KR101600527B1 - Moving object tracking and automatic lighting control system using a thermal imaging camera - Google Patents

Moving object tracking and automatic lighting control system using a thermal imaging camera Download PDF

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Publication number
KR101600527B1
KR101600527B1 KR1020150139519A KR20150139519A KR101600527B1 KR 101600527 B1 KR101600527 B1 KR 101600527B1 KR 1020150139519 A KR1020150139519 A KR 1020150139519A KR 20150139519 A KR20150139519 A KR 20150139519A KR 101600527 B1 KR101600527 B1 KR 101600527B1
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South Korea
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thermal imaging
imaging camera
control means
cctv
mounting member
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KR1020150139519A
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Korean (ko)
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김중석
해용석
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(주)나인정보시스템
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004—Personal or domestic articles
    • F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S8/00—Lighting devices intended for fixed installation
    • F21S8/08—Lighting devices intended for fixed installation with a standard
    • F21S8/085—Lighting devices intended for fixed installation with a standard of high-built type, e.g. street light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0064—Health, life-saving or fire-fighting equipment
    • F21V33/0076—Safety or security signalisation, e.g. smoke or burglar alarms, earthquake detectors; Self-defence devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
    • H05B37/0227—

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Security & Cryptography (AREA)
  • Environmental & Geological Engineering (AREA)
  • Studio Devices (AREA)

Abstract

A moving object tracking and automatic lighting control system using a thermal imaging camera according to the present invention is a system for tracking and automatically controlling a moving object, the system comprising: a strut standing up in a vertical direction of the ground; a main installing member extending from an outer circumferential surface of the strut in a direction perpendicular to the strut; An infrared camera for detecting infrared heat energy emitted from the subject and converting the infrared thermal energy into an electric signal; an infrared camera for rotating the infrared camera horizontally in the left and right directions in accordance with a control signal of the control means, A first pan tilt means for pivoting the main mounting member in an axial direction, an auxiliary mounting member disposed on an upper portion of the main mounting member in parallel with the main mounting member while being spaced apart from each other by a predetermined height, The auxiliary mounting member is moved left and right in accordance with the control signal of the control means A second pan / tilt means for rotating an axis in a horizontal direction or an axis in an up-and-down vertical direction, a lighting device for lighting in accordance with a control signal of the control means in a state of being fixed to the auxiliary installation member, A CCTV that accurately captures an image of a region by capturing an image in front of the camera in accordance with a control signal of the control means in a state where the camera is fixed to an installation member, The CCTV can be made to face the living organism by illuminating the CCTV and the illumination device integrally coupled with the auxiliary installation member by operating the tilt means, thereby brightening the living thing through the lighting device and capturing the CCTV through the CCTV.

Description

[0001] MOVING OBJECT TRACKING AND AUTOMATIC LIGHTING CONTROL SYSTEM USING A THERMAL IMAGING CAMERA [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a moving object tracking and automatic lighting control system using a thermal imaging camera, and more particularly, At the same time, regarding a moving object tracking and automatic lighting control system using a thermal imaging camera, in which the laser launching device, the CCTV, the illuminating device, and the distance measuring means can face the coordinates of the area where the living organism is detected, will be.

Currently, the army plans to build an unmanned border system in front of the front station (GOP) of the front fence by 2019, and to establish a "GOP guard brigade," which will be dedicated to the GOP border in 2020.

This means that the 'eye' that monitors the front fence is replaced by a surveillance camera and an electronic sensor instead of a soldier.

An official of the military said, "As a result of testing and operating the unmanned boundary system for one unit of the GOP region in accordance with the National Defense Reform 2020, we concluded that the GOP boundary can be achieved with the scientific equipment." In ten years, I plan to complete the system construction. "

When the unmanned boundary system is introduced, instead of the way in which the soldiers patrol the iron barracks, it is possible to confirm whether or not the enemy is intruding through the detection sensor and the monitoring screen installed at the GOP unit control center.

As soon as the enemy touches the iron wire, the sensor is activated and the surveillance camera captures the position and sends it to the control center.

However, in the forefront steel fence, it is impossible to monitor the enemy by using the general CCTV because of lack of local characteristics and lighting device, which is difficult to ensure sufficient illumination, and accordingly, automatic light control device for effective intruder monitoring and automatic shooting device is essential It is a situation.

On the other hand, as a prior art of the present invention, there is a security camera tracking surveillance monitoring system and method using thermal image coordinates of Patent Publication No. "10-2012-0016479 & And a method includes: an infrared thermal imaging camera that photographs a predetermined surveillance area and provides the surveillance area as a thermal image; a tracking surveillance camera that tracks and magnifies a target person in the surveillance area; An attitude control device for performing attitude control of the tracking surveillance camera so as to track a target person; an image processing unit for performing image processing of binarizing a thermal image of a surveillance area provided by the infrared thermal camera on the basis of a threshold value, Extracts the person's position and coordinates of the person, and based on the extracted position coordinates, And a control system that receives and stores an image for identification of a target, which is photographed by the tracking surveillance camera, while controlling driving of the tooth.

Korean Patent Publication No. 10-2012-0016479 (Feb. 24, 2012) Korea Patent Registration No. 10-1276385 (June 19, 2013) Korean Patent Publication No. 10-2015-0093340 (Aug. 18, 2015)

Accordingly, in order to solve the above-described problem, the present invention provides a CCTV and an illumination device, in which when a living organism is detected through a rotary type thermal imaging camera, The object of the present invention is to provide a moving object tracking and automatic lighting control system using a thermal imaging camera to more accurately grasp the shape of a living body.

It is a further object of the present invention to provide a distance measurement sensor and a laser launching device that use a distance measuring sensor to detect a standard aiming point according to distance when a rifle is fired, And to provide a moving object tracking and automatic lighting control system using an infrared camera capable of accurately aiming a target.

According to an aspect of the present invention, there is provided a system for tracking and automatically controlling a moving object using a thermal imaging camera, the system comprising: a support vertically installed on the ground; a main installation member extending from the outer circumferential surface of the support, An infrared camera for detecting infrared heat energy emitted from a subject in the monitored area and converting the infrared thermal energy into an electric signal; a control unit for controlling the infrared camera in the left and right horizontal directions An auxiliary mounting member disposed on the upper side of the main mounting member in parallel with the main mounting member in a state of being spaced apart from the upper portion of the main mounting member by a predetermined height, When the mounting member is connected, the control signal of the control means Second auxiliary tilt means for axially rotating the auxiliary mounting member horizontally in the left and right direction or for axially rotating the auxiliary mounting member in the horizontal direction in the left and right directions and lighting the second auxiliary tilt means in accordance with the control signal of the control means in a state of being fixed to the auxiliary mounting member, A CCTV which accurately captures an image of a corresponding region by photographing the front side in accordance with a control signal of the control means in a state of being fixed to the auxiliary mounting member, The second pan / tilt means is operated to move the CCTV and the illumination device integrally coupled with the auxiliary installation member to the coordinate where the living organism is detected, so that the organism detected through the IR camera brightens through the lighting device and CCTV And a control means for photographing through the camera.

In the moving object tracking and automatic lighting control system using the thermal imaging camera according to the present invention, when the living body is detected through the thermal imaging camera while the thermal imaging camera is stopped, the second pan / The illumination device combined with the member and the CCTV face the detected coordinates of the living creature so that the living things detected through the lighting device brighten and the living things sensed through the CCTV can be photographed.

Accordingly, when moving objects are tracked and the automatic lighting control system using the thermal imaging camera according to the present invention detects living things through the rotation type thermal imaging camera, the living objects detected through the thermal imaging camera are enlarged and photographed, The device allows the creature to face the coordinates of the detected area so that the shape of the creature can be grasped more accurately.

In addition, the distance measuring sensor and the laser launching apparatus face the coordinates of the area where the living organism is detected, so that the distance measuring sensor is used to grasp the standard aiming point according to the distance when shooting the rifle, Be able to aim.

1 is a conceptual diagram of the present invention,
2 is a control block diagram of the present invention,
3 is a control block diagram of the thermal imaging camera and the first pan / tilt means,
4 is a flowchart illustrating the operation of the present invention,
5 is a flow chart for explaining a first embodiment of a method for detecting living things from images photographed by a thermal imaging camera,
6 is a flow chart for explaining a second embodiment of a method for detecting living things from images photographed by a thermal imaging camera,
FIG. 7 is a flowchart illustrating a method of determining whether the thermal imaging camera is in a stationary state or in motion,
8 is a view for explaining a change in the contrast value at the center of the image according to the moving state of the thermal imaging camera,

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 to 2, a moving object tracking and automatic lighting system using a thermal imaging camera according to the present invention comprises a strut 1 erected in the vertical direction of the ground, A main installing member 3 extending in a direction orthogonal to the pillar 1, a thermal imaging camera 7 for detecting infrared thermal energy emitted from a subject in the monitored area and converting it into an electric signal, Tilting means 11 for axially rotating the thermal imaging camera 7 horizontally in the left and right direction or for axially rotating the thermal imaging camera 7 in the up-and-down vertical direction in accordance with the control signal of the control means 9 in a state of being mounted on the lower portion of the main- An auxiliary mounting member 13 disposed on the upper side of the member 3 in parallel with the main mounting member 3 in a state of being spaced apart from each other by a predetermined height and an auxiliary mounting member 13 connected to the main mounting member 3 A second pan tilting means 15 for axially rotating the auxiliary mounting member 13 horizontally in the left and right directions or rotating the shaft in the vertical direction in accordance with the control signal of the control means 9, A lighting device 17 that is illuminated in accordance with a control signal of the control means 9 in a state of being fixed to the auxiliary mounting member 13 to secure the illuminance of the area, A CCTV 19 for accurately capturing an image of a region by capturing a forward image in accordance with a signal and a second pan tilt means 19 for detecting a living body through the thermal imaging camera 7 when the thermal imaging camera 7 is stopped, The illumination device 17 and the CCTV 19 integrally coupled to the auxiliary installation member 13 are operated so as to face the creature so that the creature brightens through the illumination device 17, (Not shown) 9).

The thermal imaging camera 7 can detect infrared thermal energy emitted from a subject and convert the detected infrared thermal energy into thermal image data and output it.

The thermal imaging camera 7 has an advantage over the conventional night vision equipment in that it has excellent detection range and image quality and has an advantage that transmission observation can be performed even in a real field battle situation in which there is a smoke film, dust, or waving.

The thermal imaging camera 7 turns the preset position set in the control means 9 every predetermined time through the first pan tilt means 11 and detects the organism at the preset position.

The reason why the present invention detects living things using the thermal imaging camera 7 is as follows.

For general CCTV (19) and other image storage sensors, capture energy information of visible light band.

In this case, if sufficient illumination can not be guaranteed due to the characteristic of the visible light, it is impossible to acquire an image that can be confirmed by the human eye because the CCTV 19 or the human eye detects light reflected from living things, Because.

Under these circumstances, it is necessary to consider the environment in the forefront GOP region. It is difficult for the GOP area to be sufficiently illuminated due to its regional characteristics.

In particular, this difference is more evident in the case of nighttime situations, demonstrating that general CCTV (19) does not adequately monitor the area.

As shown in FIG. 3, the thermal imaging camera 7 includes an optical unit 21 for receiving infrared thermal energy generated from a subject, and a controller 21 for scanning the infrared thermal energy input from the optical unit 21, A thermal image detector 23 for converting the temperature of the object into an electric signal, a correction circuit 25 for correcting and equalizing the uneven response characteristics of the thermal image detector 23, And an A / D conversion section 27 for converting the thermal image signal into a digital signal and providing it to the control means 9. [

3, the first pan tilting means 11 includes a panning motor 29 for rotating the thermal imaging camera 7 horizontally in the left and right direction and a panning motor 29 for rotating the thermal imaging camera 7 in accordance with a control signal of the control means 9 A panning motor driver 31 for rotating the panning motor 29 in the normal direction or the reverse direction, a tilting motor 33 for rotating the thermal imaging camera 7 in the vertical direction and vertical direction, And a tilting motor driver 35 for rotating the tilting motor 33 in the normal or reverse direction.

1 to Fig. 2, the present invention is characterized in that, in a state of being fixed to the auxiliary mounting member 13, by emitting a laser in the direction of the living organism detected in accordance with the control signal of the control means 9, A laser launcher 37 for precisely aiming the muzzle on the auxiliary mounting member 13 and a control unit 9 for controlling the distance between the vehicle and the living creature driven in accordance with the control signal of the control unit 9, Further comprising a distance measuring means (39) for providing the measured distance to the target (9) so as to utilize the measured distance when capturing the target aiming point when shooting the rifle, and said control means (9) If the living creature is detected through the thermal imaging camera 7, the laser launcher 37 and the distance measuring means 39, which operate the second pan tilt means 15 and are integrated with the auxiliary installation member 13, The And the laser launcher 37 is operated so as to aim the laser with the detected living organism. The distance between the living body detected by the distance measuring means 39 and the distance measuring means 39 is measured to determine the distance Use it for target aiming at rifle shooting.

At this time, both the CCTV 19 mounted on the auxiliary mounting member 13, the illuminator 17, the laser launcher 37, and the distance measuring means 39 are all connected to the living organism The center coordinates of the CCTV 19, the lighting device 17, the laser launcher 37, and the distance measuring means 39 must all point in the same direction.

If the living body is captured in the preset area by the thermal imaging camera 7, the second pan / tilt unit 15 is used to measure the distance between the CCTV 19, the illuminator 17, the laser launcher 37, Moves the means 39 to the coordinates at which the organism is captured.

The illuminating device 17 is for securing the illuminance of the area, and the distance measuring means 39 varies the target aiming point according to the distance when shooting the rifle, in order to refer to the measured distance information.

Also, the laser launcher 37 is used to accurately aim the target, and the CCTV 19 is used to secure accurate images at that time.

The operation of the present invention will be described in more detail with reference to FIG.

The flow of the initial system starts with the preset movement of the thermal imaging camera 7.

Set up a certain number of areas that you want to detect before using the camera presets.

Thereafter, the thermal imager 7 moves to the set position through the preset function at a predetermined time, and when the living organism is detected in the preset, the thermographic camera 7 magnifies the region with the thermal imager 7, The lighting device 17, the laser launcher 37, and the distance measuring means 39 are pointed to by the CCTV 19,

Since the coordinate axes of the CCTV 19 mounted on the auxiliary mounting member 13 and the illumination device 17, the laser launcher 37, and the distance measuring means 39 are different from each other, An actual measurement process for unifying these coordinate axes must be performed before the system is started.

On the other hand, the detection of living things follows the following method.

Due to the characteristics of the thermal imaging camera 7, the life forms differ from the ambient temperature, and the information is output as image information.

At this time, when the temperature is high at daytime or at summer, the temperature of living body may be similar to the temperature around living body. Detecting life with temperature only can raise the malfunction rate because of this characteristic.

In order to eliminate such a disadvantage, the living body is sensed by using the temperature information of the thermal imager 7 and the inter-frame difference information.

Therefore, as shown in Fig. 5, the control means 9 controls the control unit 9 to change the pixel value of the previous frame from the pixel value of the current frame input from the thermal imaging camera 7 when the thermal imaging camera 7 is stopped, Is judged to be a living pixel as a foreground pixel if the value is greater than the reference value set in the control means (9), whereas it is determined as a background pixel if it is smaller than the reference value set in the control means (9).

6, the control means 9 is a second embodiment of life detection, in which all the pixel values input from the thermal imaging camera 7 when the thermal imaging camera 7 is stopped, Is greater than the lower limit value stored in the control means (9) and smaller than the upper limit value, the pixel value inputted from the thermal imaging camera (7) is larger than the lower limit value stored in the control means (9) If the pixel value inputted from the thermal imaging camera 7 is not larger than the lower limit value stored in the control means 9 and is not smaller than the upper limit value, it is determined as a background pixel to detect the organism.

On the other hand, in the present invention, it is necessary to premise that the infrared camera 7 should not move when detecting living organisms to detect living things using the frame difference.

However, the present invention is a structure in which the thermal imaging camera 7 continuously moves to a preset position through a preset function.

Therefore, the present invention can detect life by using the accurate frame difference technique only when there is an assumption that the thermal imager 7 is completely stopped after the thermal imager 7 is moved to a preset position through the preset function.

To satisfy this assumption, we can check whether the current camera is moving by using the following algorithm for each image.

Contrast is a value that determines how widely the pixel values in an image are distributed.

If the camera is out of focus or the camera is in motion, blurring is essential due to the nature of the image.

Compared to normal state image and blurred state image, the contrast value of normal state is larger.

The presence or absence of the movement of the thermal imaging camera 7 is determined using this feature.

At this time, it is meaningless to extract the contrast value for the entire region of the image photographed by the thermal imaging camera 7. [

This is because blurring that occurs when the actual focus is not in focus and when the camera is moving appears in the center of the captured image.

For this reason, the contrast value is extracted for a certain region of the image center.

As shown in FIGS. 7 and 8, the control means 9 controls the operation of the thermal imaging camera 7 in order to determine whether the thermal imaging camera 7 is moving or stopped, The contrast value is extracted.

The contrast value

Figure 112015095979313-pat00001

And the control means 9 determines that the thermal imaging camera 7 has stopped if the contrast value is higher than the reference value set in the control means 9. [

In this case, M in Equation (1) is the size of the X-axis for a certain region in the center of the image, N is the size of the Y-axis for a certain region in the center of the image, The coordinates of the pixel.

I is the brightness value, and AI is the average brightness value.

The control means (9) performs the calculation of Equation (1) every frame.

At this time, a contrast value corresponding to each frame of the calculation result is shown in a graph as shown in FIG.

In the graph shown in FIG. 8, a peak area means an area where the camera does not move.

As mentioned above, GE Genetic algorithm is used as an optimization algorithm to find the area where the camera does not move.

On the other hand, the present invention is characterized in that the CCTV 19 mounted on the auxiliary mounting member 13, the illuminator 17, the laser launcher 37, and the distance measuring means 39, This is because the thermal imaging camera 7 is mounted on the first pan tilt means 11 and the CCTV 19, the illuminator 17, the laser launcher 37 and the distance measuring means 39 Tilt means 15 through the auxiliary mounting member 13. The second pan /

In order to unify the coordinate system of the thermal imaging camera 7 and the coordinate system of the CCTV 19, the illuminator 17, the laser launcher 37 and the distance measuring means 39, distortion correction in the thermal imager 7 is first required Do.

First, the control means 9 controls the thermal imaging camera 7 and the thermal imager 16 to unify the coordinate system of the CCTV 19, the illuminator 17, the laser launcher 37 and the distance measuring means 39, Corrects the distortion of the image photographed from the first pan tilt means (7), and corrects the coordinate axes between the first pan tilt means (11) and the second pan tilt means (15).

Generally, a camera-based image capturing sensor uses a lens, which causes image distortion due to lens bending.

In this case, image distortion inevitably occurs in other areas than the center of the image, so it is necessary to correct the distortion of the thermal imaging camera 7 that detects living things.

For this purpose, the coordinate correction operation in the thermal imaging camera 7 is performed. In this case, general coordinate correction in the camera is performed, and the corrected coordinate result is stored in a lookup table to reduce the calculation time in the subsequent processing.

Next, a coordinate axis correction operation between the first pan tilt unit 11 and the second pan tilt unit 15, on which the thermal imaging camera 7 is mounted, is performed.

At this time, when the CCTV 19, the illuminator 17, the laser launcher 37, and the distance measuring means 39 are installed on the auxiliary mounting member 13, the CCTV 19, The laser launcher 37, and the distance measuring means 39 must be unified.

Since the CCTV 19, the illuminator 17, the laser launcher 37 and the distance measuring means 39 are installed in the auxiliary mounting member 13 in the longitudinal direction of the auxiliary mounting member 13, the CCTV 19 And the center coordinates of the illuminator 17, the laser launcher 37, and the distance measuring means 39 all point in the same direction.

When the operation is completed, the coordinate system between the first pan tilt unit 11 and the second pan tilt unit 15 is unified before the present invention is driven. The first pan tilt unit 11, 10-0574697 "filed by the present applicant and registered in order to unify the coordinate system between the first pan tilting means 15 and the second pan tilting means 15, Camera correction method "

In order to unify the coordinate system between the first pan tilting means 11 and the second pan tilting means 15, the control means 9 controls the operation of the first pan / (P), a tilt (T), a zoom (Z), and a focus (F) lookup table are generated and stored in the lookup table. (Z) and the focus (F) to conform to the CCTV (19).

At this time, if the living body is detected in the image input through the thermal imaging camera 7, the control means 9 controls the CCTV 19 so that the living body is picked up from the image picked up by the thermal imaging camera 7, Tilt, zoom, and focus values of a lookup table corrected to be suitable for controlling the second pan / tilt means 15 so as to photograph the creature through the CCTV 19, It is possible to brightly illuminate the living body by using the lighting device 17 pointing in the same direction.

Since the laser launcher 37 and the distance measuring means 39 indicate the same direction as the CCTV 19, when the CCTV 19 faces the living body by the second pan tilt means 15, The distance between the creature and the distance measuring means 39 can be measured by the distance measuring means 39. [

In the moving object tracking and automatic lighting control system using the thermal imaging camera according to the present invention, when the living body is detected through the thermal imaging camera 7 while the thermal imaging camera 7 is stopped, The illumination device 17 and the CCTV 19 which are integrally coupled to the auxiliary installation member 13 by operating the means 15 face the coordinates at which the living organism is detected, And can shoot the living thing detected through CCTV (19).

Therefore, in the moving object tracking and automatic lighting control system using the thermal imaging camera according to the present invention, when a living thing is detected through the rotation type thermal imaging camera 7, the living being detected through the thermal imaging camera 7 is magnified At the same time, the CCTV 19 and the lighting device 17 point the coordinates of the area where the living organism is detected, so that the shape of the living organism can be grasped more accurately.

The distance measuring sensor and the laser launching device indicate the coordinates of the area where the living organism is detected. Thus, the distance measuring means is used to grasp the standard aiming point which varies according to the distance when shooting the rifle, You can also aim accurately.

1. Support 3. Main installation member
9. Control means 11. First pan tilt means
13. Auxiliary mounting member 15. Second pan tilt means
17. Lighting equipment 19. CCTV
21. Optical part 23. Thermal image detector
25. A correction circuit 27. A / D conversion section
29. Panning motor 31. Panning motor driver
33. Tilting motor 35. Tilting motor driver
37. Laser launcher 39. Distance measuring means

Claims (5)

A strut (1) erected in the vertical direction of the ground;
A main installation member (3) extending from an outer circumferential surface of the support (1) in a direction perpendicular to the support (1);
An infrared camera (7) for detecting infrared thermal energy emitted from a subject in the monitored area and converting the infrared thermal energy into an electric signal;
Tilting means for rotating the thermal imaging camera in the left and right horizontal direction or in the vertical direction in the vertical direction in accordance with the control signal of the control means 9 in a state where the thermal imaging camera 7 is installed on the lower portion of the main installation member 3, (11);
An auxiliary installation member (13) arranged on the upper side of the main installation member (3) in parallel with the main installation member (3) while being spaced apart from each other by a predetermined height;
The auxiliary mounting member 13 is rotated in the left and right horizontal directions or in the vertical and vertical directions in accordance with the control signal of the control means 9 in a state where the auxiliary mounting member 13 is connected to the main mounting member 3, Second pan tilting means (15);
A lighting device (17) which is fixed to the auxiliary installation member (13) and illuminates in accordance with a control signal of the control means (9) to secure the illuminance of the area;
A CCTV (19) for accurately capturing an image of a corresponding region by capturing an image in front of the CCTV (19) in accordance with a control signal of the control means (9) in a state fixed to the auxiliary mounting member (13);
And when the living body is detected through the thermal imaging camera 7 in a state where the thermal imaging camera 7 is stopped, the second pan / tilt means 15 is operated to turn on the illumination device 17 and the CCTV 19 so as to face the creature so that the creature brightens through the lighting device 17 and shoots through the CCTV 19,
A laser launcher 37 for accurately aiming the muzzle against the detected living organism by emitting laser in the direction of the living organism detected in accordance with the control signal of the control means 9 in a state of being fixed to the auxiliary installation member 13,
The distance to the detected living being driven in accordance with the control signal of the control means 9 in a state of being fixed to the auxiliary mounting member 13 is measured and then provided to the control means 9 so that when the target aiming point is caught Further comprising distance measuring means (39) for utilizing the measured distance,
If the living body is sensed through the thermal imaging camera 7 in the state where the thermal imaging camera 7 is stopped, the control means 9 activates the second pan / tilt means 15 so as to be integrated with the auxiliary installation member 13 The combined laser launcher 37 and the distance measuring means 39 face the detected coordinates of the living organism and the laser launcher 37 is operated to aim the laser with the detected living organism. And the distance measured by the distance measuring means (39) is measured so as to utilize the measured distance for standard aiming at the rifle shooting.
delete The method according to claim 1,
The control means 9 controls the thermal imaging camera 7 to uniformize the coordinate system of the thermal imaging camera 7 and the CCTV 19, the illuminator 17, the laser launcher 37, Corrects the distortion of the photographed image,
The coordinate axes between the first pan tilting means 11 and the second pan tilting means 15 are corrected,
Tilt (T), zoom (Z), and focus (F) lookup tables corresponding to all the points of the image input through the thermal imager 7,
Tilt (T), zoom (Z), and focus (F) stored in the lookup table are adjusted to fit the CCTV 19,
If a living body is detected in the image input through the thermal imaging camera 7, a lookup table corrected to be suitable for CCTV while the living body is picked up from the image photographed from the thermal imaging camera 7, Tilt, zoom and focus values of the first pan / tilt means 15 and controls the second pan / tilt means 15 so as to photograph the creature through the CCTV 19, as well as the illumination device 17, the laser launcher 37, And the measuring means (39) is adapted to point to the living organism. The moving object tracking and automatic lighting control system using the thermal imaging camera.
The method according to claim 1,
The control means 9 controls the control means 9 so that the value obtained by subtracting the pixel value of the previous frame from the pixel value of the current frame inputted from the thermal imaging camera 7 when the thermal imaging camera 7 is stopped If it is larger than the set reference value, it is determined that the foreground pixel is a living thing,
And determines that the background pixel is a background pixel if the reference value is smaller than the reference value set in the control means (9).
The method according to claim 1,
The control means (9) sequentially checks whether the pixel value input from the thermal imaging camera (7) when the thermal imaging camera (7) is stopped is larger than the lower limit value stored in the control means (9) As a result, if the pixel value inputted from the thermal imaging camera 7 is larger than the lower limit value stored in the control means 9 and smaller than the upper limit value, it is determined as the foreground pixel,
When the pixel value inputted from the thermal imaging camera (7) is not larger than the lower limit value stored in the control means (9) and is not smaller than the upper limit value, the living body is detected as the background pixel Moving object tracking and automatic lighting system.
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