KR101794311B1 - Stereo camera system that moves the PTZ camera to the target point by projecting the GPS coordinates in 3D spatial coordinates - Google Patents

Abstract

The present invention relates to a stereo camera system that moves a PTZ camera to a target point by projecting GPS coordinates on 3D spatial coordinates. In the stereo camera system, a map coordinate is converted to a 3D spatial coordinate by interlocking the pan-tilt-zoom (PTZ) camera and a stereo camera capable of calculating 3D distance information, and the movement of the PTZ camera is controlled by calculating appropriate pan, tilt, and zoom values for moving the PTZ camera from a current coordinate to a corresponding coordinate in the stereo camera, thereby acquiring accurate image information of high resolution. The stereo camera system includes a wireless receiving antenna and an origin adjustment panel.

Description

Technical Field [0001] The present invention relates to a stereo camera system that moves a PTZ camera to a target point by projecting a GPS (Coordinate) coordinate in a three-dimensional space coordinate system (Stereo camera system that moves the PTZ camera to the 3D coordinates }

The present invention relates to a stereo camera system for projecting GPS coordinates to three-dimensional space coordinates and moving a PTZ camera to a target point, and more particularly, to a stereo camera system for PTZ (Pan, Tilt, Zoom) It is possible to convert map coordinates into 3D space coordinates by linking a stereo camera capable of calculating the dimensional distance information, and to set appropriate pan, tilt, and zoom for the PTZ camera to move from the current coordinates to the corresponding coordinates in the stereo camera. And a stereoscopic camera system for moving a Petticoat camera to a target point by projecting a ZSF coordinate in three-dimensional space coordinates so as to acquire accurate image information of high resolution by calculating a Zoom value and controlling movement of the PTZ camera.

Generally, a closed circuit television (CCTV) system transmits image information to a small number of specific recipients of image information captured by a camera, acquires information desired by a small number of users through the transmitted image information, It is a television system that displays video images so that the area to be monitored can be observed.

Such a CCTV system is used for a wide variety of purposes such as crime prevention monitoring, security monitoring, industrial use, video surveillance of a vehicle, or traffic management.

However, since CCTV uses a monocular camera, it can not acquire the distance information about the image being photographed. Therefore, even if it is necessary to check a specific point (target point) of the actual map, accurate positioning can not be obtained using the map coordinates.

Therefore, it is not possible to acquire the accurate image, and the image of only the desired target point is photographed precisely because it is the one that confirms the managed CCTV one by one and analyzes the image after finding the CCTV camera of the nearest one of them It is a difficult situation.

Korean Patent Registration No. 10-0879623 (Jan. 21, 2009) 'Automated Wide Area Monitoring System Using PTZ Camera and Its Method'

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the prior art, and it is an object of the present invention to provide a stereoscopic camera capable of calculating three-dimensional distance information by interlocking a PTZ (Pan, Tilt, Zoom) (PTZ) camera is moved and controlled by calculating appropriate Pan, Tilt, and Zoom values for moving the PTZ camera from the current coordinates to the corresponding coordinates in the stereo camera, And a stereoscopic camera system for projecting the geoS coordinates to the target point in a three-dimensional space coordinate system so as to acquire the information, and moving the motion picture camera to a target point.

The present invention provides a control unit 110 as an MCU (Main Control Unit) and a control unit 110 connected to the control unit 110 to control the information of the managed stereo camera 150 and the PTZ camera 180 A camera tracking unit 130 connected to the control unit 110 and searching for the camera DB 120 to find a stereo camera 150 closest to a target point; A stereo camera 150 installed at a plurality of points in a jurisdiction area and a depth map information generated by the stereo camera 150, A target coordinate extraction unit 160 for calculating distance information to a target point and extracting map coordinates, a memory unit 170 connected to the control unit 110 and temporarily storing processing information, And the stereo camera 1 The PTZ camera 180 connected to the control unit 110 and comparing the current map coordinates of the PTZ camera 180 with the target coordinates extracted by the target coordinate extraction unit 160, The GPS coordinates including the PTZ camera controller 190 for calculating and controlling a pan value, a tilt value and a zoom value for moving the camera 180 are stored in three-dimensional space coordinates And moving the PTZ camera to a target point, the stereo camera system comprising:

A wireless receiving antenna 184 capable of short-range wireless communication with the laser 182 is further provided to the PTZ camera 180 so that the PTZ camera 180 can be moved to a home position; An origin adjustment plate 200 is further provided at a horizontal position with respect to the PTZ camera 180; A center hole 220 is formed at a center of the origin adjustment plate 200 so that a laser beam emitted from the laser 182 can be received. A photodiode 230 is provided in the center hole 220; The photodiode 230 is embedded in the origin adjustment plate 200; The photodiode 230 is controlled by the controller 240 embedded in the origin adjustment plate 200 at a distance from the photodiode 230; The origin adjustment plate 200 is further provided with a wireless antenna 250 for short distance wireless communication with the wireless reception antenna 184; When the laser beam is received through the photodiode 230, the controller 240 transmits the detection signal to the PTZ camera controller 190 through the wireless antenna 250 simultaneously with the laser light reception, so that the PTZ camera 180 transmits the home position (PTZ) camera is moved to a target point by projecting the GPS coordinates in three-dimensional space coordinates, recognizing that the PTZ camera has been correctly returned to the target position, and stopping the movement of the PTZ camera Camera system.

According to the present invention, the map coordinates are converted into three-dimensional space coordinates by interlocking a PTZ (Pan, Tilt, Zoom) camera and a stereo camera capable of calculating three-dimensional distance information. In a stereo camera, It is possible to acquire accurate image information of high resolution by calculating an appropriate pan, tilt, and zoom values for moving to the PTZ camera.

1 is an exemplary block diagram of a stereo camera system according to the present invention.
2 is an exemplary view showing an example of installation and photographing of a system according to the present invention.
3 is an exemplary diagram showing an example in which the target coordinates are set in the system according to the present invention.
4 is an exemplary diagram illustrating an example of extracting map coordinates in the system according to the present invention.
5 and 6 are views illustrating an example of driving a PTZ camera in a system according to the present invention.
FIG. 7 is an exemplary view illustrating an example of an origin adjusting plate for adjusting the origin of a PTZ camera added to the system according to the present invention.

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

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

The stereo camera system for projecting the GPS coordinates according to the present invention to three-dimensional spatial coordinates and moving the Petty-Jet camera to a target point can control a plurality of stereo cameras and PTZ cameras in a predetermined area, , By degrees, and even by the whole country.

1, the stereo camera system includes a control unit 110 as an MCU (Main Control Unit), and a control unit 110 connected to the control unit 110 and adapted to receive information of the managed stereo camera 150 and the PTZ camera 180 A camera tracking unit 130 connected to the control unit 110 and searching for the camera DB 120 to find a stereo camera 150 closest to a target point; A stereo camera 150 installed at a plurality of points in a jurisdiction area and a depth map information generated by the stereo camera 150, A target coordinate extraction unit 160 for calculating distance information to a target point and extracting map coordinates, a memory unit 170 connected to the control unit 110 and temporarily storing processing information, And the stereo The PTZ camera 180 installed together with the camera 150 and the comparison between the current map coordinates of the PTZ camera 180 connected to the control unit 110 and the target coordinates extracted by the target coordinate extraction unit 160 And a PTZ camera controller 190 for calculating and controlling a pan value, a tilt value and a zoom value for moving the PTZ camera 180.

At this time, the rest of the components other than the stereo camera 150 and the PTZ camera 180 used in the actual shooting are preferably mounted on a remote server (not shown).

The stereo camera 150 applies a human visual system that obtains distance information by matching the binocular parallax. The stereo camera 150 extracts features from the images obtained from the left eye image and the right eye image, estimates displacement through stereo matching, And the like.

In particular, the stereo camera 150 can generate a depth map due to the binocular parallax characteristics, and can calculate the distance information from the stereo camera 150 to the imaging point based on the depth map information. The detailed description will be omitted here.

In addition, the PTZ (Pan, Tilt, Zoom) camera 180 has a structure in which a video camera equipped with a motorized zoom lens is coupled to a Pan / Tilt driving device capable of rotating up and down and right and left , It is possible to rotate the camera and zoom in / out of the lens through external control, so that it is possible to monitor the wide area around the camera through the rotation of the camera though it is expensive, compared with the fixed camera, It is a camera that has the advantage of allowing you to zoom in and out of the subject of interest.

The high definition shooting process for the target point when the map coordinate input is performed through the stereo camera system will be described as follows.

First, as shown in FIG. 2, a stereo camera 150 and a PTZ camera 180 are installed at a plurality of points in a jurisdiction area, and are electrically connected to a remote server to maintain a controllable state.

The stereo camera 150 and the PTZ camera 180 are respectively assigned identification numbers and stored in the camera DB 120. Coordinate information on the installed location is stored in the XY plane coordinate information and the height from the ground And stored in the map DB 140 in a state including information.

That is, the installation location coordinates of the stereo camera 150 can be displayed as (a, b, c), which is based on the scale and absolute coordinates (GPS coordinate values) corresponding to the map in the jurisdiction area.

Therefore, the installation position coordinates (a, b, c) of the stereo camera 150 coincide with the map coordinates in the jurisdiction area.

In this state, when it is requested to shoot a specific point at a high resolution as shown in the example of Fig. 3, the X, Y values, which are target points (TR) which are specific points, are inputted into the system.

The camera tracking unit 130 searches the camera DB 120 and selects the stereo camera 150 and the PTZ camera 180 closest to the target coordinates TR and outputs the stereo camera 150 and the PTZ camera 180 to the control unit 110.

4, the target coordinate driving unit 160 calculates the target coordinate TR from the depth information generated by the stereo camera 150, and outputs the target coordinate TR to the target coordinate extracting unit 160, (X, y, z) are calculated by calculating the coordinates of the three-dimensional space using the X, Y values and distance values of the target coordinates TR The three-dimensional map coordinates (x, yz) are stored in the memory unit 190.

5 and 6, the PTZ camera controller 190 calculates a pan value, a tilt value, and a zoom-in value of the PTZ camera 180 based on map coordinates (x, y, z) The PTZ camera 180 is moved to capture the target coordinate TR at a high resolution.

At this time, the zoom-in and zoom-out degrees of the PTZ camera 180 are auto-focused based on the calculated distance values.

In this case, instead of simply photographing the PTZ camera 180 by pulling it, it is possible to shoot an image with accurate and high resolution because it is accurately shot in a state in which it is accurately aligned in the direction of the corresponding point and is zoomed in or out. The images that will become important evidence will not be read badly and are expected to provide very effective utilization value.

In addition, in order to enhance the controllability and accuracy of the PTZ camera 180, the present invention can be controlled to be always aligned with the home position as shown in FIG.

To this end, in the present invention, a laser 182 is further provided to the PTZ camera 180, and an origin adjustment plate 200 is further provided at a horizontal position with respect to the PTZ camera 180.

In this case, the origin adjustment plate 200 may be fixed to the same height as the PTZ camera 180 through a separate supporter 210 or a bracket.

A center hole 220 is formed at a center of the origin adjustment plate 200 so that a laser beam emitted from the laser 182 can be received. A diode 230 is provided.

The photodiode 230 may be embedded in the origin adjusting plate 200 and the photodiode 230 may be mounted on the origin adjusting plate 200 by spacing the photodiode 230 from the controller 240).

Here, the controller 240 detects that the laser beam is received through the photodiode 230 as a micom, detects that the laser beam has been received correctly, notifies that the laser beam is precisely centered through the wireless antenna 250 at the same time as receiving light And transmits a wireless signal.

To this end, the origin adjustment plate 200 is provided with a wireless antenna 250 capable of short-range wireless communication.

When the centering signal is received from the wireless antenna 250, the PTZ camera controller 190 determines that the PTZ camera 180 has been correctly returned to the home position And stops the movement of the PTZ camera 180.

As described above, the PTZ camera 180 is always positioned at the home position, so that if the movement command to the target coordinates falls, the pan value, tilt value, zoom in or zoom out value necessary for movement can be easily and quickly calculated and moved immediately.

In addition, since the origin control plate 200 is installed outside, durability and moisture-proof property are secured, and longevity needs to be achieved.

For this, in the present invention, the origin adjustment plate 200 is formed by mixing 2.5% by weight of carbon black, 8% by weight of a fibrous filler coated with a metal, 2.5% by weight of aminosilane, 2.5% by weight of cyanoacrylate, 4% by weight of sodium oxide, 1.5% by weight of thiocyanic copper, 8% by weight of FT wax, 2% by weight of sodium silicate, 2% by weight of attapulgite, 5% by weight of Pozzolan, 3 wt% of polybutene, 4 wt% of monoglyceride, 2 wt% of ethylene glycol monomethyl ether, 2 wt% of sebacic acid, 2 wt% of terbium, 2 wt% of alkylene amide and the balance of polycarbonate resin Lt; / RTI >

At this time, the aminosilane is added to prevent surface cracking and inhibit the whitening phenomenon while increasing the reaction efficiency by inducing an additional reaction of the unreacted material.

In addition, the cyanoacrylate is added to enhance adhesion stability while suppressing high thermal expansion and maximizing adhesive fixing force.

The carbon black absorbs electromagnetic waves due to the dielectric properties of the carbon black as the conductive carbon black nanoparticles (powder). However, it is added in the above-mentioned range only in consideration of the moldability.

The metal-coated fibrous filler refers to Ni-CF 5%, and Ni-CF 5% refers to a fibrous filler in which 5 wt% of nickel is dispersed and coated on a carbon fiber (CF).

Such a metal-coated fibrous filler contributes to improving the durability of the resin as well as the electromagnetic wave shielding ability.

The oxybis (OXYBIS) is added to enhance the abrasion resistance by forming a cured coating through a crosslinking function, and refers to isopropyl ether (Iso-PropylEther). The sodium oxide is an alkaline oxide and is added do.

Further, the above-mentioned thiocyan copper is added as a copper-based antifouling agent in order to suppress foreign matter adhesion and to enhance moisture resistance, i.e., moisture resistance.

The F-T wax (Fischer-Tropsch wax) is added for the purpose of controlling the viscosity and increasing the crosslinkability and suppressing the deformation of the molding.

In addition, the sodium silicates are added to improve the binding between the compositions.

In addition, the atactpulse is added for thickening and bulking. However, in the present invention, it is added in order to strengthen the elasticity and increase the heat resistance according to the improvement of the elongation due to the fibrous structure.

The pozzolan is mainly used as a concrete admixture, but it is an artificial pozzolan. In the present invention, natural pozzolans collected from weathered volcanic rocks and volcanic rocks are used to increase acid resistance, corrosion resistance, durability and waterproof property, The particle size is preferably 0.1-0.2 mm.

In addition, the polybutene is added to enhance ultraviolet rays, heat and chemical stability.

In addition, the monoglyceride is added to enhance the anti-foreign material property by promoting emulsification and inhibiting foreign matter from adhering to the surface.

The ethylene glycol monomethyl ether is added to enhance the durability by maximizing the binding property between the compositions by enhancing the adhesiveness.

In addition, sebaceous acid is added to enhance the function of inhibiting foreign body adhesion.

The terbium is added as a rare earth metal belonging to the lanthanide group to enhance abrasion resistance. The alkylene amide is added in order to maintain lubricity and stability, so that the mixing is smoothly performed, and after the mixing, Lt; / RTI >

The polycarbonate resin is a base resin for enhancing abrasion resistance by establishing strong durability and hardness characteristics while ensuring transparency.

A sample of 5 cm × 5 cm × 0.5 cm size was made using the composition thus formed, and it was confirmed that the electromagnetic wave shielding ability was confirmed.

In order to confirm the water resistance (moisture resistance), the sample was kept in a state of being immersed in brine for 15 days, but there was no saline invasion.

110: control unit 120: camera DB
130: camera tracking unit 140: map DB
150: stereo camera 160: target coordinate extracting unit
170: memory unit 180: PTZ camera
190: PTZ camera controller

Claims (1)

A camera DB 120 connected to the control unit 110 and registering information on the managed stereo camera 150 and the PTZ camera 180, and a control unit 110 A camera tracking unit 130 connected to the control unit 110 and searching for the camera DB 120 and searching for a stereo camera 150 installed closest to the target point, The stereo camera 150 installed at a plurality of points in the jurisdiction and the depth map information generated by the stereo camera 150 to calculate the distance information to the target point and extract map coordinates A memory unit 170 connected to the control unit 110 and temporarily storing processing information and a PTZ 160 connected to the control unit 110 and installed together with the stereo camera 150. The control unit 110 includes a target coordinate extraction unit 160, A camera 180, and the control unit 1 The pan value and the tilt value for moving the PTZ camera 180 through comparison between the current map coordinates of the PTZ camera 180 and the target coordinates extracted by the target coordinate extraction unit 160, (PTZ) camera is moved to a target point by projecting GPS coordinates in three-dimensional space coordinates including a PTZ camera controller 190 for calculating and controlling a tilt value and a zoom value, A camera system comprising:
A wireless receiving antenna 184 capable of short-range wireless communication with the laser 182 is further provided to the PTZ camera 180 so that the PTZ camera 180 can be moved to a home position; An origin adjustment plate 200 is further provided at a horizontal position with respect to the PTZ camera 180; A center hole 220 is formed at a center of the origin adjustment plate 200 so that a laser beam emitted from the laser 182 can be received. A photodiode 230 is provided in the center hole 220; The photodiode 230 is embedded in the origin adjustment plate 200; The photodiode 230 is controlled by the controller 240 embedded in the origin adjustment plate 200 at a distance from the photodiode 230; The origin adjustment plate 200 is further provided with a wireless antenna 250 for short distance wireless communication with the wireless reception antenna 184; When the laser beam is received through the photodiode 230, the controller 240 transmits the detection signal to the PTZ camera controller 190 via the wireless antenna 250 simultaneously with the laser light reception, so that the PTZ camera 180 transmits the home position (PTZ) camera is moved to a target point by projecting the GPS coordinates in three-dimensional space coordinates, recognizing that the PTZ camera has been correctly returned to the target point, and stopping the movement of the PTZ camera Camera system.

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