KR100775867B1 - System for auto tracking of moving object - Google Patents

Abstract

A system for automatically tracking a moving object is provided to monitor the moving objects in real-time, thereby monitoring an illegal act or emergency situation about a security zone effectively. A system for automatically tracking a moving object includes a monitoring apparatus(100), a local controlling apparatus(200) and a central monitoring office(400). In the monitoring apparatus, a plurality of object sensing sensors(110), an image scanning camera(120), and a plurality of PTZ(Pan/Tilt/Zooming) cameras(130) are included. In the local controlling apparatus(200), a cameral controlling part(210), an image scanning part(230), an image processing part(220), a local controlling part(240), a data processing part(250), an image data storing part, and a communication controlling part are included. In the central monitoring office, multiple communication apparatus(410), a main server(430), a back-up apparatus(432), a plurality of operating terminals(440,441,442), an image matrix(460), and a monitor(462) are included. The plurality of PTZ cameras senses the moving object. The local controlling apparatus connects the communication with an external wire/wireless communication network(300) by the control of the local controlling part. The central monitoring office displays the image signal outputted from the image matrix.

Description

System for Auto tracking of moving object}

1 is a configuration diagram showing an automatic tracking system for moving objects according to an embodiment of the present invention.

2 is an installation diagram showing a state in which the monitoring zone is installed, the monitoring device of the automatic moving object tracking system according to the present invention.

3 is a flow chart showing the operating state of the automatic moving object tracking system according to the present invention.

♣ Explanation of symbols for main part of drawing ♣

100: monitoring device 110: object detection sensor

120, 120a, 120d: video detection camera

130, 130a-130n: PTZ camera 140: lighting device

150: speaker 160: emergency bell

200: local controller 210: camera controller

220: image processor 230: image detector

240: local control unit 250: data processing unit

260: image data storage unit 270: communication control unit

300: communication network 310: emergency rescue team

400: central monitoring situation room 410: multiple communication devices

430: main server 432: backup device

440, 441, 442: operating terminal 460: video matrix

462: situation monitor M, M1, M2: moving object

A, A1, A2, A3: Surveillance Zone

(Technology)

The present invention relates to a moving object automatic tracking system, and more specifically, to detect the movement of a moving object from a sensor and operate an image detecting camera and a PTZ (Pan / Tilt / Zooming) camera to confirm and track and expand and store the moving path. The present invention relates to a moving object automatic tracking system for performing such a light.

(Prior Art)

Tracking technology for moving objects is becoming common for security, security, or surveillance in urban residential areas, commercial areas or rural housing complexes. In general, tracking technology for a moving object has numerous application areas such as security and surveillance systems, visual processing of intelligent robots, and user interfaces, and various methods of camera apparatuses are used for realization thereof. Such a moving object tracking method is a technique of detecting and detecting a target through an image of a predetermined area by using one or more fixed camera devices. In addition, by using a camera device capable of PTZ (Pan / Tilt / Zooming) control in a security and surveillance system using a moving object tracking method, the camera device is manually controlled from a remote location to acquire and analyze an image in a desired area to detect a target. Technology. In addition, using a camera device equipped with a telephoto lens and a wide-angle lens as a moving object tracking method, the target position is predicted from the image captured by the wide-angle lens in a fixed region and the telephoto lens It is a technique of obtaining and analyzing a target image at a predicted position through. However, these conventional moving object tracking methods lack flexibility in mutual cooperation between camera devices for efficiently tracking moving objects, and thus, do not provide effective performance for high speed camera control and moving object tracking systems, and also provide PTZ. There is a problem in that the advantage of the controllable camera systems cannot be effectively used.

The present invention is to solve the above problems, such as detecting the moving object in the surveillance zone, by controlling the operation of each camera using the image detection camera and a plurality of PTZ cameras to check the movement path of the moving object in real time It is an object of the present invention to provide an automatic tracking system for moving objects to perform tracking and enlarged storage for more effective security, security, and surveillance.

As a means for achieving the above object, the moving object automatic tracking system according to the present invention, in the moving object automatic tracking system, a plurality of object detection sensors for detecting a moving object is installed in the main monitoring zone, the main monitoring zone A monitoring device including an image detecting camera installed to detect an entire situation and an image, and a plurality of PTZ cameras installed to detect a shooting and an image by enlarging a sudden area in a main monitoring area to track a moving object; Camera control unit for controlling the rotation of the PTZ camera, tilt adjustment and zoom in / zoom out of the camera lens, an image detector for detecting the image signal captured by the camera, and converts the image signal detected by the image detector or license plate information An image processing unit for extracting and processing an image, a local control unit for controlling the camera control unit, an image processing unit, a data processing unit, and a communication control unit, a data processing unit for processing data input and output to the local control unit, and image data input and output to the data processing unit. A local control device having an image data storage unit for storing the communication unit and a communication control unit for connecting communication with an external wired / wireless communication network under control of the local control unit; Multiple communication devices for communication with a plurality of local control devices installed through the communication network, a main server for transmitting and receiving and controlling the data input and output connected to the multiple communication devices, and stores data at regular intervals from the main server A backup device, a plurality of operating terminals for input / output and control of data input to the main server, an image matrix for distributing multiple images input from the multiple communication apparatus, and an image output from the image matrix And a central monitoring situation room equipped with a situation monitor for visually displaying a signal.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the moving object automatic tracking system according to a preferred embodiment of the present invention.

1 is a configuration diagram showing a moving object automatic tracking system according to an embodiment of the present invention, Figure 2 is a view showing an installation state of the monitoring device.

First, the automatic moving object tracking system of the present invention is to automatically detect, track, and monitor moving objects in a main surveillance zone, and detect an image using a camera. The monitoring apparatus 100 and the local control apparatus 200 are provided. And the central monitoring situation room (400). The monitoring device 100, the local control device 200, and the central monitoring situation room 400 may transmit and receive data through wired and / or wireless communication networks, respectively.

The monitoring device 100 is installed in a designated monitoring area, for example, a prop or pole or wall having a predetermined height in a monitoring area such as a road divided into three or more roads or remote areas. Surveillance device 100 is installed in the main monitoring area, a plurality of object detection sensor 110 for detecting a moving object is installed in the pillar, pole or wall or the corner of the bent road, is installed at regular intervals, such as the wall It is good.

And as the monitoring device 100, an image detection camera 120 capable of capturing the entire image of the surveillance zone is installed to shoot and detect the entire background image in the main surveillance zone. In addition, a plurality of PTZ cameras 130 are included in order to detect shooting and images by tracking a moving object by enlarging an abrupt area in which an event occurs in the main monitoring area. The PTZ camera 130 includes a pan, tilt, and zoom-in and zoom-out functions of a camera lens to zoom and track a moving object.

Therefore, the monitoring device 100 is installed in the monitoring area at a predetermined interval, the object detection sensor 110, the installation interval of the object detection sensor 110 is the interval that the object detection sensor 110 can detect the moving object by overlapping. It would be desirable to be installed. The surveillance apparatus 100 includes an image detection camera 120 for acquiring an entire image of the surveillance zone, and a PTZ camera 130 for capturing an image that can be tracked and stored in a moving object.

Furthermore, the monitoring device 100 is provided with an emergency bell 160 or an emergency rescue bell to operate in the main monitoring area or building in an emergency situation. This makes it possible to use emergency bells or rescue bells installed in the surveillance zones in case of tailing off, abduction of persons, request for personal protection or emergency. Simultaneously with the operation of the emergency bell or emergency rescue bell to detect the occurrence of the event that the monitoring device to automatically track and monitor the moving object. In addition, as the monitoring device 100 may be installed an infrared sensor or night vision camera that can detect the temperature of the human body or the external fine illumination, it may be able to track the moving object more precisely. In addition, the speaker 150 is installed in the monitoring device 100 so that a warning sound or a warning sound is expressed. The speaker 150 is preferably installed together with the image detection camera 120 for capturing the entire image of the surveillance zone, and may be configured to output audio in real time in a central monitoring situation room.

In addition to the security light installed in the monitoring area as the monitoring device 100, when the recognition of the moving object photographed by the PTZ camera 130 is below a certain illuminance or when it is rainy, the lighting device 140 that is automatically turned on at a predetermined interval is provided. Can be installed as It may be desirable to automatically turn on when a security light installed in the monitoring area is not illuminated by the area or the security light is off.

The PTZ camera 130 is installed at positions where the moving objects can be superimposed in the surveillance zone, respectively, and installed so that the moving objects can be photographed even in a covered and covered area of the surveillance zone.

On the other hand, the local control device 200 is installed in the enclosure or the like on one side of the monitoring area for monitoring the moving object to transmit and receive data from the plurality of monitoring devices 100, the central monitoring situation room 400 is one or more local control By receiving the information on the detected vehicle from the device 200 to perform storage, analysis, inquiry, etc., it is operated unattended. The local control device 200 is connected to a wired / wireless network such as an image detecting camera 120, a PTZ camera 130, a lighting device 140, a speaker 150, a plurality of object detection sensors 110, and the like of the monitoring device 100. Transmission and reception and control of data are performed through communication.

The main server 430 or one or more operating terminals 440-442 installed in the central monitoring situation room 400 includes an operation program for detecting, tracking, and photographing moving objects in the monitoring area, and the local control apparatus 200. It is equipped with a system that can perform the announcement through the announcement or the warning or guide voice output or printing according to the event occurred in the monitoring area. In addition, the central monitoring situation room 400 is connected to the main server 430 and the operation terminal 440-442 through the wired / wireless communication network 300 so as to transmit and receive data. The local control apparatus 200 and the central monitoring situation room 400, and the transmission device of the police station, police box, security company, crime prevention zone, optical cable, leased line, high speed communication network (xDSL, Cable Modem), local area network (LAN) and wired and wireless communication network (T1 / E1 / Optical) to transmit and receive data in real time. Therefore, a dedicated network or a dedicated line such as wired, wireless or optical communication is used for data communication between the local control apparatus 200 and the central monitoring situation room 400, and the installed communication network or backbone network can be generally connected and used. Moreover, the network may transmit and receive data via the Internet.

The camera controller 210 of the local controller 200 controls the operation of the PTZ camera 130 by outputting a control signal to the PTZ camera 130 having a rotation, tilt adjustment, and zoom in / zoom out function of the camera lens. That is, the camera control unit 210 controls the focusing through the pan, tilt and zoom in / zoom out of the camera necessary for selecting the position of the camera so as to capture information about the moving object including the image of the moving object in the surveillance zone. In addition, the camera controller 210 may also control the image detection camera 120 to control the enlargement, reduction or change of the surveillance zone.

The image detector 230 detects the image signals captured by the PTZ camera 130 and the image detection camera 120, and the image processor 220 converts the image signals detected by the image detector 230 or It is to perform the function of extracting and processing the license plate information. In addition, the local controller 240 inputs and outputs signals for controlling the camera controller 210 and the image processor 220, the data processor 250, and the communication controller 270. The data processor 250 processes data input and output to the local controller 240, and the communication controller 270 connects communication with an external wired / wireless communication network 300 under the control of the local controller 240. In addition, the image data input and output to the data processing unit 250 is stored in the image data storage unit 260 and at the same time through the communication control unit 270 and the communication network 300 transmits and receives data in real time to the central monitoring situation room 400. .

As such, the local control apparatus 200 determines the location information of the moving object detected by the object detecting sensor 110 and controls the driving of the image detecting camera 120 and the PTZ camera 130 and at the same time each camera. It processes the image signal photographed from (120, 130) to control the external communication network and data communication. In addition, the local control apparatus 200 may output a sound such as warning and guidance through the blinking of the lighting apparatus 140 and the speaker 150.

On the other hand, the multi-communication device 410 of the central monitoring situation room 400 transmits and receives data from the local control device 200 through the wired and wireless communication network 300 to automatically detect a moving object according to the occurrence of an event in the main monitoring area remotely. And control.

The multi-communication apparatus 410 of the central monitoring situation room 400 is in data communication with a plurality of local control apparatus 200 installed in the main monitoring area through the wired and wireless communication network 300.

The main server 430 is connected to the multiple communication device 410 to transmit and receive data and control, the backup device 432 connected to the main server 430 is a predetermined time interval or from the main server 430 Is to store data in real time. In addition, the plurality of operating terminals 440-442 are installed in the central monitoring situation room 400 and the operator of the situation room inputs and controls data input to the main server 430. Furthermore, the central monitoring situation room 400 may print on the detected image using a color printer or the like.

The video matrix 460 distributes multiple images input from the multiple communication device 410, and the situation monitor 462 is for visually expressing the video signal output from the image matrix 460. By dividing the screen, the video signal is displayed or a plurality of monitors are provided so that the situation of each road monitoring zone is displayed.

The operation of the automatic moving object tracking system in the main monitoring zone of the present invention configured as described above will be described. The automatic moving object tracking system of the present invention is applied to a dense residential area or a rural housing complex that requires surveillance such as security or security.

First, monitor moving objects, especially moving objects such as people or vehicles, at all times during the day or night at the surveillance area for security or surveillance, and make major monitoring due to the occurrence of events such as emergency or emergency in the area. Surveillance and tracking of moving objects in the monitoring area is also provided when an emergency bell is installed in the area or building.

That is, referring to the flowchart of FIG. 3, the image detecting camera 120 installed in the surveillance zone A captures the entire image of the surveillance zone and passes through the communication network 300 through the local control apparatus 200 to monitor the central monitoring situation room ( Transmitted to 400 and expressed to the situation monitor (462) (S10). At this time, the movement of the moving object (M) is obtained from the object detection sensor 110 installed at a predetermined interval in the monitoring zone. In addition, by detecting a moving object by installing a weight sensor on the bottom surface of the monitoring zone to detect the movement of the moving object, the movement path, and also may be applied to the infrared sensor, ultrasonic sensor. At this time, the movement of the moving object M detected by the object detecting sensor 110 causes the PTZ camera 130 to enlarge and track the moving object. The image of the moving object photographed by the PTZ camera 130 is displayed on the situation monitor 462 of the central monitoring situation room 400 via the local control apparatus 200.

In addition, the motion of the moving object M photographed by the PTZ camera 130 may apply an existing object recognition algorithm using the characteristics of the moving object, for example, color, size, or feature point, in the local controller 200. .

As described above, the photographing of the PTZ camera 130 by the detection of the object detecting sensor 110 is performed by the event generation S11 or the operation of the emergency bell 160 (S12). That is, the occurrence of the event is illegal during the operation of the operator of the central monitoring situation room 400 to monitor the video taken from the image detection camera 120, for example, the misconduct, illegal dumping or violent acts of kidnapping or traffic accidents, etc. When it is determined that various illegal activities are occurring, the local control apparatus 200 is controlled to enlarge, check, and track the moving object. At this time, the local control unit 240 of the local control device 200 controls the at least one PTZ camera 130 installed in the corresponding monitoring zone (A) through the control of the camera control unit 210, such as pan, tilt and zoom in / zoom out. Control. Therefore, in the central monitoring situation room 400, the operator is to track the moving object by the event generated during the monitoring of the image taken from the image detection camera 120.

In addition, the emergency bell operation, when the emergency bell installed in the building or the monitoring zone is operated in an emergency or emergency situation, the PTZ camera 130 installed in the monitoring zone is automatically operated to enlarge and confirm the movement of the moving object. And to be traceable. This may be applied when an intruder occurs in the building or a person who has traveled through the surveillance zone has activated the emergency bell for personal protection.

Therefore, the local control apparatus 200 detects whether there is a movement of the moving object M in the monitoring zone through the object detecting sensor 110 (S13). When the movement of the moving object is detected in the surveillance zone, the area controller 200 controls the one or more PTZ cameras 130 to capture the movement of the moving object M in the corresponding surveillance zone (S14). 130 may enlarge the moving object M with respect to each of the one or more moving objects and allow tracking to be performed by an algorithm or software included in the local control apparatus 200.

In addition, the local controller 200 obtains the detailed image enlarged and tracked through the PTZ camera 130 and inputs / outputs the local controller 240 through the image processor 220 and the image detector 230, and the local controller 240. ) Processes the input detailed image into digital data in the data processing unit 250 and then stores the image in the image data storage unit 260 (S15). The image data is transmitted from the communication control unit 270 to the central monitoring situation room 400 via the communication network 300. The central monitoring situation room 400 backups data from the backup device 432 through the main server 430 and the image matrix 460 through the image data received through the multiple communication device 410 or the situation monitor 462. Outputs a visible situation for the moving object. At this time, the operator of the central monitoring situation room 400 to operate the operating terminal (440-442) to continuously monitor and control the site situation.

The PTZ camera 130 continuously monitors and monitors the movement of the moving object with respect to the event situation generated in the surveillance zone (S16). For example, in the surveillance zone A in which the first event occurred in FIG. 2, the moving object M is zoomed and tracked by the plurality of PTZ cameras 130, and the movable object M moves to the right from the surveillance zone A. FIG. When moving, the PTZ cameras 130b and 130c follow the movement path of the moving object M1 by tracking the object detection sensor 110. The plurality of PTZ cameras 130e and 130g take a picture of the moving object M1 while the moving object M1 moves to the surveillance zone A1. When the moving object M1 enters the surveillance zone A1, the plurality of PTZ cameras 130e to 130h photograph the moving object M1, and when the moving object M1 moves downward, the object detecting sensor Simultaneously with the detection of the 110, the PTZ cameras 130g and 130h continuously photograph the moving object M2. When the moving object M2 moves from the monitoring area A1 to the monitoring area A3, the PTZ cameras 130g and 130h and the PTZ cameras 130l and 130m capture the movement of the moving object M2.

As such, after the occurrence of the event in the surveillance zone, the object detection sensor 110 and the plurality of PTZ cameras 130a to 130n continuously photograph the moving objects M, M1, and M2. Furthermore, even when there are more than one moving object, the object detecting sensor 110 and the PTZ camera 130 may continuously monitor the movement of the moving objects.

Meanwhile, the central monitoring situation room 400 continuously records the monitoring situation according to the moving path of the moving object, and generates an emergency warning or an alarm sound for the event occurrence situation and the moving object, or indicates an emergency situation. It is set through the speaker 150 or expresses the voice for the current situation (S17).

Furthermore, in the central monitoring situation room 400, at the same time as the tracking of the generated event or moving object or during tracking, the emergency monitoring unit 310 is connected to the emergency rescue team 310 through the communication network 300 using the operation terminal 440-442 or the main server 430. The dispatch is requested (S18). The emergency rescue team 310 may include a police station or a nearby police box or a security company or a crime prevention zone or a fire station.

Therefore, the emergency rescue team 310 dispatched at the request of the central monitoring situation room 400 transmits a command of the central monitoring situation room 400 or an image of a scene situation to the emergency rescue team 310 through the communication network 300, Faster and more accurate site rescue or crackdown can be performed on events and moving objects generated in the surveillance zone.

While the invention has been shown and described in connection with specific embodiments thereof, it is well known in the art that various modifications and changes can be made without departing from the spirit and scope of the invention as indicated by the claims. Anyone who owns it can easily find out.

As described above, the automatic moving object tracking system according to the present invention uses an object detecting sensor, an image detecting camera, a PTZ camera, and the like to monitor a moving object in real time by operating an emergency bell. By doing so, it is possible to monitor illegal activities in the surveillance zone, and to check, enlarge and track moving objects automatically, thereby effectively monitoring and controlling illegal or emergency situations in the surveillance zone. .

Claims (5)

A plurality of object detection sensor 110 is installed in the main surveillance zone for detecting the moving object, the image detection camera 120 installed to detect the image and capture the entire situation in the main surveillance zone, and suddenly in the main surveillance zone A monitoring device 100 including a plurality of PTZ cameras 130 installed to track a moving object by enlarging an area and detect a photographing and an image; Camera control unit 210 for controlling the rotation of the PTZ camera 130, tilt adjustment and zoom-in / zoom-out of the camera lens, and control the operation of the image detection camera 120, the PTZ camera 130 and the image detection An image detector 230 for detecting an image signal captured by the camera 120, an image processor 220 for converting the image signal detected by the image detector 230 or extracting and processing information about a moving object; An area controller 240 for controlling the camera controller 210, an image processor 220, a data processor 250, and a communication controller 270, and a data processor for processing data input and output to the area controller 240; 250, an image data storage unit 260 storing image data input and output to the data processing unit 250, and a communication controller connecting communication with an external wired / wireless communication network 300 under the control of the local controller 240. Zoning with 270 Device 200; A multi-communication apparatus 410 for communicating with a plurality of local control apparatuses 200 installed through the communication network 300, and a main server for transmitting / receiving and controlling data input / output connected to the multi-communication apparatus 410 ( 430, a backup device 432 for storing data from the main server 430 at predetermined time intervals, and a plurality of operating terminals 440 for an operator to input, output, and control data input to the main server 430. -442, an image matrix 460 for distributing multiple images input from the multiple communication device 410, and a situation monitor 462 for visually expressing an image signal output from the image matrix 460 In the moving object tracking system consisting of a central monitoring situation room 400 equipped with, The monitoring device 100 includes an emergency bell 160 to operate in the main monitoring area or building in an emergency situation, As the monitoring device 100, in addition to the security light installed in the surveillance zone, the recognition of the moving object photographed by the PTZ camera 130 is below a certain illuminance or the lighting device 140 that is automatically turned on in the rain is fixed in the surveillance zone. Automatic moving object tracking system, characterized in that installed at intervals. delete delete The method of claim 1, The PTZ camera 130 is installed at positions where the moving objects can be superimposed in the surveillance zone, respectively, and the moving objects are automatically installed in such a manner as to allow the shooting of the moving objects in a covered up and covered area of the surveillance zone. Tracking system. The method of claim 1, In the central monitoring situation room 400, the main server 430 or the operating terminal (440-442) to the emergency rescue team 310 preset through the communication network 300 automatically or in response to the occurrence of an event (incident situation) or by the operator's operation ), The automatic tracking system for moving objects, characterized in that the control to transmit and receive the event situation to any one or more of the police station, police box, security company, security zone, fire department.

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