JPS62245890A - Picture tracing processor - Google Patents

Abstract

PURPOSE:To surely and easily trace a moving object by obtaining the center of gravity position of the moving object from a binary-coding signal of the moving object and driving an image pickup device based on the deviation between the preset effective picture center position and the center of gravity. CONSTITUTION:A picture signal 2 obtained by a television camera 1 is inputted to a signal generating circuit 3 and a binary coding output signal 4, a picture data for one field or one frame period is stored in a storage circuit 5. A moving signal tracing circuit 7 extracts only the moving object by using a data and the binary coding signal in the storage circuit 5 and the output signal is inputted to a tracing control circuit 11. The circuit 11 obtains the center of gravity coordinate of the moving object, operates the distance with the center coordinate of the reproduced picture preset and stored in advance and outputs step motor drive pulse signals X, Y. A pan/tilt drive section 12 applies pan/tilt to the cam era 1 to reproduce the moving object at the center of the picture.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention extracts a moving object separately from a complex static background screen in an image obtained by an imaging device such as a television camera, and also extracts the center of gravity data of the moving object. The present invention relates to an image tracking processing device that tracks a moving object on a screen.

BACKGROUND OF THE INVENTION In recent years, with the spread of television cameras, their fields of use are expanding to include, for example, surveillance applications, visual applications for industrial robots, and medical education applications. Most of these applications were simply playing back the image and checking it on the screen, but in recent years, in applications such as FA (factory automation), robots, and remote monitoring, it has become possible to use the image to determine the imaging angle of the TV camera itself. There are demands for controlling, monitoring specific moving objects, tracking and imaging, etc. Conventionally, as a method of extracting a moving object portion from an image, matching between two consecutive frames has been used for detection.

Problems to be Solved by the Invention However, in the conventional example described above, calculation processing is complicated, and
There are problems such as images reproduced from behind a moving object being detected as a moving object, and no system has been found that can correctly recognize a moving object from the output signal of a camera image and track and reproduce it.

Accordingly, the present invention is capable of faithfully separating and extracting a moving object from a static background screen in an image obtained by an imaging device such as a television camera, as well as controlling the imaging angle of the imaging device and monitoring the moving object. It is an object of the present invention to provide an image tracking processing device that can easily and reliably perform tracking, etc. and has a relatively simple circuit configuration.

Means for solving the problems and technical means of the present invention for solving the above problems include a signal generation circuit that generates a binary signal of the entire object from an image signal obtained by an imaging device; A storage circuit that stores the binary signal from this signal generation circuit, and extracts only the binary signal of the moving object using the delayed signal read out from this storage circuit and the binary signal from the signal generation circuit. The apparatus includes a movement signal extraction circuit, and a tracking control circuit that determines the center of gravity of the binary signal of the moving object and generates an imaging device control signal based on the deviation between this center of gravity and a preset effective screen center. .

For production The effects of the above technical means are as follows.

That is, the image signal obtained by the imager is converted into a binary signal of the entire object by the signal generating circuit. After this binary signal is delayed in a storage circuit, this delayed signal and the next image signal output from the imaging device are compared by a moving signal extraction circuit, and the moving object is extracted as a binary signal. The center of gravity of the digitized signal is determined, and the deviation between a preset effective screen center position and the center of gravity is determined, and the imaging device is driven based on this deviation to easily and reliably track a moving object.

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

FIG. 1 is a block circuit diagram showing an image tracking processing device in one embodiment of the present invention.

In FIG. 1, 1 is a television camera which is an imaging device; 2
The image signal-3 output from the television camera 1 is a signal generation circuit into which the image signal 2 is input.The signal generation circuit-4 is a subject binary signal outputted from the signal generation circuit 3, and 5 stores the subject binary signal 4. 6 is a delayed signal outputted from the storage circuit 5, -7 is a moving signal extraction circuit that extracts a moving object as a binary signal using the delayed signal 6 and the binary signal 4, 8 is a noise filter, and 9 is a Output terminal, 10 is synchronous separation circuit,
11 is a tracking control circuit that determines the center of gravity of the binarized signal based on the signal from the output terminal 9 and generates a control signal for the imaging device 1; 12 is a pan/tilt motor drive unit attached to the television camera 1; be.

FIG. 2 is a diagram showing the internal circuit configuration of the tracking control circuit 11 shown in FIG.
21 is the signal, 22 is a moving object image position detection circuit, 2
3 and 24 are position data signals on the X and Y axes on the screen, 25 is a center position instruction circuit on the screen, 26 is the data signal, and 27 is a pan/tilt calculation for generating motor control signals. The circuits 28 and 29 are motor drive signals, respectively.

FIG. 3 is an explanatory diagram of the operation of FIG. 1, and (a) of the same figure shows the vertical drive pulse 30 (
(hereinafter abbreviated as VD pulse), and a frame synchronization pulse signal waveform. (b) of the same figure shows a memory write control signal 31 generated in synchronization with the VD pulse 30 shown in (a) above,
(cl is the memory read control signal 32 generated in the same way, (
d) is a ready signal that controls the position detection circuit 22; (e) is a ready signal that controls the position detection circuit 22;
) is camera tracking 1 cycle time τ2゜(f) is camera 1
A signal τ1 for determining the point in time at which the signal τ is stored in the storage circuit 5 is shown.

Next, the operation of the above embodiment will be explained using FIGS. 1 to 3.

First, an image signal 2 obtained by the television camera shown in FIG. 1 is input to a signal generating circuit 3. This generates a binary image signal. This output signal 4 is used to store image data of one field or one frame period in the storage circuit 5 during the HI level period of the memory write control signal 31 shown in FIG. 3(b).

Next, t(I) of the memory read control signal 32 in FIG. 3(C)
Data in the storage circuit 5 is read out during the level period and input to the movement signal extraction circuit 7. On the other hand, the binary signal 4 is logically operated with the signal inputted from the storage circuit 5 in the movement signal extraction circuit 7 during the I-II level period of the memory read control signal 32, and only the moving object is extracted.

The output signal of the movement signal extraction circuit 7 is subjected to noise removal by a noise filter 8 and is input to a tracking control circuit 11 .

The tracking control circuit 11 is composed of a 1-position detection circuit 22, a center position indication circuit 25, and a pan/tilt calculation circuit 27, and the position detection circuit 22 receives a control signal as shown in FIG.
) and the ready signal 33 of (dl) in the same figure.
is input. On the other hand, the moving object binary signal 21 is transmitted to the position detection circuit 2 as a dot data signal sampled by the clock signal generated by the synchronization separation circuit 10 during the HI level period of the memory write control signal 31 shown in FIG. 3(b).
Added to 2.

The position detection circuit 22 calculates the sums ΣX and BY of the number n of dots in the input dot data and the address, and outputs the sums ΣX and BY as XY axis coordinate signals 23 and 24n n . Let this output be the coordinate value of the moving object and Pl
(xt,”/1).

This signal is preset and stored in the center position indicating circuit 2.
Center coordinate value data of the reproduced image from 5 manually P. (x□
, yO) 26 is input to the pan/tilt calculation circuit 27 and the distance between one point of PoP ΔX 1 :': X 1
Calculate -Xo+Δyl=y, -y.

This value is multiplied by the pulse conversion system numbers kx and ky to output input pulse signals X and Y for driving the step motor, that is, 28.29.

The XY signals 28, 29 are input to a pan/tilt drive 12 which causes the camera 1 to reproduce moving objects in the center of the screen.

The pan/tilt driving section 12 has a movable section attached to the camera 1, and pans/tests the camera 1 itself to reproduce the moving object in the center of the screen, thereby completing the tracking side operation.

The above operation is completed within the period τ2 shown in FIG. 3(e), which is one cycle of the ready signal in FIG. 3(d), and this cycle is repeated to track the moving object. In addition, τ1 in the same figure (f) is
This is a signal for determining the point in time at which the camera signal is stored in the storage circuit 5 in FIG.

As described above, in this embodiment, since the center position of the moving object is determined from the binary signal of the entire object, the error in the center of gravity position due to dot noise is small, and the moving object can be correctly recognized and tracked and reproduced.

Effects of the Invention In short, the present invention obtains a binarized signal of the entire subject from an image signal obtained by an imaging device using a signal generation circuit, delays this binarized signal in a storage circuit, and then combines this delayed signal with the next one. Using the binary signal of the image output from the imaging device, a moving signal extraction circuit extracts the signal of only the moving object, determines the center of gravity of the moving object based on this signal, and combines this center of gravity with the center of the effective screen set in advance. This system generates an imaging device control signal to perform tracking based on the deviation from Since the position of the center of gravity of a moving object is determined from the signal, the number of dots that make up the moving object image is larger than in the case of conventional contour signals, so there is less error in the center of gravity position due to dot noise that occurs on the screen. This allows for more accurate tracking.

Further, there is an advantage that moving object extraction can be easily obtained with only one frame-fold storage circuit, and the resulting circuit can be simplified.

[Brief explanation of drawings]

@ Figure 1 is a block circuit diagram showing an image tracking processing device in one embodiment of the wooden invention, Figure 2 is a block circuit diagram showing details of the tracking control circuit of this embodiment, and Figures 3 (a) to 3 are the main lines. 7 is a timing chart showing a tracking control period in an embodiment. ■...Television camera, 2...Image signal, 3...Signal generation circuit-4,...Binarized signal, 5...Storage circuit,
6...Delay signal, 7...Movement signal extraction circuit, 8...
Noise filter, 9... Output terminal, 10... Synchronization separation circuit, 11... Tracking control circuit, 12... Pan/tilt drive section. Name of agent: Patent attorney Toshio Nakao (1st person)
To the figure 80 to Ha Sasha, Q cJ℃QJ also ku ``'''''-

Claims (1)

[Claims] A signal generation circuit that generates a binary signal of the entire subject from an output image signal of an imaging device, a storage circuit that stores the binary signal from the signal generation circuit, and a delayed signal read out from the storage circuit. a moving signal extraction circuit that extracts only a binary signal of a moving object based on the binary signal from the signal generation circuit; An image tracking processing device comprising: a tracking control circuit that generates an imaging device control signal based on a deviation of the image capturing device.