KR100375891B1 - System for automatically tracking/detecting moving objects, embedding integrated control apparatus and ethernet controller - Google Patents

Abstract

The present invention relates to a moving object automatic tracking / detection system incorporating a control device and an Ethernet controller. The system includes a camera for outputting image data of a photographed image having a certain shooting category, a camera driving device connected to the camera and driving the camera to perform a pan / tilt operation, an external system and data. It includes an Ethernet controller for performing communication and receives the center data of the moving object by receiving image data from the camera, extracting the moving object from the received image data, and detecting and analyzing coordinates of the moving object in the image data. An image processing apparatus for generating an image, a drive control apparatus for controlling the camera driving apparatus to receive the center coordinate data of the moving object from the image processing apparatus, and to position the center of the moving object in the center of the shooting category of the camera; Device and video processing It comprises a body incorporating the value and the driving control device.

Description

Automatic object tracking / detection system with built-in control device and Ethernet controller {SYSTEM FOR AUTOMATICALLY TRACKING / DETECTING MOVING OBJECTS, EMBEDDING INTEGRATED CONTROL APPARATUS AND ETHERNET CONTROLLER}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object automatic tracking / detecting system, and more particularly, to a moving object automatic tracking / detecting system having a built-in control device and an Ethernet controller to simultaneously perform tracking and detection of a moving object.

A typical camera takes a stationary object with no movement. Sometimes cameras are used to photograph moving objects, such as running horses or people, but this is also only a moment's appearance. Advances in camera technology have led to the emergence of video cameras that shoot images continuously. A video camera can be used to shoot moving objects. However, video cameras come with the inconvenience that a person must shoot himself. In addition, since the camera and the monitor are generally separated from each other, the construction cost of the surveillance camera is considerably high.

Thus, surveillance cameras have been developed that can take ambient images for surveillance without human intervention. Surveillance cameras continue to capture images in fixed positions simply by turning the switch on. However, the surveillance camera only captures the image where the camera is facing and does not track the moving object. For security or other reasons, it is necessary to track a moving object. For this purpose, a system that can automatically track a moving object is required. If there is a system that can be easily installed in the place where the network is connected without special installation work, and furthermore, all the control devices are built in, the size can be reduced and simplified, and it will be easy to move and install.

The present invention has been made to solve the above-mentioned inconvenience, and relates to a moving object automatic tracking / detection system for simultaneously performing the tracking and detection of a moving object by a built-in control device and Ethernet controller.

1 is a perspective view of a moving object automatic tracking / detection system installed on the ceiling according to the present invention and a digital video recorder.

2 is a block diagram of the automatic moving object tracking / detection system shown in FIG.

3 is a detailed block diagram of the image processing apparatus shown in FIG. 2;

Fig. 4 is a detailed block diagram of the drive control device shown in Fig. 2. <Description of symbols for main parts of the drawings> 100: Automatic tracking / detection system of moving object 111: Camera 141: Image storage device 211: Camera driving device 221: video processing device 231: drive control device 121: main body

The present invention to achieve the above technical problem,

To perform data communication with a camera that has a certain shooting category and a camera for outputting the captured image data, and a camera driving device that is connected to the camera and drives the camera to perform a pan / tilt operation. Ethernet controller for receiving the image data from the camera and extracting the moving object from the received image data to detect and analyze the coordinates of the moving object in the image data to generate the center coordinate data representing the center of the moving object An image processing apparatus, a drive control apparatus for receiving the central coordinate data of the moving object from the image processing apparatus and controlling the camera driving apparatus so that the center of the moving object is located at the center of the shooting category of the camera, the camera driving apparatus and the image processing Gear and drive A moving object including a body incorporating the control apparatus provides an automatic tracking / detecting system.

Preferably, a storage device for controlling the image processing apparatus and storing an image captured by the camera is connected to the image processing apparatus and the camera, and the storage device is a digital video recorder.

Preferably, the camera is a CCD camera, the camera performs a zoom operation under the control of the drive control device.

Preferably, the image processing device and the drive control device are constructed on a printed circuit board.

Preferably, the image processing apparatus includes an image capture unit for receiving and storing image data from the camera; A controller configured to calculate image center coordinates of the moving object by analyzing image data stored in the image capture unit; And a memory integrated circuit device which stores a program and data necessary for processing the image data in the controller and does not lose the stored data even when the power is cut off.

Preferably, a test unit for detecting an image processing process of the image processing apparatus and testing an operation of the image processing apparatus is provided.

Preferably, the drive control device includes an input / output unit for inputting a control signal output from the image processing device; A limit detector for detecting a mechanical position limit of the pan / tilt of the camera; A driving control unit connected to the input / output unit and a limit detector and controlling the pan / tilt / zoom operation of the camera within the mechanical position limit range of the pan / tilt of the camera by receiving the center coordinate data; And first and second stepping motor driving units configured to drive the camera to perform the pan / tilt operation under the control of the driving control unit.

According to the present invention, it is easy to move or install the moving object automatic tracking / detection system.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a perspective view of a state in which the automatic moving object tracking / detection system is installed on the ceiling and the image storage device is connected to the system, Figure 2 is a moving object automatic tracking / shown in FIG. A block diagram of a detection system. 1 and 2, the moving object automatic tracking / detecting system 100 according to the present invention includes a camera 111, a camera driving device 211, an image processing device 221, a driving control device 231, The image storage device 141 and the main body 121 are provided.

The camera 111 captures an image belonging to a shooting category of the camera 111 in a state where power is supplied. Various types of cameras may be used as the camera 111, including a charge coupled device (CCD) camera. The camera 111 performs a pan operation that rotates 360 degrees horizontally, a tilt operation that moves up and down under the control of the drive control device 231, and a zoom operation that enables perspective shooting of an object. do. Therefore, the camera 111 can perfectly track the moving object no matter which direction the moving object moves.

The camera driving device 211 is electrically connected to the camera 111, receives the driving control signal VD3 from the driving control device 231, and drives the camera 111 to cause the camera 111 to perform a pan / tilt operation. Do it.

The image processing apparatus 221 receives the image data VD1 from the camera 111, and detects coordinates of the moving object to track the moving state of the moving object when a moving object is found among the received image data. And the center coordinates of the moving object are calculated and output as the position control signal VD2.

In response to the position control signal VD2 output from the image processing apparatus 221, the driving control device 231 controls the camera driving device 211 so that the center of the moving object is located at the center of the camera 111. .

The image processing device 221 and the drive control device 231 are configured on a printed circuit board.

The main body houses a camera driving device 211, an image processing device 221, and a driving control device 231.

An image storage device 141, for example, a digital video recorder (DVR), is connected to the image processing device 221 and the camera 111, and the image storage device 141 controls the image processing device 221. Receive and store the image taken by the camera 111. Since the image storage device 141 stores the image data only when a special situation occurs and the image processing device 221 issues a command to store the image data, the storage capacity does not need to be so large. When a storage device having a small size and a large storage capacity is developed, the image storage device may be embedded in a main body.

The automatic tracking / detection system 100 is installed on the pedestal 131 when installed on a flat surface, but the main body 121 is directly installed without a pedestal when installed on a wall or an inclined place other than the flat surface.

As described above, the automatic moving object tracking / detecting system 100 photographs the moving object while following the moving state of the moving object and stores the photographed content. Therefore, the moving object automatic tracking / detection system 100 is capable of real time unattended monitoring. Since the moving object automatic tracking / detection system 100 stores the captured image only when a special situation occurs, the storage capacity of the storage device 141 can be used at least. The automatic moving object tracking / detecting system 100 includes a control device, that is, an image processing device 221 and a driving control device 231, to easily move or install the moving object automatic tracking / detecting system 100. .

The moving object automatic tracking / detecting system 100 may capture an image along a specific trajectory in addition to the moving object as described above. In this case, the image is taken regardless of the moving object. For example, if there is an area where moving objects frequently appear, and where the monitor needs to continue to monitor, the area is set so that the camera monitors the moving object along a designated trajectory within the area.

3 is a detailed block diagram of the image processing apparatus 221 illustrated in FIG. 2. Referring to FIG. 3, the image processing apparatus 221 may include an image capture unit 311, a controller 321, first and second memory integrated circuit devices 331 and 332, a power supply 341, an output unit 351, and the like. The test unit 361 is provided.

The image capture unit 311 receives image data from the camera 111 and stores the image data, and may process audio data.

The controller 321 calculates the center coordinates of the moving object by analyzing the image data stored in the image capture unit 311. As the controller 321, various controllers including a central processing unit (CPU) may be used.

The first memory integrated circuit device 331 stores a program and data necessary for processing the image data in the controller 321, and does not lose the stored data even when the power is cut off. As the first memory integrated circuit device 331, a NAND flash memory integrated circuit device is preferably used.

The second memory integrated circuit device 332 is connected to the controller 321 and is used when the controller 321 temporarily stores the image data to process the image data. As the second memory integrated circuit device 332, a dynamic random access memory (DRAM), a static random access memory (SRAM), or the like may be used. It is preferable to use a synchronous DRAM (SDRAM).

The test unit 361 maintains the standby state in the normal operation and detects an image processing process of the image processing apparatus 221 during the test to test the operation of the image processing apparatus 221.

The power supply unit 341 supplies a power supply voltage necessary for the image processing apparatus 221 to operate. The power supply unit 341 converts a voltage input from the outside into a voltage level suitable for the image processing apparatus 221 and supplies the converted voltage level.

The output unit 351 converts the data output from the control unit 321 to a voltage level suitable for an external system and outputs the converted voltage level. The output unit 351 includes an Ethernet controller 353 and a south bridge 355.

The Ethernet controller 353 performs data communication with an external system.

The image data processed by the controller 321 is transferred to the driving control device 231 through the south bridge 355. The controller 321 also controls the image storage device 141 through the south bridge 355.

The image capture unit 311, the control unit 321, and the output unit 351 perform data communication with each other via a data bus 371, for example, a PCI bus.

4 is a detailed block diagram of the driving control device 231 shown in FIG. Referring to FIG. 4, the driving control device 231 includes an input / output unit 411, a limit sensor 421, a driving control unit 431, first and second stepping motor driving units 441 and 442, and an alarm ( 451).

The input / output unit 411 inputs a position control signal VD2 output from the image processing apparatus 221.

The limit detector 421 detects its position limit during the pan / tilt operation of the camera 111 and informs the driving controller 431.

The driving control unit 431 is connected to the input / output unit 411 and the limit detector 421, and receives mechanical coordinate data of the moving object through the input / output unit 411 and mechanical position during the pan / tilt operation of the camera 111. Control the pan / tilt operation of the camera 111 within the limit range. The driving controller 431 is connected to the camera 111 through the input / output unit 411 to control the zoom operation of the camera 111.

The first stepping motor driver 441 drives the camera 111 such that the camera 111 performs a pan operation under the control of the driving controller 431.

The second stepping motor driver 442 drives the camera 111 such that the camera 111 performs a tilt operation under the control of the driving controller 431.

Alarm 451 alerts in special cases. For example, when a special case occurs such that the set lighting is turned off or a specific object disappears, the alarm 451 generates an alarm according to an alarm operation command from the controller 321 in the image processing apparatus 221.

The best embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

As described above, according to the present invention, real-time unmanned monitoring of the moving object is possible, and since the captured image can be stored only when a special situation occurs, the storage capacity of the storage device 141 does not need to be large, and the control device 121 Since it is built in, it is easy to move and install the automatic tracking / detection system 100. In addition, it is possible to perform data communication with an external system through the Ethernet controller has the effect of monitoring the tracking and detection of the moving object from a remote location. Therefore, a monitoring system provided at a remote location provides a side effect of providing an environment in which a plurality of moving object automatic tracking / detecting systems 100 can be controlled. Using such advantages, the automatic moving object tracking / detecting system 100 according to the present invention is a classic security surveillance market such as defense equipment, financial sector, general industry, garbage dumping surveillance, parking surveillance, home security, and home security. Or the like.

Claims (9)

A system for automatically tracking / detecting a moving object, A camera having a certain shooting category and outputting image data of the photographed image; A camera driving device connected to the camera and configured to drive the camera so that the camera performs a pan / tilt operation; And an Ethernet controller for performing data communication with an external system, and receiving image data from the camera, extracting a moving object from the image data, and detecting and analyzing coordinates of the moving object in the image data. An image processing apparatus for generating center coordinate data representing a center of a moving object; A drive control device for receiving the center coordinate data of the moving object from the image processing device and controlling the camera driving device so that the center of the moving object is located at the center of a shooting category of the camera; A main body incorporating the camera driving device, the image processing device, and the driving control device Including, The moving object automatic tracking / detection system is connected to the image processing apparatus, and further includes an image storage device for storing image data from the camera under the control of the image processing apparatus. The image processing apparatus further includes a south bridge for transmitting the image data and the center coordinate data to the external system through the Ethernet controller, and transmitting the center coordinate data to the drive control device. The drive control device, An input / output unit for inputting the center coordinate data transmitted from the image processing apparatus; A limit detector for detecting a position limit of the camera, A driving control unit connected to the input / output unit and the limit detector and configured to receive the center coordinate data and control a pan / tilt operation of the camera within the position limit; First and second stepping motor drivers connected to the driving control unit to drive the camera to perform a pan / tilt operation under the control of the driving control unit; An alarm that generates an alarm under the control of the drive controller Automatic moving object tracking / detection system comprising a. delete The method of claim 1, The image storage device is a moving object automatic tracking / detection system, characterized in that the digital video recorder. The method of claim 1, The camera is a moving object automatic tracking / detection system, characterized in that the CCD camera. The method of claim 1, And the camera performs a zoom operation under the control of the drive control device. The method of claim 1, And the image processing apparatus and the drive control apparatus are configured on a printed circuit board. The method of claim 1, The image processing apparatus, An image capture unit for receiving and storing the image data from the camera; A controller configured to calculate the center coordinates of the moving object by analyzing the image data stored in the image capture unit; A memory integrated circuit device for storing a program used for analyzing the image data and the calculated center coordinate data in the controller; Automatic moving object tracking / detection system comprising a. The method of claim 7, wherein And a test unit for detecting an image analysis process of the image processing apparatus and testing an operation of the image processing apparatus. delete