KR102147279B1 - Apparatus, method, computer-readable storage medium and computer program for object movement detection - Google Patents

Abstract

According to one embodiment, provided is an object movement detecting device, which comprises: a lens array unit in which a plurality of lenses for transmitting reflected light reflected from an object are arranged; an optical sensor unit including a plurality of channels, receiving light transmitted from each of the plurality of lenses through at least two more channels of the plurality of channels, and outputting optical signal strengths for the at least some channels; and a control unit estimating the movement of the object based on each of the output optical signal strengths.

Description

Object movement detection device, method, computer-readable recording medium and computer program {APPARATUS, METHOD, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM FOR OBJECT MOVEMENT DETECTION}

The present invention relates to an object movement detection apparatus, method, computer-readable recording medium, and computer program.

In general, a camera or the like may be used as a device for detecting movement of an object. In this case, the camera may acquire a high-resolution image and detect a fine movement of the object in performing image processing of the object. However, in the case of detecting the movement of an object through a camera, it is difficult to use it for real-time movement detection because the image processing speed is relatively large and the image processing speed is slow.

Accordingly, there is a need for a technology capable of minimizing a signal processing operation used to detect movement of an object and detecting movement of an object in real time.

Korean Patent Publication No. 10-2016-0083486 (published on July 12, 2016)

An object to be solved by the present invention is to provide an object movement detection apparatus, a method, a computer-readable recording medium, and a computer program.

In addition, the object movement detection apparatus and method, a computer-readable recording medium, and a computer program to simplify the signal processing operation used to detect the movement of the object, and to detect the movement of the object in real time is to be solved by the present invention. Can be included in the assignment.

However, the problem to be solved of the present invention is not limited to the ones mentioned above, and another problem to be solved that is not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

An object movement detection apparatus according to an embodiment includes: a lens array unit in which a plurality of lenses for transmitting reflected light reflected from an object are arranged; An optical sensor unit including a plurality of channels, receiving light transmitted from each of the plurality of lenses through at least two channels of the plurality of channels, and outputting optical signal strengths for the at least two channels; And a control unit estimating the movement of the object based on each of the output intensity of the optical signal.

In addition, the object movement detection device further includes an aperture for adjusting the reflected light reflected from the object, and the plurality of lenses receives and transmits the adjusted reflected light while the reflected light reflected from the object passes through the aperture. have. In addition, each of the plurality of lenses is circular, and six lenses included in the plurality of lenses are disposed in contact with each other along an edge of any one of the plurality of lenses, and the six lenses include the six lenses If you connect the center of it can be arranged to become a regular hexagon.

In addition, the reflected light may include reflected light reflected from the side of the object.

In addition, the controller may estimate the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the output optical signal.

In addition, when the intensity of the optical signal output from the optical sensor unit is greater than or equal to a preset value, the controller may determine a valid signal and estimate the movement of the object based on the determined optical signal intensity.

In addition, the control unit may estimate the movement of the object based on a ratio of a difference value of the optical signals for each of the at least two channels output from the optical sensor unit and a preset ratio.

An object movement detection method according to an embodiment includes the steps of transmitting reflected light reflected from an object using a lens array unit in which a plurality of lenses are arranged, and an optical sensor unit including a plurality of channels is transmitted through each of the plurality of lenses. Receiving the generated light through at least two channels of the plurality of channels, outputting optical signal strengths for the at least two channels, respectively, and estimating movement of the object based on each of the output optical signal strengths It may include the step of.

In addition, the reflected light may include reflected light reflected from the side of the object.

In addition, in estimating the movement of the object, the movement of the object may be estimated based on an intensity of an optical signal having a smallest difference from an intensity value of a reference optical signal among intensity of the output optical signal.

In addition, in the estimating the movement of the object, when the intensity of the optical signal output from the optical sensor unit is greater than or equal to a preset value, it is determined as a valid signal, and the movement of the object is based on the determined optical signal intensity. Can be estimated.

In addition, the step of estimating the movement of the object may include estimating the movement of the object based on a ratio of a difference value of the optical signals for each of the at least two channels output from the optical sensor unit and a preset ratio. have.

A computer-readable recording medium according to an embodiment is a computer-readable recording medium storing a computer program, and the computer program, when executed by a processor, transmits reflected light reflected from an object to a lens in which a plurality of lenses are arranged. Transmitting using an array unit, and receiving light transmitted from each of the plurality of lenses by an optical sensor unit including a plurality of channels through at least two channels of the plurality of channels, and receiving light for the at least two channels. The processor may include instructions for causing the processor to perform a method including outputting signal strengths, and estimating movement of the object based on each of the output optical signal strengths.

A computer program according to an embodiment is a computer program stored in a computer-readable recording medium, and the computer program, when executed by a processor, uses a lens array unit in which a plurality of lenses are arranged to reflect reflected light from an object. And transmitting the light through at least two channels of the plurality of channels, and an optical sensor unit including a plurality of channels receives light transmitted from each of the plurality of lenses through at least two channels of the plurality of channels. The processor may include instructions for causing the processor to perform a method including outputting each and estimating movement of the object based on each of the output optical signal strengths.

The apparatus for detecting movement of an object according to an exemplary embodiment may detect movement of an object based on the intensity of an optical signal output from the optical sensor unit, thereby simplifying an operation used to detect movement of the object.

In addition, it is possible to estimate the position of a fast moving object in real time due to a simplified operation.

In addition, since the movement of the object is estimated based on the intensity of the optical signals output from the plurality of channels included in the optical sensor unit of the object movement detection apparatus, the movement of the object can be accurately detected.

1 is a block diagram of an apparatus for detecting movement of an object according to an exemplary embodiment.
2 is a perspective view of a lens array unit according to an exemplary embodiment.
3 is a diagram for explaining estimating movement of an object through an object movement detection apparatus according to an exemplary embodiment.
FIG. 4 is a diagram for describing a comparison of estimating movement of an object when a single lens and a plurality of lenses are used.
5 is a diagram for describing the intensity of an optical signal of an apparatus for detecting movement of an object according to an exemplary embodiment.
6 is a graph for explaining a method of estimating movement of an object through an object movement detection apparatus according to an exemplary embodiment.
7 is a graph showing an experiment result of estimating a position of an object using the object movement detection apparatus according to an exemplary embodiment.
8 is a graph illustrating an experiment of estimating accuracy of movement of an object using an object movement detection apparatus according to an exemplary embodiment.
9 is a graph of experimental results measured from 1 pixel interval to 1/3 pixel interval by the object movement detection apparatus according to an exemplary embodiment.
10 is a graph for explaining another method of estimating movement of an object by an apparatus for detecting movement of an object according to an exemplary embodiment.
11 is an exemplary flowchart of a method for detecting movement of an object according to an exemplary embodiment.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only these embodiments are intended to complete the disclosure of the present invention, and common knowledge in the art to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

1 is a block diagram of an object movement detection apparatus 100 according to an exemplary embodiment.

Referring to FIG. 1, the apparatus 100 for detecting movement of an object according to an embodiment may include an aperture 105, a lens array unit 110, an optical sensor unit 130, and a control unit 140, but is limited thereto. It does not become. In addition, each of the components included in the object movement detection device 100 may be implemented in the form of a software module or a hardware module, or a combination of a software module and a hardware module, such as a computer or a smart device, and each configuration Can be electrically connected.

The stop 105 may be provided to adjust the reflected light reflected from the object, and the stop 105 may be freely designed according to a designer. In addition, the stop 105 may or may not be included in the object movement detection apparatus 100 depending on the design.

The lens array unit 110 includes a plurality of lenses, and a plurality of lenses may be arranged.

In this case, the plurality of lenses may receive and transmit the adjusted reflected light while the reflected light reflected from the object passes through the diaphragm 105.

In more detail, the lens array unit will be described in detail with reference to FIG. 2.

2 is a perspective view of the lens array unit 110 according to an embodiment.

Referring to FIGS. 2A and 2B, a plurality of lenses are arranged in the lens array unit 110, and the plurality of lenses may be provided to transmit reflected light reflected from an object.

More specifically, each of the plurality of lenses is circular, and six lenses included in the plurality of lenses are arranged in contact along the edge of any one of the plurality of lenses, and the six lenses are the centers of the six lenses. If connected, it may be arranged to become a regular hexagon, but is not limited thereto.

Again, referring to FIG. 1, further comprising an additional aperture 115 positioned between the lens array unit 110 and the optical sensor unit 130 to be described later to adjust the reflected light transmitted from the plurality of lenses and reflected from the object. It is also possible, but the additional aperture 115 may or may not be included depending on the design.

The optical sensor unit 130 includes a plurality of channels, receives reflected light transmitted from each of the plurality of lenses through at least two channels among the plurality of channels, and calculates the intensity of an optical signal for at least two partial channels, respectively. Can be printed.

The controller 140 may estimate the movement of the object based on each intensity of an optical signal output from the optical sensor unit 130.

In more detail, the controller 140 may estimate the movement of the object based on the intensities of the optical signals respectively output from the plurality of channels of the optical sensor unit 130.

For example, the controller 140 may estimate the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the optical signal output from the optical sensor unit 130. .

Meanwhile, the control unit 140 may estimate the position of the object based on a value having the minimum error by comparing the intensity value of the reference optical signal among the intensity values of the optical signals output from the plurality of channels of the optical sensor unit 130. It is not limited thereto.

When the intensity of the optical signal output from the optical sensor unit 130 is greater than or equal to a preset value, the controller 140 may determine a valid signal and estimate the movement of the object based on the determined optical signal intensity.

Here, a preset value for determining whether the optical signal strength is a valid signal may be a maximum value of a signal processing error range of the object movement detection apparatus 100 (eg, may be a controller).

The controller 140 may estimate the movement of the object based on a ratio of a difference value of the optical signals for each of the two or more channels output from the optical sensor unit 130 and a preset ratio.

Hereinafter, estimating the movement of an object through the object movement detection apparatus 100 according to an exemplary embodiment will be described in detail.

3 is a diagram for explaining estimating movement of an object through the object movement detection apparatus 100 according to an exemplary embodiment.

Referring to FIG. 3, first, when the reflected light reflected from the object 10 is transmitted through the plurality of lenses, the reflected light transmitted through the plurality of lenses is adjusted through the designed aperture, and a part of the reflected light transmitted through the plurality of lenses is converted into an optical sensor unit. It can be entered at 130.

In this case, the optical sensor unit 130 may receive the received light through at least two channels among the plurality of channels and output optical signal strengths for at least two channels, respectively, and at this time, the controller 140 is an optical sensor. The movement of the object 10 may be estimated based on each intensity of the optical signal output from the unit 130.

That is, the controller 140 may estimate the movement of the object 10 based on the intensity of optical signals output from the plurality of channels of the optical sensor unit 130.

FIG. 4 is a diagram for describing a comparison of estimating movement of an object when a single lens and a plurality of lenses are used.

First, referring to (a) of FIG. 4, when estimating the movement of an object through a single lens, the reflected light reflected from the object is transmitted through a single lens, and the light passing through the single lens is adjusted through an aperture, so that the optical sensor It may be input to the unit 130.

However, when the movement of the object is estimated through a single lens, since the light input to the optical sensor unit 130 may be limited, it is difficult to detect the movement of the object in a large area. .

Referring to FIG. 4B, when estimating the movement of an object through a plurality of lenses, the plurality of lenses transmits the reflected light reflected from the object to each of the plurality of lenses, and the light transmitted through each of the plurality of lenses is It may be input to the optical sensor unit 130. Accordingly, when using a plurality of lenses, it is possible to estimate the movement of an object in a wide area than when detecting movement of the object by using a single lens.

5 is a diagram for explaining the intensity of an optical signal of the object movement detection apparatus 100 according to an exemplary embodiment.

Referring to FIG. 5, the optical signal intensity output from the optical sensor unit 130 may appear as a Gaussian distribution according to the movement of the object. In this case, the controller 140 calculates a Gaussian distribution of the optical signal intensity according to the movement of the object. Through this, the movement of the object or the position of the object can be estimated.

In more detail, the reflected light reflected from the side of the object is reflected light in which the intensity of the optical signal changes rapidly, and the intensity of the optical signal may appear as a Gaussian distribution. In this case, the controller 140 uses the reflected light reflected from the side of the object. The movement of the object or the position of the object may be estimated based on a Gaussian distribution of the intensity of the generated optical signal.

Meanwhile, the intensity of the optical signal output from the optical sensor unit 130 may appear as a Gaussian distribution in three cases.

First, in the first case, the difference in the intensity of the optical signal between the object and the background (which may be the outer periphery) excluding the object is large.

In more detail, the intensity of the optical signal generated through the reflected light reflected from the object has the maximum intensity, while the intensity of the optical signal generated through the reflected light reflected from the background excluding the object is at the level of white noise. This is the case with the intensity of the optical signal.

In the second case, the intensity of the optical signal generated through the reflected light reflected from the background excluding the object and the object does not have the maximum intensity. In this case, the second case may have a lower Gaussian distribution than the first case.

In the last case, there is an intensity of an optical signal generated through reflected light reflected from the background. In this case, even when the intensity of the background optical signal exists, the Gaussian distribution may be lower than that of the first case.

As described above, the object movement detection apparatus 100 according to an exemplary embodiment may estimate the position of the object or the movement of the object based on the characteristic of the Gaussian distribution of the intensity of the optical signal generated through the reflected light reflected from the object. In this case, when the intensity of the optical signal generated through the reflected light reflected from the object is greater than the intensity of the optical signal generated through the reflected light reflected from the background around the object, it is possible to more accurately estimate the movement of the object.

6 is a graph illustrating a method of estimating movement of an object through the object movement detection apparatus 100 according to an exemplary embodiment.

Referring to FIG. 6, the apparatus 100 for detecting movement of an object according to an exemplary embodiment may estimate a position of an object based on the intensity of an optical signal output through a plurality of channels of the optical sensor unit 130.

More specifically, as described above, the control unit 140 of the object movement detection device 100 estimates the movement of the object through a change in the intensity of the optical signal measured from the side of the object (for example, it may mean the edge of the object). can do.

However, when the optical sensor unit 130 of the object movement detection apparatus 100 includes a single channel, it may be difficult to estimate the position of the object through a change in intensity of an optical signal measured from the side of the object.

Specifically, when the optical sensor unit 130 includes a single channel, when comparing the intensity of the optical signal output from the single channel and the preset optical signal intensity, the point with the minimum error is two points. It appears as, but it was difficult to estimate the location of the object using only two points.

However, when the optical sensor unit 130 includes two channels, the optical sensor unit 130 receives the light transmitted from each of the plurality of lenses through the two channels and adjusts the intensity of the optical signal for the two channels. Since the output is performed, and the points having the intensity of the optical signal and the minimum error for the two channels are represented as four points, the controller 140 can estimate the position of the object based on the four points.

That is, as the number of channels of the optical sensor unit 130 increases, the intensity of the optical signal output from the optical sensor unit 130 is output as much as the number of channels, and has the intensity of the output optical signal and the minimum error. As the number of points increases, the controller 140 can accurately estimate the position of the object.

7 is a graph showing an experiment result of estimating the position of an object using the object movement detection apparatus 100 according to an exemplary embodiment.

Hereinafter, in FIG. 7, the optical sensor unit 130 of the apparatus 100 for detecting movement of an object according to an exemplary embodiment is a graph showing an experiment result of estimating the position of an object when 1 to 9 channels are included. .

Meanwhile, the graph of FIG. 7 is a result of an experiment by designating the movement of a mathematically programmed black spot in the display movement as an object using a display panel.

More specifically, when the optical sensor unit 130 of the object movement detection apparatus 100 according to an exemplary embodiment includes a single channel, as shown in the graph Ch.1, only a single channel is used, due to Gaussian characteristics. Since there are two points where the error is minimized, it is possible to detect that the measured value of the graph moves up and down, but the movement of the randomly moving black spot cannot be estimated.

However, as shown in the graph of Ch.9, when the optical sensor unit 130 of the object movement detection apparatus 100 according to an embodiment includes 9 channels, there are two or more points at which errors are minimized ( For example, there may be 18), so it is possible to accurately estimate the movement of the object.

On the other hand, conventionally, when a camera is used to estimate the movement of an object, it has been difficult to measure the movement of a unit smaller than an image pixel when performing image processing using the camera. More specifically, when estimating the movement of an object using a camera, in order to measure a unit (sub-pixel) smaller than an image pixel, it was necessary to estimate the movement of the object using an interpolation method that enlarges the image. However, the camera was able to measure units (sub-pixels) smaller than the image pixels through the interpolation method, but it was difficult to estimate the moving object in real time due to the increased amount of calculation processing signals while performing the interpolation method. .

Accordingly, since the object movement detection apparatus 100 according to an exemplary embodiment detects movement and movement only by the intensity of the multi-channel optical signal of the optical sensor unit 130, there is a disadvantage to measuring the movement of an object through a camera. Complement. Specifically, the intensity of the optical signal for the plurality of channels output from the optical sensor unit 130 is expressed as a Gaussian distribution, and a unit (sub-pixel, sub-pixel) smaller than the image pixel is measured based on a sudden change in the Gaussian distribution You can do it.

In this regard, with respect to estimating a fine movement of an object by measuring a unit (sub-pixel) smaller than an image pixel through the object movement detection apparatus 100 according to an embodiment, see FIGS. 8 and 9. Let's explain in detail.

8 is a graph illustrating an experiment of estimating accuracy of movement of an object using an object movement detection apparatus according to an exemplary embodiment.

Hereinafter, FIG. 8 shows that when the intensity of the optical signal output from the optical sensor unit 130 by the controller 140 is greater than or equal to a preset value, it is determined as a valid signal, and the movement of the object is estimated based on the determined optical signal intensity. Assume you can.

In order to estimate the movement of an object, it is smaller than the image pixel only when the measured value of a unit smaller than the image pixel (which may be a sub-pixel, for example, 1/3 pixel) is greater than the signal processing error value of the object movement detection apparatus 100. This is because pixels of a unit (sub-pixel, for example, may be 1/3 pixel) can be measured.

In addition, in estimating the movement of the object, as shown in the graph of FIG. 8, as a result of the experiment on the accuracy of the estimation of the actual movement of the object, the movement estimation error of the object comes out lower than 1/3 pixel. It can be seen that, through the object movement detection method 100 according to an example, it is possible to measure pixels in units smaller than image pixels (sub-pixels may be, for example, 1/3 pixels).

9 is a graph of experimental results measured from 1 pixel interval to 1/3 pixel interval by the object movement detection apparatus according to an exemplary embodiment.

Referring to FIG. 9, it is assumed that movement of an object is estimated through the object movement detection apparatus 100 according to an embodiment, but actual measured values are compared within a range of 2000 pixels.

More specifically, as shown in the graph of FIG. 9, the result of estimating the movement of the object at 1 pixel interval (1.12 pixel, 1.01 pixel) and the measured position of the actual object appear similar, and the object at 1/3 pixel interval (0.33 pixel) It can be seen that the result of estimating the movement and the measured value of the actual object's position are similar.

10 is a graph for explaining another method of estimating movement of an object by an apparatus for detecting movement of an object according to an exemplary embodiment.

Referring to FIG. 10, it is assumed that the graph shown in FIG. 10 is modeled (input 1, input 2, input 3) of experimental values formed due to the difference in brightness between the background and the object. At this time, for each of the three models of input 1, inpu2, and input3, the reflected light reflected from the object is input through the three channels (Ch1, Ch2, Ch3) of the optical sensor unit 130, and the intensity of the optical signal is output. can do.

의 가우시안 분포값을 가지고, Channel 2 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가지고, Channel 3 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가질 수 있다.More specifically, the intensity of the optical signal output from Channel 1 of the first model (input 1) is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 2 is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 3 is

It can have a Gaussian distribution value of

는 표준편차이고, x는 확률변수이고,

는 가우시안 분포의 중심값이고,

는 분산이다.Where A is the estimated height of the Gaussian distribution of the first model (input 1),

Is the standard deviation, x is the random variable,

Is the center of the Gaussian distribution,

Is the variance.

의 가우시안 분포값을 가지고, Channel 2 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가지고, Channel 3 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가질 수 있다.The intensity of the optical signal output from Channel 1 of the second model (input 2) is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 2 is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 3 is

It can have a Gaussian distribution value of

는 표준편차이고, x는 확률변수이고,

는 가우시안 분포의 중심값이고,

는 분산이다.Where B is an estimate of the height of the Gaussian distribution of the second model (input 2),

Is the standard deviation, x is the random variable,

Is the center of the Gaussian distribution,

Is the variance.

의 가우시안 분포값을 가지고, Channel 2 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가지고, Channel 3 에서 출력된 광 신호의 세기는

의 가우시안 분포값을 가질 수 있다.The intensity of the optical signal output from Channel 1 of the third model (input 3) is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 2 is

With a Gaussian distribution value of, the intensity of the optical signal output from Channel 3 is

It can have a Gaussian distribution value of

는 표준편차이고, x는 확률변수이고,

는 가우시안 분포의 중심값이고,

는 분산이다.Where C is the estimated height of the Gaussian distribution of the third model (input 3),

Is the standard deviation, x is the random variable,

Is the center of the Gaussian distribution,

Is the variance.

On the other hand, the ratio of Ch1-Ch2 and Ch2-Ch3 among the three channels of the optical sensor unit 130 selectively designated in each of the three models of input 1, inpu2, and input3 is three models of input 1, inpu2, and input3. You can see that it doesn't change.

More specifically, the object movement detection apparatus 100 according to an embodiment is a point where the ratio of the optical signal intensities for each of the selectively designated channels to the Gaussian distribution difference value and the preset ratio are the same as in Equation 1 below. When is found, it is possible to estimate the position of the object based on this.

는 표준편차이고, x는 확률변수이고,

는 가우시안 분포의 중심값이고,

는 분산이다.Here, A is an estimate of the height of the Gaussian distribution of the first model (input 1), B is an estimate of the height of the Gaussian distribution of the second model (input 2),

Is the standard deviation, x is the random variable,

Is the center of the Gaussian distribution,

Is the variance.

11 is an exemplary flowchart of a method for detecting movement of an object according to an exemplary embodiment. The object movement detection method illustrated in FIG. 11 can be performed by the object movement detection apparatus 100 illustrated in FIG. 1. In addition, the object movement detection method illustrated in FIG. 11 is only exemplary.

Referring to FIG. 11, the lens array unit 110 in which a plurality of lenses are arranged may transmit reflected light reflected from an object (step S10).

At this time, the optical sensor unit 130 including a plurality of channels receives the light transmitted from each of the plurality of lenses through at least two channels among the plurality of channels, and outputs optical signal strengths for at least two channels, respectively. Can (step S20).

The controller 140 may estimate the movement of the object based on each intensity of the optical signal output from the optical sensor unit 130 (step S30).

In more detail, the controller 140 may estimate the movement of the object based on the intensity of optical signals output from the plurality of channels of the optical sensor unit 130.

As described above, since the object movement detection apparatus according to an embodiment can detect the movement of an object based on the intensity of an optical signal output from the optical sensor unit, an operation used to detect movement of the object can be simplified. have.

In addition, it is possible to estimate the position of a fast moving object in real time due to a simplified operation.

In addition, since the movement of the object is estimated based on the intensity of optical signals output from a plurality of channels included in the optical sensor unit of the object movement detection device, the movement of the object can be precisely detected.

On the other hand, the method according to this embodiment can be implemented in the form of a computer program stored in a computer-readable recording medium programmed to perform each step of the method, and also includes a computer program programmed to perform each step of the method. It can be implemented in the form of a computer-readable recording medium to store.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential quality of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: object movement detection device
105: aperture
110: lens array unit
130: optical sensor unit
140: control unit

Claims (14)

A lens array unit in which a plurality of lenses for transmitting reflected light reflected from an object are arranged;
An optical sensor unit including a plurality of channels, receiving light transmitted from each of the plurality of lenses through at least two channels of the plurality of channels, and outputting optical signal strengths for the at least two channels; And
And a control unit estimating the movement of the object based on each of the output intensity of the optical signal,
The control unit,
Estimating the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the output optical signal
Object movement detection device. The method of claim 1,
The object movement detection device,
Further comprising an aperture for adjusting the reflected light reflected from the object,
The plurality of lenses receives and transmits the adjusted reflected light while the reflected light reflected from the object passes through the aperture.
Object movement detection device. The method of claim 1,
Each of the plurality of lenses is circular,
Six lenses included in the plurality of lenses are arranged in contact with each other along the edge of any one of the plurality of lenses,
The six lenses,
When the centers of the six lenses are connected, they are arranged to form a regular hexagon,
Object movement detection device. The method of claim 1,
The reflected light includes reflected light reflected from the side of the object
Object movement detection device. delete The method of claim 1,
The control unit,
When the intensity of the optical signal output from the optical sensor unit is greater than or equal to a preset value, it is determined as a valid signal, and the movement of the object is estimated based on the optical signal intensity determined as the valid signal.
Object movement detection device. The method of claim 1,
The control unit,
Estimating the movement of the object based on a ratio of the difference value of the optical signals for each of the at least two channels output from the optical sensor unit and a preset ratio
Object movement detection device. Transmitting the reflected light reflected from the object using a lens array unit in which a plurality of lenses are arranged, and
An optical sensor unit including a plurality of channels receiving light transmitted from each of the plurality of lenses through at least two channels of the plurality of channels, and outputting optical signal strengths for the at least two channels, respectively,
Including the step of estimating the movement of the object based on each of the output optical signal strength,
Estimating the movement of the object,
Estimating the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the output optical signal
Object movement detection method. The method of claim 8,
The reflected light includes reflected light reflected from the side of the object
Object movement detection method. delete The method of claim 8,
Estimating the movement of the object,
When the intensity of the optical signal output from the optical sensor unit is more than a preset value, it is determined as a valid signal,
Estimating the movement of the object based on the optical signal strength determined as the valid signal
Object movement detection method. The method of claim 8,
Estimating the movement of the object,
Estimating the movement of the object based on a ratio of the difference value of the optical signals for each of the at least two channels output from the optical sensor unit and a preset ratio
Object movement detection method. As a computer-readable recording medium storing a computer program,
The computer program, when executed by a processor,
Transmitting the reflected light reflected from the object using a lens array unit in which a plurality of lenses are arranged, and
Receiving light transmitted from each of the plurality of lenses through at least two channels among the plurality of channels by an optical sensor unit including a plurality of channels, and outputting optical signal strengths for the at least two channels, respectively,
Including the step of estimating the movement of the object based on each of the output optical signal strength,
Estimating the movement of the object,
Including instructions for causing the processor to perform a method of estimating the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the output optical signal
Computer-readable recording medium. As a computer program stored in a computer-readable recording medium,
The computer program, when executed by a processor,
Transmitting the reflected light reflected from the object using a lens array unit in which a plurality of lenses are arranged, and
An optical sensor unit including a plurality of channels receiving light transmitted from each of the plurality of lenses through at least two channels of the plurality of channels, and outputting optical signal strengths for the at least two channels, respectively,
Including the step of estimating the movement of the object based on each of the output optical signal strength,
Estimating the movement of the object,
Including instructions for the processor to perform a method of estimating the movement of the object based on the intensity of the optical signal having the least difference from the intensity value of the reference optical signal among the intensity of the output optical signal
Computer program.

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