EP0973137B1 - Motion detector - Google Patents

Motion detector Download PDF

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Publication number
EP0973137B1
EP0973137B1 EP98112460A EP98112460A EP0973137B1 EP 0973137 B1 EP0973137 B1 EP 0973137B1 EP 98112460 A EP98112460 A EP 98112460A EP 98112460 A EP98112460 A EP 98112460A EP 0973137 B1 EP0973137 B1 EP 0973137B1
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EP
European Patent Office
Prior art keywords
image sensor
motion detector
detector according
evaluation
brightness
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP98112460A
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German (de)
French (fr)
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EP0973137A1 (en
Inventor
Martin Dr. Rechsteiner
Hansjürg Dr. Mahler
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Siemens Building Technologies AG
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Siemens Building Technologies AG
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Filing date
Publication date
Application filed by Siemens Building Technologies AG filed Critical Siemens Building Technologies AG
Priority to DK98112460T priority Critical patent/DK0973137T3/en
Priority to DE59806868T priority patent/DE59806868D1/en
Priority to ES98112460T priority patent/ES2190558T3/en
Priority to EP98112460A priority patent/EP0973137B1/en
Priority to IL13019199A priority patent/IL130191A/en
Priority to US09/346,515 priority patent/US6246321B1/en
Publication of EP0973137A1 publication Critical patent/EP0973137A1/en
Application granted granted Critical
Publication of EP0973137B1 publication Critical patent/EP0973137B1/en
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19604—Image analysis to detect motion of the intruder, e.g. by frame subtraction involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19639—Details of the system layout
    • G08B13/19641—Multiple cameras having overlapping views on a single scene
    • G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
    • G08B29/18—Prevention or correction of operating errors
    • G08B29/20—Calibration, including self-calibrating arrangements
    • G08B29/24—Self-calibration, e.g. compensating for environmental drift or ageing of components
    • G08B29/26—Self-calibration, e.g. compensating for environmental drift or ageing of components by updating and storing reference thresholds

Definitions

  • the present invention relates to a motion detector, with two sensors and with an evaluation electronics connected to this.
  • PIR sensors Passive infrared (PIR) sensors are mainly used in motion detectors today, which are very inexpensive, but do not allow spatial resolution and the objects with a low temperature contrast to their surroundings only with Can detect difficulties. Also Doppler detectors or motion detectors PIR and Doppler principle do not allow spatial resolution. This very property is required today because the motion detector can not only detect whether an object is in the monitored room, but also where in the room the object is in which direction it is moving and by what type or what class of object it is.
  • thermal image sensors these are imaging sensors in the area of thermal radiation, those in the wavelength range work from about 5 to 15 microns, fails because they are still so expensive today are that sufficiently high-resolution sensors are not used for motion detectors can be. There are also high quality lenses for thermal imaging sensors the desired high resolution very expensive.
  • thermal imaging sensors in the range of approximately are used 4 by 4 up to 32 by 32 pixels, then objects cannot be analyzed with sufficient accuracy become. For example, the resolution is too low to distinguish humans from animals to be able to.
  • thermal imaging sensors with low temperature contrast So at an ambient temperature around 30 ° C, only a low detection sensitivity.
  • image sensors are also known, these are imaging sensors in the visible and near infrared, which is in the wavelength range from about 0.4 to 1.8 ⁇ m work. These image sensors are very inexpensive today and therefore also relative widely used, but their use is dependent on the presence of a certain minimum Brightness bound. This means that such sensors see nothing in the dark and used in such conditions only in combination with additional lighting can be. In addition, the signal of the image sensor must always be evaluated the entire image can be edited, which requires a relatively large amount of storage capacity, and computing time and, if the evaluation is not carried out locally, a complex one Transmission required.
  • the invention is now to provide a motion detector of the type mentioned which is fully operational even in the dark and with as little as possible Storage capacity and computing time is sufficient, with which even low-contrast objects can be safely detected, and which one for the detection and analysis of Objects has sufficient spatial resolution.
  • This motion detector should not only meet all known criteria of intrusion detection technology, but it should also allow a classification of the moving objects.
  • the motion detector has one hereinafter referred to as the image sensor imaging sensor in the visible and near Infrared range and an imaging hereinafter referred to as thermal imaging sensor Sensor in the range of heat radiation with a lower resolution than the image sensor and that in the evaluation electronics a combined evaluation of the signals of the two sensors.
  • the thermal image sensor can either be the absolute temperature or, if appropriate differential connection of the individual sensor elements, measure temperature changes.
  • Fresnel lenses made of polyethylene are used, which are much cheaper than the high-quality lenses made of zinc selenide for high-resolution thermal imaging sensors.
  • a first preferred embodiment of the motion detector according to the invention is characterized in that before the combined evaluation of the signals from the sensors a separate pre-evaluation of the signals from both the image sensor and the thermal image sensor he follows.
  • a second preferred embodiment of the motion detector according to the invention is characterized in that by the thermal image sensor a lighting independent Detection and rough localization of moving objects and by the image sensor these are classified.
  • a third preferred embodiment of the motion detector according to the invention is characterized in that the image sensor by a pixel-wise addressable sensor, preferably an active pixel sensor is formed.
  • the pixel-wise addressable The advantage of an image sensor is that you can focus on the interesting information when reading Limit image area and thereby computing time and storage capacity as well as in In case of non-local evaluation, transmission time can also be saved.
  • a fourth preferred embodiment of the motion detector according to the invention is characterized in that means for measuring brightness and for controlling the Exposure time of the image sensor and / or means for temperature measurement are provided and are connected to the evaluation electronics.
  • a fifth preferred embodiment of the motion detector according to the invention is characterized in that the detector in different, to the requirements of each Application-adapted operating modes can be operated, and additionally via different Has signal evaluation modes, and that the setting on the respective Evaluation mode on the basis of the environmental conditions, preferably on the basis of brightness and / or temperature measured by the means mentioned.
  • the use of the means for brightness measurement and / or for temperature measurement has the advantage that the detector determines the most important parameters of its environment and set the appropriate evaluation mode based on this environmental situation can.
  • the intrusion or motion detector 1 shown in Fig. 1 consists essentially from an imaging sensor 2, referred to below as the image sensor, in the visible Wavelength range from about 0.4 to 1.8 ⁇ m, one subsequently as a thermal image sensor designated sensor in the wavelength range of heat radiation of approximately 5 to 15 ⁇ m, each of which is followed by a preprocessing stage 4 or 5, and one Evaluation electronics 6 for processing and evaluating the preprocessed signals of the two sensors 2 and 3.
  • the image sensor 2 and the thermal image sensor 3 both consider same area of the room to be monitored.
  • the detector contains 1 also means 7 for measuring brightness and means 8 for measuring temperature, wherein the brightness measurement is preferably carried out by the image sensor 2.
  • the thermal image sensor 3 is very suitable for a lighting-independent Detection and rough localization of moving objects.
  • the image sensor 2 in turn thanks to its larger resolution, it can classify objects, especially humans differentiate from animals and it compensates for the detection weakness of the thermal image sensor 3 at low temperature contrast.
  • the image sensor 2 is preferably a pixel-addressable sensor, for example a so-called APS (Active Pixel Sensor) is formed, which is characterized by a very low power consumption and the ability to access individual pixels distinguished.
  • APS Active Pixel Sensor
  • additional application-specific analog or digital functions for example simple image processing algorithms such as filters or exposure controls, can be easily integrated.
  • GSP is referred to the article "A 128 x- 128 CMOS Active Pixel Image Sensor for Highly Integrated Imaging Systems "by Sunetra K. Mendis, Sabrina E. Kennedy and Eric R.
  • the image sensor 2 is directed towards the room to be monitored and captures it in terms of image technology and digitizes the picture. For example, if the APS forming the image sensor 2 consists of 128 by 128 pixels, then using a suitable wide-angle lens an area of approximately one pixel at a distance of 15 m in front of the image sensor 3 Correspond to 12 by 12 cm. Such a resolution allowed, human and animal Shape to distinguish relatively reliably from each other, with a higher resolution increases reliability, but also requires more computing power.
  • the image sensor 2 makes at intervals of A fraction of a second takes an image of the monitored room and saves it for a short time so that it can be compared with a reference image that is continuously updated can be compared.
  • This image comparison can either be in the image sensor 3 itself or done in preprocessing stage 4.
  • the thermal image sensor 3 which has a relatively low resolution of, for example, 4 by 4 has up to about 32 by 32 pixels and a matrix of a corresponding number consists of heat-sensitive elements, essentially serves to compensate for the potential Weaknesses of the image sensor 2, in particular of its property, below not to provide image information to critical lighting.
  • the robustness and False alarm security of detector 1 in comparison to existing motion detectors increased significantly.
  • the means 7 and 8 contained in the detector 1 continuously measure brightness and temperature and use the measured values to set the appropriate evaluation mode for detector 1 one, which determines how the signals of the two sensors 2 and 3 in the combined Processing evaluated and combined with each other.
  • the means 7 for measuring brightness can be used to control the exposure time at the same time.
  • the detector 1 can also be operated in different operating modes that meet the requirements the respective application and / or to the existing infrastructure (e.g. Level of risk, presence of animals, triggers of lighting) are adjusted.
  • the detector 1 can also be illuminated in the visible area or, if discreet monitoring is desired, in the near infrared turn on, turning on either based on the measured environmental conditions (too low a temperature contrast and too little brightness), or but if one of the two sensors delivers a very weak signal.
  • an existing external lighting for example a room or outdoor lighting or a spotlight is by the detector 1 via radio, infrared, direct wire connection, the network or an existing one Building bus turned on, or one specifically designed for this purpose Lighting that is either built into the detector or available as an additional device switched on by the evaluation electronics 6.
  • Illumination built into the detector could be formed by infrared LEDs, for example.
  • the signals from the image sensor 2 and the thermal image sensor 3 are combined into one Evaluation converted with the signal of the image sensor 2 suitable format and classified according to their strength and it shows the number of time-modified pixels and determined their coordinates.
  • the pre-evaluation can be performed as hardware and / or integrated in the form of a processor core on the APS chip. In the The number of pixels changed compared to the reference image, their clustering and characteristics of the pixel cluster are determined.
  • the image sensor 2 can be designed such that images that lead to an alarm decision have, and those immediately preceding and / or following up to more can be saved. If necessary, this can also be transferred stored images to a spatially separate station.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Security & Cryptography (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Burglar Alarm Systems (AREA)
  • Studio Devices (AREA)

Description

Die vorliegende Erfindung betrifft einen Bewegungsmelder, mit zwei Sensoren und mit einer an diese angeschlossenen Auswerteelektronik.The present invention relates to a motion detector, with two sensors and with an evaluation electronics connected to this.

Heute werden in Bewegungsmeldern vorwiegend Passiv-Infrarot (PIR)-Sensoren eingesetzt, die zwar sehr preisgünstig sind, aber keine räumliche Auflösung ermöglichen und die Objekte mit gegenüber ihrer Umgebung geringem Temperaturkontrast nur mit Schwierigkeiten detektieren können. Auch Dopplermelder oder Bewegungsmelder mit PIR- und Dopplerprinzip ermöglichen keine räumliche Auflösung. Gerade diese Eigenschaft wird aber heute gefordert, weil der Bewegungsmelder nicht nur feststellen können soll, ob sich ein Objekt im überwachten Raum befindet, sondern auch, wo im Raum sich das Objekt befindet, in welcher Richtung es sich bewegt, und um welchen Typus oder welche Klasse von Objekt es sich handelt.Passive infrared (PIR) sensors are mainly used in motion detectors today, which are very inexpensive, but do not allow spatial resolution and the objects with a low temperature contrast to their surroundings only with Can detect difficulties. Also Doppler detectors or motion detectors PIR and Doppler principle do not allow spatial resolution. This very property is required today because the motion detector can not only detect whether an object is in the monitored room, but also where in the room the object is in which direction it is moving and by what type or what class of object it is.

Die an sich naheliegende Variante der Verwendung von sogenannten Wärmebildsensoren, das sind bildgebende Sensoren im Bereich von Wärmestrahlung, die im Wellenlängenbereich von etwa 5 bis 15 µm arbeiten, scheitert daran, dass diese heute noch so teuer sind, dass für Bewegungsmelder keine ausreichend hochauflösenden Sensoren verwendet werden können. Ausserdem sind auch qualitativ hochwertige Objektive für Wärmebildsensoren der gewünschten hohen Auflösung sehr teuer.The obvious variant of using so-called thermal image sensors, these are imaging sensors in the area of thermal radiation, those in the wavelength range work from about 5 to 15 microns, fails because they are still so expensive today are that sufficiently high-resolution sensors are not used for motion detectors can be. There are also high quality lenses for thermal imaging sensors the desired high resolution very expensive.

Verwendet man andererseits niedrig auflösende Wärmebildsensoren im Bereich von etwa 4 mal 4 bis zu 32 mal 32 Pixel, dann können Objekte nicht ausreichend genau analysiert werden. So ist beispielsweise die Auflösung zu gering, um Menschen von Tieren unterscheiden zu können. Ausserdem haben Wärmebildsensoren bei kleinem Temperaturkontrast, also bei einer Umgebungstemperatur um 30° C, nur eine geringe Detektionsempfindlichkeit.On the other hand, low-resolution thermal imaging sensors in the range of approximately are used 4 by 4 up to 32 by 32 pixels, then objects cannot be analyzed with sufficient accuracy become. For example, the resolution is too low to distinguish humans from animals to be able to. In addition, thermal imaging sensors with low temperature contrast, So at an ambient temperature around 30 ° C, only a low detection sensitivity.

Es sind auch sogenannte Bildsensoren bekannt, das sind bildgebende Sensoren im sichtbaren und nahen Infrarotbereich, die im Wellenlängenbereich von etwa 0.4 bis 1.8 µm arbeiten. Diese Bildsensoren sind heute sehr preisgünstig und deswegen auch relativ stark verbreitet, ihr Einsatz ist aber an das Vorhandensein einer bestimmten minimalen Helligkeit gebunden. Das bedeutet, dass solche Sensoren bei Dunkelheit nichts sehen und bei solchen Bedingungen nur in Kombination mit einer Zusatzbeleuchtung eingesetzt werden können. Ausserdem muss bei der Auswertung des Signals des Bildsensors immer das gesamte Bild bearbeitet werden, was einen relativ grossen Aufwand an Speicherkapazität, und Rechenzeit und, falls die Auswertung nicht lokal erfolgt, eine aufwendige Übertragung erfordert.So-called image sensors are also known, these are imaging sensors in the visible and near infrared, which is in the wavelength range from about 0.4 to 1.8 µm work. These image sensors are very inexpensive today and therefore also relative widely used, but their use is dependent on the presence of a certain minimum Brightness bound. This means that such sensors see nothing in the dark and used in such conditions only in combination with additional lighting can be. In addition, the signal of the image sensor must always be evaluated the entire image can be edited, which requires a relatively large amount of storage capacity, and computing time and, if the evaluation is not carried out locally, a complex one Transmission required.

Wenn niedrig auflösende Bildsensoren oder solche mit der Möglichkeit der Auslesung von Bildern mit reduzierter Auflösung verwendet werden, besteht die Gefahr, dass insbesondere kontrastarme Objekte verschmiert werden und deshalb nicht mehr detektiert werden können.If low-resolution image sensors or those with the possibility of reading of images with reduced resolution, there is a risk that in particular low-contrast objects are smeared and therefore no longer detected can be.

Durch die Erfindung soll nun ein Bewegungsmelder der eingangs genannten Art angegeben werden, welcher auch bei Dunkelheit voll einsatzfähig ist und mit möglichst wenig Speicherkapazität und Rechenzeit auskommt, mit welchem auch kontrastarme Objekte sicher detektiert werden können, und welcher eine für die Erkennung und Analyse von Objekten ausreichende räumliche Auflösung aufweist. Dieser Bewegungsmelder soll nicht nur alle bekannten Kriterien der Einbruchmeldetechnik erfüllen, sondern er soll zusätzlich auch eine Klassifizierung der sich bewegenden Objekte erlauben.The invention is now to provide a motion detector of the type mentioned which is fully operational even in the dark and with as little as possible Storage capacity and computing time is sufficient, with which even low-contrast objects can be safely detected, and which one for the detection and analysis of Objects has sufficient spatial resolution. This motion detector should not only meet all known criteria of intrusion detection technology, but it should also allow a classification of the moving objects.

Diese Aufgabe wird erfindungsgemäss dadurch gelöst, dass der Bewegungsmelder einen nachfolgend als Bildsensor bezeichneten bildgebenden Sensor im sichtbaren und nahen Infrarotbereich und einen nachfolgend als Wärmebildsensor bezeichneten bildgebenden Sensor im Bereich von Wärmestrahlung mit einer niedrigeren Auflösung als der Bildsensor aufweist, und dass in der Auswerteelektronik eine kombinierte Auswertung der Signale der beiden Sensoren erfolgt.This object is achieved according to the invention in that the motion detector has one hereinafter referred to as the image sensor imaging sensor in the visible and near Infrared range and an imaging hereinafter referred to as thermal imaging sensor Sensor in the range of heat radiation with a lower resolution than the image sensor and that in the evaluation electronics a combined evaluation of the signals of the two sensors.

Durch die erfindungsgemässe Kombination eines Wärmebildsensors mit niedriger Auflösung mit einem Bildsensor mit höherer Auflösung können einerseits die Schwächen der beiden Sensortypen kompensiert werden, was die Detektierbarkeit kontrastarmer Objekte erhöht und die Fehlalarmrate verkleinert. Andererseits ist eine Objektklassifizierung möglich, ohne einen teuren hochauflösenden Wärmebildsensor einsetzen zu müssen. The combination of a thermal image sensor with low resolution according to the invention with an image sensor with a higher resolution, the weaknesses of the Both types of sensors are compensated for, which makes it possible to detect low-contrast objects increased and the false alarm rate decreased. On the other hand is an object classification possible without having to use an expensive high-resolution thermal imaging sensor.

Der Wärmebildsensor kann entweder die absolute Temperatur oder, bei entsprechender differentieller Verschaltung der einzelnen Sensorelemente, Temperaturänderungen messen. Für niedrig auflösende Wärmebildsensoren können Fresnellinsen aus Polyethylen eingesetzt werden, die wesentlich billiger sind, als die hochwertigen Objektive aus Zinkselenid für hochauflösende Wärmebildsensoren.The thermal image sensor can either be the absolute temperature or, if appropriate differential connection of the individual sensor elements, measure temperature changes. For low-resolution thermal imaging sensors, Fresnel lenses made of polyethylene are used, which are much cheaper than the high-quality lenses made of zinc selenide for high-resolution thermal imaging sensors.

Eine erste bevorzugte Ausführungsform des erfindungsgemässen Bewegungsmelders ist dadurch gekennzeichnet, dass vor der kombinierten Auswertung der Signale der Sensoren eine getrennte Vorauswertung der Signale sowohl des Bildsensors als auch des Wärmebildsensors erfolgt.A first preferred embodiment of the motion detector according to the invention is characterized in that before the combined evaluation of the signals from the sensors a separate pre-evaluation of the signals from both the image sensor and the thermal image sensor he follows.

Eine zweite bevorzugte Ausführungsform des erfindungsgemässen Bewegungsmelders ist dadurch gekennzeichnet, dass durch den Wärmebildsensor eine beleuchtungsunabhängige Erfassung und grobe Lokalisierung von bewegten Objekten und durch den Bildsensor eine Klassifizierung von diesen erfolgt.A second preferred embodiment of the motion detector according to the invention is characterized in that by the thermal image sensor a lighting independent Detection and rough localization of moving objects and by the image sensor these are classified.

Eine dritte bevorzugte Ausführungsform des erfindungsgemässen Bewegungsmelders ist dadurch gekennzeichnet, dass der Bildsensor durch einen pixelweise adressierbaren Sensor, vorzugseise einen Aktiv Pixel Sensor, gebildet ist. Der pixelweise adressierbare Bildsensor hat den Vorteil, dass man sich bei der Auslesung jeweils auf den interessanten Bildbereich beschränken und dadurch Rechenzeit und Speicherkapazität sowie im Fall von nicht-lokaler Auswertung auch Übertragungszeit einsparen kann.A third preferred embodiment of the motion detector according to the invention is characterized in that the image sensor by a pixel-wise addressable sensor, preferably an active pixel sensor is formed. The pixel-wise addressable The advantage of an image sensor is that you can focus on the interesting information when reading Limit image area and thereby computing time and storage capacity as well as in In case of non-local evaluation, transmission time can also be saved.

Eine vierte bevorzugte Ausführungsform des erfindungsgemässen Bewegungsmelders ist dadurch gekennzeichnet, dass Mittel zur Helligkeitsmessung und zur Steuerung der Belichtungszeit des Bildsensors und/ oder Mittel zur Temperaturmessung vorgesehen und mit der Auswerteelektronik verbunden sind.A fourth preferred embodiment of the motion detector according to the invention is characterized in that means for measuring brightness and for controlling the Exposure time of the image sensor and / or means for temperature measurement are provided and are connected to the evaluation electronics.

Eine fünfte bevorzugte Ausführungsform des erfindungsgemässen Bewegungsmelders ist dadurch gekennzeichnet, dass der Melder in verschiedenen, an die Anforderungen der jeweiligen Applikation angepassten Betriebsmodi betreibbar ist, und zusätzlich über verschiedene Signalauswertungsmodi verfügt, und dass die Einstellung auf den jeweiligen Auswertungsmodus anhand der Umgebungsbedingungen, vorzugsweise anhand der von den genannten Mitteln gemessenen Helligkeit und/oder Temperatur, erfolgt. A fifth preferred embodiment of the motion detector according to the invention is characterized in that the detector in different, to the requirements of each Application-adapted operating modes can be operated, and additionally via different Has signal evaluation modes, and that the setting on the respective Evaluation mode on the basis of the environmental conditions, preferably on the basis of brightness and / or temperature measured by the means mentioned.

Die Verwendung der Mittel zur Helligkeitsmessung und/oder zur Temperaturmessung hat den Vorteil, dass der Melder die wichtigsten Parameter seiner Umgebung bestimmen und aufgrund dieser Umgebungssituation den geeigneten Auswertungsmodus einstellen kann.The use of the means for brightness measurement and / or for temperature measurement has the advantage that the detector determines the most important parameters of its environment and set the appropriate evaluation mode based on this environmental situation can.

Im folgenden wird die Erfindung anhand eines Ausführungsbeispiels und der Zeichnungen näher erläutert; es zeigt:

Fig. 1
ein Blockschema eines erfindungsgemässen Bewegungsmelders; und
Fig. 2
ein Flussdiagramm zur Erläuterung der Signalverarbeitung.
In the following the invention is explained in more detail using an exemplary embodiment and the drawings; it shows:
Fig. 1
a block diagram of a motion detector according to the invention; and
Fig. 2
a flowchart to explain the signal processing.

Der in Fig. 1 dargestellte Intrusions- oder Bewegungsmelder 1 besteht im wesentlichen aus einem nachfolgend als Bildsensor bezeichneten bildgebenden Sensor 2 im sichtbaren Wellenlängenbereich von etwa 0.4 bis 1.8 µm, einem nachfolgend als Wärmebildsensor bezeichneten Sensor im Wellenlängenbereich der Wärmestrahlung von etwa 5 bis 15 µm, denen beiden je eine Vorverarbeitungsstufe 4 bzw. 5 nachgeschaltet ist, und aus einer Auswerteelektronik 6 zur Verarbeitung und Auswertung der vorverarbeiteten Signale der beiden Sensoren 2 und 3. Der Bildsensor 2 und der Wärmebildsensor 3 betrachten beide denselben Bereich des zu überwachenden Raumes. Darstellungsgemäss enthält der Melder 1 ausserdem Mittel 7 zur Helligkeitsmessung und Mittel 8 zur Temperaturmessung, wobei die Helligkeitsmessung vorzugsweise durch den Bildsensor 2 erfolgt.The intrusion or motion detector 1 shown in Fig. 1 consists essentially from an imaging sensor 2, referred to below as the image sensor, in the visible Wavelength range from about 0.4 to 1.8 µm, one subsequently as a thermal image sensor designated sensor in the wavelength range of heat radiation of approximately 5 to 15 μm, each of which is followed by a preprocessing stage 4 or 5, and one Evaluation electronics 6 for processing and evaluating the preprocessed signals of the two sensors 2 and 3. The image sensor 2 and the thermal image sensor 3 both consider same area of the room to be monitored. As shown, the detector contains 1 also means 7 for measuring brightness and means 8 for measuring temperature, wherein the brightness measurement is preferably carried out by the image sensor 2.

Da Menschen und Tiere in der Regel einen guten Temperaturkontrast zum Hintergrund aufweisen, eignet sich der Wärmebildsensor 3 sehr gut für eine beleuchtungsunabhängige Erfassung und grobe Lokalisierung von bewegten Objekten. Der Bildsensor 2 wiederum kann dank seiner grösseren Auflösung die Objekte klassifizieren und insbesondere Menschen von Tieren unterscheiden und er kompensiert die Detektionsschwäche des Wärmebildsensors 3 bei kleinem Temperaturkontrast.Because humans and animals usually have a good temperature contrast to the background have, the thermal image sensor 3 is very suitable for a lighting-independent Detection and rough localization of moving objects. The image sensor 2 in turn thanks to its larger resolution, it can classify objects, especially humans differentiate from animals and it compensates for the detection weakness of the thermal image sensor 3 at low temperature contrast.

Der Bildsensor 2 ist vorzugsweise durch einen pixelweise adressierbaren Sensor, beispielsweise einen sogenannten APS (Aktiv Pixel Sensor) gebildet, der sich durch einen sehr geringen Stromverbrauch und durch die Zugriffsmöglichkeit auf einzelne Pixel auszeichnet. Ausserdem können in einem solchen APS zusätzliche applikationsspezifische analoge oder digitale Funktionen, zum Beispiel einfache Bildverarbeitungsalgorithmen wie Filter oder Belichtungssteuerung, einfach integriert werden. Bezüglich APS wird auf die Artikel "A 128 x- 128 CMOS Active Pixel Image Sensor for Highly Integrated Imaging Systems" von Sunetra K. Mendis, Sabrina E. Kennedy und Eric R. Fossum, IEDM 93-538 und "128X128 CMOS Photodiode-Type Active Pixel Sensor With On-Chip Timing, Control and Signal Chain Electronics" von R. H. Nixon, S. E. Kemeny, C. O. Staller und E. R. Fossum in SPIE Vol. 2415/117, verwiesen.The image sensor 2 is preferably a pixel-addressable sensor, for example a so-called APS (Active Pixel Sensor) is formed, which is characterized by a very low power consumption and the ability to access individual pixels distinguished. In addition, in such APS additional application-specific analog or digital functions, for example simple image processing algorithms such as filters or exposure controls, can be easily integrated. Regarding GSP is referred to the article "A 128 x- 128 CMOS Active Pixel Image Sensor for Highly Integrated Imaging Systems "by Sunetra K. Mendis, Sabrina E. Kennedy and Eric R. Fossum, IEDM 93-538 and "128X128 CMOS photodiode-type active pixel sensor With On-Chip Timing, Control and Signal Chain Electronics "by R. H. Nixon, S.E. Kemeny, C. O. Staller and E. R. Fossum in SPIE Vol. 2415/117.

Der Bildsensor 2 ist auf den zu überwachenden Raum gerichtet, erfasst diesen bildtechnisch und digitalsiert das Bild. Wenn der den Bildsensor 2 bildende APS beispielsweise aus 128 mal 128 Pixeln besteht, dann würde bei Verwendung einer geeigneten Weitwinkeloptik im Abstand von 15 m vor dem Bildsensor 3 einem Pixel eine Fläche von ungefähr 12 mal 12 cm entsprechen. Eine solche Auflösung erlaubt, menschliche und tierische Gestalten relativ zuverlässig voneinander zu unterscheiden, wobei eine höhere Auflösung die Zuverlässigkeit erhöht, aber auch eine grössere Rechenleistung benötigt.The image sensor 2 is directed towards the room to be monitored and captures it in terms of image technology and digitizes the picture. For example, if the APS forming the image sensor 2 consists of 128 by 128 pixels, then using a suitable wide-angle lens an area of approximately one pixel at a distance of 15 m in front of the image sensor 3 Correspond to 12 by 12 cm. Such a resolution allowed, human and animal Shape to distinguish relatively reliably from each other, with a higher resolution increases reliability, but also requires more computing power.

Im scharf geschalteten Zustand des Melders 1 macht der Bildsensor 2 in Abständen von Sekundenbruchteilen jeweils ein Bild des überwachten Raumes und speichert dieses für eine kurze Zeit, damit es mit einem Referenzbild, welches kontinuierlich aufdatiert wird, verglichen werden kann. Dieser Bildvergleich kann entweder im Bildsensor 3 selbst oder in der Vorverarbeitungsstufe 4 erfolgen.In the armed state of the detector 1, the image sensor 2 makes at intervals of A fraction of a second takes an image of the monitored room and saves it for a short time so that it can be compared with a reference image that is continuously updated can be compared. This image comparison can either be in the image sensor 3 itself or done in preprocessing stage 4.

Der Wärmebildsensor 3, der eine relativ geringe Auflösung von beispielsweise 4 mal 4 bis zu etwa 32 mal 32 Pixel aufweist und aus einer Matrix einer entsprechenden Anzahl wärmeempfindlicher Elemente besteht, dient im wesentlichen zum Ausgleich der potentiellen Schwächen des Bildsensors 2, insbesondere von dessen Eigenschaft, unterhalb einer kritischen Beleuchtung keine Bildinformationen zu liefern. Generell wird durch kombinierte Verarbeitung der Signale der beiden Sensoren 2 und 3 die Robustheit und Fehlalarmsicherheit des Melders 1 im Vergleich zu bestehenden Bewegungsmeldern ganz wesentlich erhöht.The thermal image sensor 3, which has a relatively low resolution of, for example, 4 by 4 has up to about 32 by 32 pixels and a matrix of a corresponding number consists of heat-sensitive elements, essentially serves to compensate for the potential Weaknesses of the image sensor 2, in particular of its property, below not to provide image information to critical lighting. Generally, through combined processing of the signals from the two sensors 2 and 3 the robustness and False alarm security of detector 1 in comparison to existing motion detectors increased significantly.

Die im Melder 1 enthaltenen Mittel 7 und 8 messen laufend Helligkeit und Temperatur und stellen anhand der gemessenen Werte den geeigneten Auswertemodus des Melders 1 ein, welcher bestimmt, wie die Signale der beiden Sensoren 2 und 3 bei der kombinierten Verarbeitung ausgewertet und miteinander kombiniert werden. Die Mittel 7 zur Helligkeitsmessung können gleichzeitig zur Steuerung der Belichtungszeit verwendet werden. Der Melder 1 ist ausserdem in verschiedenen Betriebsmodi betreibbar, die an die Anforderungen der jeweiligenen Applikation und/oder an die vorhandene Infrastruktur (z.B. Höhe der Risiken, Anwesenheit von Tieren, Trigger von Beleuchtung) angepasst sind.The means 7 and 8 contained in the detector 1 continuously measure brightness and temperature and use the measured values to set the appropriate evaluation mode for detector 1 one, which determines how the signals of the two sensors 2 and 3 in the combined Processing evaluated and combined with each other. The means 7 for measuring brightness can be used to control the exposure time at the same time. The detector 1 can also be operated in different operating modes that meet the requirements the respective application and / or to the existing infrastructure (e.g. Level of risk, presence of animals, triggers of lighting) are adjusted.

Die verschiedenen, auch aus Fig. 2 ersichtlichen, Auswertungssmodi, sind die folgenden:

  • Genügend grosser Temperaturkontrast Mensch/Umgebung: Wenn die Raumtemperatur TR ausreichend stark von der Körpertemperatur TK abweicht, dann löst das Signal des Wärmebildsensor 3 die Auswertung des Signals des Bildsensors 2 aus, wobei die Detektions- oder Ansprechschwelle des Wärmebildsensors 3 von der Helligkeit abhängig ist. Bei genügender Raumhelligkeit wird die Detektionsschwelle sehr tief angesetzt. Wenn der Auswerteteil für den Wärmebildsensor 3 ein Objekt detektiert, dann werden dessen Ausdehnung und Koordinaten bestimmt und der Bildsensorauswertung übermittelt. Diese liest nur den entsprechenden interessanten Bildteil und nicht das ganze Bild aus, wodurch Rechenzeit und Leistung gespart werden. Der ausgelesene Bildteil wird einer Bewegungsdetektion und einer Objektklassifizierung unterzogen. Wenn ein Objekt als Mensch klassifiziert wird, gibt der Melder Alarm. Bei nicht ausreichender Raumhelligkeit arbeitet die Auswertung des Wärmebildsensors mit einer höheren Detektionsschwelle und löst bei deren Überschreitung direkt Alarm aus.
  • Zu geringer Temperaturkontrast, ausreichende Helligkeit: In diesem Fall wird der Wärmebildsensor 3 nicht als Trigger für den Bildsensor verwendet, sondern die Auswertung des Bildsensors 2 wertet immer das gesamte Bild aus und führt eine Bewegungsdetektion und eine Objektklassifizierung durch.
  • Zu geringer Temperaturkontrast, geringe Helligkeit: Beide Auswertungsstufen werten das Bild ihres Sensors aus und die Resultate werden kombiniert verarbeitet. Die Detektierbarkeit kann durch lange Belichtungszeiten oder Mittelung über mehrere Bilder verbessert werden. Dadurch sind zwar sehr rasche Vorgänge schwieriger zu erfassen, allerdings sind solche Vorgänge bei diesen Umgebungsbedingungen auch sehr unwahrscheinlich.
The various evaluation modes, which can also be seen in FIG. 2, are as follows:
  • Sufficiently high temperature contrast between people and the environment: If the room temperature T R deviates sufficiently from the body temperature T K , then the signal from the thermal image sensor 3 triggers the evaluation of the signal from the image sensor 2, the detection or response threshold of the thermal image sensor 3 depending on the brightness is. If the room brightness is sufficient, the detection threshold is set very low. If the evaluation part for the thermal image sensor 3 detects an object, then its extent and coordinates are determined and transmitted to the image sensor evaluation. This only reads the relevant part of the image and not the entire image, which saves computing time and performance. The image part read out is subjected to motion detection and object classification. If an object is classified as human, the detector gives an alarm. If the room brightness is insufficient, the evaluation of the thermal image sensor works with a higher detection threshold and triggers an alarm if it is exceeded.
  • Too low temperature contrast, sufficient brightness: In this case, the thermal image sensor 3 is not used as a trigger for the image sensor, but the evaluation of the image sensor 2 always evaluates the entire image and carries out motion detection and object classification.
  • Insufficient temperature contrast, low brightness: Both evaluation levels evaluate the image of your sensor and the results are processed in combination. The detectability can be improved by long exposure times or averaging over several images. This makes it very difficult to grasp very rapid processes, but such processes are also very unlikely in these environmental conditions.

Alternativ zu dem eben genannten Modus kann der Melder 1 auch eine Beleuchtung im sichtbaren Bereich oder, falls eine diskrete Überwachung er-wünscht ist, im nahen Infarot einschalten, wobei das Einschalten entweder aufgrund der gemessenen Umgebungsbedingungen (zu geringer Temperaturkontrast und zu geringe Helligkeit) erfolgt, oder aber dann, wenn einer der beiden Sensoren ein sehr schwaches Signal liefert.As an alternative to the mode just mentioned, the detector 1 can also be illuminated in the visible area or, if discreet monitoring is desired, in the near infrared turn on, turning on either based on the measured environmental conditions (too low a temperature contrast and too little brightness), or but if one of the two sensors delivers a very weak signal.

Es sind zwei Ausführungsformen möglich: Eine vorhandene externe Beleuchtung, beispielsweise eine Raum- oder Aussenbeleuchtung oder ein Spotscheinwerfer, wird durch den Melder 1 über Funk, Infrarot, direkte Drahtverbindung, das Netz oder über einen bestehenden Gebäude-Bus eingeschaltet, oder eine speziell für diesen Zweck vorgesehene Beleuchtung, die entweder im Melder eingebaut oder als Zusatzgerät erhältlich ist, wird durch die Auswerteelektronik 6 eingeschaltet. Eine im Melder eingebaute Beleuchtung könnte beispielsweise durch Infrarot-LEDs gebildet sein.Two embodiments are possible: an existing external lighting, for example a room or outdoor lighting or a spotlight is by the detector 1 via radio, infrared, direct wire connection, the network or an existing one Building bus turned on, or one specifically designed for this purpose Lighting that is either built into the detector or available as an additional device switched on by the evaluation electronics 6. Illumination built into the detector could be formed by infrared LEDs, for example.

Es hat sich gezeigt, dass es vorteilhaft ist, die Signale des Bildsensors 2 und des Wärmebildsensors 3 vor der kombinierten Auswertung einer getrennten Vorauswertung zu unterziehen, welche in den Vorverarbeitungsstufen 4 bzw. 5 erfolgt, wobei diese Vorverarbeitungsstufen selbstverständlich auch in die Auswerteelektronik 6 integriert sein können. Bei der Vorauswertung werden die Signale des Wärmebildsensors 3 in ein zur kombinierten Auswertung mit dem Signal des Bildsensors 2 geeignetes Format umgewandelt und nach ihrer Stärke klassiert und es werden die Anzahl der zeitlich veränderten Pixel und deren Koordinaten bestimmt. Beim Bildsensor 2 kann die Vorauswertung als Hardware und/oder in Form eines Prozessorkerns auf dem APS-Chip integriert sein. Bei der Vorauswertung werden die Anzahl der gegenüber dem Referenzbild geänderten Pixel, ihre Häufung (clustering) und Merkmale der Pixelhäufung bestimmt.It has been shown that it is advantageous to use the signals from the image sensor 2 and the thermal image sensor 3 to undergo a separate pre-evaluation before the combined evaluation, which takes place in preprocessing stages 4 and 5, these preprocessing stages can of course also be integrated into the evaluation electronics 6. In the pre-evaluation, the signals of the thermal image sensor 3 are combined into one Evaluation converted with the signal of the image sensor 2 suitable format and classified according to their strength and it shows the number of time-modified pixels and determined their coordinates. With image sensor 2, the pre-evaluation can be performed as hardware and / or integrated in the form of a processor core on the APS chip. In the The number of pixels changed compared to the reference image, their clustering and characteristics of the pixel cluster are determined.

Der Bildsensor 2 kann so ausgebildet sein, dass Bilder, die zu einem Alarmentscheid geführt haben, und die diesen unmittelbar vorausgehenden und/oder nachfolgenden bis auf weiteres gespeichert werden. Gegebenenfalls kann zusätzlich eine Übertragung dieser gespeicherten Bilder an eine räumlich getrennte Station erfolgen.The image sensor 2 can be designed such that images that lead to an alarm decision have, and those immediately preceding and / or following up to more can be saved. If necessary, this can also be transferred stored images to a spatially separate station.

Claims (13)

  1. Motion detector, having two sensors (2, 3) and having evaluation electronics (6) connected to the latter, characterized in that the motion detector (1) has an image sensor (2) in the visible and near infrared range and a thermal image sensor (3) in the thermal radiation range having a lower resolution than the image sensor (2), and in that a combined evaluation of the signals from both sensors (2, 3) takes place in the evaluation electronics (6).
  2. Motion detector according to Claim 1, characterized in that, prior to the combined evaluation of the signals from the sensors (2,3), a separate preliminary evaluation takes place of the signals both from the image sensor (2) and from the thermal image sensor (3).
  3. Motion detector according to Claim 1 or 2, characterized in that the thermal image sensor (3) performs an illumination-independent detection and rough localization of moving objects and the image sensor (2) classifies the latter.
  4. Motion detector according to any of Claims 1 to 3, characterized in that the image sensor (2) is formed by a pixel-by-pixel addressable sensor, preferably an active pixel sensor.
  5. Motion detector according to any of Claims 1 to 4, characterized in that means (7) are provided for measuring brightness and for controlling the exposure time of the image sensor (2) and means (8) are provided for measuring temperature and are connected to the evaluation electronics (3).
  6. Motion detector according to Claim 5, characterized in that the detector (1) can be operated in various operating modes and, in addition, has various signal evaluation modes, and in that the setting to the respective evaluation mode takes place on the basis of ambient conditions, preferably on the basis of the brightness and/or temperature measured by the said means (7, 8).
  7. Motion detector according to Claim 6, characterized in that, given sufficiently high temperature contrast between body temperature and room temperature and sufficiently high room brightness, the thermal-image sensor (3) serves as a trigger for the image sensor (2), wherein the detection threshold is set low.
  8. Motion detector according to Claim 7, characterized in that, if an object is detected by the thermal-image sensor (3), its position and size are determined and, on the basis of these data from the signal of the image sensor (2), the corresponding image section is read out of the image sensor (2) and analysed.
  9. Motion detector according to Claim 6, characterized in that, given sufficiently high temperature contrast between body temperature and room temperature and unduly low room brightness, only the signal from the thermal-image sensor (3) is processed, wherein the detection level is set higher than in the case of sufficiently high room brightness.
  10. Motion detector according to Claim 6, characterized in that, given unduly low temperature contrast between body temperature and room temperature and sufficiently high room brightness, the entire image from the image sensor (2) is evaluated.
  11. Motion detector according to Claim 6, characterized in that, given unduly low temperature contrast between body temperature and room temperature and unduly low room brightness, the signals from the two sensors (2,3) are each evaluated over the entire image.
  12. Motion detector according to Claim 5, characterized in that illumination means, preferably controlled by the means (7) for measuring brightness, are provided by the motion detector (1).
  13. Motion detector according to any of Claims 1 to 12, characterized in that a memory is provided for the images recorded by the image sensor (2), and in that said memory is controlled in such a way that those images are stored which have resulted in an alarm decision.
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ES98112460T ES2190558T3 (en) 1998-07-06 1998-07-06 MOVEMENT DETECTOR.
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IL130191A (en) 2002-03-10
US6246321B1 (en) 2001-06-12
ES2190558T3 (en) 2003-08-01
DK0973137T3 (en) 2003-05-05
DE59806868D1 (en) 2003-02-13
EP0973137A1 (en) 2000-01-19
IL130191A0 (en) 2000-06-01

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