Vehicle overhead image generation device, monitoring system, and vehicle overhead image generation method

Abstract

To provide a vehicle overhead view image generation device and a vehicle overhead view image generation method which can generate image information for accurately monitoring the state of the periphery of a vehicle that enters / leaves a building.SOLUTION: A vehicle overhead view image generation device comprises: a viewpoint position information holding unit 32 which is connected to a plurality of monitoring camera devices 10-1 to 10-3 that image a monitoring area near a gateway of a building being a monitoring object and holds information on a plurality of viewpoint positions looking down at the inside of the monitoring area; an imaging information acquisition unit 33 which acquires imaging information imaged by the plurality of monitoring camera devices; a vehicle position information acquisition unit 34 which acquires position information of the vehicle; a viewpoint position specification unit 35 which specifies a corresponding viewpoint position on the basis of the position information of the vehicle when the vehicle enters the monitoring area; and an overhead view image generation unit 36 which generates image information looking down at the vehicle that has entered the monitoring area from the specified viewpoint position by using the imaging information acquired by the imaging information acquisition unit 33.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle overhead image generation device, a monitoring system, and a vehicle overhead image generation method.

Background Art

[0002] When a large vehicle such as a trailer or a tractor carrying a load enters or exits a building such as a warehouse, if the loaded load contacts the entrance of the building, the load may fall off. Therefore, when these vehicles enter or exit the building, it is necessary to load the load within a range where it can pass through the entrance of the building.

[0003] In order to cope with this, there is a system that monitors whether the transport vehicle can safely enter the building by capturing the surroundings with a camera device installed on the vehicle and generating a surrounding image of the vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when monitoring a large vehicle using the above-described system, it is necessary to install a large number of camera devices on the vehicle in order to generate a surrounding image without dead angles, resulting in a problem that the system configuration becomes complicated.

[0006] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a vehicle overhead image generation device, a monitoring system, and a vehicle overhead image generation method capable of generating image information for accurately monitoring the surrounding situation of a vehicle entering and exiting a building.

Means for Solving the Problems

[0007] The vehicle overhead image generation device according to the present disclosure is installed at a position higher than the upper part of the vehicle to be monitored, is connected to a plurality of monitoring camera devices that photograph a monitoring area near the entrance of the building to be monitored, and holds information on a plurality of preset viewpoint positions for overlooking the monitoring area. A viewpoint position information holding unit, an imaging information acquisition unit that acquires imaging information captured by the plurality of monitoring camera devices, a vehicle position information acquisition unit that acquires position information of the vehicle, and when the vehicle enters the monitoring area, based on the position information of the vehicle acquired by the vehicle position information acquisition unit, a viewpoint position specifying unit that specifies a corresponding viewpoint position from among those held by the viewpoint position information holding unit, and an overhead image generation unit that generates image information overlooking the vehicle that has entered the monitoring area from the viewpoint position specified by the viewpoint position specifying unit using the imaging information acquired by the imaging information acquisition unit.

[0008] The monitoring camera device may be connected by wire.

[0009] The monitoring area may include a first monitoring area near the entrance outside the building and a second monitoring area near the entrance inside the building.

[0010] The vehicle is composed of a towing vehicle and a towed vehicle on which cargo is loaded. When the towing vehicle enters the monitoring area, the viewpoint position specifying unit may specify, from among those held by the viewpoint position information holding unit, the viewpoint position closest to a predetermined position of the towing vehicle based on the position information of the vehicle acquired by the vehicle position information acquisition unit.

[0011] Further, the monitoring system according to the present disclosure includes the vehicle overhead image generation device and a monitoring device communicatively connected to the vehicle overhead image generation device, and the vehicle is a transport vehicle that loads and transports cargo. The vehicle overhead image generation device further includes an output unit that outputs the image information generated by the overhead image generation unit to the monitoring device. The monitoring device analyzes the overhead image information acquired from the vehicle overhead image generation device to recognize the situation around the vehicle and determine whether there is a possibility that the vehicle body or the loaded cargo of the vehicle contacts the entrance / exit. When the determination unit determines that there is a possibility that the vehicle body or the loaded cargo of the vehicle contacts the entrance / exit, the driving instruction unit transmits a driving instruction to stop the vehicle or change the driving direction to vehicle D.

[0012] Also, the vehicle overhead image generation method according to the present disclosure is connected to a plurality of monitoring camera devices installed at a position higher than the upper part of the vehicle to be monitored and photographing a monitoring area near the entrance / exit of the building to be monitored. The vehicle overhead image generation device has a viewpoint position information holding step of holding information on a plurality of preset viewpoint positions for overlooking the inside of the monitoring area, an imaging information acquisition step of acquiring the imaging information photographed by the plurality of monitoring camera devices, a vehicle position information acquisition step of acquiring the position information of the vehicle, and a viewpoint position specifying step of specifying a corresponding viewpoint position from among those held in the viewpoint position information holding step based on the position information of the vehicle acquired in the vehicle position information acquisition step when the vehicle enters the monitoring area. And an overhead image generation step of generating image information obtained by overlooking the vehicle that has entered the monitoring area from the viewpoint position specified in the viewpoint position specifying step using the imaging information acquired in the imaging information acquisition step.

Advantages of the Invention

[0013] According to the vehicle overhead image generation device, the monitoring system, and the vehicle overhead image generation method of the present disclosure, it is possible to generate image information for accurately monitoring the situation around the vehicle entering and leaving the building.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

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Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0015] 〈Configuration of a Monitoring System According to an Embodiment〉 The configuration of a monitoring system 1 according to an embodiment will be described with reference to FIG. 1. The monitoring system 1 according to this embodiment is a system that monitors a vehicle D entering and exiting a building B through an opening C which is the entrance and exit of the building B. The monitoring system 1 includes three monitoring camera devices (the first monitoring camera device 10 - 1, the second monitoring camera device 10 - 2, and the third monitoring camera device 10 - 3), a vehicle overhead image generation device 30 connected to these monitoring camera devices by a communication line 20, and a remote monitoring device 40.

[0016] In this embodiment, the vehicle D has an automatic driving function and is composed of a tractor d1 which is a towing vehicle and a trailer d2 which is a towed vehicle towed by the tractor d1. It is a large - scale unmanned transport vehicle that loads and transports goods on the trailer d2.

[0017] The shooting ranges of the first surveillance camera device 10-1, the second surveillance camera device 10-2, and the third surveillance camera device 10-3 will be described with reference to FIG. 2. FIG. 2 is a view of the building B and its surroundings from above. The first surveillance camera device 10-1 is installed at a position higher than the upper part of the vehicle D to be monitored outside the building B, and shoots a range including the first surveillance area E1 near the opening C outside the building B. The second surveillance camera device 10-2 is installed at a position higher than the upper part of the vehicle D inside the building B, and shoots a range including the second surveillance area E2 near the opening C inside the building B. The third surveillance camera device 10-3 is installed above the opening C, and shoots a range including the first surveillance area E1 and the second surveillance area E2.

[0018] Returning to FIG. 1, the vehicle overhead image generation device 30 includes a camera information holding unit 31, a viewpoint position information holding unit 32, an imaging information acquisition unit 33, a vehicle position information acquisition unit 34, a viewpoint position specifying unit 35, an overhead image generation unit 36, and an output unit 37.

[0019] The camera information holding unit 31 holds information indicating the installation positions of the first surveillance camera device 10-1, the second surveillance camera device 10-2, and the third surveillance camera device 10-3, information indicating the fixation points, information indicating the upward vectors, information indicating the vertical field angles, and information indicating the horizontal field angles.

[0020] The viewpoint position information holding unit 32 holds a plurality of viewpoint position information preset as free viewpoints at positions overlooking the inside of the first surveillance area E1 and the second surveillance area E2. The imaging information acquisition unit 33 acquires the imaging information captured by the first surveillance camera device 10-1, the second surveillance camera device 10-2, and the third surveillance camera device 10-3.

[0021] The vehicle position information acquisition unit 34 pre - holds the position information of the first monitoring area E1 and the second monitoring area E2. Then, based on the information held in the camera information holding unit 31 and the information acquired by the imaging information acquisition unit 33, the vehicle position information acquisition unit 34 monitors whether the vehicle D has entered the first monitoring area E1 or the second monitoring area E2. Also, the vehicle position information acquisition unit 34 acquires the position information of the vehicle D that has entered the first monitoring area E1 or the second monitoring area E2.

[0022] When it is determined by the vehicle position information acquisition unit 34 that the vehicle D has entered the first monitoring area E1 or the second monitoring area E2, the viewpoint position specifying unit 35 specifies the corresponding viewpoint position from among those held in the viewpoint position information holding unit 32 based on the acquired position information of the vehicle D.

[0023] The bird's - eye view image generation unit 36 uses the imaging information acquired by the imaging information acquisition unit 33 to generate bird's - eye view image information of the vehicle D that has entered the first monitoring area E1 or the second monitoring area E2 from the viewpoint position specified by the viewpoint position specifying unit 35. The output unit 37 outputs the bird's - eye view image information generated by the bird's - eye view image generation unit 36 to the remote monitoring device 40.

[0024] The remote monitoring device 40 is installed at a remote location of the building B and includes a display unit 41, a determination unit 42, and a driving instruction unit 43. The display unit 41 displays the bird's - eye view image information output from the vehicle bird's - eye view image generation device 30. The determination unit 42 analyzes the bird's - eye view image information output from the vehicle bird's - eye view image generation device 30 to recognize the situation around the vehicle D and determines whether there is a risk that the vehicle body or the load of the vehicle D will come into contact with the opening C, which is the entrance / exit. When the determination unit 42 determines that there is a risk that the vehicle body or the load of the vehicle D will come into contact with the opening C, the driving instruction unit 43 transmits a driving instruction to stop the vehicle D or change the driving direction to the vehicle D.

[0025] <Operation of the monitoring system according to an embodiment> Next, the operation of the monitoring system 1 according to the present embodiment will be described. In the camera information holding unit 31, as information indicating the installation position of the first monitoring camera device 10-1, the first camera position coordinates (x11, y11, z11) are held with the corner at the front left of the building B as the reference point Q, the horizontal direction as the x-axis, the depth direction as the y-axis, and the height direction as the z-axis. Similarly, in the camera information holding unit 31, the second camera position coordinates (x12, y12, z12) are held as information indicating the installation position of the second monitoring camera device 10-2. Similarly, in the camera information holding unit 31, the third camera position coordinates (x13, y13, z13) are held as information indicating the installation position of the third monitoring camera device 10-3.

[0026] In addition, in the camera information holding unit 31, the first camera fixation point coordinates (x21, y21, z21) are held as information indicating the fixation point of the first monitoring camera device 10-1. Similarly, in the camera information holding unit 31, the second camera fixation point coordinates (x22, y22, z22) are held as information indicating the fixation point of the second monitoring camera device 10-2. Similarly, in the camera information holding unit 31, the third camera fixation point coordinates (x23, y23, z23) are held as information indicating the fixation point of the third monitoring camera device 10-3.

[0027] In addition, in the camera information holding unit 31, the first camera upward vector (x31, y31, z31) is held as information indicating the upward vector of the first monitoring camera device 10-1. Similarly, in the camera information holding unit 31, the second camera upward vector (x32, y32, z32) is held as information indicating the upward vector of the second monitoring camera device 10-2. Similarly, in the camera information holding unit 31, the third camera upward vector (x33, y33, z33) is held as information indicating the upward vector of the third monitoring camera device 10-3.

[0028] In addition, the camera information holding unit 31 holds the vertical viewing angle θ11 and the horizontal viewing angle θ12 as information on the viewing angle of the first surveillance camera device 10-1. The vertical viewing angle θ11 is information indicating the vertical shooting range of the first surveillance camera device 10-1 in terms of angle, and the horizontal viewing angle θ12 is information indicating the horizontal shooting range in terms of angle. The viewing angle of the first surveillance camera device 10-1 includes the first surveillance area E1. The camera information holding unit 31 also holds the vertical viewing angle θ21 and the horizontal viewing angle θ22 of the second surveillance camera device 10-2. The viewing angle of the second surveillance camera device 10-2 includes the second surveillance area E2. The camera information holding unit 31 also holds the vertical viewing angle θ31 and the horizontal viewing angle θ32 of the third surveillance camera device 10-3. The viewing angle of the third surveillance camera device 10-3 includes the first surveillance area E1 and the second surveillance area E2.

[0029] In the viewpoint position information holding unit 32 of the vehicle overhead image generation device 30, as information indicating a plurality of viewpoint positions, coordinates (x41, y41, z41) ··· (x46, y46, z46) indicating the positions of six viewpoints F1 to F6 within the first surveillance area E1 as shown in FIG. 2 are held. The viewpoints F1 to F6 are set at positions for overlooking the vehicle D that has entered the second surveillance area E2 from an obliquely upward direction.

[0030] Similarly, the viewpoint position information holding unit 32 holds coordinates (x51, y51, z51) ··· (x56, y56, z56) indicating the positions of six viewpoints G1 to G6 within the second surveillance area E2. The viewpoints G1 to G6 are set at positions for overlooking the vehicle D that has entered the first surveillance area E1 from an obliquely upward direction. The information indicating the positions of these viewpoints F1 to F6 and the information indicating the positions of the viewpoints G1 to G6 may be set within the map information indicating the building B and its surroundings.

[0031] Regarding the processing executed by the vehicle overhead image generation device 30 when the vehicle D enters or exits the building B with these pieces of information held, it will be described with reference to the flowchart of FIG. 3.

[0032] During the execution of the monitoring process by the monitoring system 1, the first monitoring camera device 10-1, the second monitoring camera device 10-2, and the third monitoring camera device 10-3 capture the first monitoring area E1 and the second monitoring area E2, and sequentially transmit the captured imaging information to the vehicle overhead image generation device 30. In the vehicle overhead image generation device 30, the imaging information acquisition unit 33 acquires the imaging information transmitted from the first monitoring camera device 10-1, the second monitoring camera device 10-2, and the third monitoring camera device 10-3, and sends it to the vehicle position information acquisition unit 34.

[0033] Based on the information held in the camera information holding unit 31 and the information acquired by the imaging information acquisition unit 33, the vehicle position information acquisition unit 34 monitors whether the vehicle D has entered the first monitoring area E1 or the second monitoring area E2 (S1).

[0034] When it is determined that the vehicle D has entered the monitoring area E1 or E2 (\"YES\" in S1), the vehicle position information acquisition unit 34 acquires the position information of the entered vehicle D (S2). Next, the viewpoint position specifying unit 35 specifies the corresponding viewpoint position from among those held in the viewpoint position information holding unit 32 based on the position information of the vehicle D acquired by the vehicle position information acquisition unit 34 (S3).

[0035] For example, as shown in FIG. 4, the case where the tractor d1 enters the first monitoring area E1 as the vehicle D turns left outside the building B and attempts to enter the building B will be described. In this case, based on the position information of the vehicle D, the viewpoint position specifying unit 35 specifies the viewpoint G1 that is closest to the preset reference position P inside the tractor d1 of the vehicle D from among the viewpoints G1 to G6. In the present embodiment, the reference position P is set at the rear position of the tractor d1. This reference position P is the origin used as the position information of the tractor d1 also in the travel control of the tractor d1.

[0036] Next, the bird's-eye view image generation unit 36 uses the imaging information acquired by the imaging information acquisition unit 33 to generate image information that looks down on the vehicle D that has entered the first monitoring area E1 from the position of the specified viewpoint G1 based on the information held in the camera information holding unit 31 (S4). At this time, the bird's-eye view image generation unit 36 uses the imaging information of the first monitoring area E1 captured by the first monitoring camera device 10-1 and the third monitoring camera device 10-3 among the imaging information acquired by the imaging information acquisition unit 33. An example of the bird's-eye view image information generated by the bird's-eye view image generation unit 36 is shown in FIG. 5.

[0037] Also, as shown in FIG. 6, the case where the vehicle D is about to leave while turning right inside the building B and the tractor d1 enters the second monitoring area E2 will be described. In this case, the viewpoint position specifying unit 35 specifies the viewpoint F1 that is closest to the rear position P of the tractor d1 of the vehicle D among the viewpoints F1 to F6 based on the position information of the vehicle D (S3).

[0038] Then, the bird's-eye view image generation unit 36 uses the imaging information acquired by the imaging information acquisition unit 33 to generate image information that looks down on the vehicle D that has entered the second monitoring area E2 from the position of the viewpoint F1 specified by the viewpoint position specifying unit 35 from an obliquely upward direction (S4). At this time, the bird's-eye view image generation unit 36 uses the imaging information of the second monitoring area E2 captured by the second monitoring camera device 10-2 and the third monitoring camera device 10-3 among the imaging information acquired by the imaging information acquisition unit 33. An example of the bird's-eye view image information generated by the bird's-eye view image generation unit 36 is shown in FIG. 7.

[0039] The bird's-eye view image information generated by the bird's-eye view image generation unit 36 is output to the remote monitoring device 40 by the output unit 37. The remote monitoring device 40 displays the bird's-eye view image information output from the vehicle bird's-eye view image generation device 30 on the display unit 41.

[0040] The bird's-eye view image information generated by the vehicle bird's-eye view image generation device 30 is updated at predetermined time intervals based on the position information of the vehicle D that changes due to the running of the vehicle D.

[0041] When the overhead image information is displayed on the display unit 41 of the remote monitoring device 40, the monitor can recognize the situation around the vehicle D approaching the opening C by visually checking the displayed information, and monitor whether the vehicle body or the loaded cargo can enter and exit the building B without contacting the opening C. Since the image information displayed here is the overhead image information viewed from the viewpoint closest to the reference position P at the rear of the tractor d1, the trailer d2 towed by the tractor d1 enters the shooting angle with high accuracy. Therefore, the monitor can appropriately monitor whether the cargo loaded on the trailer d2 may contact the opening C. When the monitor determines that there is a possibility that the vehicle body or the loaded cargo of the vehicle D may contact the opening C, the monitor can perform driving operations such as stopping the vehicle D or changing the driving direction.

[0042] Further, the determination unit 42 of the remote monitoring device 40 may analyze the acquired overhead image information to recognize the situation around the vehicle D and determine whether there is a possibility that the vehicle body or the loaded cargo of the vehicle D may contact the opening C which is the entrance / exit. Then, when the determination unit 42 determines that there is a possibility that the vehicle body or the loaded cargo of the vehicle D may contact the opening C, the driving instruction unit 43 may transmit a driving instruction to stop the vehicle D or change the driving direction to the vehicle D. By configuring in this way, the labor of monitoring the vehicle entering and exiting the building can be reduced.

[0043] According to the above embodiment, the vehicle overhead image generation device 30 can generate image information for accurately monitoring the situation around the vehicle D entering and exiting the building B. At this time, the vehicle overhead image generation device 30 can generate overhead image information of the vehicle D from an obliquely upward direction, so that the area around the vehicle D can be monitored without dead angles.

[0044] Also, in the above-described embodiment, since the monitoring camera devices 10-1, 10-2, and 10-3 and the vehicle overhead image generation device 30 are connected by wired communication, imaging information with a large amount of information can be transmitted to the vehicle overhead image generation device 30 in real time. As a result, the overhead image generated by the vehicle overhead image generation device 30 from the imaging information can be provided to the monitor in real time.

[0045] Also, in the above-described embodiment, since monitoring areas are set both outside and inside the building B, it is possible to monitor the situations around both the vehicles entering the building B and the vehicles leaving the building B.

[0046] Also, in the above-described embodiment, the case where the vehicle D is an automated guided vehicle has been described, but it is not limited to this, and it may be a vehicle driven by a human. In this case, a display device may be installed in the vehicle, and the overhead image information generated by the vehicle overhead image generation device 30 may be transmitted to the vehicle D and displayed on the display device. By displaying the overhead image information on the display device installed in the vehicle, the driver of the vehicle can visually recognize the overhead image information and confirm whether there is a risk that the vehicle body or the loaded cargo of the vehicle may come into contact with the opening C.

[0047] Also, in the above-described embodiment, the case where the vehicle position information acquisition unit 34 acquires the position information of the vehicle D based on the information held in the camera information holding unit 31 and the information acquired by the imaging information acquisition unit 33 has been described. However, it is not limited to this, and the vehicle D may be equipped with a vehicle position acquisition means such as GPS (Global Positioning System), and the vehicle position information acquisition unit 34 may acquire and use the position information of the vehicle D acquired by this vehicle position acquisition means.

[0048] Although several embodiments have been described, it is possible to modify or deform the embodiments based on the above disclosure. All the components of the above embodiments and all the features described in the claims may be extracted and combined individually as long as they do not conflict with each other.

Description of Reference Numerals

[0049] 1 Surveillance system 10-1 First surveillance camera device 10-2 Second surveillance camera device 10-3 Third surveillance camera device 20 Communication line 30 Vehicle overhead image generation device 31 Camera information holding section 32 Viewpoint position information holding section 33 Imaging information acquisition section 34 Vehicle position information acquisition section 35 Viewpoint position specifying section 36 Overhead image generation section 37 Output section 40 Remote surveillance device 41 Display section

Claims

1. It is installed at a position higher than the upper part of the vehicle to be monitored and is connected to a plurality of surveillance camera devices that photograph a surveillance area near the entrance of the building to be monitored. A viewpoint position information holding unit that holds information on a plurality of preset viewpoint positions overlooking the surveillance area. An imaging information acquisition unit that acquires imaging information captured by the plurality of surveillance camera devices. A vehicle position information acquisition unit that acquires the position information of the vehicle. A viewpoint position specifying unit that, when the vehicle enters the surveillance area, specifies a corresponding viewpoint position from among those held in the viewpoint position information holding unit based on the position information of the vehicle acquired by the vehicle position information acquisition unit. An overhead image generation unit that generates image information that looks down on the vehicle that has entered the surveillance area from the viewpoint position specified by the viewpoint position specifying unit using the imaging information acquired by the imaging information acquisition unit. A vehicle overhead image generation device comprising the same.

2. The vehicle overhead image generation device according to claim 1, wherein the surveillance camera device is connected by wire.

3. The vehicle overhead image generation device according to claim 1 or 2, wherein the surveillance area includes a first surveillance area near the entrance outside the building and a second surveillance area near the entrance inside the building.

4. The vehicle is composed of a towing vehicle and a towed vehicle on which cargo is loaded. When the towing vehicle enters the surveillance area, the viewpoint position specifying unit specifies, from among those held in the viewpoint position information holding unit, the viewpoint position closest to a predetermined position of the towing vehicle based on the position information of the vehicle acquired by the vehicle position information acquisition unit. The vehicle overhead image generation device according to any one of claims 1 to 3.

5. A vehicle overhead image generation device according to any one of claims 1 to 4, and a surveillance device communicatively connected to the vehicle overhead image generation device. The vehicle is a transport vehicle that loads and transports cargo. The vehicle overhead image generation device Further includes an output unit that outputs the image information generated by the overhead image generation unit to the surveillance device. The surveillance device A determination unit that analyzes the overhead image information acquired from the vehicle overhead image generation device to recognize the situation around the vehicle and determine whether there is a risk that the vehicle body or the loaded cargo of the vehicle may come into contact with the entrance. A monitoring system comprising a driving instruction unit that transmits a driving instruction to stop the vehicle or change the driving direction to the vehicle when the determination unit determines that there is a risk of the vehicle body or the load of the vehicle coming into contact with the entrance / exit.

6. A vehicle overhead image generation device connected to a plurality of monitoring camera devices installed at a position higher than the upper part of the vehicle to be monitored and photographing a monitoring area near the entrance / exit of the building to be monitored, A viewpoint position information holding step of holding information on a plurality of preset viewpoint positions overlooking the monitoring area; An imaging information acquisition step of acquiring imaging information captured by the plurality of monitoring camera devices; A vehicle position information acquisition step of acquiring the position information of the vehicle; A viewpoint position specifying step of specifying a corresponding viewpoint position from among those held in the viewpoint position information holding step based on the vehicle position information acquired in the vehicle position information acquisition step when the vehicle enters the monitoring area; An overhead image generation method comprising an overhead image generation step of generating image information obtained by overlooking the vehicle that has entered the monitoring area from the viewpoint position specified in the viewpoint position specifying step using the imaging information acquired in the imaging information acquisition step.

Images