KR20000006661A - Motion Detector and Its Method using three demensional information of Stereo Vision - Google Patents

Abstract

PURPOSE: The detector provides the reliability and solves the problem of wrong information by monitoring the region with a stereo camera(190), an audio and an infrared ray sensor(160). CONSTITUTION: The detector can recognize the movement like a person by calculating the data as to the distance and the size of a moving subject using 2 monitoring cameras simultaneously. The detector comprises a sensor interface(150), a stereo video interface(170), a sound interface(200), a communication interface(210), a frame buffer, a memory(130), a CPU(110) and a key input apparatus(140). The sensor interface senses the existence of a heat-generating object, and the stereo video interface monitors the response of the change of the distance, size and lighting of the subject and outputs the image to a display apparatus, and the sound interface performs the sound sensing, and the communication interface controls the data communication between remote places. The detector is composed to perform the affirmation of an invader and the notification function when the invader or the movement is monitored through the sensor input apparatus and the stereo video interface.

Description

Motion Detector and Its Method using three demensional information of Stereo Vision}

The present invention relates to a motion detector and a method using the three-dimensional information of the stereo vision, and more specifically, using two cameras or a single stereo camera to detect the intruder and abnormal objects reliably to intruders in the near and remote locations And a device and a method for notifying that there is an abnormal object and remotely monitoring a monitoring place through a digital image at a remote location.

In recent years, there are many so-called security devices and service companies to prevent theft or unauthorized intrusion. Such a security device and a service company attach various sensors to a monitoring place to be monitored, and then perform a predetermined corresponding operation according to the detected information.

1 is a flowchart illustrating an example of an operation of a security apparatus according to a conventional embodiment.

As shown in the drawing, when the conventional security device confirms an intrusion into a predetermined surveillance area (security location) through the human body monitoring sensor (S30), stores the intruder image (S40) and the intruder at a short distance or far It performs a function of notifying that there was (S50). When notified, the security company or individual performs security activities in the surveillance area where the security device that generated the alarm signal is installed.

However, the above-described conventional security device can know the cause of the intrusion or information on the alarm, but can not be confirmed in real time from a remote location, the human body sensor and sensitive to the change of temperature and the movement or object of the animal There is a serious problem of generating an alarm that a person has moved a change in image due to movement.

Therefore, the present invention has been proposed to solve the above-mentioned problems, and can monitor the surveillance area with a stereo camera, an audio and an infrared sensor. In addition, the distance and size of a moving subject are calculated using the stereo vision described above to distinguish a person and other animals from a subject, image changes due to gradual or sudden changes in lighting, and movement caused by movement outside a window rather than a surveillance area. It is possible to drastically solve the existing problem of judging the change of the image and the change of the image due to the insect flying near the camera. It is an object of the present invention to provide a system that significantly solves the problem of reliability and misinformation which is not provided by the existing security and security system by inventing an artificial motion detector such as a human.

1 is a flowchart showing the operation of the security apparatus according to the conventional embodiment;

2 is a diagram illustrating a connection of a motion detector using three-dimensional information of a connected stereo vision between remote locations according to an embodiment of the present invention;

3 is a block diagram showing the configuration of the main monitoring device in the motion detector using the three-dimensional information of the stereo vision according to an embodiment of the present invention shown in FIG.

4 is a view showing a method of operating a main monitoring device according to another embodiment of the present invention;

FIG. 5 is a detailed view of a setting change routine shown in FIG. 4; FIG.

6 is a detailed view of the monitoring routine shown in FIG. 4;

7 is a detailed view of the alarm routine shown in FIG. 4;

8A and B show the size of the monitoring and query routines shown in FIG. 4;

* Explanation of symbols for the main parts of the drawings

100: main monitoring device 300A ~ 300C: remote monitoring device

110: main controller 120: temporary memory device

130: storage device 140: key input unit

150: sensor interface 160: infrared sensor

170: stereo video interface 180: display device

190: Stereo camera 200: Sound interface

210: communication interface 220: communication network

According to a feature of the present invention proposed to achieve the above object, the motion detector using three-dimensional information of the stereo vision includes a sound interface for converting the analog sound signal detected from the surveillance area by the microphone into digital sound data; A stereo video interface for converting analog video signals captured from the surveillance area by two cameras or stereo cameras into digital video data; A sensor interface for recognizing a signal coming from the infrared predecessor; A communication interface for transmitting and receiving digital image data and various kinds of information between remote areas; A storage device for storing setting information, control program, sound data, video data and remote access information; A key input device for inputting an operation command and setting information; The intrusion into the surveillance area is determined according to the sound data from the sound interface, the digital video data from the image input device, and the sensor input from the sensor interface, and the sound data and the video data are stored when the intrusion is confirmed. Stored in the device, connected to the remote monitoring device through the local area network or the telecommunication network by the communication interface according to the remote access information stored in the storage device, and notifying that there is an intrusion into the monitoring area, and from the authorized remote monitoring device. A main control unit for controlling transmission of the sound data and the digital video data recorded in the storage device to a remote site when there is a request for transmission of the sound data and the video data recorded in the storage device; A temporary memory device for temporarily storing data processed by the main control unit; The display ski includes an image output device by converting the digital video data from the storage device into an analog video signal.

According to another aspect of the invention, the method of the motion detector includes a system initialization and function checking step of initializing the operation of the motion detector and confirming normal operation; A setting changing step of storing setting information and remote access information; A monitoring step of sequentially comparing the images of the monitoring area and the inputs from the sensors at regular time intervals; When the comparison result is determined to be an intruder, the sound is detected in the surveillance area, and the detected sound is converted into digital sound and stored continuously, and the image of the surveillance area is converted into digital video data and stored. An alarm step of connecting to a monitoring apparatus and transmitting the stored sound and digital video data to a remote place; A remote monitoring step of transmitting a size and the like for the monitoring area according to a request from an authorized remote site; An inquiry step of restoring the stored surveillance information and displaying the restored surveillance information; It performs the system management step to manage the monitoring information continuously.

In a preferred embodiment of this aspect, the remote monitoring step comprises the steps of: mutually connecting each other according to a request for transmitting sound and video to a surveillance area from an authorized remote monitoring device of a telecommunication network; And converting the stored sound and the digital video data according to the data receiving format of the remote monitoring apparatus and transmitting the converted sound.

The present invention relates to a motion detector and a method using the three-dimensional information of the stereo vision, the voice input and output device detects the sound for the surveillance zone, the image input device detects the image for the surveillance zone, the communication interface is remote Control the data communication between each other, the image output device inputs command and selection information, the temporary memory device temporarily stores the processed data, the control program stores the setting status and the control program and monitoring information, and the main control unit monitors. It is configured to judge the intrusion while monitoring the area through video and size, or to transmit the monitoring information when requested from a remote location, and can monitor the surveillance area by video, infrared sensor and audio, and detect the intrusion. In one case, you can alarm at a remote location, and you can query a surveillance area from a remote location.

Example

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 2 to 8.

Referring to FIG. 2, the motion detector system using the three-dimensional information of the novel stereo vision of the present invention has a perimeter monitoring value, and can monitor the surveillance area with stereo video, audio, and infrared sensors, and intrude and In case of detecting motion, it can alarm remotely and search surveillance area from remotely.

As shown in the figure, the head of the market may monitor a certain surveillance area through a stereo camera, an infrared sensor, and audio. The head of the mayor may be connected to each other through a local area network (LAN) or a commercial communication network. The head of the mayor may be connected to a company performing security services, for example, by telephone, or may be connected anywhere through the Internet.

3 is a block diagram showing the configuration of the main monitoring device in the security system according to an embodiment of the present invention shown in FIG. In the drawings, reference numeral 110 denotes a main controller, 120 denotes a temporary storage device, 130 denotes a storage device, 140 denotes a key input unit, 150 denotes a sensor interface, 160 denotes an infrared sensor, 170 denotes a stereo video interface, 180 denotes a display device, 190 denotes a stereo camera, 200 represents a sound interface, 210 represents a communication interface, and 220 represents a communication network. The main controller 110, the temporary memory device 120, the storage device 130, the key input unit 140, the sensor interface 150, the stereo video interface 170, the sound interface 200, the communication interface 210 ) Transmits control signals and data to each other via a predetermined system bus.

The main control unit 110 is configured with, for example, a CPU to control the operation of the main monitoring device or to perform a data processing function. The temporary memory device 120 is configured of, for example, a DRAM to temporarily store a command to be executed by the main controller 110 or data to be processed. The storage device 130 also includes, for example, a hard disk drive or a flash memory to store operation programs or monitoring data of the main monitoring device.

The key input unit 140 is composed of keys for inputting an initial value of the main monitoring device, remote access information, and a control mode according to the operation.

The sensor interface 150 is connected to the infrared sensor 160 to compensate for the malfunction that the camera may have. For example, it prevents errors on the movement of non-human objects and operates in place of the camera functions when the camera functions at night.

The video interface 170 is connected to the stereo camera 190 to process the video signal captured by the camera and transmit the processed video signal to the main controller 110. The stereo camera 190 may expand the surveillance area by connecting as many as desired. In addition, under the control of the main controller 110, the video surveillance recording stored in the storage device 130 and the video signal captured from the stereo camera may be directly displayed through, for example, the display device 180.

Subsequently, the sound interface 210 detects a sound for a predetermined surveillance region through a microphone (MIC), or outputs a sound reproduced according to the voice monitoring record from the main control unit 110 through the speaker.

In addition, the communication interface 210 is configured of, for example, a modem to modulate the data transmitted between the main monitoring device and the central control station or to demodulate the received data. Such a communication interface calls the remote site according to the information set in the main monitoring device, or controls the remote site when there is a connection request from the remote site. If the main monitoring device and the central control station are connected through a local area network (LAN), the communication interface 210 is configured as an interface card for a local area network. The communication interface 210 connects a plurality of modem or local area network interfaces according to the number of destinations to be connected or the communication method.

4 is a diagram illustrating a method of operating the main monitoring apparatus 100 according to another embodiment of the present invention.

First, when the operation of the main monitoring device is started, the main controller 110 checks while initializing the operation of the connected peripheral device (eg, stereo camera, sensor, microphone, modem, etc.).

If the main controller 110 determines that there is a change in the predetermined setting state of the main monitoring apparatus 100 from the key input unit 140, the main control unit 110 starts the predetermined setting change operation (S130). In the setting change routine (S130), as shown in FIG. 5, the screen automatic saving time (S132), remote access information (S133), voice message (S134), and password (S135) as a predetermined setting and setting change operation. And so on.

On the other hand, if it is determined that the monitoring mode for the predetermined monitoring area is started (S140), the predetermined monitoring operation is started as shown in FIG. 6 (S151). Then, the main control unit 110 detects and compares the image signal, the sensor, and the sound for the surveillance area. That is, when the video signal through the stereo video and the output signal by the infrared sensor are compared at the same time (S152, S156) and movement or heat is monitored (S153, S157), it is detected once again using different methods for the reliability of detection (S154, S158). If it is determined that there is an abnormality in the detection process (S155, 159), immediately terminates the monitoring routine (S150) and prepares a task for alarming it to a near or remote location.

7 is a view showing in detail the alarm routine shown in FIG. As shown in the figure when the alarm routine is started (S181), the main control unit 110 is to continuously store the video and sound data for the surveillance area (S182). Such continuous storage is selectively performed according to a predetermined setting state. Subsequently, the main monitoring apparatus 100 connects with the remote monitoring apparatus through the communication interface 210 to inform the remote monitoring apparatus side of the intrusion into the monitoring area (S183). In addition, the main monitoring apparatus 100 transmits the currently detected video and sound data in real time to the remote monitoring apparatus connected through the communication interface 210 (S184). In this case, the main monitoring apparatus 100 may control to generate an alarm sound to the speaker through the sound interface 200. If the connection with the set remote monitoring device is not established, the main monitoring device 100 attempts to connect at the set time interval.

On the other hand, if there is a connection request from the remote place through a predetermined communication interface (210) (S190) to perform a predetermined remote monitoring and query routine (S200). Fig. 9A shows, for example, when there is a connection request from a remote monitoring apparatus that can be connected by a commercial communication network, and Fig. 9B shows a case where there is a connection request from a remote monitoring apparatus connected to a local area network.

As shown in the drawing, when there is a connection request from a remote site, the main monitoring apparatus 100 receives a predetermined identification number and password from the remote site and permits the connection if it matches the information already set (S192, S196). . The main monitoring apparatus 100 transmits the video and audio data detected from the current surveillance area to the connected remote monitoring apparatus. In this case, when the remote monitoring apparatus requests to receive the already recorded surveillance information, the corresponding recording information is inquired from the storage device 130 and transmitted through the communication interface 190 (S193 and S197). Similarly, when the remote monitoring apparatus is set to, for example, a facsimile, a predetermined surveillance image (currently detected image) is transmitted to the designated facsimile side.

Finally, the user may input a predetermined inquiry command through the key input unit 140 of the main monitoring device 100 to inquire the already recorded monitoring data (S200). Through the system management (S200), the user can inquire the recorded monitoring data (video and sound data), and the main monitoring apparatus 100 performs system management by itself.

According to the present invention, the conventional security device can alarm against intrusion, but cannot determine the cause of the alarm remotely, and above all, change in other objects or environment other than the intruder due to changes in lighting, animals, insects, temperature, etc. It solves the problem of wrongly judging the change of image by intruder. It can monitor the surveillance area by video, audio and infrared sensor. You can alarm through it, and you can search the monitoring area in real time from a remote place.

As described above, the motion detector and the method using the stereo vision according to the present invention can be used in a place requiring a high level of security, such as a bank, a public office, an important warehouse, or can be used for monitoring at any remote location.

Claims (4)

A motion detector, which is connected to a local or remote communication network (commercial communication network) and uses three-dimensional information of stereo vision to perform a monitoring function for a predetermined surveillance area, A sound interface 200 for converting the analog sound signal detected from the surveillance region by the microphone into digital sound data; A stereo video interface 170 for converting analog video signals captured from the surveillance area by at least one stereo camera 190 into digital data; A sensor interface 150 for converting a signal sensed by the infrared sensor from the surveillance area into a signal that the main control unit can recognize; A communication interface 210 for transmitting data to a remote site and receiving data from the remote site; A storage device 130 for storing setting information, control programs, sound data, video data, and remote access information; A key input device 140 for inputting an operation command and setting information; According to the sound data from the voice input device 200, the video data from the image input device 170, and the value input from the sensor interface 150, it is determined whether the intrusion into the monitoring area, and confirmed by intrusion In this case, the sound data and the video data are stored in the storage device 130 and connected to the central control station through the local area or telecommunication network by the communication interface 210 according to the remote access information stored in the storage device 130. Notify that there is an invasion to the monitoring area, and if there is a request to transmit sound data and video data recorded in the storage device 130 from an authorized remote monitoring device, sound data and video recorded in the storage device 130. A main control unit 110 for controlling data to be transmitted to a remote location; A temporary storage device (120) for temporarily storing data processed by the main controller (110); And an image output device (180, 190) for converting and displaying video data from the storage device (130) into an analog video signal. A method of detecting a motion detector using three-dimensional information of a stereo vision connected to a local area or telecommunication network (commercial communication network) and performing a surveillance function for a predetermined surveillance area, Initiating the operation of the security system and confirming whether the normal operation (S110); A setting changing step (S130) of storing the setting information and the remote access information; If there is an intrusion by judging the presence, size, and distance of the intruder using the stereo 3D image, heating element, and sound of the surveillance area at regular time intervals, the sound detected at the surveillance area is converted into digital sound data and continuously Storing and converting and storing the image of the surveillance area into digital image data; An alarm step of transmitting the stored sound and video to a remote location by accessing a sound and video stored in real time at a time of intrusion into the surveillance area, such as a near or remote crime prevention center; A remote monitoring step of transmitting monitoring information about the surveillance area to the remote site according to a request from an authorized remote site; An inquiry step of restoring the stored surveillance information and displaying the restored surveillance information; And a system management step of managing the security system so that the monitoring information can be stored continuously. The method of claim 2, The motion detection step calculates the distance and size of the subject using two cameras or stereo cameras instead of one camera different from the conventional method, and also uses a combination of PIR (Passive InfraRed) and sound data. A detection method characterized by a detection step capable of more accurate recognition in detecting a. The method of claim 2, The remote monitoring step (S200) includes the step of connecting each other according to the request for transmitting sound and video for the surveillance area from the authorized remote monitoring device of the local area network; And converting the sound and the image into a data receiving format of the remote monitoring apparatus and transmitting the same through a local area network (S207).