KR101533338B1 - Apparatus and method for detecting object - Google Patents

Abstract

The present invention relates to an apparatus and method for detecting an object, which detects a motion of an object from a signal sensed by a sensor and filters the object so that only a valid object is photographed. The object detecting apparatus includes at least one sensor for emitting a signal to an object and receiving a signal reflected from the object, at least one or more cameras for capturing an object by the imaging control signal, and a sensor for detecting And control means for judging the object as an effective object and outputting a photographing control signal to the camera so as to photograph the object when the accumulated number of motion detection times of the object is equal to or greater than a predetermined threshold value.

Description

[0001] APPARATUS AND METHOD FOR DETECTING OBJECT [0002]

The present invention relates to an apparatus and method for detecting an object, which detects a motion of an object from a signal sensed by a sensor and filters the object so that only a valid object is photographed.

As a method for detecting an object, a high performance camera is used to detect vision information, position information using a radar, and irregular motions in a near region using a sensor. Among them, the sensor is installed in the barbed area of the military boundary to detect and identify anomalies, and is utilized in the area and environment industries, which are restricted access areas. As an example, a detection sensor is installed in a military access restricted area to detect the occurrence of a specific event in a near-distance access area.

In the restricted area and the border area of the barbed wire, generally, a system for detecting and monitoring an object using a sensor is used. In the sensor processing process provided depending on the physical sensor device, there are many noises and frequent false positives.

SUMMARY OF THE INVENTION The object of the present invention is to provide an apparatus and method for detecting an object by detecting motion of an object from a signal detected by a sensor and photographing only an effective object.

According to an aspect of the present invention, there is provided an object detecting apparatus including at least one sensor for emitting a signal to an object and receiving a signal reflected from the object; At least one camera for photographing the object by a photographing control signal; And a controller for detecting the movement of the object from the signal received by the sensor and judging the object as a valid object when the cumulative number of motion detection times of the object is not less than a predetermined threshold value, And a control means for outputting a signal.

In the present invention, the sensor receives identification information of the object, moving speed information of the object from the sensor, distance information from the sensor to the object, and the like from the object.

In the present invention, the control means compares the post-warp information to determine whether or not the identification information of the object received by the sensor is changed, the distance information from the sensor to the object is changed, and the moving speed information of the object A motion detector for detecting a motion of the object according to a change; A filtering unit for determining the object as an effective object when the number of accumulated motion determinations in which motion of the object is detected for a predetermined time is equal to or greater than a preset threshold value; And a camera controller for operating the camera in proximity to the effective object so as to photograph the effective object.

In the present invention, it is preferable that the motion detecting unit is configured to detect the motion of the object when the distance information from the sensor to the object is nearer and the moving speed of the object is faster from the sensor, It is determined that a motion has occurred.

In the present invention, the filtering unit sets the threshold value differently according to an environment at the time of detecting the object.

According to an aspect of the present invention, there is provided an object detecting method for detecting an object, comprising the steps of: generating a signal to an object by a sensor and then detecting identification information of the object reflected from the object, Receiving speed information and distance information from the sensor to the object; And information on the movement of the object in accordance with whether or not the identification information of the object received by the sensor changes, the distance information change from the sensor to the object, and the movement speed information of the object change from the sensor. Detecting; Determining that the object is a valid object when the number of accumulated motion determinations in which motion of the object is detected for a predetermined time is greater than or equal to a preset threshold value; And photographing the effective object by operating a camera close to the valid object.

The method may further include setting the threshold value according to an environment at the time of detecting the object before the step of receiving the information.

In the present invention, it is preferable that, in the step of detecting the movement of the object, the identification information of the object received by the sensor is the same, the distance from the sensor to the object becomes closer, When it is determined that the object is accelerated, it is determined that the object has moved.

In the present invention, it is preferable that, in the step of detecting the movement of the object, the identification information of the object received by the sensor is the same, the distance from the sensor to the object is close to each other, When the sensor receives the same identification information of the object and the distance from the sensor to the object is distant and the moving speed of the object is faster from the sensor, And determining that the movement is detected but the movement is not valid if the identification information of the object is the same and the distance from the sensor to the object is distant and the moving speed of the object is slow from the sensor .

As described above, according to the present invention, by detecting motion of an object from a signal sensed by a sensor, and photographing only an effective object by filtering, it is possible to reduce the false positive rate at the time of object detection.

1 is a block diagram showing the configuration of an object detecting apparatus according to the present invention.
FIG. 2 is a view showing a threshold setting table in FIG.
FIGS. 3 to 7 show filtering results for object detection. FIG.
FIG. 8 is a table comparing the detection performance of an object before and after applying the filtering of the present invention.
9 is a flowchart illustrating the operation of the object detection method according to the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, the present invention may include integrated circuit configurations, such as memory, processing, logic, look-up tables, etc., that may perform various functions by control of one or more microprocessors or other control devices Can be adopted. Similar to the components of the present invention that may be implemented with software programming or software components, the present invention may be implemented as a combination of C, C ++, and C ++, including various algorithms implemented with data structures, processes, routines, , Java (Java), assembler, and the like. Functional aspects may be implemented with algorithms running on one or more processors. Further, the present invention can employ conventional techniques for electronic environment setting, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, do.

1 is a block diagram showing the configuration of an object detecting apparatus according to the present invention.

1, the object detecting apparatus includes sensors 100-1 to 100-N, cameras 200-1 to 200-N, a control means 300 and a display means 400 ).

The sensors 100-1, ..., 100-N are physical devices for object detection, such as an ultrasonic sensor or a radar. The sensors 100-1, ..., 100-N emit signals to an object and receive signals reflected from the object. The signals received by the sensors 100-1 to 100-N include information on the distance from the object identification information (ID), the sensors 100-1 to 100-N to the object, -1, ..., 100-N, velocity information of the object, direction information of the object, or acceleration information of the object. The sensors 100-1 to 100-N use the identification information of the object, the distance information of the object, and the velocity information of the object among the various pieces of received information as valid information. The sensors 100-1, ..., 100-N transmit identification information of the object, distance information of the object, and velocity information of the object to the control means 300.

The cameras 200-1, ..., 200-N are for capturing an object, and may be an infrared camera, a thermal camera, or a general CCTV camera. The photographing direction and time of the cameras 200-1, ..., 200-N are controlled by the photographing control signal of the control means 300. [

The control means 300 judges the motion of the object from the signals received by the sensors 100-1, ..., 100-N, and when the cumulative number of motion determinations of the object is equal to or greater than a preset threshold value, And outputs a photographing control signal to the cameras 200-1, ..., 200-N to photograph the object.

The control unit 300 includes a motion detection unit 310, a filtering unit 320, a camera control unit 330, and an image processing unit 340.

The motion detection unit 310 compares the posterior information received from the sensors 100-1, ..., 100-N to determine whether the identification information of the object has changed, whether the distance information of the object has changed, And detects the movement of the object depending on whether or not the object is moving.

The motion detection unit 310 compares the posterior information received from the sensors 100-1 to 100-N to identify the objects received by the sensors 100-1 to 100-N The information is the same and the distances from the sensors 100-1 to 100-N to the object become closer and the moving speed of the object from the sensors 100-1 to 100-N becomes faster It is determined that a motion has occurred in the object.

However, the motion detecting unit 310 compares the post-warfare information received from the sensors 100-1, ..., 100-N, The distance from the sensors 100-1 to 100-N approaches the object and the moving speed of the object from the sensors 100-1 to 100-N becomes If it is slow, it is judged that there is motion in the object but it is not effective.

The motion detection unit 310 also compares the posterior information received from the sensors 100-1, ..., 100-N to determine the position of the object received by the sensors 100-1, ..., The distances from the sensors 100-1 to 100-N to the object are increased and the moving speed of the objects from the sensors 100-1 to 100-N becomes faster , It is determined that an object has moved, but it is an invalid movement.

The motion detection unit 310 also compares the posterior information received from the sensors 100-1, ..., 100-N to determine the position of the object received by the sensors 100-1, ..., The distances from the sensors 100-1, ..., 100-N to the object are distant and the moving speed of the object from the sensors 100-1, ..., 100-N is slow , It is determined that an object has moved, but it is an invalid movement.

The filtering unit 320 determines that the object is an effective object to be photographed when the cumulative number of motion detection times from the motion detection unit 310 is equal to or greater than a predetermined threshold value for a predetermined time.

The predetermined time may be, for example, 2 seconds. That is, the sensors 100-1, ..., 100-N emit 20 signals to an object and receive 20 signals reflected from the object for a predetermined time 2 seconds.

The threshold value may be set differently depending on the environmental condition. FIG. 2 shows a threshold setting table. Referring to FIG. 2, the threshold can be 1 for clear weather. That is, in the clear weather, after the sensors 100-1, ..., 100-N emit 20 signals for a predetermined time, that is, for 2 seconds, 20 signals reflected from the object are received, (320) is determined to be an effective object to be photographed on the basis thereof. Also, the threshold for windy weather can be 0.8. That is, in the windy weather, the sensors 100-1, ..., 100-N emit 16 signals for a predetermined time, i.e., 2 seconds, and then receive 16 signals reflected from the object, The filtering unit 320 determines that the object is an effective object to be photographed. Also, the threshold for a strong windy weather can be 0.6. That is, in the windy weather, the sensors 100-1, ..., 100-N emit twelve signals for a predetermined time, i.e., two seconds, and then receive twelve signals reflected from the object, The filtering unit 320 determines that the object is an effective object to be photographed. Also, the threshold can be 0.5 for windy and rainy weather. That is, in the windy and rainy weather, the sensors 100-1, ..., 100-N emit ten signals for a predetermined time, i.e., two seconds, and then receive ten signals reflected from the object And determines that the filtering unit 320 is an effective object to be photographed based on this.

The filtering unit 320 determines that the object is an effective object to be photographed when the cumulative number of motion detection times from the motion detection unit 310 is equal to or greater than a preset threshold value for a predetermined time. However, when the cumulative number of motion detection times from the motion detection unit 310 is less than or equal to a predetermined threshold value, the motion detection unit 310 receives the signal.

3 is a result of judging the object to be photographed to be photographed when the cumulative number of motion occurrences calculated for a predetermined time by the filtering unit 320 is equal to or greater than a threshold value. Fig. 3 shows a case where the identification information of the object is the same, the distance from the sensors 100-1, ..., 100-N to the object becomes closer, It is understood that the moving speed of the moving object is increased.

4 shows that the number of accumulated motion occurrences calculated by the filtering unit 320 for a predetermined time is equal to or greater than a threshold but the identifiers of the objects received by the sensors 100-1 to 100- The distance from the sensors 100-1 to 100-N to the object becomes closer and the moving speed of the object from the sensors 100-1 to 100-N becomes slow, Or not.

5 shows a case where the accumulated number of motion occurrences calculated by the filtering unit 320 for a predetermined time is equal to or greater than a threshold but the identification information of the object received by the sensors 100-1 to 100- The distances from the sensors 100-1, ..., 100-N to the object become farther and the moving speed of the object from the sensors 100-1, ..., 100-N becomes faster, Or not.

6 shows an example in which the accumulated number of motion occurrences calculated by the filtering unit 320 for a predetermined time is equal to or greater than a threshold but the identification information of the object received by the sensors 100-1 to 100- The distance from the sensors 100-1 to 100-N to the object becomes long and the moving speed of the object from the sensors 100-1 to 100-N becomes slow, Or not.

7 is a result of judging that the number of accumulated motion occurrences calculated by the filtering unit 320 is not a valid object when the number of times of motion occurrence is less than a predetermined time.

In this way, the filtering unit 320 can recognize that the identification information of the object is the same for a predetermined time, the distance from the sensors 100-1, ..., 100-N to the object becomes close, ., And 100-N, and when the cumulative number of motion occurrences calculated for a predetermined time period is equal to or greater than a threshold value, it is determined that the object is a valid object to be photographed. It is determined that the subject is not an object to be photographed, and the information is received again.

The camera control unit 330 operates at least one of the cameras 200-1, ..., 200-N adjacent to the object to photograph the effective object, when the effective object to be imaged is determined.

The image processing unit 350 processes an image of a valid object as a displayable signal and outputs the processed signal to the display unit 400. [

FIG. 8 is a table comparing the detection performance of an object before and after applying the filtering of the present invention. Referring to FIG. 8, the two tables are tested under the assumption that the same object identification information is received, and the distance and speed approach the sensor. In the object detection performance table before applying the filtering shown in FIG. 8A, if the speed of the object detection data 6 or 7 is the same or if the distance of 10 times is farther from the sensor, it takes a long time to detect the object or can not be detected Lt; / RTI > However, in the object detection table after applying the filtering shown in FIG. 8B, an object is detected unless the speed and the distance are continuously distant from each other. The data shown in Figure 8A detects an object after more than 5 seconds of sensing. However, the data shown in FIG. 8B detects an object by sensing the data within 2 seconds and applying a threshold value.

9 is a flowchart illustrating the operation of the object detection method according to the present invention.

Referring to FIG. 9, the control means 300 first sets a threshold value for object detection (S10). The threshold value may be set differently according to the environmental condition. In FIG. 2, a threshold value setting table is shown, and a threshold value is set before object detection. Hereinafter, the contents related to the threshold value setting are described above, and therefore will not be described.

Upon completion of the threshold setting, the control means 300 receives the identification information of the object, the distance information of the object and the velocity information of the object, which are emitted by the sensors 100-1, ..., 100-N to the object (Step S20).

When the identification information of the object, the distance information of the object, and the velocity information of the object are received, the control means 300 compares the received posterior information and performs step S30 to determine whether the object has moved. As a result of the comparison of the post-warp information, the control means 300 judges that the identification information of the received object is the same, the distance from the sensors 100-1, ..., 100- ,..., 100-N, the movement of the object is judged to have occurred. However, when the sensors 100-1, ..., 100-N compare the forward and backward information received from the sensors 100-1, ..., 100-N, When the distance from the sensors 100-1 to 100-N is close to the object and the moving speed of the object from the sensors 100-1 to 100-N is slow, When the distance from the object 100-1 to the object 100-1 to the object 100-1 is increased and the moving speed of the object from the sensors 100-1 to 100-N is increased. ..., 100-N are moving away from the sensors 100-1, ..., 100-N and the moving speed of the object is slow, .

Then, the control unit 300 performs a step S40 of determining that the object is an effective object to be photographed when the accumulated number of motion detection times is equal to or greater than a predetermined threshold value. The control means 300 determines whether or not the sensors 100-1 to 100-N have the same identification information of the objects and the distances from the sensors 100-1 to 100- , The moving object is determined to be an effective object to be photographed when the number of times of motion detection accumulated for a predetermined time is equal to or greater than a preset threshold value. However, when the distances from the sensors 100-1, ..., 100-N to the object are close to each other while the identification information of the objects received by the sensors 100-1 to 100- When the moving speed of the object is slowed from the sensors 100-1 to 100-N, the distances from the sensors 100-1 to 100-N to the object are increased, The distance from the sensors 100-1, ..., 100-N to the object is increased and the sensors 100-1, ..., 100- ., And 100-N, it is determined that the object is not a valid object when the calculated accumulated motion occurrence count is equal to or less than the predetermined time.

When the effective object is determined, the control means 300 operates at least one of the cameras 200-1, ..., 200-N close to the object, photographs the effective object, processes the image, (Step S50).

By detecting the movement of the object from the signal detected by the sensor and filtering only the effective object, it is possible to reduce the false positive rate when the object is detected.

Meanwhile, the present invention can be embodied in computer readable code on a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also a carrier wave (for example, transmission via the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily deduced by programmers skilled in the art to which the present invention belongs.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

All documents, including publications, patent applications, patents, etc., cited in the present invention may be incorporated into the present invention in the same manner as each cited document is shown individually and specifically in conjunction with one another, .

100-1, ..., 100-N: sensors 200-1, ..., 200-N:
300: control means 310: motion detection unit
320: Filtering unit 330: Camera control unit
340: image processing unit 400: display means

Claims (9)

At least one sensor for receiving identification information of the object reflected from the object, distance information to the object, and moving speed information of the object after emitting a signal to an arbitrary object;
At least one camera for photographing the object by a photographing control signal;
And a control unit that compares the received information with the received information to determine whether the identification information of the object received by the sensor is changed, whether the distance information from the sensor to the object is changed, A motion detector for determining a motion of the object;
A filtering unit for determining the object as an effective object when the number of accumulated motion determinations in which motion of the object is detected for a predetermined time is equal to or greater than a preset threshold value; And
And a camera controller for operating the camera in proximity to the effective object to control the shooting of the effective object,
Wherein the motion detection unit comprises:
When the distance information from the sensor to the object is closer and the moving speed of the object is faster than the distance from the sensor to the object is equal to the identification information of the object received by the sensor, . 2. The apparatus of claim 1, wherein the sensor
From the object, identification information of the object, moving speed information of the object from the sensor, distance information from the sensor to the object, and the like. delete Claim 4 has been abandoned due to the setting registration fee. The apparatus of claim 1, wherein the motion detector
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is near and the moving speed of the object is slow from the sensor,
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is distant and the moving speed of the object is increased from the sensor,
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is distant and the moving speed of the object is slowed from the sensor, The object detection apparatus comprising: Claim 5 has been abandoned due to the setting registration fee. The apparatus of claim 1, wherein the filtering unit
Wherein the threshold value is set differently according to an environment at the time of detecting the object. Receiving identification information of an object reflected from the object, moving speed information of the object from the sensor, and distance information from the sensor to the object, after the sensor emits a signal to an arbitrary object;
And information on the movement of the object in accordance with whether or not the identification information of the object received by the sensor changes, the distance information change from the sensor to the object, and the movement speed information of the object change from the sensor. ;
Determining that the object is a valid object when the number of accumulated motion determinations in which motion of the object is detected for a predetermined time is greater than or equal to a preset threshold value; And
And photographing the valid object by operating a camera close to the valid object,
In the step of determining the movement of the object,
When the distance information from the sensor to the object is closer and the moving speed of the object is faster than the distance from the sensor to the object is equal to the identification information of the object received by the sensor, A method of detecting an object. Claim 7 has been abandoned due to the setting registration fee. 7. The method of claim 6, wherein prior to the step of receiving the information
And setting the threshold value according to an environment at the time of detecting the object. delete Claim 9 has been abandoned due to the setting registration fee. The method according to claim 6, wherein, in the step of determining the movement of the object,
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is near and the moving speed of the object is slow from the sensor,
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is distant and the moving speed of the object is increased from the sensor,
When the identification information of the object received by the sensor is the same and the distance from the sensor to the object is distant and the moving speed of the object is slowed from the sensor, The method comprising the steps of:

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