FIGS.

  In FIG. 5A, the camera 11A captures the road monitoring point P1, the camera 11B captures the monitoring point P1, and the traveling vehicle 5 travels from the right hand P1 toward the left hand P2. FIG. 5B is a diagram illustrating timings of the detection signals pa and pb input from the feature extraction units 21 </ b> A and 21 </ b> B to the measurement unit 22 of the processing control unit 2. FIG. 6 is a display screen for images taken by the cameras 11 </ b> A and 11 </ b> B displayed on the monitor 3.

  In FIG. 6, the right side of the screen on the monitor 3 is an example in which an image captured by the camera 11A at time t1 and the left side is an image captured by the camera 11B at time t2. Further, it is assumed that the distance L between the position P1 at the center of the screen captured by the camera 11A and the position P2 at the center of the screen captured by the camera 11B is known, for example, 100 m.

  When the traveling vehicle 5 passes P1 at time t1, the feature extraction unit 21A of the processing control unit 2 detects, for example, a change in image contrast at the center portion of the screen from the image information from the camera 11A. Detect that has passed.

FIG. 7 is a functional block diagram of the internal configuration of the feature extraction units 21A and 21B (hereinafter common items are referred to as the feature extraction unit 21).
In FIG. 7, the feature extraction unit 21 includes a gate unit 211, a contrast detection unit 212, a color determination unit 213, and a shape extraction unit 214.

  The gate unit 211 sets a gate to perform processing for extracting only a video signal of a specific part on the monitor screen from the video information, for example, the central part of the screen. The processing for extracting the video signal is performed such that, for example, a timing corresponding to a predetermined screen (video) position on the horizontal scanning line is set as a gate, and the video signal is extracted within the timing.

  The contrast detection unit 212 measures the signal level of the video signal extracted by the gate 211. If the background is uniform, the signal level is constant, so if there is a change in amplitude, that is, if there is a change in contrast, it is determined that the vehicle etc. is passing through the gate and a detection signal is generated and measured. To the unit 22. Then, the measurement unit 22 refers to the timer 221 to write and store in the memory 222 the detection time t1 (hereinafter simply referred to as time) when the detection signal pa of FIG.

  The color determination unit 213 measures the color component of the video signal in the gate in the same manner as the contrast. If the color component of the background color that has been uniform changes until then, the new color is not the background color but the target color. And a color determination signal is output to the measurement unit 22. This target color is used as information for identifying the vehicle that has passed the monitoring point, as will be described later.

  The shape extraction unit 214 extracts and outputs vehicle shape information, which will be described later. For example, the shape extraction unit 214 detects an edge portion of the vehicle and outputs its contour data as shape information.

  When the vehicle 5 subsequently passes P2 at time t2, the measurement unit 22 receives the detection signal pb from the feature extraction unit 21B at time t2, and refers to the timer 221 to determine the passage time Δt (here, 1 second). Is obtained from the difference between time t1 and time t2. Then, the traveling speed of the traveling vehicle is calculated by dividing the distance L by the passage time Δt. Here, since the distance of 100 m was passed in 1 second, the vehicle speed is measured to be 36 km / h. The measured speed data is output to the display processing unit 24, where it is converted into a display signal of predetermined speed data, and then transmitted to the monitor 3 and displayed on the screen.

  The above is the principle of speed measurement in which the speed is measured using two cameras. However, in the present invention, the cameras 11A and 11B are further placed on the turntables 13A and 13B that can be turned and the shooting direction is changed. The distance L between the monitoring points P1 and P2 can be freely set. Therefore, in the present embodiment, by changing the settings of the monitoring points P1 and P2 and the distance L, it is possible to measure the traveling speed in response to changes in road conditions. Conventionally, the positions of the two cameras are fixed, and if an obstacle occurs before the shooting direction, monitoring becomes impossible. However, in the embodiment of the present invention, the shooting direction can be changed to a direction that does not hinder the monitoring. And speed measurement.

FIG. 8 is a diagram for explaining angle setting in the shooting direction of the cameras 11A and 11B.
In FIG. 8, when the cameras 11A and 12B are in front of the installation positions, that is, in a state of being perpendicular to the road, the set angle “0” of the respective turntables 13A and 13B is set as the monitoring point P0. The shortest distance d between the monitoring point P0, in other words, the traveling zone of the vehicle on the road and the mounting position of the head unit 1 of the monitoring camera is measured in advance, and is written and stored in the internal memory 222 of the measuring unit 22.

  The shooting angle at which the camera 11A captures the monitoring point P1 is αA. The distance LA between P0 and P1 in FIG. 7 is LA = d × tan (αA). Similarly, the shooting angle at which the camera 11B captures the monitoring point P2 is αB. The distance LB between P0 and P2 is LB = d × tan (αB). The distance L between the monitoring points P1 and P2 is obtained by L = LA + LB.

  Therefore, even if the distance L between the monitoring points P1 and P2 is not measured, the measuring unit 22 inputs the angles αA and αB in the photographing direction of the angular turntables 13A and 13B from the control unit 23 and inputs the distance L. Can be calculated.

FIG. 9 is a flowchart showing an operation procedure of speed measurement of the speed measuring device according to the present embodiment.
Hereinafter, the speed measurement operation procedure of the speed measurement device will be described with reference to the flowchart of FIG. 9 and FIGS.

  The head unit 1 of the speed measuring device is installed, and the distance “d” between the head unit 1 and the road traveling zone is written into an internal memory (not shown) of the measuring unit 22 of the processing control unit 2 and initialized. (Step s1). The operator monitors the monitor screen with pointer means (not shown) of the control unit 23, and sets the monitor screen of the control unit 23 cameras 11A and 11B. The control unit 23 outputs the imaging angles “αA” and “αB” of the turntables 13A and 13B to the measurement unit 22. When “αA” and “αB” are input, the control unit 23 reads the distance “d” from the memory 222 to calculate the distances LA and LB, and further calculates a sum distance “L” to the memory 222. Write and store (step s2).

  The cameras 11A and 11B output the video information to the feature extraction units 21A and 21B (step s3). When the feature extraction unit 21A detects that the vehicle 5 has passed the monitoring point P1, the feature extraction unit 21A outputs a detection signal pa to the measurement unit 22 (step s4). Then, the measurement unit 22 to which the detection signal is input refers to the timer 221 at time t1, and writes and stores the time t1 and the target color in the memory 222 (step s5).

  Subsequently, a detection signal pb is output to the measurement unit 22 from the feature extraction unit 21B that has detected that the vehicle 5 has passed P2 at time t2 (step s6). The measuring unit 22 stores the time t2 in the memory 222 (step s6-1). Then, the passage time Δt (here, 1 second) is obtained by referring to the timer 221 from the difference between the time t1 and the time t2 (step s7).

  The measuring unit 22 reads the distance L from the internal memory, and calculates the traveling speed by dividing the distance L by the passage time Δt (step s8). The measuring unit 22 outputs the calculated speed data to the display processing unit 24, the speed data is converted into display data indicating the measurement result (step s9), and the traveling speed is displayed on the screen of the monitor 3 (step s10). .

  The measurement method according to the above procedure does not cause erroneous measurement when only one traveling vehicle exists between the monitoring points P1 and P2, but when a plurality of traveling vehicles exist and overtaking is performed. Incorrect measurement occurs. Therefore, in the embodiment of the present invention, erroneous measurement due to overtaking is prevented as follows.

FIG. 10 is a diagram illustrating a positional relationship of traveling vehicles when a plurality of vehicles are traveling in the speed measurement section.
In FIG. 10, it is assumed that when the vehicle 5 passes P1, the vehicle 51 travels ahead and passes the vehicle 51 until the vehicle 5 passes the monitoring point P2. In that case, when the vehicle 5 passes the monitoring point P2, the vehicle 51 passes through the monitoring point P1 before the vehicle 5 in the measurement unit 22 of the control processing unit 2, so that the speed data is obtained from the vehicle 51. Is calculated from the passage time Δt obtained from the time t1 when the timer is started and the time t2 when the vehicle 5 passes p2. On the other hand, when the vehicle 51 passes the monitoring point P2, the speed data is calculated from the passage time Δt obtained from the time t1 when the timer is started by the vehicle 5 and the time t2 when the vehicle 51 passes p2. Is done. These two speed measurements are erroneous because the correspondence relationship between the passing times Δt of the vehicle 5 and the vehicle 51 passing through the monitoring points P1 and p2 does not match.

  As a method for preventing erroneous measurement due to overtaking, the feature extraction units 21A and 21B include the color determination unit 213 described above. That is, the color determination signal output from the color determination unit 213 in FIG. 7 is output together with the detection signal output from the feature extraction unit 21 when the vehicle passes through the monitoring points P1 and P2, and becomes a time signal at t1 and t2. The corresponding target color is stored in the memory 222 of the measuring unit 22 and the traveling vehicle that has passed can be identified.

FIG. 11 is a table of the memory 222 that stores the passage times t1 and t2 of the traveling vehicle at the monitoring points P1 and P2 and the target colors in association with each other.
FIG. 11 is a table of FIG. 11A before the measurement unit 22 determines overtaking, and FIG. 11B in which data of the overtaking vehicle is deleted after the passing time is correctly calculated by determining overtaking. There are two tables.

  In FIG. 11A, the table stored in the memory 222 includes the passage time “t1” of the monitoring point P1 and its “target color 1” column, the passage time “t2” of the monitoring point P2, and its “ The column of “target color 2”. In FIG. 10, when the traveling vehicle is a “red” vehicle 51 and a “blue” vehicle 5, “t1”, “target color 1”, “t2”, “target color 2” are displayed in the first row of the table. The columns are “0.00”, “red”, “0.70”, “blue”, respectively, and “0.20”, “blue”, “1.00”, “red” are in the second row of the table. Is remembered.

  If the measurement unit 22 simply processes the passage times t1 and t2 in time series, “t1: 0.00” is subtracted from “t2: 0.7”, and the passage time is “0.7. "It becomes seconds. Also, “t1: 0.20” is subtracted from “t2: 1.0”, and the passing time becomes “0.8” seconds. That is, the vehicle 5 that has passed the vehicle 51 has traveled between the monitoring points P2 and P1 in “0.7” seconds, and the vehicle 51 that has passed has traveled in “0.8” seconds. Incorrect.

  Therefore, the measuring unit 2 reads and collates the data of “target colors 1 and 2” corresponding to the times t1 and t2 when calculating the passage time Δt. If the “target colors 1 and 2” do not match between the times t1 and t2, it is determined that the overtaking has been performed, and the time t1 of the “target color 1” that matches the “target color 2” corresponding to the time t2 is determined. The passage time Δt can be correctly calculated by searching from the memory and making the correspondence of the passage time of the vehicle correct.

FIG. 12 is a flowchart showing a detailed procedure of the passage time measurement.
FIG. 12 shows the detailed procedure of step s7 in FIG. 9, and the detailed procedure of the passage time measurement will be described below with reference to FIGS. When the vehicle 5 passes the monitoring point P2, in FIG. 9, the measurement unit 22 receives the detection signal and the color determination signal from the feature extraction unit 21B, and receives the times “t2: 0.70” and “target color 2” ( Data is written and stored in the memory 222 (step s6 in FIG. 9).

  In FIG. 12, the measurement unit 22 reads the table in the memory 222, “target color 1” “red” at the time “t1: 0.00” stored first, and the time t2 at which the current writing is stored. Are compared with “target color 2” and “blue” (step s71). Since “target color 1” and “target color 2” do not match (when step s72 is No), the time “t1: 0.20” corresponding to “target color 2” “blue” of t2 from the table of the memory 222. "Is searched for (step s73). Then, the time “t1: 0.20” is subtracted from the time “t2: 0.70” to obtain a passage time Δt of 0.5 seconds (step s74). Further, the time “t2: 0.70” and the time “t1: 0.20” at which this subtraction is performed are deleted from the table of the memory 222 (step s75).

  Thereafter, when the vehicle 51 passes the monitoring point P2, in FIG. 9, the measurement unit 22 receives the detection signal and the color determination signal from the feature extraction unit 21B, and receives the times “t2: 1.00” and “target color 2”. ”(Here,“ red ”) is written and stored in the memory 222 (step s6 in FIG. 9).

  In FIG. 12, the measurement unit 22 reads the table in the memory 222, the “target color 2” “red” at the time “t1: 0.00” stored first, and the time t2 at which the current writing is stored. Are compared with "target color 2" and "red" (step s71). Since “target color 2” and “target color 1” match with “red” (when step s72 is Yes), time “t1: 0.00” is subtracted from time “t2: 1.00”. A passage time Δt of 1 second is obtained (step s74). Further, the time “t2: 1.00” and the time “t1: 0.00” at which this subtraction is performed are deleted from the table of the memory 222 (step s75).

  As a result of the above processing, the speed measuring device in the embodiment of the present invention matches the passage times of the vehicles passing through the two monitoring points P1 and P2, so that the traveling speed is correct even if there is an overtaking in the speed measuring section. It can be measured. Further, in the above description, the paint color of the vehicle is used as the feature extraction data for identifying the traveling vehicle passing through the monitoring points P1 and P2 and confirming the correspondence with the times t1 and t2. Other profiles for identifying the may be used. For example, the feature extraction unit 21 may discriminate the shape and model of the vehicle by pattern recognition, or may be a combination of a plurality of feature extraction data such as paint color and shape information output by the shape extraction unit 214.

  In the profile feature extraction data, each shape extraction unit 214 extracts the contours and silhouettes of the traveling vehicle from the video information captured by the cameras 1A and 1B, and the measurement unit 22 compares the extracted patterns. To find the same profile (eg, the same shape). First, feature extraction data from the camera A, that is, a profile is written and stored in the memory 222 of the measuring unit 22, and the stored profile and the profile output from the camera 1B correspond to each other at time t1. , T2 may be selected.

  Further, the present invention provides convenience for the operator to monitor the screen of the monitor 3. In the present embodiment, as described above, the speed measurement is performed so that the vehicle to be measured can be correctly specified even when a plurality of vehicles travels in the measurement section. I can't tell when I drive. In preparation for this case, the operator monitors the screen of the monitor 3, but displays between the two monitoring points so that the vehicle being photographed can be monitored without interruption. In a situation where an erroneous measurement is expected, the operator inputs a cancel result of the speed measurement result from a button switch (not shown) of the control unit 23 or the like.

  That is, when overtaking occurs as described above, and the driving state of the road is not monitored on two separate screens of the images taken by the two cameras, one camera 11 has a wide angle and covers the entire monitoring area. The other camera 11 is telephoto and zooms in on one monitoring point for monitoring.

  FIG. 13 is an example of a monitor display screen when screen monitoring and speed measurement are performed at different angles of view. The right side of the screen measures the speed of the zoom angle of the lens 12A of the camera 11A with a wide angle, and the left side measures the speed of the lens 12B of the camera 11B with a normal (standard) angle of view. The area surrounded by “#” on the right side of the screen is the position where the gate processing unit 211 of the feature extraction unit 21A performs image processing at the monitoring point P1, that is, the position where the feature extraction unit 21A detects the passage of the vehicle. This “#” area is set by an operator by pointer means (not shown) of the control unit 23, and corresponds to the center portion of the screen if the zoom angle is set to the standard setting. By adopting such a monitoring screen configuration, it is possible to carry out both overall monitoring and partial monitoring at the time of speed measurement.

  Further, the control unit 23 sets the zoom angle based on the setting angle of the postures of the two turntables 13, that is, the angle of the shooting direction of both cameras 11, on the display screen of the captured images of both cameras 11 on the monitor 3 screen. It is also possible. Now, in FIG. 8, the control unit 23 checks the angle in the shooting direction of the camera 11 </ b> A from the attitude of the turntable 13 </ b> A, and measures 15 degrees clockwise, for example. Further, the shooting direction of the camera 11B is measured 15 degrees counterclockwise from the turntable 13B, and the interval between the two cameras is set to 15 degrees. Subsequently, for example, the control unit 23 sets the lens 12 </ b> A of the camera 11 </ b> A to a wide-angle zoom with an angle of view of 45 degrees so that the front side is photographed. Then, the camera 11A can photograph both the monitoring points P1 and P2 on the same screen, while the camera 11B can photograph the monitoring point P2 by zooming up.

  In such a method of adjusting and shooting a painter area, the display screens of the images taken by the two cameras 11 are continuous, and monitoring is effective if the display is set as if it were one continuous image.

FIG. 14 is an example of a screen on which images taken by two cameras are continuously displayed.
In FIG. 14, the same monitoring points as those in FIG. 8 are photographed, but the angles of view of the lenses 12A and 12B of the cameras 11A and 11B are wide, and the photographing screens of the two cameras become one continuous screen. Yes.

  In such a case, the larger the angle between the shooting directions of the two cameras (α in FIG. 8), the larger the zoom angle of the lens 12 (βA in FIG. 5A, βB) is set large. For example, if the angle α between the shooting directions is 60 degrees, the camera 11A captures the direction of 15 degrees clockwise, the zoom angle (βA in FIG. 5A) is 30 degrees, and the camera 11B A direction of 15 degrees in the clockwise direction is photographed, and the zoom angle (βB in FIG. 5A) may be set to 30 degrees.

  There are several methods (modes) as described above for the angle of view adjustment means, but the setting conditions and adjustment procedures of the angle of view adjustment mode are stored and set in the control unit 23 as a program in advance. Then, the setting of the angle of view and the setting of the position of the turntable are set manually by the operator using a pointer function such as a keyboard (not shown) of the control unit 23, or which mode program is selected from the keyboard. Depending on whether you set a command automatically.

  Moreover, FIG.3 (b) is a structural example of the header part 1 which abbreviate | omitted one part structure from Fig.3 (a) as a 2nd form of the Example of this invention. In FIG.3 (b), the base 14 turns by the structure integrated with the turntable 13A. Further, the turntable 13A may be further omitted, and only the base 14 and the turntable 13B may be provided, and the camera 11A may be directly attached to the base 14 to fix the shooting direction, and only the camera 11B1 may change the shooting direction. Also in these second embodiments, the procedure and method of the speed measurement process are the same as those in the first embodiment.

The block diagram of the speed measuring device concerning the Example of this invention. The block diagram which shows the structure of a header part. The conceptual diagram of the structure of the header part 1. FIG. The block diagram which shows the structure of the process control part 2. FIG. The figure which shows the principle of the speed measurement of the speed measuring device concerning the Example of this invention. The example of a monitor screen of a speed measuring device. The functional block diagram of the internal structure of a feature extraction part. The figure explaining the angle setting of the imaging | photography direction of two cameras. The flowchart which shows the operation | movement procedure of the speed measurement of the speed measurement apparatus in a present Example. The figure which shows the positional relationship of a vehicle in case a some vehicle drive | works a speed measurement area. A memory table that stores vehicle passing times and target colors at two monitoring points in association with each other. The flowchart which shows the detailed procedure of the passage time measurement in FIG. Monitor display screen for screen monitoring and speed measurement at different angles of view. An example of a monitor screen on which images taken by two cameras are continuously displayed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Header part 11A, 11B Camera 12A, 12B Lens 13A, 13B Turntable 14 Base 15 Cover 16 Window 2 Processing control part 21A, 21B Feature extraction part 22 Measurement part 221 Timer 222 Memory 23 Control part 24 Display processing part 25 Mixed amplifier 3 monitor

Claims (13)

A camera head that houses a camera and is installed in the vicinity of the road; receives video information of a traveling vehicle on the road that is connected to the camera and photographed by the camera; and performs video processing to calculate a traveling speed of the traveling vehicle Processing control means for performing, and a monitor for displaying the video information,
In the speed measuring device for measuring the traveling speed of the traveling vehicle passing through two monitoring points where the camera is separated,
The camera head is
Two cameras each mounted on a turntable are accommodated by a common base and cover,
The processing control means includes
Control means for transmitting to the turntable a control signal of the position of the turntable for setting an angle in the shooting direction of each camera;
Feature extraction means for detecting that the traveling vehicle has passed the first and second monitoring points from the video information of the first and second cameras and outputting first and second detection signals, respectively; ,
With reference to a built-in timer, the first and second monitoring of the traveling vehicle is performed by subtracting the detection time of the first detection signal input from the feature extraction means from the detection time of the second detection signal. While calculating the travel time between points, the angle of each imaging direction of the first and second cameras input from the control means and the distance between the camera head and the road stored in the internal memory in advance And the travel distance between the first and second monitoring points is calculated according to the principle of triangulation, and the travel speed of the traveling vehicle is measured from the calculated travel time and the calculated travel distance. A speed measuring device comprising a measuring means. The feature extraction means includes
Along with each detection signal, output feature extraction data specifying the traveling vehicle that has passed the monitoring point,
The measuring means includes
Storing each detection time of each of the first and second detection signals and each feature extraction data in a table in an internal memory;
The same traveling vehicle by reading out from the table and searching for a detection time that has passed through the first monitoring point that is a set with feature extraction data that matches the feature extraction data of the traveling vehicle that has passed the second monitoring point. The speed measurement device according to claim 1, wherein the first and second detection times are specified to calculate a traveling speed. The feature extraction data is
The speed measuring device according to claim 2, wherein the speed measuring device is a paint color of the traveling vehicle. The feature extraction data is
The speed measuring device according to claim 2, wherein the speed measuring device is a profile of a shape of the traveling vehicle or a vehicle type.   The two cameras shoot at different angles of view, one camera shoots at a wide angle of view so that the section of both monitoring points can be displayed on the screen, and the other shoots one of the monitoring points. The speed measuring device according to claim 1, wherein: The two cameras are
A zoom lens is attached,
The control unit sets a zoom angle of the zoom lens based on an angle in a shooting direction of each camera set from a control signal of the attitude of the turntable, thereby capturing an image shot by any one of the cameras. The speed measuring apparatus according to claim 1, wherein control is performed so that the both monitoring point sections are always displayed on the monitor.   The control unit is configured to set a zoom angle of the zoom lens so that an image captured by the two cameras is displayed as one continuous image on the monitor screen. 5. The speed measuring device according to 5.   The speed measurement apparatus according to claim 1, wherein the base is turned so as to serve as any one turntable of the camera.   The speed measurement device according to claim 1, wherein any one of the cameras is attached to the base with the rotating table omitted, and a photographing direction is fixed. A camera head that houses the camera and is installed in the vicinity of the road; and processing control means for receiving the video information of the traveling vehicle on the road imaged by the camera and processing the image to calculate the traveling speed of the traveling vehicle; In a speed measurement method of a speed measurement device comprising a monitor for displaying the video information and measuring a travel speed of the traveling vehicle passing through two distant monitoring points,
Two cameras housed in the camera head consisting of one base and a cover, each attached to a turntable, have a first image where one imaged the first monitoring point and the other imaged the second monitoring point, Sending second video information to the processing control means;
The processing control means includes
A control means, a feature extraction means, and a measurement means;
The control means transmits a control signal of the attitude of the rotary table that sets an angle in the shooting direction of each camera to the rotary table,
When the feature extraction means that has received the video information from the first and second cameras detects that the traveling vehicle has passed the first and second monitoring points, respectively, the first and second Output the first and second detection signals of the monitoring points to the measuring means,
The measuring means to which the first detection signal is input subtracts the detection time of the first detection signal from the detection time of the second detection signal, and the first and second monitoring of the traveling vehicle. While calculating the travel time between points, the angle of each imaging direction of the first and second cameras input from the control means, and between the camera head and the road previously stored in the internal memory The distance is read and the travel distance between the first and second monitoring points is calculated based on the principle of triangulation, and the travel speed of the traveling vehicle is calculated from the calculated travel time and the calculated travel distance. A speed measuring method for a speed measuring device, characterized by: The feature extraction means includes
Along with the detection signal, output feature extraction data that identifies the traveling vehicle that has passed the monitoring point,
The measuring means includes
Storing each detection time of the first and second detection signals and the feature extraction data in a table in an internal memory;
The detection time of the traveling vehicle is read out from the table and searched for the detection time that has passed through the first monitoring point that is a set with the feature extraction data that matches the feature extraction data of the traveling vehicle that has passed the second monitoring point. The speed measuring method of the speed measuring apparatus according to claim 9, wherein the traveling speed is calculated by specifying the first and second detection times. The two cameras are
A zoom lens is attached,
The control unit sets a zoom angle of the zoom lens based on an angle in a shooting direction of each camera set from a control signal of the attitude of the turntable, thereby capturing an image shot by any one of the cameras. The speed measuring method of the speed measuring apparatus according to claim 9, wherein control is performed so that the both monitoring point sections are always displayed on the monitor.   The control unit is configured to set a zoom angle of the zoom lens so that an image captured by the two cameras is displayed as one continuous image on the monitor screen. The speed measuring method of the speed measuring device according to 11.

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