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WO2018180200A1 - Monitoring system and monitoring method - Google Patents

Monitoring system and monitoring method Download PDF

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Publication number
WO2018180200A1
WO2018180200A1 PCT/JP2018/008015 JP2018008015W WO2018180200A1 WO 2018180200 A1 WO2018180200 A1 WO 2018180200A1 JP 2018008015 W JP2018008015 W JP 2018008015W WO 2018180200 A1 WO2018180200 A1 WO 2018180200A1
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WO
WIPO (PCT)
Prior art keywords
cameras
video
control unit
monitoring system
train
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PCT/JP2018/008015
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French (fr)
Japanese (ja)
Inventor
辰行 澤野
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株式会社日立国際電気
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Priority to JP2019509055A priority Critical patent/JP6781822B2/en
Publication of WO2018180200A1 publication Critical patent/WO2018180200A1/en

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    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00Special procedures for taking photographs; Apparatus therefor
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B7/00Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/28Circuitry to measure or to take account of the object contrast
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70Circuitry for compensating brightness variation in the scene
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a technique for shifting the exposure time of each camera in a plurality of cameras and preventing an omission of shooting of an event occurring outside the exposure time.
  • the camera repeats the operation of closing the shutter after a predetermined exposure time and moving to the next exposure time. Since the arc indicated by symbol A emitted during the exposure time, it can be taken with a camera. On the other hand, the arc indicated by the symbol B emits light outside the exposure time and cannot be photographed by the camera.
  • an object of the present invention is to make it possible to more reliably capture an event that occurs in an instant as described above.
  • the monitoring system of the present invention includes a plurality of cameras that shoot a monitoring target, a control unit that controls the plurality of cameras so that the exposure times of the plurality of cameras are continuous and continuous, and images of the plurality of cameras as time information. And a video recording unit that records the video as a continuous video.
  • the image processing unit further includes an image processing unit that calculates an average luminance value of a predetermined region of the images of the plurality of cameras and notifies the control unit of alarm information when the predetermined luminance is equal to or greater than a preset threshold, and the control unit receives the received alarm It is preferable to record the information together with the video in the video recording unit.
  • the image processing unit transmits the calculated average luminance value to the control unit, and the control unit records the average luminance value together with the video in the video recording unit.
  • a display unit that displays the video recorded in the video recording unit together with information on the average luminance value.
  • a plurality of cameras are installed on the train so as to photograph a pantograph of the train.
  • control unit obtains the train position information when the video is shot and records it in the video recording unit together with the video.
  • the monitoring method of the present invention is a monitoring method for monitoring a pantograph of a train, wherein the exposure times of a plurality of cameras are controlled so that the exposure times of a plurality of cameras are continuous and photographed by the plurality of cameras.
  • the recorded video is recorded in the video storage unit as a continuous video based on the time information.
  • an event that occurs in an instant such as the occurrence of an arc, can be captured more reliably.
  • Example 1 First, the principle of a monitoring system according to an embodiment of the present invention will be described. As shown in FIG. 1, the arc A can be taken with one camera 1, but the arc B outside the exposure time cannot be taken. Therefore, by assigning the time outside the exposure time of the camera 1 to the exposure time of another camera 2, the time outside the exposure time seen in the entire system is eliminated. This makes it possible to always take a pantograph.
  • FIG. 2 shows a configuration example of a monitoring system as one embodiment of the present invention.
  • Cameras 1 to 3 are installed on the upper part of the roof of the train and photograph the contact portion between the pantograph and the overhead line.
  • the cameras 1 to 3 preferably shoot the entire pantograph.
  • the cameras 1 to 3 may be arranged in the same direction with respect to the pantograph, or may be installed so as to shoot from different directions.
  • the HUB 11 is a device that relays / transfers data on a network to devices connected by a LAN (Local Area Network) cable.
  • the encoders 12 to 14 are devices that convert communication between the cameras 1 to 3 and other devices and convert the video of the camera into a network, respectively.
  • the image processing control unit 15 is a device that detects the occurrence of an excessive arc by recognizing the luminance in the screen by image processing when an arc is generated in the pantograph being photographed.
  • the image processing control unit 15 presets a region of interest X in which the contact portion between the pantograph and the overhead line in the photographed image is photographed for each of the cameras 1 to 3. A luminance value for each pixel is detected, and an average luminance value of the region of interest X is calculated for each frame or for each predetermined frame. When the calculated average luminance value is equal to or greater than a preset threshold value, the image processing control unit 15 determines that an excessive arc has occurred and notifies the control unit 16 of alarm information. In addition, the image processing control unit 15 transmits the calculated average luminance value to the control unit 16.
  • the control unit 16 is a control unit that controls the entire monitoring system, and controls a synchronization signal generator 17 (to be described later) so as to shift the exposure times of a plurality of cameras installed. That is, the control unit 16 controls the plurality of cameras 1 to 3 so that the exposure times of the plurality of cameras 1 to 3 are continuous with no omission. Specifically, the control signal is transmitted to the synchronization signal generator 18. Further, the control unit 16 receives alarm information (excessive arc detection information) from the image processing control unit 15 and issues a recording instruction to the network digital recorder 17 described later.
  • the control unit 16 is realized by a CPU or a personal computer, for example.
  • a network digital recorder (NDR in the figure, registered trademark) 17 receives the alarm of occurrence of an excessive arc from the control unit 16 and records the images of the cameras 1 to 3. Further, the NDR 17 rearranges the frames of the cameras 1 to 3 in order of time and composes them into one video. That is, the NDR 17 records the videos from the plurality of cameras 1 to 3 as continuous videos based on the time information. Further, the NDR 17 always records video from the cameras 1 to 3, and when receiving an alarm of occurrence of an excessive arc from the control unit 16, a storage unit for recording the synthesized video from a preset predetermined time before Write to.
  • the storage unit for recording may be, for example, a removable storage device, such as a solid state drive (SSD) or a hard disk drive (HDD).
  • the synchronization signal generator 18 receives control from the control unit 16 and controls the plurality of cameras 1 to 3 so that the exposure time is shifted. Specifically, signals for controlling the exposure time, shutter timing, etc. are transmitted to the cameras 1 to 3, respectively.
  • the office PC (Personal computer) 19 extracts the recorded data from the NDR from the NDR using the removable storage device or an external medium such as a USB (Universal Serial Bus) memory, and records the excessive data. This is to check the video when the arc occurs.
  • the control unit 16 controls the synchronization signal generator 17 so that the exposure time of the installed cameras 1 to 3 is shifted so that the cameras 1 to 3 do not overlap each other and the synchronization signal is transmitted.
  • the synchronization signal generator 17 transmits a synchronization signal to the cameras 1 to 3 so that the exposure time is shifted.
  • the exposure time is set to 1/100 sec (every 10 ms) at 1/30 sec (about 33.3 ms) of the video, and the exposure times of the cameras 1 to 3 are set so as not to overlap each other within about 33.3 ms.
  • the exposure times of the cameras 1 to 3 do not overlap, so that the system loses the time outside the exposure time and does not fail to record the moment of arc occurrence. That is, the arc A cannot be taken by the cameras 1 and 3, but can be taken by the camera 2. The arc B cannot be taken by the cameras 1 and 2, but can be taken by the camera 3.
  • Time information is added to the images taken by the cameras 1 to 3 by the encoders 12 to 14, respectively.
  • the NDR 17 rearranges the images based on the time information of the videos and combines them into one video. Thereby, for example, when the recorded video of the NDR 17 is browsed by the control unit 16, it is displayed as one video. When the recorded video is extracted by an external medium and viewed on the office PC 19, it is displayed as one video in the same manner.
  • control unit 16 can store the average brightness value calculated by the image processing control unit 15, information about the train as train operation information, GPS (Global Positioning System) position information, and the like in the NDR 17 together with the video. preferable.
  • the average luminance value at the time of video shooting and the interval information are linked and stored in the NDR 17. Therefore, when displaying the video of the NDR 17 directly or taking out, the time, average luminance value, interval information, and GPS position information stored in association with the video can be displayed together with the video. Furthermore, it is possible to search for an image based on the time, average luminance value, interval information, and GPS position information.
  • FIG. 5 shows an example in which the video taken out from the NDR 17 is displayed on the display unit 19a of the office PC 19.
  • a video is displayed in the center of the screen 17a, and the search condition 17c when the search is performed with the operation icon 17b is displayed together with the video.
  • the screen 17a is provided with a luminance value display area 17d for displaying an average luminance value of the displayed video with an indicator.
  • the display method of the average luminance value information is not limited to the example of FIG. 5, and the value itself may be displayed.
  • the controller 16 changes the exposure time (shutter speed) of the cameras 1 to 3 from 1/100 sec to 1/30 sec (33.3 ms) in FIG. 4, exposure is performed for the time of one frame of video. The other two cameras no longer need to compensate outside the exposure time. The next frame is shot by another camera, and the camera is switched. If the shutter speed is 1/60 sec (16.7 ms), one frame of video can be shot with two cameras. Thus, the control unit 16 may change the setting of the exposure time (shutter speed) of the cameras 1 to 3. In this case, the control unit 16 controls the NDR 17 to change the number of cameras to be recorded from three to one or two.
  • control unit 16 controls the number of cameras that record video on the NDR 17 in accordance with the exposure time (shutter speed) set for the cameras 1 to 3.
  • exposure time shutter speed
  • the control unit 16 controls the number of cameras that record video on the NDR 17 in accordance with the exposure time (shutter speed) set for the cameras 1 to 3.
  • FIG. 6 shows a configuration example of a monitoring system as another embodiment of the present invention. 6 differs from FIG. 2 in the camera 1a and the camera 3a.
  • the camera 1a is equipped with an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) that has a short time from the exposure until the video signal is output. It has a function of outputting a signal.
  • the camera 3a can capture a high brightness subject such as an arc without saturating the signal by inputting the high brightness detection signal output from the camera 1a as an exposure signal.
  • CMOS Complementary Metal Oxide Semiconductor
  • the camera 1a starts outputting a video signal after 1H (scanning line), and outputs an exposure signal as a high-intensity detection signal to the camera 3a when a high-intensity signal such as an arc is detected.
  • the camera 3a performs exposure based on the exposure signal output from the camera 1a, and outputs an image signal after one field.
  • the camera 3a does not output an image signal unless an exposure signal is input.
  • the exposure time may be determined in advance using the exposure signal output from the camera 1a as a trigger signal.
  • the monitoring system of this example can shoot a subject including high luminance with the camera 1a, and can shoot a high luminance subject such as an arc without saturating the signal with the camera 3a.
  • the monitoring system can capture an event that occurs in an instant, such as the occurrence of an arc, more reliably.
  • the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
  • the monitoring system captures the contact portion between the pantograph and the overhead line of the vehicle and monitors the arc
  • the present invention is not limited to the application to the arc of a pantograph, and as described in the problem column to be solved by the invention, monitors events that occur instantaneously outside the camera exposure time and cannot be photographed. Can be applied to all.
  • the present invention can also be provided, for example, as a method or method for executing the processing according to the present invention, a program for realizing such a method or method, or a storage medium for storing the program.
  • the image processing control unit 15 and the control unit 16 may be realized by executing a predetermined program on a computer. That is, for example, the processor of the computer constituting the image processing control unit 15 or the control unit 16 reads out a program stored in a data storage device such as a hard disk or a flash memory and executes the program, thereby controlling the image processing.
  • the unit 15 and the control unit 16 may be realized.
  • the monitoring system and the monitoring method of the present invention have the following features, for example.
  • a plurality of cameras that shoot the monitoring target a control unit that controls the plurality of cameras so that the exposure times of the plurality of cameras are continuous without omissions, and images of the plurality of cameras that are continuous based on time information
  • a surveillance system comprising a video recording unit that records video.
  • An average luminance value of a predetermined area of the images of the plurality of cameras is calculated, and further includes an image processing unit that notifies the control unit of alarm information when the predetermined luminance is equal to or higher than a preset threshold, and the control unit receives
  • the monitoring system wherein the image processing unit transmits the calculated average luminance value to the control unit, and the control unit records the average luminance value together with the video in the video recording unit.
  • the monitoring system further comprising a display unit for displaying the video recorded in the video recording unit together with the information on the average luminance value.
  • the monitoring system wherein the plurality of cameras are installed in the train so as to take a pantograph of the train.
  • control unit acquires position information of the train when the video is shot, and records the train information together with the video in the video recording unit.
  • a monitoring method for monitoring a pantograph of a train wherein the exposure times of the plurality of cameras are controlled so that the exposure times of the cameras are continuous without omission, and images taken by the plurality of cameras are based on time information It is characterized by being recorded in the video storage unit as a continuous video.
  • the present invention can be used in a monitoring system that captures an instantaneous event such as an arc.
  • 1, 2, 3, 1a, 3a camera, 11: HUB, 12, 13, 14: encoder, 15: image processing control unit, 16: control unit, 17: NDR, 18: synchronization signal generator, 19: office work PC.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Closed-Circuit Television Systems (AREA)
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  • Indication In Cameras, And Counting Of Exposures (AREA)
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Abstract

The present invention relates to technology for staggering the exposure times of each of a plurality of cameras, thereby preventing photographing omission of an event that occurs outside the exposure time, and the purpose thereof is to enable an event occurring in an instant to be more reliably photographed. This monitoring system is characterized by being provided with: a plurality of cameras that photograph an object to be monitored; a control unit that controls the plurality of cameras such that the exposure times of the plurality of cameras are continuous without omission; and a video recording unit that records, as continuous videos, videos taken by the plurality of cameras on the basis of time information.

Description

監視システム、及び、監視方法Monitoring system and monitoring method
 本発明は、複数台のカメラにおいて各カメラの露光時間をずらし、露光時間外に発生する事象の撮影漏れを防止する技術に関するものである。 The present invention relates to a technique for shifting the exposure time of each camera in a plurality of cameras and preventing an omission of shooting of an event occurring outside the exposure time.
 近年、カメラの性能向上や、映像処理技術の向上により、監視カメラで監視する対象が増えている。その中で、列車の状態として車輪やパンタグラフを監視したいというニーズがある。
 走行中の列車にカメラを設置してパンタグラフの異常を監視する場合、パンタグラフと架線の間に発生するアークも撮影することが必要になる。過大なアークは異常の現れであることから、パンタグラフを監視する場合はアークを撮影することが求められる。
 なお、下記先行特許文献には、明部と暗部の階調幅の大きい被写体を正確に撮影するために、被写体照度に拘らず、カメラの撮像素子からの信号レベルが時間的、周期的に変化するように絞りやシャッタ速度を変化させる技術が記載されている。
In recent years, the number of objects to be monitored by a surveillance camera is increasing due to the improvement of camera performance and the improvement of video processing technology. Among them, there is a need to monitor wheels and pantographs as the state of the train.
When monitoring a pantograph abnormality by installing a camera on a running train, it is also necessary to take an image of the arc generated between the pantograph and the overhead line. Since an excessive arc is a manifestation of an abnormality, it is required to image the arc when monitoring a pantograph.
In the following prior art document, in order to accurately photograph a subject with a large gradation width between bright and dark portions, the signal level from the image sensor of the camera changes temporally and periodically regardless of subject illuminance. Thus, a technique for changing the aperture and shutter speed is described.
特開2005-094814号公報Japanese Patent Laid-Open No. 2005-094814
 ここで、パンタグラフのアークは一瞬であるため、発生のタイミングによっては撮影できない場合があり、撮影できた際に初めてアークが発生していたことがわかるのが現状である。撮影できない理由としては、カメラの露光時間外にアークが発生したことが挙げられる。
 図8を参照しながら詳細に説明すると、カメラは、所定の露光時間の後、シャッタを閉じ、次の露光時間に移るという動作を繰り返している。符号Aで示すアークは露光時間中に発光したのでカメラで撮影することができる。一方、符号Bで示すアークは露光時間外で発光したのでカメラで撮影することができない。このように、従来の技術では、露光時間外に過大アークが発生した場合、過大アークを撮影できていないために見落とす可能性があった。これにより、パンタグラフの損傷に気づかず、列車の走行に影響を及ぼすことにつながる。
 一瞬に発生する事象の例としてパンタグラフのアークをあげたが、これに限らず、列車の車輪とレールとの間の火花や、列車に限らず金属同士が接触して火花が発生する場面や、2つの物体間の電位差によりスパークが発生する場面や、2極間に電気放電が発生してアークが発生する様々な場面を監視する際にも同様の課題が生じる。
 そこで、本発明は、上述のように一瞬のうちに発生する事象をより確実に撮影できるようにすることを目的とする。
Here, since the arc of the pantograph is instantaneous, it may not be possible to shoot depending on the timing of the occurrence, and it is now known that the arc was generated for the first time when the shoot was possible. The reason why photography is not possible is that an arc occurred outside the exposure time of the camera.
Describing in detail with reference to FIG. 8, the camera repeats the operation of closing the shutter after a predetermined exposure time and moving to the next exposure time. Since the arc indicated by symbol A emitted during the exposure time, it can be taken with a camera. On the other hand, the arc indicated by the symbol B emits light outside the exposure time and cannot be photographed by the camera. As described above, according to the conventional technique, when an excessive arc occurs outside the exposure time, the excessive arc may not be photographed and may be overlooked. As a result, damage to the pantograph is not noticed, leading to an influence on the running of the train.
Although the pantograph arc was given as an example of an event that occurs instantaneously, this is not the only case, and there are sparks between the train wheels and rails, not only in the train but also in situations where sparks occur when metals touch each other, A similar problem occurs when monitoring a scene where a spark is generated due to a potential difference between two objects or various scenes where an electric discharge is generated between two poles and an arc is generated.
Accordingly, an object of the present invention is to make it possible to more reliably capture an event that occurs in an instant as described above.
 本発明の監視システムは、監視対象を撮影する複数のカメラと、複数のカメラの露光時間に抜けが無く連続するように複数のカメラを制御する制御部と、複数のカメラの映像を時刻情報に基づいて連続した映像として記録する映像記録部とを備えたことを特徴とする。 The monitoring system of the present invention includes a plurality of cameras that shoot a monitoring target, a control unit that controls the plurality of cameras so that the exposure times of the plurality of cameras are continuous and continuous, and images of the plurality of cameras as time information. And a video recording unit that records the video as a continuous video.
 また、複数のカメラの映像の所定領域の平均輝度値を算出し、予め設定された閾値以上である場合にはアラーム情報を制御部に通知する画像処理部をさらに備え、制御部は受信したアラーム情報を映像とともに映像記録部に記録することが好ましい。 In addition, the image processing unit further includes an image processing unit that calculates an average luminance value of a predetermined region of the images of the plurality of cameras and notifies the control unit of alarm information when the predetermined luminance is equal to or greater than a preset threshold, and the control unit receives the received alarm It is preferable to record the information together with the video in the video recording unit.
 また、画像処理部は算出した平均輝度値を制御部に送信し、制御部は映像とともに平均輝度値を映像記録部に記録することが好ましい。 Further, it is preferable that the image processing unit transmits the calculated average luminance value to the control unit, and the control unit records the average luminance value together with the video in the video recording unit.
 また、映像記録部に記録された映像を、平均輝度値の情報とともに表示する表示部をさらに備えることが好ましい。 Further, it is preferable to further include a display unit that displays the video recorded in the video recording unit together with information on the average luminance value.
 また、複数のカメラは列車のパンタグラフを撮影するように列車に設置されていることが好ましい。 In addition, it is preferable that a plurality of cameras are installed on the train so as to photograph a pantograph of the train.
 また、制御部は映像が撮影されたときの列車の位置情報を取得し、映像とともに映像記録部に記録することが好ましい。 Also, it is preferable that the control unit obtains the train position information when the video is shot and records it in the video recording unit together with the video.
 さらに、本発明の監視方法は、列車のパンタグラフを監視する監視方法であって、複数のカメラの露光時間に抜けが無く連続するように複数のカメラの露光時間を制御し、複数のカメラが撮影した映像を時刻情報に基づいて連続した映像として映像記憶部に記録することを特徴とする。 Furthermore, the monitoring method of the present invention is a monitoring method for monitoring a pantograph of a train, wherein the exposure times of a plurality of cameras are controlled so that the exposure times of a plurality of cameras are continuous and photographed by the plurality of cameras. The recorded video is recorded in the video storage unit as a continuous video based on the time information.
 本発明によれば、例えばアークの発生のように、一瞬のうちに発生する事象をより確実に撮影することができる。 According to the present invention, an event that occurs in an instant, such as the occurrence of an arc, can be captured more reliably.
本発明の一実施形態に係る監視システムの原理を説明するための図である。It is a figure for demonstrating the principle of the monitoring system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る監視システムの構成例を示す図である。It is a figure which shows the structural example of the monitoring system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る監視システムの画像処理制御部の処理を説明するための図である。It is a figure for demonstrating the process of the image processing control part of the monitoring system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る監視システムの処理を説明するための図である。It is a figure for demonstrating the process of the monitoring system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る監視システムの画面表示例を示す図である。It is a figure which shows the example of a screen display of the monitoring system which concerns on one Embodiment of this invention. 本発明の他の一実施形態に係る監視システムの構成例を示す図である。It is a figure which shows the structural example of the monitoring system which concerns on other one Embodiment of this invention. 本発明の他の一実施形態に係る監視システムの処理を説明するための図である。It is a figure for demonstrating the process of the monitoring system which concerns on other one Embodiment of this invention. 従来の問題点を説明するための図である。It is a figure for demonstrating the conventional problem.
 以下に、本発明の一実施形態について、図面を参照して説明する。
 (実施例1)
 まず、本発明の一実施形態に係る監視システムの原理を説明する。図1に示すように、1台のカメラ1ではアークAは撮影できるが露光時間外のアークBは撮影することができない。そこで、カメラ1の露光時間外の時間を別のカメラ2の露光時間に割り当てることで、システム全体で見た露光時間外の時間をなくす。これにより、常にパンタグラフを撮影することが可能となる。
An embodiment of the present invention will be described below with reference to the drawings.
Example 1
First, the principle of a monitoring system according to an embodiment of the present invention will be described. As shown in FIG. 1, the arc A can be taken with one camera 1, but the arc B outside the exposure time cannot be taken. Therefore, by assigning the time outside the exposure time of the camera 1 to the exposure time of another camera 2, the time outside the exposure time seen in the entire system is eliminated. This makes it possible to always take a pantograph.
 図2に本発明の一実施形態としての監視システムの構成例を示す。
 カメラ1~3は、列車の屋根上部に設置され、パンタグラフと架線との接触部分を撮影する。カメラ1~3はパンタグラフ全体を撮影することが好ましい。カメラ1~3はパンタグラフに対して同一方向に並べられていても良いし、異なる方向から撮影するように設置されていてもよい。
FIG. 2 shows a configuration example of a monitoring system as one embodiment of the present invention.
Cameras 1 to 3 are installed on the upper part of the roof of the train and photograph the contact portion between the pantograph and the overhead line. The cameras 1 to 3 preferably shoot the entire pantograph. The cameras 1 to 3 may be arranged in the same direction with respect to the pantograph, or may be installed so as to shoot from different directions.
 HUB11は、LAN(Local Area Network)ケーブルで接続されている機器に対してネットワーク上でデータの中継・転送を行う機器である。
 エンコーダ12~14は、それぞれ、カメラ1~3と他機器間の通信及びカメラの映像をネットワークに変換する機器である。
 画像処理制御部15は、撮影しているパンタグラフでアークが発生すると、画面内の輝度を画像処理で認識し、過大アークが発生したことを検知する機器である。
The HUB 11 is a device that relays / transfers data on a network to devices connected by a LAN (Local Area Network) cable.
The encoders 12 to 14 are devices that convert communication between the cameras 1 to 3 and other devices and convert the video of the camera into a network, respectively.
The image processing control unit 15 is a device that detects the occurrence of an excessive arc by recognizing the luminance in the screen by image processing when an arc is generated in the pantograph being photographed.
 図3に示すように、画像処理制御部15は、カメラ1~3毎に撮影画像中のパンタグラフと架線との接触部分が撮影されている着目領域Xを予め設定されており、着目領域Xの画素ごとの輝度値を検出し、着目領域Xの平均輝度値をフレームごと、あるいは、所定フレームごとに算出する。そして、画像処理制御部15は、算出した平均輝度値が予め設定された閾値以上である場合、過大アークが発生したと判断してアラーム情報を制御部16に通知する。
 また、画像処理制御部15は、算出した平均輝度値を制御部16に送信する。
As shown in FIG. 3, the image processing control unit 15 presets a region of interest X in which the contact portion between the pantograph and the overhead line in the photographed image is photographed for each of the cameras 1 to 3. A luminance value for each pixel is detected, and an average luminance value of the region of interest X is calculated for each frame or for each predetermined frame. When the calculated average luminance value is equal to or greater than a preset threshold value, the image processing control unit 15 determines that an excessive arc has occurred and notifies the control unit 16 of alarm information.
In addition, the image processing control unit 15 transmits the calculated average luminance value to the control unit 16.
 制御部16は、本監視システム全体を制御する制御部であり、後述する同期信号発生器17に対して、設置している複数台のカメラの露光時間をずらすように制御する。つまり、制御部16は、複数のカメラ1~3の露光時間に抜けが無く連続するように複数のカメラ1~3を制御する。具体的にはその制御信号を同期信号発生器18に送信する。
 さらに、制御部16は、画像処理制御部15からのアラーム情報(過大アーク検知情報)を受けて、後述するネットワークデジタルレコーダ17に録画指示を出す。制御部16は例えばCPUやパソコンによって実現される。
The control unit 16 is a control unit that controls the entire monitoring system, and controls a synchronization signal generator 17 (to be described later) so as to shift the exposure times of a plurality of cameras installed. That is, the control unit 16 controls the plurality of cameras 1 to 3 so that the exposure times of the plurality of cameras 1 to 3 are continuous with no omission. Specifically, the control signal is transmitted to the synchronization signal generator 18.
Further, the control unit 16 receives alarm information (excessive arc detection information) from the image processing control unit 15 and issues a recording instruction to the network digital recorder 17 described later. The control unit 16 is realized by a CPU or a personal computer, for example.
 ネットワークデジタルレコーダ(図中NDR、登録商標)17は、制御部16より過大アーク発生のアラームを受けて、カメラ1~3の映像を録画するものである。また、NDR17は、カメラ1~3の各フレームを時刻順に並び替えて1つの映像に合成する。つまり、NDR17は、複数のカメラ1~3の映像を時刻情報に基づいて連続した映像として記録する。
 また、NDR17は、カメラ1~3からの映像を常に記録しており、制御部16から過大アーク発生のアラームを受けると、予め設定されている所定時間前からの合成映像を録画用の記憶部に書込む。録画用の記憶部は例えば取り外し可能な記憶装置であってもよく、SSD(Solid State Drive)やHDD(Hard Disk Drive)などである。
A network digital recorder (NDR in the figure, registered trademark) 17 receives the alarm of occurrence of an excessive arc from the control unit 16 and records the images of the cameras 1 to 3. Further, the NDR 17 rearranges the frames of the cameras 1 to 3 in order of time and composes them into one video. That is, the NDR 17 records the videos from the plurality of cameras 1 to 3 as continuous videos based on the time information.
Further, the NDR 17 always records video from the cameras 1 to 3, and when receiving an alarm of occurrence of an excessive arc from the control unit 16, a storage unit for recording the synthesized video from a preset predetermined time before Write to. The storage unit for recording may be, for example, a removable storage device, such as a solid state drive (SSD) or a hard disk drive (HDD).
 同期信号発生器18は、制御部16からの制御を受け、複数台のカメラ1~3に対して、露光時間がずれるように制御するものである。具体的には露光時間、シャッタータイミング等を制御する信号をカメラ1~3それぞれに送信する。
 事務所PC(Personal computer)19は、NDRからの録画されたデータを上記取り外し可能な記憶装置、あるいは、USB(Universal Serial Bus)メモリ等の外部媒体を使用してNDRから抽出し、録画した過大アーク発生時の映像を確認するものである。
The synchronization signal generator 18 receives control from the control unit 16 and controls the plurality of cameras 1 to 3 so that the exposure time is shifted. Specifically, signals for controlling the exposure time, shutter timing, etc. are transmitted to the cameras 1 to 3, respectively.
The office PC (Personal computer) 19 extracts the recorded data from the NDR from the NDR using the removable storage device or an external medium such as a USB (Universal Serial Bus) memory, and records the excessive data. This is to check the video when the arc occurs.
 ここで、本監視システムの処理動作について図4を参照しながら説明する。
 制御部16は、同期信号発生器17に対して、設置カメラ1~3の露光時間をそれぞれのカメラ1~3で重複しないようにずらして同期信号を送信するよう制御する。
 同期信号発生器17は、制御部16からの制御を受けて、カメラ1~3に同期信号を送信し、露光時間がずれるようにする。ここでは、映像1/30sec(約33.3ms毎)で露光時間を1/100sec(10ms毎)として、約33.3msの内に、カメラ1~3の露光時間がそれぞれ重ならないように設定する。この処理によって、カメラ1~3の露光時間が重ならないため、システムとして露光時間外の時間が無くなり、アーク発生の瞬間を録画し損なうことが無くなる。つまり、アークAはカメラ1,3は撮影できないが、カメラ2が撮影することができる。また、アークBはカメラ1、2は撮影できないがカメラ3が撮影することができる。
Here, the processing operation of the present monitoring system will be described with reference to FIG.
The control unit 16 controls the synchronization signal generator 17 so that the exposure time of the installed cameras 1 to 3 is shifted so that the cameras 1 to 3 do not overlap each other and the synchronization signal is transmitted.
Under the control of the control unit 16, the synchronization signal generator 17 transmits a synchronization signal to the cameras 1 to 3 so that the exposure time is shifted. Here, the exposure time is set to 1/100 sec (every 10 ms) at 1/30 sec (about 33.3 ms) of the video, and the exposure times of the cameras 1 to 3 are set so as not to overlap each other within about 33.3 ms. As a result of this processing, the exposure times of the cameras 1 to 3 do not overlap, so that the system loses the time outside the exposure time and does not fail to record the moment of arc occurrence. That is, the arc A cannot be taken by the cameras 1 and 3, but can be taken by the camera 2. The arc B cannot be taken by the cameras 1 and 2, but can be taken by the camera 3.
 カメラ1~3で撮影した映像にエンコーダ12~14でそれぞれ時刻情報が付与される。NDR17は、映像の時刻情報を元に並び替えて1つの映像に合成する。これにより、例えば制御部16でNDR17の録画映像を閲覧する場合は、1つの映像として表示される。録画映像を外部媒体で抽出し、事務所PC19で映像を閲覧する際も同様に1つの映像として表示される。 Time information is added to the images taken by the cameras 1 to 3 by the encoders 12 to 14, respectively. The NDR 17 rearranges the images based on the time information of the videos and combines them into one video. Thereby, for example, when the recorded video of the NDR 17 is browsed by the control unit 16, it is displayed as one video. When the recorded video is extracted by an external medium and viewed on the office PC 19, it is displayed as one video in the same manner.
 さらに、制御部16は、画像処理制御部15で算出された平均輝度値と、列車の運行情報としてのキョリ程情報やGPS(Global Positioning System)位置情報などを、映像とともにNDR17に記憶させることが好ましい。これにより、映像撮影時の平均輝度値、キョリ程情報が紐づいてNDR17に記憶される。したがって、NDR17の映像を直接、または持ち出して表示する場合、映像に紐づいて保存された時刻、平均輝度値、キョリ程情報、GPS位置情報を映像とともに表示することができる。さらに、これら時刻、平均輝度値、キョリ程情報、GPS位置情報に基づいて、映像を検索することも可能になる。 Further, the control unit 16 can store the average brightness value calculated by the image processing control unit 15, information about the train as train operation information, GPS (Global Positioning System) position information, and the like in the NDR 17 together with the video. preferable. As a result, the average luminance value at the time of video shooting and the interval information are linked and stored in the NDR 17. Therefore, when displaying the video of the NDR 17 directly or taking out, the time, average luminance value, interval information, and GPS position information stored in association with the video can be displayed together with the video. Furthermore, it is possible to search for an image based on the time, average luminance value, interval information, and GPS position information.
 次に、事務所PC19における表示例を図5を参照しながら説明する。図5は、事務所PC19の表示部19aで、NDR17から持ち出した映像を表示した例を示している。画面17aの中央に映像が表示され、操作アイコン17bと検索した場合の検索条件17cが映像とともに表示される。さらに、画面17aには、表示している映像の平均輝度値をインジケータで表示する輝度値表示エリア17dが設けられている。これにより、ユーザは実際の映像だけではなく、この時の平均輝度値をインジケータで感覚的に把握することができ、異常状態を認識しやすくなる。なお、平均輝度値の情報の表示方法は、図5の例に限定されるものではなく、値そのものを表示しても良い。 Next, a display example on the office PC 19 will be described with reference to FIG. FIG. 5 shows an example in which the video taken out from the NDR 17 is displayed on the display unit 19a of the office PC 19. A video is displayed in the center of the screen 17a, and the search condition 17c when the search is performed with the operation icon 17b is displayed together with the video. Further, the screen 17a is provided with a luminance value display area 17d for displaying an average luminance value of the displayed video with an indicator. Thus, the user can grasp not only the actual video but also the average luminance value at this time by the indicator, and can easily recognize the abnormal state. Note that the display method of the average luminance value information is not limited to the example of FIG. 5, and the value itself may be displayed.
 以上のように、本実施形態によれば、パンタグラフの過大アークの発生を確実に撮影することができるため、パンタグラフや架線の損傷を事前に点検することができる。それによって、列車の安全状態を維持することができる。 As described above, according to the present embodiment, since the occurrence of an excessive arc of a pantograph can be reliably photographed, damage to the pantograph and the overhead line can be inspected in advance. Thereby, the safety state of the train can be maintained.
 なお、制御部16によって、カメラ1~3の露光時間(シャッタ速度)を図4の1/100secから1/30sec(33.3ms)に設定変更した場合、映像1フレームの時間分露光しているため、他の2台のカメラで露光時間外を補う必要がなくなる。次のフレームは別のカメラが撮影を行い、カメラを切り替えていく。また、シャッタ速度1/60 sec(16.7ms)にすると、映像1フレームは2台のカメラで撮影できる。このように制御部16はカメラ1~3の露光時間(シャッタ速度)の設定変更を行ってもよい。この場合、制御部16からNDR17に対して、録画するカメラ台数を3台から1台あるいは2台に変更する制御を行う。つまり、制御部16は、カメラ1~3に設定した露光時間(シャッタ速度)に合せてNDR17へ映像を記録するカメラ台数を制御する。これにより、録画するカメラ台数を削減でき、録画している映像の保存期間の延長、ネットワーク負荷を軽減することができる。 Note that when the controller 16 changes the exposure time (shutter speed) of the cameras 1 to 3 from 1/100 sec to 1/30 sec (33.3 ms) in FIG. 4, exposure is performed for the time of one frame of video. The other two cameras no longer need to compensate outside the exposure time. The next frame is shot by another camera, and the camera is switched. If the shutter speed is 1/60 sec (16.7 ms), one frame of video can be shot with two cameras. Thus, the control unit 16 may change the setting of the exposure time (shutter speed) of the cameras 1 to 3. In this case, the control unit 16 controls the NDR 17 to change the number of cameras to be recorded from three to one or two. That is, the control unit 16 controls the number of cameras that record video on the NDR 17 in accordance with the exposure time (shutter speed) set for the cameras 1 to 3. As a result, the number of cameras to be recorded can be reduced, the storage period of the recorded video can be extended, and the network load can be reduced.
 (実施例2)
 次に、本発明の他の一実施例について図6と図7を用いて説明する。
 図6に本発明の他の一実施形態としての監視システムの構成例を示す。
 図6の図2との違いは、カメラ1aと、カメラ3aである。
 カメラ1aは、露光してから映像信号を出力するまでの時間が短いCMOS(Complementary Metal Oxide Semiconductor)等の撮像素子を搭載して、アーク等の高輝度信号を検出した場合に外部へ高輝度検出信号を出力する機能を有する。
 カメラ3aは、カメラ1aから出力される高輝度検出信号を露光信号として入力することにより、アーク等の高輝度被写体を信号飽和させずに撮影することができる。
(Example 2)
Next, another embodiment of the present invention will be described with reference to FIGS.
FIG. 6 shows a configuration example of a monitoring system as another embodiment of the present invention.
6 differs from FIG. 2 in the camera 1a and the camera 3a.
The camera 1a is equipped with an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) that has a short time from the exposure until the video signal is output. It has a function of outputting a signal.
The camera 3a can capture a high brightness subject such as an arc without saturating the signal by inputting the high brightness detection signal output from the camera 1a as an exposure signal.
 ここで、本監視システムの他の一実施例の処理動作について図7を参照しながら説明する。
 カメラ1aは、露光を開始すると、1H(走査線)後に映像信号の出力を開始し、アーク等の高輝度信号を検出した場合にカメラ3aへ高輝度検出信号である露光信号を出力する。
 カメラ3aは、カメラ1aから出力される露光信号を基に露光を行い、1フィールド後に画像信号を出力する。なお、カメラ3aは露光信号を入力しない限り、画像信号を出力しない。
 なお、アーク等の高輝度信号のレベルがある程度分かっている場合には、カメラ1aから出力される露光信号をトリガ信号として、予め露光時間を決めておいてもよい。
 本例の監視システムは、カメラ1aで高輝度を含む被写体を撮影し、カメラ3aで例えばアーク等の高輝度被写体を信号飽和させずに撮影することができる。
Here, the processing operation of another embodiment of the monitoring system will be described with reference to FIG.
When the exposure is started, the camera 1a starts outputting a video signal after 1H (scanning line), and outputs an exposure signal as a high-intensity detection signal to the camera 3a when a high-intensity signal such as an arc is detected.
The camera 3a performs exposure based on the exposure signal output from the camera 1a, and outputs an image signal after one field. The camera 3a does not output an image signal unless an exposure signal is input.
If the level of a high luminance signal such as an arc is known to some extent, the exposure time may be determined in advance using the exposure signal output from the camera 1a as a trigger signal.
The monitoring system of this example can shoot a subject including high luminance with the camera 1a, and can shoot a high luminance subject such as an arc without saturating the signal with the camera 3a.
 本発明の実施形態である監視システムは、例えばアークの発生のように、一瞬のうちに発生する事象をより確実に撮影することができる。 The monitoring system according to the embodiment of the present invention can capture an event that occurs in an instant, such as the occurrence of an arc, more reliably.
 以上、本発明の一実施形態について詳細に説明したが、本発明は上述した実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で種々変更して実施することができる。例えば、上述した実施形態では、監視システムが車両のパンタグラフと架線との接触部分を撮影し、アークを監視する場合を例にあげて説明した。しかし、本発明はパンタグラフのアークへの適用に限定されるものではなく、発明が解決しようとする課題欄に記載した通り、カメラの露光時間外に瞬時に発生して撮影できない事象を監視するものすべてに適用することができる。 As mentioned above, although one embodiment of the present invention was described in detail, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the case where the monitoring system captures the contact portion between the pantograph and the overhead line of the vehicle and monitors the arc has been described as an example. However, the present invention is not limited to the application to the arc of a pantograph, and as described in the problem column to be solved by the invention, monitors events that occur instantaneously outside the camera exposure time and cannot be photographed. Can be applied to all.
 また、本発明は、例えば、本発明に係る処理を実行する方法や方式、このような方法や方式を実現するためのプログラムや当該プログラムを記憶する記憶媒体などとして提供することも可能である。
 一例として、画像処理制御部15や制御部16は、コンピュータ上で所定のプログラムを実行することにより実現されてもよい。すなわち、例えば、画像処理制御部15や制御部16を構成するコンピュータのプロセッサが、ハードディスクやフラッシュメモリ等のデータ記憶装置に記憶されているプログラムをメモリ上に読み出して実行することで、画像処理制御部15や制御部16を実現してもよい。
The present invention can also be provided, for example, as a method or method for executing the processing according to the present invention, a program for realizing such a method or method, or a storage medium for storing the program.
As an example, the image processing control unit 15 and the control unit 16 may be realized by executing a predetermined program on a computer. That is, for example, the processor of the computer constituting the image processing control unit 15 or the control unit 16 reads out a program stored in a data storage device such as a hard disk or a flash memory and executes the program, thereby controlling the image processing. The unit 15 and the control unit 16 may be realized.
 上述の通り、本発明の監視システム、及び、監視方法は例えば以下の特徴を備えている。
 監視対象を撮影する複数のカメラと、前記複数のカメラの露光時間に抜けが無く連続するように前記複数のカメラを制御する制御部と、前記複数のカメラの映像を時刻情報に基づいて連続した映像として記録する映像記録部とを備えたことを特徴とする、監視システム。
As described above, the monitoring system and the monitoring method of the present invention have the following features, for example.
A plurality of cameras that shoot the monitoring target, a control unit that controls the plurality of cameras so that the exposure times of the plurality of cameras are continuous without omissions, and images of the plurality of cameras that are continuous based on time information A surveillance system comprising a video recording unit that records video.
 前記複数のカメラの映像の所定領域の平均輝度値を算出し、予め設定された閾値以上である場合にはアラーム情報を前記制御部に通知する画像処理部をさらに備え、前記制御部は受信した前記アラーム情報を前記映像とともに前記映像記録部に記録することを特徴とする、上記監視システム。 An average luminance value of a predetermined area of the images of the plurality of cameras is calculated, and further includes an image processing unit that notifies the control unit of alarm information when the predetermined luminance is equal to or higher than a preset threshold, and the control unit receives The monitoring system according to claim 1, wherein the alarm information is recorded together with the video in the video recording unit.
 前記画像処理部は、算出した平均輝度値を前記制御部に送信し、前記制御部は、前記映像とともに前記平均輝度値を前記映像記録部に記録することを特徴とする、上記監視システム。 The monitoring system, wherein the image processing unit transmits the calculated average luminance value to the control unit, and the control unit records the average luminance value together with the video in the video recording unit.
 前記映像記録部に記録された映像を、前記平均輝度値の情報とともに表示する表示部をさらに備えたことを特徴とする、上記監視システム。 The monitoring system according to claim 1, further comprising a display unit for displaying the video recorded in the video recording unit together with the information on the average luminance value.
 前記複数のカメラは列車のパンタグラフを撮影するように前記列車に設置されていることを特徴とする、上記監視システム。 The monitoring system, wherein the plurality of cameras are installed in the train so as to take a pantograph of the train.
 前記制御部は、前記映像が撮影されたときの前記列車の位置情報を取得し、前記映像とともに前記映像記録部に記録することを特徴とする、上記監視システム。 The monitoring system according to claim 1, wherein the control unit acquires position information of the train when the video is shot, and records the train information together with the video in the video recording unit.
 列車のパンタグラフを監視する監視方法であって、複数のカメラの露光時間に抜けが無く連続するように前記複数のカメラの露光時間を制御し、前記複数のカメラが撮影した映像を時刻情報に基づいて連続した映像として映像記憶部に記録することを特徴としている。 A monitoring method for monitoring a pantograph of a train, wherein the exposure times of the plurality of cameras are controlled so that the exposure times of the cameras are continuous without omission, and images taken by the plurality of cameras are based on time information It is characterized by being recorded in the video storage unit as a continuous video.
 本発明は、アークなど一瞬の事象を撮影する監視システムに利用することができる。 The present invention can be used in a monitoring system that captures an instantaneous event such as an arc.
 1,2,3,1a,3a:カメラ、11:HUB、12,13,14:エンコーダ、15:画像処理制御部、16:制御部、17:NDR、18:同期信号発生器、19:事務所PC。 1, 2, 3, 1a, 3a: camera, 11: HUB, 12, 13, 14: encoder, 15: image processing control unit, 16: control unit, 17: NDR, 18: synchronization signal generator, 19: office work PC.

Claims (7)

  1.  監視対象を撮影する複数のカメラと、
     前記複数のカメラの露光時間に抜けが無く連続するように前記複数のカメラを制御する制御部と、
     前記複数のカメラの映像を時刻情報に基づいて連続した映像として記録する映像記録部とを備えたことを特徴とする、監視システム。
    A plurality of cameras for shooting the monitoring target;
    A controller that controls the plurality of cameras so that the exposure times of the plurality of cameras are continuous without omissions;
    A monitoring system comprising: a video recording unit that records video from the plurality of cameras as continuous video based on time information.
  2.  前記複数のカメラの映像の所定領域の平均輝度値を算出し、予め設定された閾値以上である場合にはアラーム情報を前記制御部に通知する画像処理部をさらに備え、
     前記制御部は受信した前記アラーム情報を前記映像とともに前記映像記録部に記録することを特徴とする、請求項1記載の監視システム。
    An image processing unit that calculates an average luminance value of a predetermined area of the images of the plurality of cameras and notifies the control unit of alarm information if the average luminance value is greater than or equal to a preset threshold;
    The monitoring system according to claim 1, wherein the control unit records the received alarm information together with the video in the video recording unit.
  3.  前記画像処理部は、算出した平均輝度値を前記制御部に送信し、
     前記制御部は、前記映像とともに前記平均輝度値を前記映像記録部に記録することを特徴とする、請求項2記載の監視システム。
    The image processing unit transmits the calculated average luminance value to the control unit,
    The monitoring system according to claim 2, wherein the control unit records the average luminance value together with the video in the video recording unit.
  4.  前記映像記録部に記録された映像を、前記平均輝度値の情報とともに表示する表示部をさらに備えたことを特徴とする、請求項3記載の監視システム。 4. The monitoring system according to claim 3, further comprising a display unit for displaying the video recorded in the video recording unit together with the information on the average luminance value.
  5.  前記複数のカメラは列車のパンタグラフを撮影するように前記列車に設置されていることを特徴とする、請求項1に記載の監視システム。 The monitoring system according to claim 1, wherein the plurality of cameras are installed in the train so as to photograph a pantograph of the train.
  6.  前記制御部は、前記映像が撮影されたときの前記列車の位置情報を取得し、前記映像とともに前記映像記録部に記録することを特徴とする、請求項5記載の監視システム。 The monitoring system according to claim 5, wherein the control unit acquires position information of the train when the video is shot and records the train information together with the video in the video recording unit.
  7.  列車のパンタグラフを監視する監視方法であって、
     複数のカメラの露光時間に抜けが無く連続するように前記複数のカメラの露光時間を制御し、
     前記複数のカメラが撮影した映像を時刻情報に基づいて連続した映像として映像記憶部に記録することを特徴とする、監視方法。
    A monitoring method for monitoring a pantograph of a train,
    Controlling the exposure times of the plurality of cameras so that the exposure times of the plurality of cameras are continuous without omissions,
    A monitoring method, wherein videos taken by the plurality of cameras are recorded in a video storage unit as continuous videos based on time information.
PCT/JP2018/008015 2017-03-28 2018-03-02 Monitoring system and monitoring method WO2018180200A1 (en)

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