KR101424151B1 - Monitoring camera apparatus and controlling method thereof - Google Patents

Abstract

A surveillance camera device for detecting a step-out and a control method thereof are provided. A surveillance camera apparatus according to an embodiment of the present invention includes a camera section for photographing a surveillance region according to a surveillance mode, a fan motor for driving the camera section to rotate in a horizontal direction, and a camera section A fan rotation gear for rotating the camera unit in the horizontal direction by driving the fan motor, a tilt rotary gear for rotating the camera unit in the vertical direction by driving the tilt motor, and a plurality of fan sensors A fan sensor for sensing a fan sensor sensitive member passing through the sensing area according to the rotation of the fan rotation gear, and a sensor for sensing the rotation of the tilt rotary gear in response to rotation of the tilt rotary gear, A tilt sensor for sensing a tilt sensor sensitive member passing through the area; And a controller for receiving detection information of the fan sensor or tilt sensor sensitive member from the pan sensor or the tilt sensor to calculate actual position information and comparing the sensed position information with previously stored reference position information to determine whether the fan motor or tilt motor is disengaged .

Description

[0001] The present invention relates to a surveillance camera apparatus and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveillance camera apparatus and a control method thereof, and more particularly, to a surveillance camera apparatus and a control method thereof for detecting a step-out of a motor and adjusting its position.

Generally, surveillance cameras are used in places such as houses, roads, parking lots, banks, and exhibition halls to prevent illegal acts or thefts. The surveillance area photographed by the surveillance camera can be monitored through a monitor at a surveillance site such as an office.

A surveillance camera has a fixed camera that can monitor only a certain area and a movable camera that can monitor a wide area. Fixed cameras are fixedly installed so that it is impossible to change the direction. In order to monitor a plurality of areas in one space, they should be installed in various places. The moving type camera can adjust the photographing direction by a user's operation or can monitor the surroundings by rotating at a predetermined interval by a set program. In recent years, due to the disadvantages of the above-mentioned fixed type cameras, it is a trend to monitor illegal activities of houses and public places by using a mobile camera.

A surveillance camera (hereinafter referred to as a "surveillance camera" means a "movable camera") is rotated 360 degrees horizontally by a fan motor and rotated by a tilt motor in a vertical direction, for example, 90 degrees (maximum 360 degrees) Can be extended. The fan motor and tilt motor can be constructed using a stepping motor capable of varying the speed. The stepping motor is a motor that can control the operation without feed back because the rotation angle changes in proportion to the number of input pulses and the rotation speed changes in proportion to the input frequency. However, when operation control is performed by a stepping motor without feedback, precise position control becomes difficult when a stepping out due to an external factor (obstacle, strong wind, friction of driving part due to low temperature, vibration, etc.) occurs.

Embodiments of the present invention provide a surveillance camera apparatus and a control method thereof that can perform precise position control by detecting a step-out due to an external factor.

According to an aspect of the present invention, there is provided a method of controlling a camera, comprising: a camera section for photographing a surveillance region according to a surveillance mode; a fan motor for driving the camera section to rotate in a horizontal direction; A fan rotation gear for horizontally rotating the camera unit by driving the fan motor; a tilt rotary gear for rotating the camera unit in a vertical direction by driving the tilt motor; A plurality of tilt sensor contact members attached to the tilt rotary gear and interlocked with the tilt rotary gear, a plurality of tilt sensor sensitive members interlocked with the tilt rotary gear, And a tilt sensor for detecting the tilt sensor responsive member passing through the sensing area according to the rotation of the tilt rotary gear Bit sensor; And a controller for receiving detection information of the fan sensor or the tilt sensor responsive member from the fan sensor or the tilt sensor to calculate actual position information and comparing the sensed position information with previously stored reference position information to determine whether the fan motor or the tilt motor And a control unit for determining whether or not there is a match.

The actual position information may be rotation angle information recognized by the control unit at a time point at which the fan sensor or the tilt sensor starts sensing or terminating the sensing of the fan sensor or the tilt sensor responsive member have.

The reference position information may be obtained by driving the fan motor or the tilt motor under a predetermined condition without disturbance, and detecting when the fan sensor or the tilt sensor starts sensing the fan sensor or the tilt sensor sensitive member May be rotation angle information recognized by the control unit at the time of terminating the operation.

Wherein the tilt motor or the fan motor includes a stepping motor capable of controlling the rotation speed and the rotation amount in accordance with the number of control steps and the control unit calculates the actual position information or the reference position information according to the number of control steps .

Wherein at least one of the plurality of fan sensor-responsive members has a sensor sensing length different from that of the remaining fan sensor-responsive members, and at least one of the plurality of tilt sensor- And other sensor sensing lengths.

The control unit may perform an initialization operation upon detecting a step-out of the fan motor or the tilt motor, and may include a fan sensor responsive member having a different sensor sensed length among the plurality of fan sensor sensitive members, The position of the tilt sensor sensitive member having the sensing length can be controlled to the reference position of the initialization operation.

If the difference between the actual position information and the reference position information is out of the error tolerance range, the controller can determine that the motor is out of order.

According to another aspect of the present invention, there is provided a control method for a surveillance camera device, including a camera section for photographing a surveillance region according to a surveillance mode, a fan rotation gear for moving the camera section in a horizontal direction, A plurality of fan sensor-responsive members attached to and coupled to the fan rotation gear, a plurality of tilt sensor-sensitive members attached to and interlocked with the tilt rotary gear, a fan sensor for sensing the fan sensor, A method of controlling a surveillance camera device including a tilt sensor for sensing a sensor sensitive member, comprising the steps of: calibrating under a predetermined condition without disturbance to determine reference position information of the plurality of tilt sensor sensitive members and the plurality of fan sensor sensitive members And the tilt sensor responsive member and the fan Calculating the physical location information of the standing-sensitive member and, if the difference between the reference location and the actual location is outside the tolerance range can be determined twos ride.

The reference position information may be information calculated using any one of a directional method and a calibration of a non-directional method.

The directional method may include calibrating the reference position information of the fan sensor member or the tilt sensor sensitive member obtained by rotating the fan rotary gear or the tilt rotary gear in the clockwise direction and the reference position information of the fan rotary member or the tilt rotary gear, The reference position information of the fan sensor sensitive member or the tilt sensor sensitive member obtained by rotating in the counterclockwise direction may be classified to reflect the directionality.

The calibration of the non-directional method may include comparing the reference position information of the fan sensor or tilt sensor sensitive member obtained by rotating the fan rotation gear or the tilt rotation gear in the clockwise direction and the reference position information of the fan rotation gear or the tilt rotation gear, And the reference position information of the fan sensor sensitive member or the tilt sensor sensitive member obtained by rotating the anti-clockwise sensor in the counterclockwise direction.

Wherein the reference position information rotates the fan rotation gear or the tilt rotation gear at a predetermined speed and detects when the fan sensor or the tilt sensor starts sensing the fan sensor or the tilt sensor sensitive member, The rotation angle information may be rotation angle information recognized at the time of terminating the rotation angle information.

The actual position information may be rotation angle information recognized at a point in time when the fan sensor or the tilt sensor starts sensing or terminating the sensing of the fan sensor or the tilt sensor responsive member in an actual operation state.

Wherein at least one of the plurality of fan sensor-responsive members has a sensor sensing length different from that of the remaining fan sensor-responsive members, and at least one of the plurality of tilt sensor- And other sensor sensing lengths.

Wherein the controller is configured to perform an initializing operation when the removal of the tilt sensor member is determined based on a position of a tilt sensor sensitive member having a different sensor sensing length from the fan sensor sensitive member having a different sensor sensing length, To the reference position of the initialization operation.

According to embodiments of the present invention, precise position control can be performed by detecting a step-out without attaching an expensive encoder.

1 is an exploded perspective view of a surveillance camera device according to an embodiment of the present invention.
Fig. 2 is an enlarged view for explaining a tilt sensor and tilt sensitive member of the surveillance camera device of Fig. 1
Fig. 3 is an enlarged view for explaining a fan sensor and a fan-responsive member of the surveillance camera device of Fig. 1
FIG. 4A is a perspective view of a tilt rotary gear of the surveillance camera apparatus of FIG.
Fig. 4B is a cross-sectional view of the fan rotation gear of the surveillance camera device of Fig.
5 is a control block diagram of a surveillance camera device according to an embodiment of the present invention.
FIG. 6 is a diagram showing waveforms generated by sensing a fan sensor or a tilt sensor of a surveillance camera apparatus according to an embodiment of the present invention; FIG.
7 is a view for explaining a calibration method of a surveillance camera apparatus according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating a control operation of the surveillance camera device according to the embodiment of the present invention.

It is to be understood that the invention is not limited to the specific embodiments described below but includes all variations, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. The term " including "or" having "means that there is a possibility that the term " includes " The terms first, second, etc. are not intended to be limiting of elements and are used only for the purpose of distinguishing one element from another.

Hereinafter, embodiments of a surveillance camera apparatus and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an exploded perspective view of a surveillance camera apparatus according to an embodiment of the present invention. FIG. 2 is an enlarged view of a tilt sensor and a tilt sensor of the surveillance camera apparatus of FIG. 1, Fig. 3 is an enlarged view of a main portion for explaining a fan sensor and a fan-responsive member of the surveillance camera device.

The surveillance camera apparatus 100 may include a dome-shaped housing 11 in which a viewing window 12 is provided in the longitudinal direction and a camera unit 13 located in the dome-shaped housing 11. [

A dome-shaped housing 11 may have a disk-shaped support plate 19 fixed to the upper end thereof. A motor bracket 21 of a type including a horizontal support portion 22 and a vertical support portion 23 may be provided on the lower surface of the support plate 19. [

A fan motor 24 may be provided at the lower end of the horizontal support portion 22 of the motor bracket 21. The fan motor 24 is connected to the motor shaft gear 26. The motor shaft gear 26 is protruded to the upper portion of the horizontal support portion 22 to rotate the fan rotation gear 47 And a gear belt 27. [0033]

A tilt motor 25 may be provided inside the vertical support portion 23 of the motor bracket 21. The motor shaft gear 28 of the tilt motor 25 is connected to the outer connecting gear 29 projected to the outside of the vertical supporting portion 23 in front of the center of the outer side of the vertical supporting portion 23 through the gear belt 30 . The inner connecting gear 31 connected to the outer connecting gear 29 by the shaft and rotating together is connected to the tilt rotating gear 32 provided below the vertical supporting portion 23 through the gear belt 33.

The tilt rotary gear 32 may include a plurality of tilt sensor sensitive members 32a. At least one of the plurality of tilt sensor sensitive members 32a may have a different shape. The tilt sensor sensitive member 32a having a different shape from the plurality of tilt sensor sensitive members 32a may be provided at a reference position for initialization of the tilt motor 25. [ The reference position for initialization can be set to the rotation limit position of the tilt rotary gear 32. [

A tilt sensor 37 may be provided at one side of the motor bracket 21 to sense the tilt sensor sensitive member 32a. The tilt sensor 37 outputs a sensing signal when the tilt motor 32 rotates by the tilt motor 25 and the tilt sensor 32a passes through the sensing area of the tilt sensor 37.

A disk-shaped housing circuit board 34 is provided on the lower end of the motor bracket 21 and a coupling 35 is provided on one side of the motor bracket 21. The fan motor 24 and the tilt motor 25 rotate A stepping motor or a servo motor capable of precisely controlling the speed and the amount of rotation can be used.

The camera unit 13 includes a rectangular case 14 in which a zoom lens (not shown) is incorporated, and the surface lens 15 can be exposed in front of the rectangular case 14. A rectangular camera bracket 16 may be provided on the upper portion of the camera unit 13. [ The camera bracket 16 may include a downwardly bent connection 17. The connecting portion 17 of the camera bracket 16 can be coupled to the tilt rotary gear 32. [

Meanwhile, the surveillance camera apparatus 100 may include a fixed base 41 fixedly installed on a ceiling. The fixed base 41 includes a support ring 42 and a disc upper plate 43 and a lower plate 44 may be provided on upper and lower portions of the support ring 42, respectively. The upper plate 43 is provided at its lower end with an upper circuit board 53 connected to the rotary contact type connecting member 45. The lower plate 44 is provided so that the motor bracket 21 is rotatably coupled to the motor bracket 21 through the rotary contact type connecting member 45 in the left-right direction. The lower plate 44 can be engaged with the upper plate 43 through a plurality of distance holding rods 44a provided at the upper end thereof.

The rotating contact type connecting member 45 may protrude from the upper portion of the fixed base lower plate 44 and the lower portion of the body 46 may protrude to the lower portion of the fixed base lower plate 44. The rotary contact type connecting member 45 is provided with a rotary gear 26 connected to the fan motor 24 at the lower end of the body 46 and a rotary gear 26 connected to the lower end surface of the fan rotary gear 47 And a support shaft 48 inserted into the connection hole 21a is provided.

The fan rotation gear 47 may include a plurality of fan sensor-responsive members 47a. At least one of the plurality of fan sensor-responsive members 47a may have a different shape. The fan sensor sensitive member 47a having a different form from the plurality of fan sensor sensitive members 47a may be provided at a reference position for initialization of the fan motor 24. [

A fan sensor 36 may be provided on the body 46 of the rotary contact type connection member 45 to sense the fan sensor member 47a. The fan sensor 36 outputs a sensing signal when the fan rotation gear 47 rotates by the fan motor 24 and the fan sensor member 47a passes the sensing area of the fan sensor 36. [

On the other hand, on the outer periphery of the lower end of the support shaft 48 of the rotary contact type connecting member 45 inserted into the connection hole 21a of the motor bracket 21 and projecting to the lower end of the motor bracket 21, And the connection electric wire 50 drawn out to the lower end of the support shaft 48 is connected to the housing circuit board 34. [

Reference numeral 60 denotes a sealing ring which is provided under the support ring 42 of the fixed base 41 to seal the connection portion between the housing 11 and the fixed base 41 and 51 denotes a sealing ring Type connecting member body 46 protruded upward, and numeral 52 denotes a connecting connector of the connecting wire 51. The connecting wire is a connecting wire connected to the rotating contact-

Fig. 4A is a perspective view of the tilt rotary gear of the surveillance camera device of Fig. 1, and Fig. 4B is a cross-sectional view of the fan rotary gear of the surveillance camera device of Fig.

Referring to FIG. 4A, the tilt rotary gear 32 may include a plurality of tilt sensor sensitive members 32a. The tilt sensor 32a may be provided on a mold of the tilt rotary gear 32 or may be attached as a separate structure. Referring to FIG. 4A, the tilt sensor 32a is provided on the mold of the tilt rotary gear 32 .

At least one member 32a 'of the plurality of tilt sensor sensitive members 32a and 32a' may be provided such that the detection length of the tilt sensor 37 is different. 3A, the length of the tilt sensor sensitive member 32a 'positioned at one end of the plurality of tilt sensor sensitive members 32a and 32a' is different from that of the other tilt sensor sensitive members 32a. However, the tilt sensor sensitive member 32a 'having a different sensing length may be provided at an arbitrary position, and the position of the tilt sensor sensitive member 32a' The initialization reference position can be set.

Referring to FIG. 4B, the fan rotating gear 47 may include a plurality of fan sensor-responsive members 47a and 47a '. At least one member 47a 'of the fan sensor sensitive members 47a and 47a' may be provided such that the sensing length of the fan sensor 36 is different. In FIG. 3B, a fan sensor sensitive member 47a 'having a different sensing length is provided at an arbitrary position of the fan rotary gear 47. Here, the point at which the fan sensor sensitive member 47a ', which has a different sensing length, is located can be set as the initialization reference position of the fan motor 24. [

5 is a control block diagram of a surveillance camera apparatus according to an embodiment of the present invention.

The surveillance camera apparatus 100 includes a camera section 13, a motor section 110, a motor driving section 120, a fan sensor 36, a tilt sensor 37, a storage section 130, An interface unit 140, and a control unit 150, and is capable of communicating with the external control device 200.

The camera section 13 includes a rectangular case 14 (see Fig. 1), a surface lens 15 (see Fig. 1) exposed in front of the rectangular case 14, And a camera bracket 16 (see FIG. 1) which is coupled to the gear 32 (see FIG. 1) to enable horizontal rotation.

The motor unit 110 may include a fan motor 24 and a tilt motor 25. The fan motor 24 is provided so as to be rotatable at a predetermined angle (for example, 360 degrees) in the horizontal direction of the camera section 13, that is, in the clockwise direction (CW) or the counterclockwise direction (CCW). The tilt motor 25 is provided so as to rotate at a predetermined angle (for example, 90 degrees) in the vertical direction of the camera unit 13. [

The motor driving unit 120 has a fan motor driving unit 120 and a tilt motor driving unit 120 and can drive the motor unit 110 under the control of the control unit 150. [ The fan motor 24 and the tilt motor 25 of the motor unit 110 are constituted by a stepping motor and the fan motor driving unit 120 and the tilt motor driving unit 120 are controlled by the controller 150 The speed and the moving speed of the fan motor 24 and the tilt motor 25 can be adjusted according to the drive pulse and the drive control signal output from the drive motor 24 and the tilt motor 25. [

The fan sensor 36 may be configured to include a sensor capable of sensing the fan sensor sensitive member 47a (see FIGS. 1 and 4B). For example, the fan sensor 36 may include a hall sensor made of a magnet or an optical sensor (for example, a photo interrupter) that senses light and outputs it as an electric signal. When the fan sensor 36 is constituted by a hall sensor, the magnetic flux is focused when the fan sensor member 47a is sensed. The fan sensor 36 transmits the reference position detection signal of the fan motor 24 to the controller 150 when the magnetic flux is converged. When the fan sensor 36 is configured as an optical sensor, the optical sensor detects the optical signal when the fan sensor member 47a is sensed and outputs or detects the optical signal as an electrical signal. The fan sensor 36 transmits the electric signal to be output or converted to the controller 150 so that the fan sensor 36 can use the electric signal as the reference position detection signal.

The tilt sensor 37 may include a sensor capable of sensing the tilt sensor sensitive member 32a (see FIGS. 1 and 4A). For example, the tilt sensor 37 may include a hall sensor, and transmits a reference position detection signal to the controller 150 when the tilt sensor 32a is sensed.

The storage unit 130 may store a motor drive program for driving the fan motor 24 and the tilt motor 25 for each monitoring mode. The surveillance mode includes an auto panning mode for monitoring between two surveillance regions, a preset mode for sequentially monitoring a plurality of surveillance regions in a predetermined order, a camera mode A pattern mode in which the camera section 13 operates for a predetermined time corresponding to the stored operation pattern and a pattern mode in which the camera section 13 is operated in correspondence with the operation pattern operated by the external control device 200, And a general monitoring mode in which the controller 13 operates in real time.

The storage unit 130 may store calibration information to be described later.

The communication interface unit 140 is an interface for supporting a path through which the surveillance camera apparatus 100 can communicate with the external control apparatus 200 such as a host computer. The external control device 200 may be provided with a plurality of operation keys for selecting the surveillance mode of the surveillance camera device 100 and controlling the operation of the camera unit 13. [

The control unit 150 may perform the operation of the surveillance camera apparatus 100 according to a predetermined surveillance mode selected from the external control apparatus 200. The control unit 150 may perform the operation of the surveillance camera apparatus 100 using the motor driving program stored in the storage unit 130. [

The control unit 150 can sense the step-out of the fan motor 24 or the tilt motor 25 during the operation of the surveillance camera apparatus 100. [ The control unit 150 determines whether or not the reference position information of the fan sensor sensitive member 47a or the tilt sensor sensitive member 32a calculated in advance in the absence of disturbance and the reference position information of the fan sensor sensitive member 47a or tilt sensor response The actual position information of the member 32a can be compared to detect a step-out.

The control unit 150 can determine the step-out by the following Equations 1 to 3. < EMI ID = 1.0 >

Equation 1: X = abs (reference position information - actual position information)

Equation 2: Y = error compensation value due to speed + margin for preventing malfunction

Equation 3: X > Y = out-of-phase or X < Y = out-of-phase

Here, the " reference position information " rotates the fan motor 24 or the tilt motor 25 at a low speed in the absence of disturbance, and the fan sensor 36 or the tilt sensor 37 rotates the fan sensor 24 The actual position information is rotation angle information recognized by the controller 150 at the time of starting sensing of the tilt sensor sensitive member 32a or ending the detection. When the fan sensor 36 or the tilt sensor 37 rotates the tilt motor 24 or the tilt motor 25 to start or stop the detection of the fan sensor sensitive member 47a or the tilt sensor sensitive member 32a The "error compensation value due to velocity" is a rotation angle information that is recognized by the control unit 150 at a point in time. The maximum error value is calculated for each velocity to make an array, or a first, second, or third order function May be a value obtained by approximating . More specifically, the "error-compensated value due to velocity" is a value obtained by multiplying the fan-sensor-responsive member 47a or the tilt-sensor-responsive member 47a in a state in which there is no disturbance, 32a by using the " maximum error value for each speed " among the rotation angle information recognized by the control unit 150 at the time of starting the sensing for the sensors 32a and 32a. Referring to the following Table 1,

<Table 1>

The &quot; maximum value of error for each speed &quot; calculated by rotating at a plurality of angular speeds is as shown in Table 1, and the &quot; error compensation value due to speed &quot; can be calculated based on Table 1 above.

For example, the "error compensation value due to velocity" can be used by fixing the maximum value of "maximum error value per velocity".

Alternatively, the "error compensation value due to velocity" is approximated by a linear function, a quadratic function, or a cubic function with respect to speed, using the "maximum error value per speed" in Table 1, Function to obtain the &quot; error-compensated value due to speed &quot;.

By approximating the "maximum value of velocity error" in Table 1, the maximum value of velocity error per velocity = 2 * angular velocity / 100 can be obtained.

It is a matter of course that the &quot; error compensation value due to speed &quot; can be determined in various ways according to the performance of the controller 150. [

The malfunction margin prevention value is a value that can be set arbitrarily. The designer sets the margin of error that can occur even when there is no disturbance experimentally in addition to the "experiment maximum error".

As described above, since the fan motor 24 or the tilt motor 25 uses a motor capable of controlling the rotation speed and the rotation amount like the stepping motor, the drive pulse and the drive control signal The fan motor 24 or the tilt motor 25 is driven. Accordingly, the controller 150 can recognize the rotation angle information when sensing the fan sensor member 47a or the tilt sensor member 32a.

Hereinafter, the out-of-step detection method will be described in detail.

The designer can perform the calibration to obtain the reference position information of the fan sensor sensitive member 47a or the tilt sensor sensitive member 32a in the absence of disturbance. A situation without disturbance means a situation where there is no external factor that affects the operation of the surveillance camera device 100 such as wind or vibration. The designer performs a calibration when designing the surveillance camera device 100, And may be stored in the storage unit 130. If the controller 150 determines that there is no calibration information in the storage unit 130, the controller 150 may perform the calibration automatically. It goes without saying that the calibration can be performed after the release of the surveillance camera apparatus 100 to update its value.

The control unit 150 controls the fan motor 24 or the tilt motor 25 to rotate at a constant speed (preferably at a low speed) through the fan motor driving unit 120 or the tilt motor driving unit 120, . The control unit 150 drives the fan motor 24 or the tilt motor 25 and then drives the fan sensor 24 or tilt motor 25 to rotate the fan sensor member 37a or the tilt sensor member 32a transmitted from the fan sensor 36 or the tilt sensor 37, Is stored in the storage unit 130 and used as reference position information.

6, the fan sensor 36 or the tilt sensor 37 detects a plurality of the fan sensor sensitive members 47a or the plurality of tilt sensor sensitive members 32a and transmits the information to the controller 150 . When the fan sensor 36 or the tilt sensor 37 starts to sense each of the plurality of fan sensor sensitive members 47a or the plurality of tilt sensor sensitive members 32a, Rotation angle information recognized by the control unit 150 and rotation angle information recognized by the control unit 150 when sensing for each of them is completed (ON → OFF).

4A and 4B, at least one of the plurality of fan sensor sensitive members 47a or the tilt sensor sensitive members 32a has a different shape. Accordingly, the length "b" of the last waveform shown in FIG. 6 has a different length from the length "a" of the other waveform, and the fan sensor sensitive member 47a or the tilt sensor sensitive member 32a having a different shape And can be used at the return position for initializing the fan motor 24 or the tilt motor 25 in the initialization operation.

The control unit 150 may obtain the actual position information of the fan sensor member 47a or the tilt sensor member 32a during actual operation and may be used when determining the outage. The control unit 150 transmits the drive pulse and the drive control signal to the fan motor 24 or the tilt motor 25 constituted by the stepping motor through the fan motor drive unit 120 or the tilt motor drive unit 120 in actual operation. The controller 150 controls the fan motor 24 or the fan rotation gear 47 rotating by the tilt motor 25 or the fan sensor sensitive member 47a mounted on the tilt rotary gear 32 or the tilt sensor sensitive member The rotational angle of the fan motor 24 or the tilt motor 25, which is recognized at the time when the detection is released or when the detection is released, can be used as actual position information.

The control unit 150 drives the fan motor 24 or the tilt motor 25 to perform initialization, and then performs a re-operation when determining the outage by the above-described method. The controller 150 controls the fan motor 70 to detect the fan sensor member 47a having a different shape (different sensor sensing lengths) from the plurality of fan sensor members 47a during the initialization operation in the horizontal direction, The initialization operation can be performed by rotating the motor 24. The control unit 150 controls the tilt sensor 32a to detect the tilt sensor 32a having a different shape (different sensor sensing lengths) from the plurality of tilt sensor members 32a during the initialization operation in the vertical direction, So that the initialization operation can be performed by rotating the motor 25.

On the other hand, when the surveillance camera device 100 is in the stop mode, the control unit 150 can return to the positional state before the out-of-sight after the initialization operation. When the surveillance camera apparatus 100 is continuously operated according to the surveillance mode, the control unit 150 can control the surveillance camera apparatus 100 to operate in the same mode as the surveillance mode before the out-of-control system after the initialization operation.

On the other hand, the controller 150 can adjust the sensitivity by adjusting the Y value by the external controller 200, and can control ON / OFF of the out-of-phase determination function.

7 is a view for explaining a method of calibrating a surveillance camera apparatus according to an embodiment of the present invention.

The control unit 150 of the surveillance camera apparatus 100 may perform the calibration in one of the non-directional method and the directional method in order to obtain the reference position information.

The control unit 150 determines that the reference position information of the fan sensor sensitive member 47a or the tilt sensor sensitive member 32a obtained when rotating in the clockwise direction CW and the reference position information of the tilt sensor sensitive member 32a in the counterclockwise direction CCW The reference position information of the pan sensor sensitive member 47a or the tilt sensor sensitive member 32a can be obtained.

For example, when the fan motor 24 is rotated in the clockwise direction, the control unit 150 determines whether or not the reference value of the sensed start time point c of one of the plurality of fan sensor sensitive members 47a When the position information is 26 ° and the fan motor 24 is rotated in the counterclockwise direction, the reference position information of the detection end point c of the fan sensor member 47a, which is the same as the fan sensor member 47a described above, 25 °, the average reference position information at the point (c) becomes 25.5 °. Here, the &quot; detection starting point (OFF to ON, point c) &quot; of one of the fan sensor sensitive members 47a when rotating clockwise is &quot; (ON → OFF, point c) ".

The control unit 150 controls the rotation of the fan sensor member 47a or the tilt sensor member 32a in the counterclockwise direction CCW when the rotation is performed in the clockwise direction The reference position information of the fan sensor member 47a or the tilt sensor member 32a acquired in the storage unit 130 may be stored in the storage unit 130 so that the reference position information may be applied to the determination of the outage according to the directionality.

For example, when the control unit 150 rotates clockwise, the reference position information obtained when the fan motor 24 or the tilt motor 25 rotates in the clockwise direction and when the fan motor 24 or the tilt motor 25 rotates in the counterclockwise direction The reference position information can be actually used when the fan motor 24 or the tilt motor 25 is rotated counterclockwise.

On the other hand, performing the calibration using the non-directional method has disadvantages that the calculation amount is reduced but the error increases because the uniform reference position information is used without considering the clockwise or counterclockwise rotation state in the determination of the actual out- Calibration is performed because the direction information should be processed when the actual out-of-step determination is performed. However, the calculation amount is increased, but there is an advantage that the error can be reduced.

On the other hand, in the case of carrying out the calibration by the non-directional method and the directional method, it is understood that the value should be calculated by the same process for the above-mentioned equation (2).

8 is a control flowchart of a surveillance camera apparatus according to an embodiment of the present invention.

The control unit 150 generates a command for controlling the operation of the fan motor 24 or the tilt motor 25 according to the monitoring mode and transmits the command to the fan motor driving unit 120 or the tilt motor driving unit 120. The controller 150 needs 40960 steps to rotate the fan motor 24 or the tilt motor 25 by 40 degrees if the 1024 steps are required to rotate the fan motor 24 or the tilt motor 25 by one degree, And transmits it to the fan motor driving unit 120 or the tilt motor driving unit 120. The fan motor driving unit 120 or the tilt motor driving unit 120 receives a command corresponding to the step and drives the fan motor 24 or the tilt motor 25 by applying a driving voltage corresponding thereto.

The control unit 150 calculates the rotation angle of the fan motor 24 or the tilt motor 25 in real time according to the number of steps applied to the fan motor driving unit 120 or the tilt motor driving unit 120. [ )

Next, the control unit 150 confirms the detection information of the fan sensor 36 or the tilt sensor 37. The control unit 150 calculates the actual position information through the detection information of the current fan sensor 36 or the tilt sensor 37. [ The control unit 150 transmits a command corresponding to the step in real time so that the fan sensor 36 or the tilt sensor 37 checks the detection information of the fan sensor member 47a or the tilt sensor member 32a The actual position information can be outputted. For example, when the control unit 150 receives the detection information of the fan sensor member 47a at a time point when the fan motor 24 recognizes the rotation of the fan motor at an angle of 15 degrees on the command, &quot; 15 degrees &quot; Is the actual position information of the sensitive member 47a. (320)

Next, the control unit 150 calculates a difference value between the actual position information and the reference position information. As described above, the reference position information is information calculated by a preceding calibration operation, and means a rotation angle at which the fan sensor member 47a or the tilt sensor member 32a should be sensed when there is no disturbance. The actual position information means the rotation angle calculated by the controller 150 through the step number at the time when the fan sensor member 47a or the tilt sensor member 32a is sensed regardless of disturbance.

The control unit 150 determines whether the difference between the reference position information and the actual position information of the fan sensor member 47a or the tilt sensor member 32a exceeds the allowable error range.

Next, if the difference between the reference position information and the actual position information of the controller 150 exceeds the allowable error range, it is determined that the detachment has occurred (350)

Next, the controller 150 performs an initialization operation for the fan motor 24 or the tilt motor 25 when it is determined that the system is in the tidal state. The initializing operation is performed by a plurality of fan sensor sensitive members 47a provided in the fan rotary gear 47 or the tilt rotary gear 32 or any one of the fan sensor sensitive members 47a different in shape among the plurality of tilt sensor sensitive members 32a The fan motor 24 or the tilt motor 25 is rotated to move to the initial position until the tilt sensor 32a is detected.

Next, the controller 150 controls the fan motor 24 or the tilt motor 25 based on the initial position. (370)

1, the surveillance camera apparatus 100 according to the present embodiment is applied to a surveillance camera having a dome structure. However, the present invention is not limited to this, The present invention can be applied to all types of mobile surveillance cameras that are rotated in the horizontal direction by the tilt motor and rotated in the vertical direction by the tilt motor.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

13: camera section 24: fan motor
25: tilt motor 32: tilt rotary gear
36: Fan sensor 37: Tilt sensor
47: Fan rotary gear

Claims (15)

A camera unit for photographing a surveillance area according to a surveillance mode;
A fan motor for driving the camera unit to rotate in the horizontal direction; a tilt motor driven to rotate the camera unit in the vertical direction;
A fan rotating gear for horizontally rotating the camera unit by driving the fan motor; a tilt rotary gear for rotating the camera unit in a vertical direction by driving the tilt motor;
A plurality of fan sensor sensitive members attached to the fan rotating gear and interlocked with each other; a plurality of tilt sensor sensitive members attached to and interlocked with the tilt rotary gear;
A fan sensor for sensing the fan sensor sensitive member passing through the sensing area according to the rotation of the fan rotary gear; a tilt sensor for sensing the tilt sensor sensitive member passing through the sensing area in accordance with rotation of the tilt rotary gear; And
The fan sensor or the tilt sensor receives the sensed information from the fan sensor or the tilt sensor, calculates actual position information, compares the detected position information with previously stored reference position information, and determines whether or not the fan motor or the tilt motor is disengaged And a control unit for judging whether or not the user
Wherein at least one of the plurality of fan sensor-responsive members has a sensor sensing length different from that of the remaining fan sensor-responsive members, and at least one of the plurality of tilt sensor- And other sensor sensing lengths. The method according to claim 1,
The actual position information may be rotation angle information recognized by the control unit at a point in time when the fan sensor or the tilt sensor starts sensing or terminating the sensing of the fan sensor or the tilt sensor responsive member in an actual operation state Camera device. The method according to claim 1,
The reference position information may be obtained by driving the fan motor or the tilt motor under a predetermined condition without disturbance, and detecting when the fan sensor or the tilt sensor starts sensing the fan sensor or the tilt sensor sensitive member The rotation angle information being recognized by the control unit at the time when the control unit terminates the control. The method according to claim 1,
Wherein the tilt motor or the fan motor includes a stepping motor capable of controlling the rotation speed and the rotation amount in accordance with the number of control steps,
Wherein the control unit calculates the actual position information or the reference position information according to the number of control steps. delete The method according to claim 1,
Wherein the control unit performs an initialization operation upon detecting a step-out of the fan motor or the tilt motor,
And a control unit for controlling a position of a fan sensor sensitive member having a different sensor sensing length from the plurality of fan sensor sensitive members or a tilt sensor sensitive member having a different sensor sensing length among the plurality of tilt sensor sensitive members, Device. The method according to claim 1,
Wherein the control unit determines that the motor is out of order if the difference between the actual position information and the reference position information is out of the error tolerance range. A fan rotation gear for moving the camera unit in a horizontal direction, a tilt rotary gear for moving the camera unit in a vertical direction, and a plurality of fans coupled to the fan rotation gear, And a tilt sensor for sensing the tilt sensor, wherein the tilt sensor comprises: a tilt sensor for detecting a tilt of the tilt sensor; a tilt sensor for detecting a tilt of the tilt sensor; As a method,
Wherein the reference position information of the plurality of tilt sensor sensitive members and the plurality of the fan sensor sensitive members is stored by performing calibration under no disturbance condition,
The actual position information of the tilt sensor sensitive member and the fan sensor sensitive member during operation according to the monitoring mode,
If the difference between the reference position information and the actual position information is out of the error tolerance range,
Wherein at least one of the plurality of fan sensor-responsive members has a sensor sensing length different from that of the remaining fan sensor-responsive members, and at least one of the plurality of tilt sensor- And a control method of the surveillance camera device having different sensor detection lengths. 9. The method of claim 8,
Wherein the reference position information is information calculated using any one of a directional method and a non-directional method. 10. The method of claim 9,
The calibration of the directional method may include,
The reference position information of the fan sensor sensitive member or the tilt sensor sensitive member obtained by rotating the fan rotary gear or the tilt rotary gear in a clockwise direction, Wherein the reference position information of one of the fan sensor sensitive member and the tilt sensor sensitive member is divided to reflect directionality. 10. The method of claim 9,
The calibration of the non-
The reference position information of the fan sensor sensitive member or the tilt sensor sensitive member obtained by rotating the fan rotary gear or the tilt rotary gear in a clockwise direction, Wherein the average reference position information is used in consideration of both reference position information of the fan sensor member or the tilt sensor member. 9. The method of claim 8,
Wherein the reference position information rotates the fan rotation gear or the tilt rotation gear at a predetermined speed and detects when the fan sensor or the tilt sensor starts sensing the fan sensor or the tilt sensor sensitive member, The rotation angle information being recognized at a point of time when the end point of the end point is terminated. 10. The method of claim 9,
Wherein the actual position information is rotation angle information that is recognized at a time point at which the fan sensor or the tilt sensor starts sensing or terminates the detection of the fan sensor or the tilt sensor responsive member in an actual operation state Control method. delete 9. The method of claim 8,
Wherein the controller is configured to perform an initializing operation when the removal of the tilt sensor member is determined based on a position of a tilt sensor sensitive member having a different sensor sensing length from the fan sensor sensitive member having a different sensor sensing length, To the reference position of the initialization operation.

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