KR101738514B1 - Monitoring system employing fish-eye thermal imaging camera and monitoring method using the same - Google Patents

Monitoring system employing fish-eye thermal imaging camera and monitoring method using the same Download PDF

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Publication number
KR101738514B1
KR101738514B1 KR1020150178587A KR20150178587A KR101738514B1 KR 101738514 B1 KR101738514 B1 KR 101738514B1 KR 1020150178587 A KR1020150178587 A KR 1020150178587A KR 20150178587 A KR20150178587 A KR 20150178587A KR 101738514 B1 KR101738514 B1 KR 101738514B1
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South Korea
Prior art keywords
image
thermal
camera
temperature
thermal change
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KR1020150178587A
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Korean (ko)
Inventor
최석준
양범석
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(주) 씨엠디코리아
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

Abstract

The present invention relates to a monitoring system employing a fish-eye thermal camera and a monitoring method using the same. A surveillance system employing a fisheye thermal imaging camera according to an embodiment of the present invention includes a fisheye camera capturing a laceration of a surveillance target area using a fisheye lens and an optical camera acquiring an optical image of the surveillance target area A camera unit including; And a remote monitoring apparatus connected to the camera unit via at least one signal line, the remote monitoring apparatus comprising: a position image forming unit for extracting thermal change position information from a thermal image acquired from the fisheye thermal imaging camera and acquiring a thermal change position image for the thermal change position; And an output image forming unit for formatting the thermal change position image and the thermal image to form an output image.
According to another aspect of the present invention, there is provided a monitoring method using a fisheye thermal imaging camera, comprising: (a) acquiring and storing a thermal image for a monitoring target area by a fisheye thermal imaging camera; (b) extracting information on the thermal change position of the thermal image, and obtaining a thermal change position image with respect to the extracted thermal change position by an optical camera; And (c) configuring an output image by formatting the thermal image and the thermal change position image.

Description

TECHNICAL FIELD [0001] The present invention relates to a surveillance system employing a fisheye thermal camera, and a monitoring method using the same. [0002]

The present invention relates to a surveillance system using a fisheye thermal camera and a monitoring method using the fisheye thermal camera, and more particularly, to a surveillance system using a fisheye thermal camera, and more particularly to a surveillance system using a fisheye thermal camera, The present invention relates to a surveillance system having improved monitoring efficiency by performing day / night integrated surveillance of an optical camera surveillance area and a surveillance method using the surveillance system.

A camera used in a surveillance system such as a typical closed circuit television (CCTV) employs a CCD or CMOS image sensor. Such an image sensor can not be used in the absence of light, and is not suitable for surveillance. In recent years, cameras with infrared illumination have been used so that surveillance can be performed even in low illuminance environments. However, infrared light can easily be identified by a simple infrared detection device, for example, a camera for a mobile phone, so that a person with an intention to approach or intrudes hides in a square and approaches or breaks the rotation of the camera There is a problem in that it can not be detected. In addition, the infrared camera has a problem in that it can not perform the surveillance function in the misty weather or the bad weather.

In this respect, it is desirable to use a thermal camera to maintain a covert surveillance function in a low-illuminance environment. The thermal camera detects the temperature difference between the object and the surrounding background of the object by the radiant energy emitted from each object, converts it into an electric signal, and images it. Since the human body has a large difference between ambient inanimate matter and temperature and radiant energy, the thermal camera provides an image that can easily distinguish the human body from the surrounding environment. Therefore, the thermal camera can be operated at night as well as during daytime, so that it is widely used for night surveillance or night operation in the military, and is being applied to civilian and industrial applications as well.

However, despite the advantage of being able to operate day and night in this way, it is impossible to identify the specific information of the object, only the outline or presence of a person or other creature can be confirmed by the heat image taken by the thermal camera, It is difficult to recognize the surrounding situation. Accordingly, when a thermal camera is provided with a pan / tilt function and used for remote monitoring, it is impossible to identify which position the thermal image was photographed. Therefore, it is difficult to identify the position of the thermal camera operated for monitoring by the thermal image, and it is difficult to grasp the surrounding situation or information from the captured image.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to provide a fisheye thermal image camera with a widened angle of view for monitoring all directions of a photographing target area, The present invention provides a day / night integrated monitoring apparatus and a monitoring method thereof that can improve the monitoring efficiency by monitoring the occurrence of a fire and intruders by interlocking with an optical camera to be observed.

The technical problem of the present invention is not limited to those mentioned above, and another technical problem which is not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a surveillance system employing a fisheye thermal imaging camera, including a fisheye camera for capturing a laceration of a surveillance target area using a fisheye lens, A camera unit including an optical camera for acquiring an image; And a remote monitoring apparatus connected to the camera unit via at least one signal line, the remote monitoring apparatus comprising: a position image forming unit for extracting thermal change position information from a thermal image acquired from the fisheye thermal imaging camera and acquiring a thermal change position image for the thermal change position; And an output screen configuring an output image by formatting the thermal change position image and the thermal image to form an output image.

The remote monitoring apparatus may further include a position determining unit that determines a position of a pointer indicating a position where a thermal change has occurred in the thermal change position image, wherein the pointer determined by the position determining unit And the output screen configuration unit forms the output image by formatting the thermal change position image and the thermal image to which the pointer is added.

The fisheye thermal imaging camera may be constituted by a pair of fisheye lens bodies which are photographed in different directions, and may be configured to photograph the lasers in all directions (all directions) of the monitored area.

Also, the optical camera may be a PTZ camera, and the PTZ camera may include a pan / tilt driver for adjusting a photographing direction, and the remote monitor may determine a pan / tilt adjustment amount of the pan / And a camera control unit for controlling the camera.

In addition, the thermal change position image may be obtained by photographing the thermal change position detected by the PTZ camera by the position image forming unit.

In addition, the optical camera is a high resolution fisheye camera, and the thermal change position image is obtained by extracting an image of a region corresponding to the thermal change position detected by the position image forming unit among the optical images taken by the high resolution fisheye camera .

In addition, the high resolution fisheye camera may be constituted by a pair of fisheye lenses photographed in different directions, and may be configured to capture an optical image in all directions (all directions) of the monitored area.

Further, the fisheye thermal imaging camera may include a temperature sensing unit for sensing the temperature of at least one of the heat change objects in the thermal image acquired from the fisheye thermal imaging camera.

The remote monitoring apparatus may further include a temperature grading table including at least two temperature intervals, and the thermo-change object may be disposed in a corresponding temperature section of the temperature grading table according to the temperature of the thermal changing object sensed by the temperature sensing unit And a temperature classifying unit for classifying the temperature classifying unit.

The temperature interval may be divided into a reference temperature range and a reference temperature range based on a predetermined reference temperature.

In addition, the thermal change position information is information on the coordinates of the thermal change object, and the output screen configuration unit displays the thermal change position image of at least one or more thermal change objects sensed by the temperature sensing unit, The temperature section and the coordinate information can be divided for each of the thermal change objects and output to the display section.

The temperature change unit may be configured to adjust the temperature of the object to be thermally changed and the temperature of the object to be thermally changed, The temperature change position image, the temperature range, and the coordinate information for the sensed object on the display unit.

According to another aspect of the present invention, there is provided a method of monitoring using a fisheye thermal imaging camera, including: (a) acquiring and storing a thermal image of a region to be monitored by a fisheye thermal imaging camera; (b) extracting information on the thermal change position of the thermal image, and obtaining a thermal change position image with respect to the extracted thermal change position by an optical camera; And (c) configuring an output image by formatting the thermal image and the thermal change position image.

In addition, the optical camera may be a PTZ camera, and the step (b) may be a step of photographing the extracted thermal change position with the optical camera to obtain a thermal change position image.

In the step (b), the PTZ camera may drive the pan / tilt driver for adjusting the photographing direction of the PTZ camera to acquire the thermal change position image.

The method may further include initializing the pan / tilt driver of the optical camera prior to the step (b).

In addition, the step (c) may include adding a pointer indicating a position where the thermal change position image is photographed based on the pan / tilt adjustment amount, wherein the thermal change position image to which the pointer is added, So that the output image can be configured.

In addition, the fisheye thermal imaging camera may be constituted by a pair of fisheye lens bodies which are photographed in different directions, and may be configured to photograph the lasers in all directions (all directions) of the monitored region.

In addition, the optical camera may be a high resolution fisheye camera, and the step (b) may include extracting an image of a region corresponding to the extracted thermal change position from the optical image picked up by the high resolution fisheye camera, Lt; / RTI >

In addition, the high resolution fisheye camera may be constituted by a pair of fisheye lenses photographed in different directions, and may be configured to capture an optical image in all directions (all directions) of the monitored area.

Also, before the step (c), the thermal change sensing unit senses the temperature of at least one of the at least one thermal transformation object in the thermal image, and includes at least two temperature intervals depending on the temperature of the thermal transformation object And classifying and matching the corresponding temperature range of the temperature grade table.

The temperature interval may be divided into a reference temperature range and a reference temperature range based on a predetermined reference temperature.

In the step (c), a thermal change position image, a temperature interval, and coordinate information of at least one or more thermal change objects sensed by the temperature sensing unit are divided for each thermal change object together with the output image, Can be output.

In addition, the step (c) may further include, in addition to the output image, a thermal change position image, a temperature interval, and a coordinate value for an object in which the highest temperature and the lowest temperature among at least one or more thermal change objects sensed by the temperature sensing unit are sensed Information can be divided and output on the display unit.

The details of other embodiments are included in the detailed description and drawings.

According to the day / night integrated monitoring apparatus according to an embodiment of the present invention, a fisheye thermal camera capable of photographing a lapse of 360 degrees forward direction, and a pan / tilt driven optical camera interlocked with each other, By photographing the changing area with an optical camera, it is possible to recognize the cause and progress of a fire or intruder invasion situation, thereby improving the monitoring efficiency.

According to the day / night integrated monitoring apparatus according to the embodiment of the present invention, the fisheye thermal imaging camera is constituted by a pair of fisheye lens bodies, and the thermal image is captured at a viewing angle of 360 degrees to fix So that it is possible to confirm the position where the heat is changed without using any other pan / tilt device, so that the monitoring efficiency can be improved.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a schematic block diagram showing the overall configuration of a monitoring system according to the present invention.
2 is a perspective view of a camera unit according to an embodiment of the present invention.
3 is a cross-sectional view illustrating a fish-eye thermal camera, among camera units according to an embodiment of the present invention.
4 is a block diagram of a camera unit according to an embodiment of the present invention.
5 is a block diagram of a remote monitoring apparatus according to an embodiment of the present invention.
6 is a flowchart showing a monitoring process in a monitoring system having the remote monitoring apparatus of FIG.
7 is a diagram illustrating an image processing process in the monitoring process of FIG.
8 is a block diagram of a camera unit according to another embodiment of the present invention.
9 is a block diagram illustrating an embodiment of a remote monitoring apparatus according to another embodiment of the present invention.
10 is a block diagram of a remote monitoring apparatus according to another embodiment of the present invention.
11 is a flowchart showing a monitoring process in a monitoring system having the remote monitoring apparatus of FIG.
12 is a view showing an image processing process in the monitoring process of FIG.
13 is a block diagram of a remote monitoring apparatus according to another embodiment of the present invention.
14 is a flowchart showing a monitoring process in a monitoring system having the remote monitoring apparatus of FIG.
15 is a diagram illustrating an image processing process in the monitoring process of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.

In the following description of the embodiments of the present invention, descriptions of techniques which are well known in the technical field of the present invention and are not directly related to the present invention will be omitted. This is for the sake of clarity of the present invention without omitting the unnecessary explanation.

For the same reason, some of the components in the drawings are exaggerated, omitted, or schematically illustrated. Also, the size of each component does not entirely reflect the actual size. In the drawings, the same or corresponding components are denoted by the same reference numerals.

1 is a schematic block diagram showing the overall configuration of a monitoring system according to the present invention. Referring to FIG. 1, the monitoring system according to the present invention includes a camera unit 10 installed in a monitored area, and a remote monitoring device 60 connected to the camera unit 10 via one or more signal lines.

FIG. 2 is a perspective view of a camera unit according to an embodiment of the present invention, and FIG. 3 is a cross-sectional view illustrating a fish-eye thermal camera, among camera units according to an embodiment of the present invention. The camera unit 10 includes an optical camera 20 for photographing an optical image through a lens in a visible ray region on one side and a thermal imaging camera 30 for thermal imaging for which a fisheye lens is installed and the angle of view is extended 180 degrees .

The optical camera 20 may employ a PTZ camera integrated with the motor so that PAN, vertical tilt, and zoom can be adjusted using a motor. The PTZ camera is rotated in the horizontal direction by driving the panning motor driver 28, which will be described later, and is rotated in the vertical direction by driving the tilting motor driver 42. [ The acquisition mechanism of the thermal change position image using the PTZ camera will be described later.

On the other hand, in the embodiment of the present invention, a high resolution fisheye camera can be employed as the optical camera 20. At this time, it is preferable that the high resolution fisheye camera is constituted by a pair of fisheye lens bodies photographed in different directions, and is configured to photograph an optical image in all directions (all directions) of the monitored region. The acquisition mechanism of the thermal change position image using the high resolution fisheye camera will be described later.

The fisheye thermal camera 30 detects a difference in radiant energy emitted from the objects in the monitored area, detects a temperature difference between the objects and converts the detected temperature difference into an electrical signal, thereby obtaining a fisheye lens for visualizing the objects by the radiant energy And outputs a thermal signal through the heat exchanger. Here, the fisheye thermal camera 30 may include all thermal cameras equipped with fisheye lenses, and one or a plurality of fisheye lenses may be installed to widen the angle of view.

The fisheye thermal camera 30 can be installed in a direction in which the pair of fisheye lens bodies are opposed to each other so that the angle of view range of 180 degrees can be extended 360 degrees. The fisheye thermal imaging camera 30 includes a camera housing 31, a first fisheye lens body 32, a first image sensor 33, a second fisheye lens body 34, and a second image sensor 35, .

The camera housing 31 is disposed on one side of the optical camera 20 and has through holes on both sides thereof to accommodate photographing means for photographing opposite sides of the camera housing 31 respectively.

The first fisheye lens body 32 is a convex lens having an azimuth angle and an angle of view in a range of an altitude angle of 180 degrees, and is housed in one side of the camera housing 31. The first fisheye lens body (32) is configured to monitor a wide range of the first direction when defining a direction in which one of the directions symmetrical with respect to the camera housing is defined as a first direction. The first fisheye lens body 32 is capable of photographing an image projected from the first direction of the camera housing 31 to the first image sensor 33 described later and taking an image of the full azimuth of the first direction .

The first image sensor 33 photographs an image in the first direction through the first fisheye lens body 32, stores the photographed image as an image, converts the photographed image into an electrical signal, and transmits the electrical signal to the control unit 130 .

The second fisheye lens body 34 is a convex lens having an azimuth angle and an angle of view in a range of an altitude angle of 180 degrees, and is accommodated on the other side of the camera housing. The second fisheye lens body (34) is configured to monitor a wide range of the second direction opposite to the first direction. The second fisheye lens body 35 is capable of photographing an image projected from the second direction of the camera housing 31 to be described later on the second image sensor 35 and taking an image of the full azimuth of the second direction .

The second image sensor 35 photographs the image in the second direction through the second fisheye lens body 34, stores the photographed image as an image, converts it into an electrical signal, and transmits it to the control unit 56 do.

Here, the first and second fisheye lens bodies 32 and 34 capture an object at an angle of view of 180 degrees in the first and second directions, which are symmetrical with each other, It is possible to shoot. That is, the fisheye thermal imaging camera 30 of the present invention includes the fisheye lens bodies 32 and 34 having altitude angles and azimuth angles in the range of 180 degrees in both directions symmetrical to each other, have. Accordingly, the fisheye thermal imaging camera 30 can continuously monitor the periphery of the thermally changed position by photographing the surrounding area in all directions when photographing by sensing the thermal change in the camera unit 20, thereby enabling efficient monitoring Do.

The fisheye thermal camera 30 may further include a temperature sensing unit (not shown) that senses the temperature of at least one or more heat change objects in the thermal image acquired from the fisheye thermal camera.

4 is a block diagram of a camera unit according to an embodiment of the present invention. The camera unit 10 includes an optical camera 20, a fisheye camera 30, analog / digital converters 50 and 52, a multiplexer 54, a control unit 56, and an interface port 58.

In the optical camera 20, the camera lens 22 condenses light, and the image sensor 24 converts the condensed light into an electrical signal. The optical image output by the optical camera 20 may be a conventional moving image with a frame rate of 30 frames or 25 frames per second.

First, when the optical camera 20 is a PTZ camera, the PTZ camera rotates to at least one thermal change position sensed during the thermal image, and the thermal change position image is acquired to acquire the thermal change position image. Is rotated in the horizontal direction by driving the PTZ camera panning motor driver 28 and rotated in the vertical direction by driving the tilting motor driver 42. [ The panning motor driver 28 drives the panning motor 40 in response to the control signal from the control unit 56 so that the panning motor 40 rotates the PTZ camera 20 in the horizontal direction. The tilting motor driver 42 drives the tilting motor 44 in response to the control signal from the control unit 56 so that the tilting motor 44 rotates the PTZ camera 20 in the vertical direction. The panning motor 40 and the tilting motor 44 are preferably implemented by a stepping motor capable of precisely controlling the amount of rotation.

On the other hand, when the optical camera is a high resolution fisheye camera, an image of a region corresponding to the thermal change position detected by a position image forming unit, which will be described later, of the optical image picked up by the high resolution fisheye camera is extracted to acquire a thermal change position image .

The first analog-to-digital converter 50 converts the optical image signal from the optical camera 20 into digital data and the second analog-to-digital converter 52 converts the fisheye image signal from the fisheye thermal camera 30 into digital Data. The multiplexer 54 multiplexes the digitized optical image signal and the row image signal into a single bit string, and transmits the multiplexed image signal to the remote monitoring apparatus 60 through a video signal line, for example, a coaxial cable. In the preferred embodiment of the present invention, the multiplexer 54 transmits both the optical image signal and the thermal image signal to the remote monitoring apparatus 60 during the daytime, but only the thermal image signal is transmitted to the remote monitoring apparatus 60 at nighttime . Here, the optical image signal may be a periodic or aperiodic still image. However, in a modified embodiment, the multiplexer 54 may transmit both the optical image signal and the thermal image signal to the remote monitoring apparatus 60 regardless of day or night.

The control unit 56 controls the signal selection and transmission of the multiplexer 54. The control unit 56 receives a control signal from the remote monitoring apparatus 60 via the interface port 58 and controls the panning motor driver 28 and the tilting motor driver 42 in response to the control signal. The control signal receiving channel from the remote monitoring apparatus 60 can be implemented, for example, in conformity with the RS-232C or RS-485 standard.

5 is a block diagram of a remote monitoring apparatus according to an embodiment of the present invention. The remote monitoring apparatus 60 includes an image separating unit 62, an image storing unit 64, an input unit 66, a camera controlling unit 68, an interface port 70, a positioning unit 72, A position image constructing unit 74, an output screen constructing unit 76, and a display unit 78. [

The image separating unit 62 separates the optical image signal and the fisheye thermal image signal from the signal received from the camera unit 10 and the image storage unit 64 stores the separated optical image signal and the fisheye thermal image signal. In particular, the image storage unit 64 stores a fisheye thermal image signal to detect a thermal change location in the fisheye thermal image. At this time, the image storage unit 64 can detect at least one thermal change location among the fisheye images.

The input unit 66 includes a keyboard, a mouse, and / or a joystick, and allows the user to operate the system and input control commands. In particular, when the PTZ camera is employed, Allowing you to apply a tilt command. The camera control unit 68 transmits a camera control signal for controlling the pan / tilt drive to the camera unit 10 via the interface port 70 in response to a control command from the input unit 66. [ Here, the pan / tilt driving may be performed automatically according to a predetermined pattern by the program, or according to the result of the detection of the subject or the subject movement in the image. In the course of manually or automatically generating the camera control signal, the camera control unit 68 estimates the pan / tilt adjustment amount of the PTZ camera.

The positioning unit 72 receives the pan / tilt adjustment amount from the camera control unit 68 and determines the direction in which the optical camera 20 faces based on the pan / tilt adjustment amount. A nonvolatile memory (not shown) of the remote monitoring apparatus 60 stores a lookup table indicating a correspondence relationship between the camera direction and the pointer position. The position determination unit 72 refers to the lookup table and outputs pointer position information according to the camera direction.

The position image constructing unit 74 extracts information about the heat change position in the eye image stored in the image storage unit 64 and generates a pointer indicating a column change position according to the pointer position information determined by the positioning unit 72 .

The output screen configuration unit 76 forms an output image by formatting a thermal change position image and a thermal image to which a pointer is added, and outputs the image through the display unit 78.

According to an embodiment of the present invention, at least one or more thermal change objects sensed by the temperature sensing unit may be classified according to a predetermined temperature interval, and thermal change images, coordinate information, and temperature interval information On the display unit 78, respectively. Hereinafter, this will be described in detail.

First, the remote monitoring apparatus 60 may include a temperature classifier having a temperature class table having at least two temperature intervals. For example, greater than 15 ° C to 25 ° C, greater than 25 ° C to 35 ° C, ... , More than 65 ° C and not more than 75 ° C, and more than 75 ° C (Example 1). Alternatively, the reference temperature may be divided into a reference temperature range, a reference temperature range, and a reference temperature range. For example, it can be divided into 35 ° C or lower, 35 ° C or 35 ° C or higher (Example 2). In addition, the temperature classifying unit classifies each thermal change object by matching the corresponding temperature range in the temperature grade table with reference to the temperature of the thermal change object sensed by the temperature sensing unit. For example, when the detection temperature of a specific heat-change object is 70 ° C, the object is classified into a section exceeding 65 ° C and 75 ° C or lower (in the case of Embodiment 1) Occation).

Thereafter, objects (thermal change objects) of at least one or more thermal change positions sensed on the fisheye lattice are classified according to the temperature grades as described above, and each temperature change object is classified into a thermal change position image And may be separately displayed on the display unit 78 in an area separate from the output image. That is, the output screen configuration unit 76 of the remote monitoring apparatus displays, for each of at least one or more thermal change objects sensed by the temperature sensing unit, an output image represented by formatting the fisheye image and the thermal change position image, And information on the coordinates of the thermal change object may be displayed on the display unit. For example, the display unit 78 may be divided into a plurality of screens, and an image may be displayed on the upper side of the display unit, and video, coordinate information, and temperature information of each of the plurality of thermal change objects may be displayed on the lower side of the display unit. Alternatively, the output screen configuration unit 76 may display, together with the output image, information on the temperature of the object in which the highest temperature or the lowest temperature among the thermal change objects sensed by the temperature sensing unit is detected and the coordinates of the corresponding column change object May be displayed on the display unit 78 as shown in FIG.

According to this configuration, the graded temperature information and the coordinate information for each of a plurality of heat change objects appearing on the thermal image can be recognized through the display unit, thereby providing an intuitive monitoring effect.

FIG. 6 is a flowchart illustrating a monitoring process in the monitoring system having the remote monitoring apparatus of FIG. 5, and FIG. 7 is a diagram illustrating an image processing process in the monitoring process of FIG. The night monitoring process in the monitoring system 10 will be described in more detail with reference to FIGS. 6 and 7. FIG.

First, a step of acquiring and storing a heat image for a region to be monitored by a fisheye thermal camera is performed. That is, the camera unit 10 acquires an optical image and a thermal image of the monitored area in the daytime and transmits the acquired optical image and the thermal image to the remote monitoring device 60 so that the optical image and the thermal image are displayed on the display unit 78 of the remote monitoring device 60 (See FIG. 5). In this process, the image storage unit 64 of the remote monitoring apparatus 60 acquires and stores at least a fisheye image out of the optical image and the fisheye image (Operation 80). Here, the fisheye image (100 in Fig. 7) taken by the fisheye thermal imaging camera 30 is circular.

Next, the information of the thermal change position in the thermal image is extracted. The position image constructing unit 74 reads out the fish eye image 100 stored in the image storage unit 64 and extracts the position information from which the thermal change occurs from the fish eye image 100. [

Next, a step of obtaining a thermally changed position image for the extracted thermally changed position by an optical camera is performed. Hereinafter, the monitoring method of the present invention will be described focusing on the case where the optical camera is a PTZ camera.

If the optical camera is a PTZ camera, the monitoring process of steps 82 to 96 below is performed. The camera control unit 68 of the remote monitoring apparatus 60 periodically or non-periodically transmits a control signal for initializing the panning motor 40 and the tilting motor 44 of the PTZ camera 20 to the camera unit 10 (Operation 82). Thus, the positions of the panning motor 40 and the tilting motor 44 are initialized, and the pan / tilt adjustment amount due to the driving of the panning motor 40 or the tilting motor 44 is accurately predicted until the initialization is subsequently performed again .

In this state, the panning motor 40 and / or the tilting motor 44 are driven automatically by the program or in response to a command from the input unit 66 (step 84) Obtain an optical image of the thermal change location. At this time, the camera control unit 68 estimates the pan / tilt adjustment amount of the PTZ camera 20 from the driving amounts of the panning motor 40 and the tilting motor 44, and the positioning unit 72 calculates the pan / The photographing direction of the PTZ camera 20 is determined (operation 86). The positioning unit 72 refers to the lookup table of the memory and determines the position of the pointer mapped to the photographing direction of the PTZ camera 20 (Step 88). At this time, the pointer is a mark indicating a position where a thermal change has occurred in the position image. Meanwhile, when there are a plurality of thermal change positions sensed on the fisheye lane, a multiple tracking method may be implemented in which the PTZ camera 20 acquires optical images for a plurality of thermal change positions. For example, when there are three thermal change positions sensed within one fisheye lane, and the respective thermal change positions are A, B, and C, the camera control unit 68 determines that the PTZ camera 20 is in the thermal change position A , B, and C to the panning motor 40 and / or the tilting motor 44 so that they can be targeted in a predetermined order or in any order. Thus, for example, it is possible to obtain an optical image for the thermal change position A, and thereafter acquire an optical image for the thermal change position B and the thermal change position C.

The PTZ camera is driven by the panning motor 40 and / or the tilting motor 44 according to the position information, and the PTZ camera acquires the thermal change position image 102 which is the image of the position where the thermal change is sensed.

In the case where the optical camera 20 is a high resolution fisheye camera, the step of extracting the information of the thermal change position in the thermal image and obtaining the thermal change position image of the extracted thermal change position by the optical camera, An image of a region corresponding to the thermal change position detected by the position image forming unit is extracted to obtain a thermal change position image. That is, the image of the region corresponding to the thermal change position is specified and enlarged in the optical image, thereby obtaining at least one thermal change image of the region where the thermal change is sensed. At this time, since the optical camera is a high-resolution camera, even if a portion is enlarged, a clear image can be obtained without breaking the image.

In one embodiment, the thermal change position image 102 is obtained by selecting and extracting a region where a thermal change has occurred in the fisheye thermal image 100, and then extracting an optical image 106 of a thermally changed position in the position image forming portion 74 , And the pointer 104 is added to the column-changed position indicating the pointer position information from the positioning unit 72 (Step 90).

In operation 92, the output screen configuration unit 76 forms an output image by formatting the thermal change position image 106 and the thermal image 100, to which the pointer 104 is added, into one image, So that the output image is displayed (operation 92 and operation 94). In this case, as described above, the display unit can be configured so that the display unit 78 is divided into a plurality of screens, and video, coordinate information, and temperature information of each of a plurality of thermal change objects are arranged on each divided screen.

Meanwhile, before the step of displaying the output image, a thermal change object sensed by a temperature sensing unit that senses the temperature of at least one of the thermal transformation objects may include at least two temperature intervals depending on the temperature of the thermal transformation object And classifying and matching the corresponding temperature range of the temperature grade table. This is a step for displaying information on the temperature interval of the thermal change object on the output image. The temperature interval may be divided into a period longer than the reference temperature and a period shorter than the reference temperature based on a preset reference temperature.

The step of displaying the output image after the temperature interval is matched with the temperature of the thermal change object may include displaying the thermal change position image of at least one or more thermal change objects sensed by the temperature sensing unit, Information can be divided for each thermally variable object and output to the display unit. In addition, in the corresponding step, a thermal change position image, a temperature interval, and coordinate information for an object in which the highest temperature and the lowest temperature among at least one or more thermal change objects sensed by the temperature sensing unit are detected, It is also possible to output them separately.

The panning motor 40 or the tilting motor 44 is additionally driven in step 96 and the panning motor 40 or the tilting motor 44 is further driven , The process moves on to step 86, and the photographing direction estimation and the pointer position changing process are performed again.

4 and 5, the camera control unit 68 of the remote monitoring apparatus 60 determines the pan / tilt adjustment amount and controls the camera unit 10 or the camera unit 10, Tilt adjustment amount on the basis of the drive control information for the pan /

On the other hand, in another embodiment of the present invention, the camera unit 10 may provide the pan / tilt adjustment amount information to the remote control device 60. [ FIG. 8 is a block diagram of a camera unit according to another embodiment of the present invention, and FIG. 9 is a block diagram illustrating an embodiment of a remote monitoring apparatus according to another embodiment of the present invention. 8 and 9, the control unit 56a of the camera unit 10 estimates the pan / tilt adjustment amount when the control signal for the panning motor driver 38 tilting motor driver 42 is generated, To the remote control device (60).

Here, the control unit 56a of the camera unit 10 may detect the actual rotation amount of the panning motor 40 and the tilting motor 44 to determine the pan / tilt adjustment amount. The positioning unit 72a of the remote control device 60 receives the pan / tilt adjustment amount from the camera unit 10, not the control unit 68a, and determines the pointer position based on the pan / tilt adjustment amount. Other features of the system shown in Figs. 8 and 9 are similar to those shown in Figs. 4 and 5, and a detailed description thereof will be omitted.

10 is a block diagram of a remote monitoring apparatus according to another embodiment of the present invention. In the present embodiment, the position image constructing unit 174 reads the position image stored in the image storage unit 64 and adds a pointer indicating a column change position according to the pointer position information from the positioning unit 72 do. The output screen configuration unit 76 forms an output image by formatting a thermal change position image and a thermal image to which a pointer is added, and the display unit 78 outputs an output image. Other features of the remote monitoring apparatus shown in FIG. 10 are similar to those of the apparatus shown in FIG. 4, so a detailed description thereof will be omitted.

FIG. 11 is a flowchart illustrating a monitoring process in the monitoring system having the remote monitoring apparatus of FIG. 10, and FIG. 12 is a view illustrating an image processing process in the monitoring process of FIG. The monitoring process according to the remote monitoring apparatus of Fig. 9 will be described with reference to Figs. 11 and 12. Fig. When the camera unit 10 acquires an optical image and a thermal image for the monitored area and transmits the captured image to the remote monitoring device 60, the positional image forming part 174 of the remote monitoring device 60 detects the thermal And extracts position information in which a change occurs. The optical camera 20, that is, the PTZ camera is driven by the panning motor 40 and / or the tilting motor 44 to acquire the thermal change position image 202 which is the image of the position where the thermal change is sensed do. (Operation 180).

In this state, the panning motor 40 and the tilting motor 44 of the optical camera 20 (PTZ camera) are periodically or non-periodically initialized, and then the panning motor 40 or the tilting motor 44 44) the pan / tilt adjustment amount according to the driving can be predicted accurately (operation 182). Subsequently, a thermally changed position image is acquired through the optical camera 20, while the panning motor 40 and / or the tilting motor 44 is driven automatically by a program or in response to a command from the input unit 66 184). At this time, the pan / tilt adjustment amount of the optical camera 20 (PTZ camera) is estimated from the driving amounts of the panning motor 40 and the tilting motor 44, and the photographing direction of the optical camera 20 is calculated based on the pan / (Step 186). Then, a pointer position corresponding to the photographing direction of the optical camera 20 is determined (operation 188).

In operation 190, the pointer adding unit 176 reads out the thermal change position image 202 stored in the image storage unit 64 and stores the pointer 204 in the position indicated by the pointer position information in the thermal change position image 202 ). The output screen configuration unit 76 then forms an output image by formatting the thermal change position image 206 and the thermal image 210 to which the pointer 204 has been added as one image, (Operation 192, operation 194). Subsequently, whether the panning motor 40 or the tilting motor 44 is additionally driven is monitored (Step 196), and when the panning motor 40 or the tilting motor 44 is further driven, the process proceeds to Step 186 The photographing direction estimation and the pointer position changing process are performed again.

13 is a block diagram of a remote monitoring apparatus according to another embodiment of the present invention. In the present embodiment, the image storage unit 64 stores at least a fisheye thermal image signal among the optical image signal and the thermal image signal separated by the image separating unit 62. The positioning unit 272 receives the pan / tilt adjustment amount from the camera control unit 68, and determines the direction in which the optical camera 20 faces based on the pan / tilt adjustment amount. In the nonvolatile memory (not shown) of the remote monitoring apparatus 50, a lookup table indicating the correspondence relationship between the camera direction and the columnar position is stored. The position determination unit 272 determines an optical image position according to the camera direction by referring to the lookup table, and outputs the size / position information of the thermal change position image according to the optical image position.

The position image constructing unit 274 reads the image of the fish eye stored in the image storage unit 64 and extracts the thermal change position from the fish eye column according to the size / position information from the positioning unit 272, . The output screen configuration unit 76 forms an output image by formatting the extracted thermal change position image and the thermal image, and outputs the image through the display unit 78. Other features of the remote monitoring apparatus shown in FIG. 13 are similar to those of the apparatus shown in FIG. 4, so a detailed description thereof will be omitted.

FIG. 14 is a flowchart showing a monitoring process in the monitoring system having the remote monitoring apparatus of FIG. 13, and FIG. 15 is a view showing an image processing process in the monitoring process of FIG. The monitoring process according to the remote monitoring apparatus of FIG. 13 will be described with reference to FIG. 14 and FIG.

When the camera unit 10 acquires the optical image and the fisheye image of the area to be monitored and transmits the captured image to the remote monitoring device 60, the image storing part 64 of the remote monitoring device 60 detects the optical image, And stores the heat image (Step 280).

In this state, the panning motor 40 and the tilting motor 44 of the optical camera 20 are periodically or aperiodically initialized, and then the panning motor 40 or the tilting motor 44 is driven So that the amount of pan / tilt adjustment according to the present invention can be accurately predicted (Step 282). Subsequently, a thermally changed position image is acquired through the optical camera 20, while the panning motor 40 and / or the tilting motor 44 is driven automatically by a program or in response to a command from the input unit 66 284). At this time, the pan / tilt adjustment amount of the optical camera 20 is estimated from the driving amount of the panning motor 40 and the tilting motor 44, and the photographing direction of the optical camera 20 is determined based on the pan / tilt adjustment amount ( Step 286). Then, the thermal change position image position / size corresponding to the photographing direction of the optical camera 20 is determined (operation 288).

In operation 290, the position image constructing unit 274 reads out the fisheye image stored in the image storage unit 64 and extracts the thermal change position from the fisheye image according to the size / position information from the position determination unit 272 And obtains the optical image of the position according to the position information by the thermally changed position image 304. [ The output screen configuration unit 76 then formats the output image by formatting the thermal change position image 304 and the fisheye image 310 as a single image so that the output image is displayed on the display unit 78 Step 292, step 294).

If the panning motor 40 or the tilting motor 44 is additionally driven (step 296), the process proceeds to step 286. If the panning motor 40 or the tilting motor 44 is further driven, The photographing direction estimation and the pointer position changing process are performed again.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

For example, with respect to the embodiment shown in FIGS. 10 and 13, the description has been made on the case where the remote monitoring apparatus estimates the pan / tilt adjustment amount to generate or modify the thermal change position image. However, The pan / tilt adjustment amount information may be supplied from the camera unit 10 to the remote control device as in the embodiment of Fig.

While the invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

On the other hand, in the above description, the embodiment has been described in which the image storage section 64 for storing the inter-day optical image is provided in the remote control device 60. However, this storage device may be provided in the camera unit 10 have.

Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: camera unit 20: fisheye thermal camera
30: Optical cameras 32, 34; Fisheye lens body
60: Remote monitoring device 64: Image storage unit
68: camera control unit 72: positioning unit
74: Position image forming section 76: Output image forming section

Claims (24)

A camera unit including a fisheye camera capturing a thermal image of a region to be monitored using a fisheye lens and an optical camera for acquiring an optical image of the region to be monitored; And
A remote monitoring apparatus connected to the camera unit via at least one signal line, the remote monitoring apparatus comprising: a position image forming unit for extracting thermal change position information from a thermal image acquired from the fisheye thermal imaging camera and acquiring a thermal change position image for the thermal change position; And an output screen component for formatting the thermal change position image and the thermal image to form an output image;
Lt; / RTI >
Wherein the fisheye thermal imaging camera includes a temperature sensing unit for sensing the temperature of at least one of the thermal objects to be obtained, wherein the thermal change position information is information on the coordinates of the thermal change object,
Wherein the remote monitoring apparatus has a temperature grading table including at least two temperature intervals and matches the temperature changing object to a corresponding temperature section of the temperature grading table according to the temperature of the thermal changing object sensed by the temperature sensing unit Further comprising a temperature classifying section for classifying the temperature,
The output screen forming unit divides the thermal change position image, the temperature interval, and the coordinate information of at least one or more thermal change objects sensed by the temperature sensing unit for each of the thermal change objects together with the output image, And outputs it to a separate area. The method according to claim 1,
Wherein the remote monitoring apparatus further comprises a positioning unit for determining a position of a pointer indicating a position where a thermal change has occurred in the thermal change position image,
Wherein a pointer determined by the positioning unit is added to the position image constructing unit and the output screen constructing unit forms the output image by formatting the thermal change position image and the liner image to which the pointer is added, . The method according to claim 1,
Wherein the fisheye thermal imaging camera is constituted by a pair of fisheye lens bodies which are photographed in different directions, and is configured to photograph a lid in all directions (all directions) of the monitored area. The method according to claim 1,
The optical camera is a PTZ camera,
The PTZ camera includes a pan / tilt driver for adjusting a photographing direction,
Wherein the remote monitoring apparatus further comprises a camera controller for controlling the PTZ camera by determining a pan / tilt adjustment amount of the pan / tilt driver. 5. The method of claim 4,
Wherein the thermal change position image is obtained by photographing the thermal change position detected by the position image forming unit by the PTZ camera. The method according to claim 1,
The optical camera is a high resolution fisheye camera,
Wherein the thermal change position image is obtained by extracting an image of an area corresponding to a thermal change position detected by the position image forming unit among the optical images taken by the high resolution fisheye camera. The method according to claim 6,
Wherein the high resolution fisheye camera is constituted by a pair of fisheye lens bodies which are photographed in different directions, and is configured to photograph an optical image in all directions (all directions) of the monitored region. delete delete The method according to claim 1,
Wherein the temperature interval is divided into a period longer than a reference temperature and a period shorter than a reference temperature based on a preset reference temperature. delete 11. The method of claim 10,
The thermal change position information is information on the coordinates of the thermal change object,
The output screen configuration unit displays a thermal change position image, a temperature range, and coordinate information for an object in which the highest temperature and the lowest temperature among at least one or more thermal change objects sensed by the temperature sensing unit are detected, together with the output image, And outputting them separately. (a) acquiring and storing a heat image for a monitoring target region by a fisheye thermal imaging camera;
(b) extracting information on the thermal change position of the thermal image, and obtaining a thermal change position image with respect to the extracted thermal change position by an optical camera; And
(c) formatting the thermal image and the thermal change position image to form one output image;
Lt; / RTI >
Prior to step (c)
A thermal change object sensed by a temperature sensing unit that senses the temperature of at least one of the heat change objects is matched with a corresponding temperature interval of a temperature grade table including at least two temperature intervals according to the temperature of the heat change object Comprising:
In the step (c), a thermal change position image, a temperature interval and coordinate information of at least one or more thermal change objects sensed by the temperature sensing unit are divided for each thermal change object together with the output image, And outputs it to an area separate from the output image. 14. The method of claim 13,
The optical camera is a PTZ camera,
Wherein the step (b) captures the extracted thermal change position with the optical camera to obtain a thermal change position image. 15. The method of claim 14,
In the step (b), the pan / tilt adjustment amount is received from the camera control unit, and the pan / tilt driving unit included in the PTZ camera is adjusted to adjust the photographing direction of the PTZ camera to obtain the thermal change position image In, monitoring method. 16. The method of claim 15,
Prior to step (b), initializing the pan / tilt driver of the optical camera;
Further comprising: 16. The method of claim 15,
And (c) adding a pointer indicating a position where the thermal change position image is photographed based on the pan / tilt adjustment amount,
Wherein the output image is formed by formatting the thermal change position image and the thermal image to which the pointer is added. 14. The method of claim 13,
Wherein the fisheye thermal imaging camera is constituted by a pair of fisheye lens bodies which are photographed in different directions, and is configured to photograph the lasers in all directions (all directions) of the monitored area. 14. The method of claim 13,
The optical camera is a high resolution fisheye camera,
Wherein the step (b) is a step of extracting an image of a region corresponding to the extracted thermal change position from the optical image photographed by the high resolution fisheye camera to obtain a thermal change position image. 20. The method of claim 19,
Wherein the high-resolution fisheye camera is constituted by a pair of fisheye lens bodies which are photographed in different directions, and is configured to photograph an optical image in all directions (all directions) of the monitored region. delete 14. The method of claim 13,
Wherein the temperature interval is divided into a period longer than a reference temperature and a period shorter than a reference temperature based on a preset reference temperature. delete 14. The method of claim 13,
The step (c)
A temperature change position image, a temperature range, and coordinate information for an object in which the highest temperature and the lowest temperature among at least one of the at least one heat change objects sensed by the temperature sensing unit are detected, together with the output image, In, monitoring method.
KR1020150178587A 2015-12-14 2015-12-14 Monitoring system employing fish-eye thermal imaging camera and monitoring method using the same KR101738514B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112150554A (en) * 2019-06-28 2020-12-29 杭州海康威视数字技术股份有限公司 Picture display method, device, terminal and storage medium
CN113646803A (en) * 2019-04-01 2021-11-12 欧姆龙株式会社 Human detection device and human detection method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113646803A (en) * 2019-04-01 2021-11-12 欧姆龙株式会社 Human detection device and human detection method
US11948363B2 (en) 2019-04-01 2024-04-02 Omron Corporation Person detection device and person detection method
CN112150554A (en) * 2019-06-28 2020-12-29 杭州海康威视数字技术股份有限公司 Picture display method, device, terminal and storage medium
CN112150554B (en) * 2019-06-28 2023-08-04 杭州海康威视数字技术股份有限公司 Picture display method, device, terminal and storage medium

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