KR100907423B1 - A camera controlling system using coordinate map, a monitoring system using coordinate map and a controlling method thereof - Google Patents

Abstract

A camera controlling system using a coordinate map, a monitoring system using the coordinate map and a controlling method thereof are provided to minimize the errors of an object tracing by setting up an arbitrarily operable area of a pan and tile camera as the coordinate map. A coordinate map setup unit(227) sets up an operable area of a pan and tilt in a pan and tile camera(210), and a coordinate map comparison unit(228) judges whether or not a motion target point of the pan and tile depending on image receipt exits in the coordinate map. When the motion target point exists in the outside, the coordinate comparison unit adjusts the pan and tilt to an initial point.

Description

Camera control system using coordinate map, surveillance system using coordinate map and control method {A CAMERA CONTROLLING SYSTEM USING COORDINATE MAP, A MONITORING SYSTEM USING COORDINATE MAP AND A CONTROLLING METHOD THEREOF}

Embodiments relate to a camera control system, a camera-based surveillance system and a control method thereof.

Recently, the emergence of emergency situations such as terrorism, kidnapping and fire prevention of major facilities and safety accidents of children have emerged as a social problem, and the necessity for establishing a prompt and accurate judgment and response system is needed. It is getting high.

Due to this necessity, the installation of surveillance system based on cameras is increasing rapidly, and the necessity of surveillance system is emerging due to the problem of direct control of cameras.

The intelligence of the surveillance system is based on the image analysis technology that automatically detects the change in the image input from the camera by S / W and determines and automatically tracks the meaningful object among the change targets.

Cameras can be classified into fixed cameras and pan-tilt cameras according to whether the camera angle of view is fixed. The fixed camera refers to a camera that acquires an image from a fixed position and transmits the image to a destination, and a field of view (FOV) of the camera is fixed at the initial installation of the camera. Pan tilt camera is a combination of a fixed camera and a motor for zoom-in, zoom-out and zoom-out movement of the camera in order to move the camera's angle of view freely from side to side and up and down. It is a camera that can be made.

Automatic tracking technology based on fixed cameras tracks the movement of an object in the image when the movement of the object is detected within the angle of view of the fixed camera and tracks when the object leaves the field of view. Will be stopped.

Automatic tracking technology based on the pan tilt camera controls the motor when the object is detected within the camera's initial field of view, or when the object is out of view of the camera. To track the object.

The pan tilt camera has a problem that only a part of the screen is monitored by the pan driving and the tilt driving, so that the entire monitoring area cannot be monitored at once in real time. That is, the pan tilt camera can monitor only the area photographed while moving left and right or up and down.

The intelligent surveillance system based on the conventional pan tilt camera having such a configuration controls the upper and lower left and right movements at the same time as the limit region of the mechanical movement of the motor.

In this case, at the initial position, the user sets an arbitrary area in the image as a prohibition area, or sets only one surveillance area based on a fence and a fence in the image, or a specific area in the image frequently causes an image processing error. Even if the area is set as a non-monitoring area, if the object moves to that area after the automatic tracking of the object is started, the camera monitors the non-monitoring area and generates an unwanted monitoring result for the operator. As a result, errors in the monitoring phase increase rapidly and efficiency decreases.

The embodiment is to solve the above problems, the user sets the "operable area" of the camera to the "coordinate map", and to operate based on the coordinate map set during the operation of the surveillance system pan-tilt camera-based surveillance system By improving the operation efficiency of the system and minimizing the occurrence of exceptions in the tracking of objects, we provide a camera control system using a reliable coordinate map, a surveillance system using a coordinate map, and a control method thereof.

Camera control system using a coordinate map according to an embodiment includes a pan tilt camera; And a controller configured to receive an image from the pan tilt camera and control the pan tilt camera, wherein the controller comprises a coordinate map setting unit configured to set an operable area of the pan tilt camera as a coordinate map; And a coordinate map comparison unit to determine whether a movement target point of the pan tilt according to the image reception is within the coordinate map.

In addition, the camera control system using the coordinate map according to the embodiment is characterized in that in the control system of the pan tilt camera, the operable region of the pan tilt is set as the coordinate map.

In addition, the monitoring system pan tilt using the coordinate map according to the embodiment is a camera; And a controller configured to receive an image from the pan tilt camera and control the pan tilt camera, wherein the controller is configured to set an operable area of the pan tilt camera as a coordinate map; And a coordinate map comparison unit to determine whether a movement target point of the pan tilt according to the image reception is within the coordinate map.

In addition, the monitoring system using the coordinate map according to the embodiment is characterized in that in the pan tilt camera-based monitoring system, the operable region of the pan tilt is set as the coordinate map.

In addition, the control method of the monitoring system using the coordinate map according to the embodiment includes a coordinate map setting step of setting the pan tilt camera operable area of the pan tilt camera as the coordinate map; Receiving an image from the pan tilt camera to determine a moving target point; And determining whether a movement target point of the pan tilt is inside the coordinate map.

In addition, the control method of the monitoring system using the coordinate map according to the embodiment is characterized in that in the pan tilt camera-based monitoring system, the operable region of the pan tilt is set as the coordinate map.

Camera control system using a coordinate map, a surveillance system using a coordinate map and the control method according to the embodiment relates to the setting of the pan tilt operating region of the surveillance system based on the pan tilt camera, and more specifically to the detection of the object According to the method of controlling the motor to control the pan tilt to continuously track the object, the coordinates set by the user in advance, instead of monitoring and tracking by setting the mechanical movable area of the motor as the traceable area of the object The map can be set and operated as an operable area of the camera.

In addition, the embodiment can minimize the error of object tracking by allowing the operator to arbitrarily set the operable region based on the coordinate map within the mechanically operable region of the pan tilt camera.

In addition, the embodiment minimizes camera tracking errors due to sudden changes in illumination in day and night monitoring, and when the coordinate map deviates, the user may return to the user initial setting area to perform object monitoring and tracking.

In addition, the embodiment may enable the user to artificially set the operating area of the pan tilt camera-based system, it may be possible to optimally monitor and track the object for each operating location.

Hereinafter, a camera control system using a coordinate map, a monitoring system using a coordinate map, and a control method thereof according to embodiments will be described in detail with reference to the accompanying drawings.

(Example)

Hereinafter, in describing the camera control system using the coordinate map according to the embodiment, the monitoring control system will be described mainly, but the present invention is not limited to the monitoring control system.

1 is a configuration diagram of a monitoring system using a coordinate map according to an embodiment, and a schematic diagram of a pan tilt camera in the monitoring system using a coordinate map according to the embodiment of FIG. 2.

3 is a flowchart illustrating a control method of a monitoring system using a coordinate map according to an embodiment.

Hereinafter, a monitoring system using a coordinate map and a control method thereof will be described with reference to FIGS. 1 to 3.

The surveillance system 200 using the coordinate map according to the embodiment may include a pan tilt camera 210 and a controller 220.

The pan tilt camera 210 includes a housing 210a in which the camera 210c is built, a pan motor 210d having a pan motor for horizontal movement of the camera, and a tilt motor for vertical movement. It is possible to control the pan tilt 210d by communication and to perform the function of acquiring and transmitting an image. The pan tilt camera 210 may further include a zoom lens 210b to zoom in and zoom out of the pan tilt zoom camera.

The controller 220 includes an image input unit 221, an environment setting unit 222, an object property setting unit 223, an object detecting unit 224, a moving object tracking unit 225, a pan tilt control unit 226, and a coordinate map. The setting unit 227 and the coordinate map comparison unit 228 may be included.

The image input unit 221 receives an image from the pan tilt camera 210 (S41), and the environment setting unit 222, object property setting unit 223, object detection unit 224, coordinate map setting unit 227 ) To share.

The environment setting unit 222 sets an environment variable (resolution, erection, zoom, noise, etc.) of the image so that the input image is in a state suitable for processing (S42).

The object property setting unit 223 sets the tracking object property setting (S44) to concretely set the monitored object in the image based on detailed information such as color, size, ratio of width and length, moving speed, and moving direction. Play a role.

The coordinate map setting unit 227 designates the coordinates of the camera's operable area while the user controls the pan tilt 210d of the pan tilt camera 210 using a computer or the like and sets it as a coordinate map (S45). Can be.

The object detecting unit 224 receives an image input from the image input unit 221 (S51), detects an object in consideration of a correlation between the corresponding image and a continuous front and rear image (S52), and detects an object. It determines whether the time continues for a certain time and if it continues for more than a predetermined time serves to transmit a command for moving the pan tilt to the initial position (S53).

The moving object tracking unit 225 determines and tracks the movement of an object by calculating a correlation between previous and subsequent object detection information based on the object detection information from the object detection unit 224 (S61). Play a role.

The pan tilt controller 226 compares the information of the pan tilt movement target point received from the object tracking unit 225 with the current pan tilt position information to calculate a movement amount (S71), and calculates the result of the movement amount. By controlling the pan tilt to the target point position (S72), and performs the role of the pan tilt initial position control (S73) in accordance with the receiving the command to return to the initial position occurs when the detection of the object does not occur for a certain time. The pan tilt control unit 226 may be a pan tilt zoom control unit that also controls zoom.

The coordinate map comparison unit 228 receives the pan tilt motion information from the object tracking unit 225, determines whether the movement target point of the pan tilt is inside the coordinate map (S74), and controls the pan tilt when it is denied in the coordinate map. In step S72, if the coordinate map is out of the control to move to the step (S73) to control the pan tilt to the initial position.

4 is an exemplary view of a pan tilt moveable region displayed in a spherical coordinate system in a monitoring system using a coordinate map according to an embodiment.

In the embodiment, when the mechanically movable region of the pan is 90 ° to 90 ° to the left, and the tiltable region is 90 ° to 90 ° upward, in FIG. Indicates the pan 90 ° point in the right direction, C indicates the tilt 90 ° point in the upward direction, and D indicates the tilt 90 ° point in the downward direction.

5A to 5D are diagrams illustrating a setting procedure of a coordinate map expressed in a plane coordinate system in a monitoring system using a coordinate map according to an embodiment.

An operation of the coordinate map setting unit 227 will be described with reference to FIGS. 5A to 5D.

The coordinate map setting unit 227 controls the pan tilt of the pan tilt camera 210 using a computer or the like to designate the coordinates of the camera's operable area and sets it as a coordinate map (S45). You can add the area you want to the coordinate map while controlling the pan tilt with the input image. The number of coordinate maps to be added is set by adding and storing at least three points so that the points form a closed figure.

5A to 5D show an example of setting a coordinate map using four points.

6 to 9 are exemplary diagrams of a coordinate map expressed in a plane coordinate system in a monitoring system using a coordinate map according to an embodiment.

6 shows an example of setting a coordinate map using four points, FIG. 7 shows an example of setting a coordinate map using five points, and FIG. 8 shows an example of setting a coordinate map using six points. 9 illustrates an example of setting a coordinate map using seven points.

In the exemplary embodiment, the coordinate map may be set by various numbers of points according to the user's needs as shown in FIGS. 6 to 9.

The set coordinate map is stored as a set of pan driving point and tilt driving point as shown in Table 1 below.

When the final point is set in the last step of setting and storing the coordinate map, the coordinate map setting unit 227 calculates an equation of a straight line passing through the set consecutive points and stores the equation of the straight line together. The straight line equation (Line_k_1) at the final point of the coordinate map is calculated and stored as an equation of the vertical line with the first point of the coordinate map.

Index Pan position (unit: angle) Tilt position (unit: angle) Equation of a straight line passing through two points One P_1 T_1 Line_1_2 2 P_2 T_2 Line_2_3 3 P_3 T_3 Line_3_4 4 P_4 T_4 Line_4_5 5 P_5 T_5 Line_5_6 K P_k T_k Line_k_1

After the processing of the coordinate map setting unit 227 is completed as described above, the coordinate map comparing unit 228 performs the necessary processing using the stored result.

In an embodiment, the coordinate map comparison unit 228 operates as follows.

The coordinate map comparison unit 228 determines that the control target can be controlled to the corresponding position when the movement target point of the pan tilt is inside the coordinate map, and determines that the control is impossible when the target point of movement of the pan tilt is outside the coordinate map. Control to the initial position.

In an embodiment, whether the movement target point of the pan tilt is inside the coordinate map may be controlled by the following criterion.

"If the pantilt's movement target point is inside or outside the closed figure (coordinate map), if the number of intersections of the straight line and the closed figure connecting the movement target point and infinity is odd, the movement target point exists inside the closed figure. Even numbers are outside the lungs. "

Therefore, in the embodiment, in order to determine whether or not the pan tilt movement target points (x _dest , y _dest ) exist inside the coordinate map, the infinity point (x _dest , y _dest ) is set to (x _dest , y _∞ ). Since the equation of a straight line passing two set points is x = x _dest , the following coordinate map comparison unit 228 may be processed.

1) The moving point (x _dest , y _dest ) and the infinity point (x _dest ) for control and a straight line passing through consecutive points (x _n , y _n ) and (x _{n + 1} , y _{n + 1} ) on the pre-stored coordinate map _Using the equation x = x _dest of the straight line passing through _dest , y _∞ ), the sum of the number of points encountered between the straight line and the closed figure is obtained by the following process.

1-1) If x _n > x _dest and x _{n + 1} > x _dest, no intersection exists.

1-2) If x _n <x _dest and x _{n + 1} <x _dest, no intersection exists.

If 1-3) and x _n ≥x _dest, or x _{n + 1} ≤x _{dest, n} and x ≤x _dest, the x _{n + 1} ≥x _dest,

Calculate the point where X = X _dest and the equation Line_n_n + 1 of the straight line passing through two points meet.

Compare the y value of the calculated point (x _cross , y _cross ) with the y value of the calculated movement target point (x _dest , y _dest ) for pan tilt control.

As a result, if y _cross <y _dest , there is no intersection. If y _cross ≥ y _dest, there is one intersection.

1-4) When the slopes of the two straight lines are the same in the process of 1-3),

If y _n > y _dest and y _{n + 1} > y _dest, no intersection exists.

If y _n <y _dest and y _{n + 1} <y _dest, no intersection exists.

y _n is ≥y _dest and y _{n + 1} ≤y _{dest dest} ≤y or y _n and y _{n + 1} ≥y _dest and the intersection point is present, the number of intersection points is treated as a convenience point exists.

2) If step 1) is performed on the entire stored coordinate map and the number of detected intersections is added, the result is odd, and it is determined that the movement target point (x _dest , y _dest ) exists inside the coordinate map, If it is even, it is determined to exist outside the coordinate map.

Camera control system using a coordinate map, a surveillance system using a coordinate map and the control method according to the embodiment relates to the setting of the pan tilt operating region of the surveillance system based on the pan tilt camera, and more specifically to the detection of the object According to the method of controlling the motor to control the pan tilt to continuously track the object, the coordinates set by the user in advance, instead of monitoring and tracking by setting the mechanical movable area of the motor as the traceable area of the object The map can be set and operated as an operable area of the camera.

In addition, the embodiment can minimize the error of object tracking by allowing the operator to arbitrarily set the operable region based on the coordinate map within the mechanically operable region of the pan tilt camera.

In addition, the embodiment minimizes camera tracking errors due to sudden changes in illumination in day and night monitoring, and when the coordinate map deviates, the user may return to the user initial setting area to perform object monitoring and tracking.

In addition, the embodiment may enable the user to artificially set the operating area of the pan tilt camera-based system, it may be possible to optimally monitor and track the object for each operating location.

The present invention is not limited to the described embodiments and drawings, and various other embodiments are possible within the scope of the claims.

1 is a block diagram of a monitoring system using a coordinate map according to an embodiment.

2 is a schematic diagram of a pan tilt camera in a surveillance system using a coordinate map according to the embodiment;

3 is a flowchart illustrating a control method of a monitoring system using a coordinate map according to an embodiment.

4 is an exemplary view of a pan tilt moveable region displayed in a spherical coordinate system in a monitoring system using a coordinate map according to an embodiment.

5A to 5D are diagrams illustrating a setting procedure of a coordinate map expressed in a plane coordinate system in a monitoring system using a coordinate map according to an embodiment.

6 to 9 are exemplary views of a coordinate map expressed in a plane coordinate system in a monitoring system using a coordinate map according to an embodiment.

Claims (21)

Pan tilt camera; And And a controller configured to receive an image from the pan tilt camera and control the pan tilt camera. The control unit A coordinate map setting unit for setting an operable region of the pan tilt of the pan tilt camera as a coordinate map; And And a coordinate map comparison unit to determine whether a movement target point of the pan tilt according to the image reception is within the coordinate map. The coordinate map is a camera control system using a coordinate map, characterized in that the closed diagram containing three or more points. According to claim 1, The coordinate map comparison unit If the movement target point of the pan tilt is inside the coordinate map, the pan tilt control is performed. And control the pan tilt to an initial position when the movement target point of the pan tilt is outside the coordinate map. delete According to claim 1, The determination of whether the movement target point of the pan tilt is inside the coordinate map, And the number of intersections of the straight line connecting the moving target point and the infinity point and the closed figure is odd, wherein the moving target point of the pan tilt is determined to be inside the coordinate map. According to claim 1, Determining whether the movement target of the pan tilt is inside the coordinate map, And when the number of intersections of the closed figure and the straight line connecting the movement target point and the infinity point is an even number, the movement target point of the pan tilt is determined to be outside the coordinate map. delete delete Pan tilt camera; And And a controller configured to receive an image from the pan tilt camera and control the pan tilt camera. The control unit A coordinate map setting unit for setting an operable region of the pan tilt of the pan tilt camera as a coordinate map; And And a coordinate map comparison unit to determine whether a movement target point of the pan tilt according to the image reception is within the coordinate map. The coordinate map is a surveillance system using a coordinate map, characterized in that the closed diagram containing three or more points. The method of claim 8, The coordinate map comparison unit If the movement target point of the pan tilt is inside the coordinate map, the pan tilt control is performed. And if the movement target point of the pan tilt is outside the coordinate map, the pan tilt is controlled to an initial position. delete The method of claim 8, The determination of whether the movement target point of the pan tilt is inside the coordinate map, And if the number of intersections of the straight line connecting the movement target point and the infinity point and the closed figure is odd, the movement target point of the pan tilt is determined to be inside the coordinate map. The method of claim 8, Determining whether the movement target of the pan tilt is inside the coordinate map, And if the number of intersections of the closed figure and the straight line connecting the movement target point and the infinity point is an even number, the movement target point of the pan tilt is determined to be outside the coordinate map. delete delete A coordinate map setting step of setting a pan tilt operating region of the pan tilt camera as a coordinate map; Receiving an image from the pan tilt camera to determine a moving target point; And Determining whether a movement target point of the pan tilt is inside the coordinate map; In the coordinate map setting step of setting the pan tilt operation possible region of the pan tilt camera as a coordinate map, the coordinate map is a closed diagram including three or more points. The method of claim 15, In the determining of whether the movement target point of the pan tilt is inside the coordinate map, If the movement target point of the pan tilt is inside the coordinate map, the pan tilt control is performed. And controlling the pan tilt to an initial position when the movement target point of the pan tilt is outside the coordinate map. delete The method of claim 15, Determining whether the movement target point of the pan tilt is inside the coordinate map, If the number of intersection points of the closed figure and the straight line connecting the movement target point and the infinite point is odd, the control method of the monitoring system using a coordinate map, characterized in that the movement target point of the pan tilt is determined to be inside the coordinate map. . The method of claim 15, Determining whether the movement target point of the pan tilt is inside the coordinate map, If the number of intersection points of the closed figure and the straight line connecting the movement target point and infinity point is even, the movement target point of the pan tilt is determined to be outside the coordinate map. . delete delete

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