KR102312932B1 - Situation monitoring apparatus and situation monitoring method for 360-degree panoramic image acquisition using target handover - Google Patents

Abstract

A situation monitoring apparatus according to an embodiment of the present invention comprises: a primary photographing process of acquiring a primary image by using a camera; a primary detection process of detecting whether a target is present by using the acquired primary image; a first position detection process of detecting the position of the target detected in the primary image; a secondary photographing process of acquiring a secondary image when the camera moves; a secondary detection process of detecting whether a target is present by using the acquired secondary image; a second position detection process of detecting the position of the target detected in the secondary image; and a determination process of comparing the first position and the second position to determine whether the targets detected in the first and second detection processes are the same. According to the present invention, the method can prevent that the target detected before rotation and the target detected after the rotation are recognized as different targets while being actually the same target, that is, the method can prevent that the same target is erroneously recognized as different targets. Accordingly, the method can increase situation recognition capability for a monitoring area.

Description

Situation monitoring apparatus and situation monitoring method for 360-degree panoramic image acquisition using target handover

The present invention relates to a situation monitoring apparatus and a situation monitoring method for obtaining a 360-degree panoramic image using a target handover, and to obtain a 360-degree panoramic image using a target handover that can improve situational awareness for a monitoring area It relates to a situation monitoring device and a situation monitoring method.

A monitor, which is a means for monitoring a surveillance area on the ground, includes a movable vehicle such as a tank, an armored vehicle, a self-propelled artillery, and a plurality of cameras installed in the vehicle. In addition, the monitor includes a cannon installed in the vehicle to attack a target recognized as an enemy.

The cannon is rotatably installed on the vehicle so that the aiming position can be changed or the azimuth can be changed. That is, a rotatable driving unit is installed on the vehicle, and the fabric is supported by the driving unit. And, in general, a plurality of cameras are installed to be connected to the driving unit so as to rotate together when the cloth is rotated or the driving unit is rotated. That is, when the cannon is rotated, the plurality of cameras are also rotated, and thus the field of view of each of the plurality of cameras is changed.

After each camera of the monitor is operated to photograph the surroundings of the monitor, the presence or absence of a target may be detected through the captured image.

On the other hand, there are cases in which the gun is rotated while the target is detected. For example, if it is necessary to attack a previously detected target, the gun must be rotated to point it toward the target to be attacked. However, when the gun is rotated, the camera also rotates as described above, and accordingly, the field of view seen from the camera, that is, the position of the front of the camera is changed.

For example, if the target is detected in the image taken from the first camera among the plurality of cameras before the cannon is rotated, the cannon is not visible in the image of the first camera after the gun is rotated, and the gun is photographed from another camera, for example, the second camera. A target can be detected from the image. That is, the target detected in the image of the first camera did not move, but was detected in the image of the second camera by the rotation of the gun. In other words, the target detected in the image of the first camera before the rotation of the gun and the target detected by the second camera after the rotation of the gun are the same target.

However, at this time, the target detected in the image of the first camera before rotation and the target detected in the image of the second camera after rotation are recognized as different targets. This causes confusion in recognizing or recognizing the situation in the surveillance area, and causes deterioration of the target identification ability.

Korean Patent KR1572896

The present invention provides a situation monitoring device and a situation monitoring method for obtaining a 360-degree panoramic image using a target handover that can improve situation recognition ability for a monitoring area and target identification ability.

A situation monitoring method according to an embodiment of the present invention includes a primary photographing process of acquiring a primary image using a camera; a primary detection process of detecting the presence or absence of a target by using the acquired primary image; A first position detection process of detecting the position of the target detected in the primary image; When the camera moves, a secondary photographing process of acquiring a secondary image; a secondary detection process of detecting the presence or absence of a target using the acquired secondary image; a second position detection process of detecting the position of the target detected in the secondary image; and a determination process of comparing the first position with the second position to determine whether the targets detected in the first and second detection processes are the same.

A situation monitoring method according to an embodiment of the present invention includes the steps of photographing using different cameras before and after moving the camera; a detection process of detecting the presence of a target by using each image captured by the different cameras; a position detection process of detecting a position of a target detected in each image captured by the different cameras; and a determination process of comparing the positions of the targets detected in the respective images to determine whether the target detected in the image captured by the camera before movement and the target detected in the image photographed by the camera after movement are the same.

The detection process may include: a primary detection process of detecting the presence of a target in a primary image taken from a camera before movement; and a secondary detection process of detecting the presence or absence of a target in the secondary image taken from the camera after movement; The cameras are different, and the position detection process includes: a first position detection process of detecting the position of the target detected in the first detection process; and a second position detection process of detecting the position of the target detected in the secondary detection process, wherein the determination process compares the first position with the second position, and the first and second detection processes and a determination process of determining whether the detected targets are the same.

The first position detection process and the second position detection process may include: detecting a position difference between a center position in a width direction of an image screen on which an image including a target is displayed and a position difference between the target on the image screen; and determining the position difference as the position of the target.

a process of determining, as a reference line, a plurality of cameras, the plurality of cameras being movable about one axis, and a center of a width direction of any one of the plurality of cameras and a virtual line passing through the one axis; setting an angle value of an end opposite to the one axis among both ends of the reference line to 0°; in each of the plurality of cameras, a process of giving an angle to an axis passing through a center in a width direction and the one axis, based on the 0°; And in each of the plurality of image screens obtained from each of the plurality of cameras, the process of giving an angle with respect to the axis of each of the plurality of cameras to the axis that is the center of the image screen in the width direction;

The process of detecting a position difference between the center position in the width direction of the video screen including the target and the target on the video screen calculates the difference between the angle of the axis of the video screen including the target and the angle of the target on the video screen and setting the first angle difference calculated in the first position detection process as the first position and the second angle difference calculated in the second position detection process as the second position.

In the determination process, when the first angle difference and the second angle difference are the same, it is determined that the targets detected in the first and second detection processes are the same.

The first position detection process and the second position detection process may include: displaying an image screen including a target in X-Y coordinates; and converting the difference between the angle of the axis of the video screen including the target and the angle of the target on the video screen into an X-Y coordinate position value on the video screen. including,

_{The first position value (X 1} Y ₁ ) converted in the first position detection process is _{the first position, and the second position value (X 2} Y ₂ ) converted in the second position detection process is used as the second position do.

In the determination process, when the first location value (X ₁ Y ₁ ) and the second location value (X ₂ Y ₂ ) are the same, it is determined that the targets detected in the first and second detection steps are the same.

As the plurality of cameras move, they rotate by an angle difference between axes with respect to the plurality of cameras.

The viewing angle of the camera during the first photographing and the viewing angle of the camera during the second photographing are the same.

A situation monitoring apparatus according to an embodiment of the present invention includes a camera and a detection unit for detecting the presence of a target using an image obtained from the camera, and includes a movable monitor, wherein the detection unit is when the camera is moved , it is determined whether a target detected before rotation and a target detected after rotation are the same target according to a difference in position of a target on a video screen displaying images obtained from different cameras before and after the movement of the camera.

In detecting the position of the target on the image screen by the detection unit, the position difference between the center position in the width direction of the image screen including the target and the target on the image screen is detected, and the position difference is determined as the position of the target includes the process of

The camera is provided in plurality, and an imaginary line passing through the width direction center of any one of the plurality of cameras and the one axis is determined as a reference line, and among both ends of the reference line, the end opposite to the one axis The angle value is set to 0°, and in each of the plurality of cameras based on the 0°, an angle is given to an axis passing through the width direction center and the one axis, and the detection unit is obtained from each of the plurality of cameras. For each video screen, an angle with respect to the respective axes of the plurality of cameras is given to an axis that is the center of the video screen in the width direction, and the detector includes an angle of an axis of a video screen including a target and a target on the video screen The angular difference between the two is detected as the position of the target.

The detector determines that the target detected before the rotation and the target detected after the rotation are the same target when the angle difference detected before the rotation and the angle difference detected after the rotation are the same.

The detection unit represents the video screen in XY coordinates, converts the difference between the angle of the axis of the video screen including the target and the angle of the target on the video screen into an XY coordinate position value on the video screen, the position of the target detected with

When the position value detected before the rotation and the position value detected after the rotation are the same, the detection unit determines that the target detected before the rotation and the target detected after the rotation are the same target.

and a synthesizing unit for synthesizing the images obtained from the plurality of cameras to generate a synthesized image.

and a controller for receiving the composite image transmitted from the monitor.

According to the situation monitoring apparatus according to an embodiment of the present invention, after a target is detected from an image captured by a plurality of cameras, when the plurality of cameras are rotated about a rotation axis to change their horizontal position, detection is performed before rotation It is judged whether the detected target and the detected target after rotation are the same target.

Accordingly, it is possible to prevent recognition that the target detected before the rotation and the target detected after the rotation are actually the same target, but different from each other. That is, it is possible to prevent erroneous recognition of the same target as different targets. Accordingly, it is possible to improve the situational awareness of the monitoring area.

1 is a diagram conceptually showing a monitor and a controller of a situation monitoring device according to an embodiment of the present invention.
2 is a plan view viewed from the top of the vehicle in order to explain the arrangement state of the plurality of cameras installed in the vehicle of the detector according to the embodiment of the present invention.
3 is a block diagram illustrating a monitor and a controller according to an embodiment of the present invention.
FIG. 4 is a diagram conceptually illustrating that an image is captured in a 360 degree field of view and 360 degrees of each of a plurality of cameras.
5 is a conceptual diagram illustrating first to sixth fields of view and first to sixth images of each of the first to sixth cameras arranged at 360° according to an embodiment of the present invention.
FIG. 6 is a view showing the first to sixth images taken by the first to sixth fields of view of each of the first to sixth cameras of FIG.
FIG. 7 is a diagram illustrating first to sixth fields of view and images of each of the first to sixth cameras according to an embodiment of the present invention displayed on an XY coordinate plane.
8 to 10 are diagrams for explaining a method of determining whether a target detected before camera rotation and a target detected after camera rotation are the same target.
11 is a conceptual diagram for explaining a method of setting a monitoring area by a method according to an embodiment of the present invention, and dividing the monitoring area into a central area and a remote area using the deep area.
12 is a flowchart illustrating a situation monitoring method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art will be completely It is provided to inform you. The drawings may be exaggerated in order to explain the embodiment of the present invention, and like reference numerals in the drawings refer to the same components.

The present invention provides a situation monitoring device and a situation monitoring method for obtaining a 360-degree panoramic image using a target handover capable of improving situational awareness in a monitoring area.

More specifically, it provides a situation monitoring device and situation monitoring method for obtaining 360-degree panoramic images using target handover that can determine whether a target detected before rotation or movement of a camera and a target detected after rotation are the same target do.

That is, when the camera is rotated or moved after the target is detected, 360 degrees using target handover that can determine whether a target detected by a different camera than before rotation is the same target as a target detected before rotation It relates to a situation monitoring apparatus for acquiring a panoramic image and a situation monitoring method.

Hereinafter, a situation monitoring apparatus and a situation monitoring method for obtaining a 360-degree panoramic image using target handover according to an embodiment of the present invention will be described. Hereinafter, for convenience of explanation, a situation monitoring device for obtaining a 360-degree panoramic image using a target handover is referred to as a 'situation monitoring device'. In addition, a situation monitoring method for obtaining a 360-degree panoramic image using a target handover is called a 'situation monitoring method'.

The monitoring area or monitoring area for which the situation monitoring apparatus according to the embodiment monitors, recognizes or grasps the situation may be on the ground. In addition, the situation in which the situation monitoring device according to the embodiment of the present invention operates or the situation monitoring method is applied is a situation in which an enemy, an enemy's armored vehicle, a tactical vehicle, etc., has invaded our territory. It could be a situation, or it could be a situation where a war broke out. This situation may be a state recognized by being identified through a satellite or an aircraft in advance, or a state recognized through other information.

Accordingly, the monitoring area may be an area set according to the enemy's deep area, which is an operational area in which the enemy or the enemy's tank is present, or in which the enemy is conducting an operation. In other words, the monitoring area may be set outside the depth area, and may be set based on the depth area. And, the monitoring area may be set to have a larger area than the depth area. The method of setting the monitoring area will be described later.

1 is a diagram conceptually showing a monitor and a controller of a situation monitoring device according to an embodiment of the present invention. 2 is a plan view viewed from the upper side of the vehicle in order to explain the arrangement state of the plurality of cameras installed in the vehicle of the detector according to the embodiment of the present invention. 3 is a block diagram illustrating a monitor and a controller according to an embodiment of the present invention. FIG. 4 is a diagram conceptually illustrating that an image is captured in a 360 degree field of view and 360 degrees of each of a plurality of cameras.

1 to 3 , a situation monitoring apparatus 1000 according to an embodiment of the present invention includes a plurality of cameras 1120; 1121 to 1126, a composite image can be generated, and a movable monitor ( 1100), and a controller 1200 that receives the synthesized image generated by the monitor 1100, and controls the operation of the monitor 1100 through remote or wireless communication.

First, the controller 1200 will be described.

Referring to FIG. 3 , the controller 1200 includes a control unit 1210 that controls the movement of the monitor 1100 , a communication unit that is a means for transmitting and receiving with the monitor 1100 (hereinafter, a control communication unit 1230 ), and a monitor 1100 . . , a control control processing unit 1220). Such a controller 1200 may be installed to be mounted on a movable vehicle.

The control unit 1210 controls the movement of the monitor 1100 so that the monitor 1100 can move to the monitoring area, move within the monitoring area, or move out of the monitoring area. To this end, a pre-made driving route is input or stored in the control unit 1210 , which may be transmitted to the monitor 1100 through the control communication unit 1230 . Accordingly, the monitor 1100 may move according to the input travel route. Of course, the present invention is not limited thereto, and the operator may change and input the driving route to the control unit 1210 in real time, and accordingly, the operator may control the movement of the monitor 1100 through the control unit 1210 in real time.

And, since the movement of the monitor 1100 is controlled through the control unit 1210 , the current position of the monitor 1100 can be tracked or grasped from the control unit 1210 . Of course, the present invention is not limited thereto, and the current position of the monitor 1100 may be tracked using a position sensor such as GPS. And, the current position of the tracked monitor 1100 is transmitted to the control control processing unit 1220 in real time, which may be transmitted to the monitor 1100 . In addition, the current position of the monitor 1100 may be tracked by the monitor 1100 itself, without going through the controller 1200 or the control control processing unit 1220 .

The method for tracking the location of the monitor 1100 is not limited to the above-described examples, and any method and means may be used as long as the location of the monitor 1100 can be tracked.

1 to 3, the monitor 1100 is installed in the movable vehicle 1110 and the vehicle 1110, it is possible to take an image in each, and is arranged around one location to determine the one location. A plurality of cameras (1120: 1121 to 1126) rotatable around the center, a detector (1130) for detecting a target in a surveillance area using images or image data captured from a plurality of cameras (1120: 1121 to 1126), a plurality of and a synthesizing unit 1140 for generating a composite image by synthesizing images taken from each of the cameras 1121 to 1126 of the .

In addition, the monitor 1100 is installed on the vehicle 1110 so that the plurality of cameras 1121 to 1126 are supported, and rotates the rotatable support (hereinafter, the first support part 1120a) and the first support part 1120a. and a driving unit 1180 connected to the first support unit 1120a to

And, the monitor 1100 is a display unit 1170 that displays the image synthesized by the communication unit (hereinafter, the monitoring communication unit 1160) and the synthesis unit 1140, which is a means for transmitting and receiving with the controller 1200, on the screen. include

In addition, the monitor 1100 is installed on the vehicle 1110 and installed on the vehicle 1110 so that a weapon that attacks a detected target, such as a cannon 1190 and a gun 1190 is supported, and a rotatable support ( Hereinafter, the second support unit 1190a) and a plurality of display units 1150 ( 1151 to 1156 ) for displaying images photographed from each of the plurality of cameras 1120 may be included.

The vehicle 1110 may be a vehicle capable of moving toward the monitoring area, moving within the monitoring area, or moving out of the monitoring area, and may be remotely moved by the controller 1200 . That is, the vehicle 1110 may be a means having an autonomous driving processing unit so that the vehicle 1110 can be driven unattended by a signal transmitted from the controller 1200 or the control unit 1210 . More specifically, the vehicle 1110 may be a means capable of autonomous driving according to a driving route input in advance from the controller 1200 . That is, when a driving path for moving the vehicle 1110 is created and input to the controller 1200 and transmitted to the vehicle 1110, the vehicle 1110 may be a means provided to be movable along the input driving path. . Of course, the present invention is not limited thereto, and the operator of the controller 1200 may adjust the movement of the vehicle 1110 in real time. Also, the operator may directly control the driving of the vehicle 1110 by riding on the vehicle 1110 . The vehicle 1110 may be a vehicle armed with a gun, a machine gun, or the like.

The camera 1120 is installed in the vehicle 1110 and is a photographing means for acquiring an image. The camera 1120 may be, for example, a camera including an infrared image sensor and a visible light image sensor. In other words, the camera 1120 may be a means for sensing or acquiring an infrared image using an infrared image sensor for the same region or location, and sensing or acquiring a visible ray image using the visible light image sensor.

A plurality of cameras 1120 are provided, and the plurality of cameras 1120 ( 1121 to 1126 ) focus on one location on the vehicle 1110 so that an image capable of recognizing or comprehending the entire situation around the vehicle 1110 is acquired. are placed in a list. That is, the plurality of cameras 1121 to 1126 are installed to enable the acquisition of an image of 360 degrees (360 degrees) with respect to one location on the vehicle 1110 . For example, as shown in FIGS. 2 and 4 , the plurality of cameras 1121 to 1126 may be arranged so that their arranged shape becomes a circle on the vehicle 1110 . In other words, a plurality of cameras 1121 to 1126 may be radially disposed with respect to one location of the vehicle 1110 , and may be disposed such that the separation distance between each camera 1120 and the one location is the same. In addition, the plurality of cameras 1121 to 1126 are arranged so that the distance between them is the same, that is, at equal intervals.

More specifically, the plurality of cameras are arranged in a row in the circumferential direction of the first support portion 1120a as shown in FIGS. 2 and 4 . Accordingly, the plurality of cameras 1121 to 1126 are arranged in a row at a 360 degree (360°) centering on the first support unit 1120a installed on the vehicle 1110 . In this case, the description in which the plurality of cameras 1121 to 1126 are arranged in a row around 'one location' on the vehicle 1110 is that the plurality of cameras 1121 to 1126 are arranged around the first support part 1120a. It can be described as being deployed. Also, the first support unit 1120a is rotated by the driving unit 1180 , and the plurality of cameras 1121 to 1126 are rotated by the rotation of the first support unit 1120a. Accordingly, the plurality of cameras 1121 to 1126 rotating about a 'one position' on the vehicle 1110 means that the plurality of cameras 1121 to 1126 use the first support part 1120a as the rotation axis AX or This may mean that the first support part 1120a rotates with the center of the width direction as the rotation axis AX. In addition, since the plurality of cameras 1121 to 1126 are arranged in a circle, the center of the plurality of cameras 1121 to 1126 may mean the rotation axis AX. And, the rotation of the plurality of cameras 1121 to 1126 means that the plurality of cameras 1121 to 1126 move to change the positions of each.

It is preferable that six or more cameras 1120 are provided. In this case, the plurality of cameras 1121 to 1126 may be disposed at intervals of 60° from each other. And at this time, as shown in FIGS. 2 and 4 , the first camera 1121 and the fourth camera 112 face each other, the second camera 1122 and the fifth camera 1125 face each other, and the third camera 1123 and the sixth camera 1126 may be disposed to face each other.

The plurality of cameras 1121 to 1126 photograph each facing or front area as shown in FIG. 4 , and an image is obtained from each. That is, the plurality of cameras 1121 to 1126 have different fields of view F1 to F6 respectively, and images are obtained from each. In this case, since the plurality of cameras 1121 to 1126 have different installation positions or fields of view F1 to F6, all of the photographed positions may be different. Accordingly, it is possible to obtain an image in the direction in which the cameras 1120 are arranged, and since the plurality of cameras 1121 to 1126 are arranged in a circle with respect to one position on the vehicle 1110 or the first support unit 1120a as the center, FIG. 4, an image around the vehicle 1110 can be obtained. That is, it is possible to obtain an image in a 360-degree (360°) direction centered on the vehicle 1110 , and by synthesizing these images, a 360-degree (360°) panoramic or panoramic image can be generated.

The driving unit 1180 is a means for rotating the first support unit 1120a on which the plurality of cameras 1121 to 1126 are mounted or supported. The driving unit 1180 may be installed on the upper portion of the vehicle 1110 , and the first support unit 1120a may be installed on the driving unit 1180 . And, the driving unit 1180 according to the embodiment is provided to rotate the first support part 1120a supporting the plurality of cameras 1121 to 1126 as well as the second support part 1190a on which the cloth 1190 is supported. do. That is, the first and second support units 1120a and 1190a are provided to rotate together when the driving unit 1180 is operated.

The display unit 1150 is a means for displaying or displaying an image captured by the camera 1120 . The display unit 1150 is provided in plurality to display images captured by each of the plurality of cameras 1120 . For example, when six cameras 1121 to 1126 are provided, six display units 1150 ( 1151 to 1156 ) are provided. In addition, the plurality of display units 1151 to 1156 displays images on screens of the same size.

For example, as shown in FIG. 1 , the driving unit 1180 is installed on the upper portion of the vehicle 1110 , the second support unit 1190a on the driving unit 1180 , and the first support unit 1190a on the second support unit 1190a . 1120a) may be installed to be connected. Accordingly, the first support part 1120a and the second support part 1190a are installed to be interconnected. Accordingly, when the driving unit 1180 is operated, the second supporting unit 1190a may be rotated, and the first supporting unit 1120a may be rotated by the rotation of the second supporting unit 1190a. Accordingly, when the driving unit 1180 operates, the cloth 1190 is rotated by the rotation of the second support unit 1190a. .

In this case, when each of the plurality of cameras is rotated by the operation of the driving unit, it may be rotated in units of 60°. That is, it can be rotated by 60°, 120°, or the like.

Of course, the present invention is not limited thereto, and the unit angle at which each of the plurality of cameras is rotated may be changed according to the number of cameras provided and an angle difference between cameras arranged at equal intervals.

The rotation of the gun 1190 or the plurality of cameras 1121 to 1126 means that the gun 1190 rotates so as to change its horizontal position. That is, in the case of the fabric 1190, the other end, which is the opposite end of one end connected to the second support unit 1190a, among both ends in the extending direction of the fabric 1190, rotates to change the position in the horizontal direction viewed. In addition, in the case of the plurality of cameras 1121 to 1126, it means that each rotates to change its front position in the horizontal direction.

As described above, the plurality of cameras 1121 to 1126 rotates around one position on the vehicle 1110 by the operation of the driving unit 1180 or the first support unit 1120a. At this time, since the plurality of cameras 1121 to 1126 are arranged and rotated in a row around the width direction center of the first support part 1120a or the first support part 1120a, one position on the vehicle 1110 is the first It may be the center of the support part 1120a or the first support part 1120a in the width direction. In addition, the first support part 1120a or the width direction center of the first support part 1120a may be the center of the plurality of cameras 1121 to 1126 arranged in a circle, and may be a rotation axis of the first support part 1120a. Accordingly, the center of the first support part 1120a or the first support part 1120a to which the plurality of cameras 1121 to 1126 are connected, or the center of the plurality of cameras 1121 to 1126 arranged in a circle, is referred to as the 'rotation axis (AX)'. name it

In addition, hereinafter, for convenience of explanation, the rotation of the plurality of cameras 1121 to 1126 so that the respective horizontal positions are changed by the operation of the driving unit 1180 will be described as 'the camera rotates'. That is, 'the camera rotates' in the following means that the plurality of cameras 1121 to 1126 rotate about the rotation axis AX so that each horizontal position or field of view is changed.

5 is a conceptual diagram of the first to sixth fields of view (F1 to F6) and the first to sixth images (I1 to I6) of the first to sixth cameras according to an embodiment of the present invention arranged at 360°. it has been shown

Here, FIG. 5A is a view in which the first to sixth fields of view F1 to F6 of each of the first to sixth cameras 1121 to 1126 are arranged at 360° according to an embodiment of the present invention. _{In order to execute the situation monitoring method according to the embodiment, the reference line L s} is determined using the center of the plurality of cameras 1121 to 1126 , that is, the rotation axis AX. Specifically, the center of the axis on which the plurality of cameras 1121 to 1126 rotate, that is, the rotation axis AX and any one of the plurality of cameras 1121 to 1126, for example, the width direction center of the second camera 1122. Let the false line be the reference line (L _s ).

And, in the reference line passing through the rotation axis AX, the other end, which is the opposite end of one end connected to the rotation axis AX, is 0° (360°). In addition, assuming that the reference line Ls is rotated by 360° around the rotation axis AX, it is set to 30°, 60°, 90°, 120°, 150°, 180° from 0° clockwise. . In addition, it is set to 210°, 240°, 270°, 300°, 360° (0°) from 180° in the clockwise direction. Accordingly, an angle of 360° is generated around the rotation axis AX. _{In this case, the angle of the other end of the reference line L s} connecting the second camera 1122 and the rotation axis AX is always 0° (360°). That is, even when the camera rotates, the _{angle of the other end of the reference line L s} connecting the second camera 1122 and the rotation axis AX is always 0° (360°).

In addition, when an imaginary line extending through the rotation axis AX and the center of the camera in the width direction is referred to as an axis, the second axis A ₂ of the second camera 1122 becomes the reference line L _s .

In this case, the angle of the field of view of the second camera 1122, that is, the second field of view F2, in the width direction (ie, the center of the field of view) is 0°. And, the third, fourth, fifth, sixth, and first camera (1123, 1124, 1125, 1126, 1121) of the field of view (third, fourth, fifth, sixth, first field of view F3, F4) , F5, F6, F1) can be described as increasing the angle so that the central position or axis of the viewing width (A3, A4, A5, A6, A1) differs by 60°.

More specifically, the second field of view F2 of the second camera 1122 has its width direction center (hereinafter, the center of the field of view) and the second axis A ₂ of 0°, and of the third camera 1123 . The third field of view F3 has the center of the field of view width and the third axis A ₃ of 60°, and the fourth field of view F4 of the fourth camera 1124 has the center of the field of view width and the fourth axis A ₄ . 120°, the fifth field of view F5 of the fifth camera 1125 has the center of its field of view width and the fifth axis A ₅ of 180°, and the sixth field of view F6 of the sixth camera 1126 has its field of view width The center and the sixth axis A ₆ are 240°, and the first field of view F1 of the first camera 1121 has a center of the viewing width and the first axis A ₁ is 300°.

5 (b) is a view showing the first to sixth images I1 to I6 captured by the first to sixth fields of view F1 to F6 of the first to sixth cameras 1121 to 1126 of FIG. 5 (a), respectively. ) is shown expanded. FIG. 6 shows the first to sixth images I1 to I6 photographed by the first to sixth fields of view F1 to F6 of each of the first to sixth cameras 1121 to 1126 of FIG. are listed as shown.

Here, each of the first to sixth images I1 to I6 of FIGS. 5 (b) and 6 (b) is an image in which images captured by each of the first to sixth cameras 1121 to 1126 are displayed on a screen. It can mean screen.

As described above, in the monitoring apparatus according to an embodiment of the present invention, the first to sixth images I1 to I6 captured by the first to sixth cameras 1121 to 1126 as shown in FIGS. 5 (b) and 6 are displayed. It can be expressed as an angle from 0° to 360°. That is, the first to sixth images captured by the first to sixth cameras 1121 to 1126 may be displayed at an angle of 0° to 360° with respect to the first to sixth image screens I1 to I6.

More specifically, when the center of the width direction on the first to sixth image screens I1 to I6 is an axis (refer to FIGS. 5 (b) and 6 (b)), the first to sixth _{An angle with respect to each of the axes A 1} to A ₆ of the cameras 1121 to 1126 is given to the axis in the width direction on the first to sixth image screens I1 to I6 .

Hereinafter, for convenience of description, the reference numerals of the respective axes of the first to sixth image screens I1 to I6 will be described with the same _{reference numerals A 1} to A _{6 of the respective axes of the plurality of cameras.}

As an angle is given to the first to sixth video screens (I1 to I6) axis lines (A ₁ to A ₆ ), it can be expressed at an angle of 0° to 360° with respect to the first to sixth video screens (I1 to I6). have. _{That is, since the angle of each of the axes A 1} to A _{6 of} the first to sixth image screens I1 to I6 is determined, as shown in FIGS. 5 (b) and 6 (b), the axis A ₁ to A ₆ ) can be represented by giving an angle to the entire first to sixth image screens I1 to I6 ).

Accordingly, when a target is detected to be displayed on at least one image among the plurality of cameras 1121 to 1126 , the position of the target in the image can be known, and it can be known as an angle value. More specifically, the position of the target may be known from the difference DA between the axis of the image screen on which the target is displayed and the angle at which the target M is located.

For example, when the target M is located at a position of -15° (345°) from the second axis (0°) of the second camera 1122 as shown in FIG. 5(a), FIG. 5(b) As shown, the target M may be displayed at a position of -15° (345°) from the second axis A2 (0°) of the second image screen I2. In this case, the position P of the target M on the second image screen I2 may be detected as a point -15° away from _{the second axis A 2 .}

The position P of the target M is used to determine whether a target detected before camera rotation and a target detected after camera rotation are the same target.

7 is a view showing the first to sixth fields of view (F1 to F6) and the first to sixth image screens (I1 to I6) of each of the first to sixth cameras on the XY coordinate plane according to an embodiment of the present invention; It is a drawing illustrating that.

In the above, a method of indicating the position of the target in the image screen photographed from the plurality of cameras 1121 to 1126 as an angle has been described. However, the present invention is not limited thereto, and the image screens I1 to I6 obtained from each of the plurality of cameras 1121 to 1126 may be images provided to be displayed or displayed on the X-Y coordinate plane as shown in FIG. 7 .

Accordingly, when the target is detected to be displayed on at least one of the plurality of cameras 1121 to 1126 on the image screen, the position of the target M in the image screen can be known, and the position on the XY coordinates of the image screen (P) can be found.

At this time, when the target is displayed on the image screen, the position in the X-axis direction is displayed differently depending on the angle of the target with respect to the axis. And the position in the Y-axis direction (height direction) is displayed to be fixed. At this time, the position of the target, that is, the position in the X-axis direction, may be detected according to the separation direction and the separation distance from the axis of each image screen.

For example, when the target M is located at a position of -15° (345°) from the second axis (0°) of the second camera 1122 as shown in FIG. 5(a), FIG. 7(b) As shown, the target M is positioned at a position spaced a predetermined distance from the second axis A2 (0°), which is the center of the second image screen I2, to the left (X-axis direction). At this time, the predetermined distance increases as the angle difference between _{the second axis A 2 and the target M increases.} In this case, the position P of the target M _{may be detected as a point separated from the second axis A 2} by a distance obtained by converting a -15° angle difference into a distance.

The image screens shown in FIGS. 5 to 7 described above may be displayed on the respective cameras 1121 to 1126 itself, or may be separately displayed on the display unit 1150 .

The detector 1130 may be a means for operating a plurality of cameras when a signal is input to the monitor 1100 located within the monitoring area. Also, the detector 1130 detects a target by using a plurality of images obtained from the plurality of cameras 1121 to 1126 . For example, the detector 1130 may detect the presence of a target by comparing a plurality of images captured at a previous time point with a plurality of images captured at a current time point. A method of detecting the presence of a target and the number of targets by using the images captured by each of the plurality of cameras 1121 to 1126 by the detector 1130 is not limited to the above-described example, and various methods may be applied. .

Also, the detector 1130 may identify the type of the detected target. That is, the detection unit 1130 may identify or classify the type of the detected target, for example, an armored vehicle, a self-propelled artillery, a tactical vehicle, or the like. This is a method of comparing data on a target previously stored in the detection unit 1130 with data on a detected target, and the type of target may be identified or classified. The data on the target stored in the detector 1130 may be, for example, information such as the shape and size of an enemy's armored vehicle, self-propelled artillery, tactical vehicle, and the like.

In addition, the detector 1130 according to an embodiment may determine whether a target detected before rotation of the camera 1120 and a target detected after rotation of the camera 1120 are the same target. That is, after a target is detected from an image captured by at least one of the plurality of cameras 1121 to 1126 , the driver 1180 is operated in a state in which the monitor 1100 does not move so that the camera 1120 rotates around the axis of rotation. When rotated to , it is determined whether the target detected before the rotation and the target detected after the rotation are the same target.

In the related art, when the position of the target before camera rotation and the position of the target after camera rotation are the same, determining that the target before rotation and the target after rotation are the same is generally referred to as handover.

Hereinafter, with reference to FIGS. 1 to 6 and 8 to 10 , in the detection unit according to an embodiment of the present invention, a method for determining whether a target detected before camera rotation and a target detected after camera rotation is the same target explain about

In this case, the monitor 1100 will be described as an example including six cameras. In addition, the six cameras are named first to sixth cameras 1121 to 1126 , and the fields of view from each of the first to sixth cameras 1121 to 1126 are called first to sixth fields of view F1 to F6 . name In addition, images captured or acquired by each of the first to sixth cameras 1121 to 1126 and displayed on the screen are called first to sixth image screens I1 to I6 .

8 to 10 are diagrams for explaining a method of determining whether a target detected before camera rotation and a target detected after camera rotation are the same target.

Here, FIG. 8 is a diagram illustrating a case in which the target M is detected from the second image screen I2 obtained from the second camera 1122 before rotation. 9 and 10 are diagrams illustrating a case in which the target M is detected from the third image screen I3 obtained from the third camera 1123 after rotation.

At this time, FIGS. 8(a), 9(a), and 10(a) show the first to sixth fields of view F1 to F6 for each of the first to sixth cameras 1121 to 1126 in FIG. 5( As described in a), it is conceptually illustrated in a row. And, FIGS. 8(b), 9(b), and 10(b) are the first to sixth cameras 1121 to 1126 of FIGS. 8(a), 9(a), and 10(a), respectively. The first to sixth image screens I1 to I6 photographed by each of the first to sixth fields of view F1 to F6 are unfolded.

For example, among the plurality of cameras 1121 to 1126 , for example, when there is a target M in the second field of view F2 of the second camera 1122 as shown in FIG. ), the target M is displayed on the second image screen I2 photographed from the second camera 1122 . Accordingly, the detection unit 1130 recognizes or detects that the target M is present in the monitoring area from the second image screen I2 . And the detector 1130 detects the position of the target M on the second image screen I2.

To this end, the detector 1130 calculates an angle difference between the axis of the image screen on which the target M is displayed and the target. For example, looking at the second image screen I2 of FIG. 8B , the target M is positioned at an angle of 345° with respect to _{the second axis A 2 0° (360°).} That is, the _{angular difference (the first angular difference) between the second axis A 2} (0°) and the target 345° is -15°. In other words, there is a target at a position of -15° from the second axis A ₂ (0°), which is the position of the target P ₁ .

On the other hand, in a state in which images are taken from the plurality of cameras 1121 to 1126 and the target M is detected from the acquired images, the cameras are rotated before transmitting them to the synthesizing unit 1140 .

For example, if a previously detected target is identified as a target such as an enemy tank, armored vehicle, self-propelled gun, etc., and it is urgent to attack the target, the gun is rotated to point it at the target to be attacked. have to do To this end, when the driving unit 1180 is operated, the second support unit 1190a and the fabric 1190 supported thereon rotate. In this way, when the driving unit 1180 is operated and the cloth 1190 is rotated, the second support unit 1190a connected together to the driving unit 1180 and the plurality of cameras 1121 to 1126 supported thereon rotate together. . That is, the plurality of cameras 1121 to 1126 rotates about the rotation axis AX.

In the state of (a) of FIG. 8 , the fabric 1190 is rotated counterclockwise by, for example, 60° by the operation of the driving unit 1180, which may be the same as, for example, (a) of FIG. 9 .

Even when the camera is rotated as described above, since the reference line L _s is set with respect to the second camera 1122, the angle of the axis of each camera is the same as before the rotation. That is, before and after rotation of the camera _{, the angle of the first axis (A 1} ) is 300°, the angle of the second axis (A ₂ ) is 0° (360°), and the angle of the third axis (A ₃ ) is respectively before and after the rotation of the camera. is 60 °, the _{angle of the fourth axis (A 4} ) is 120 °, the angle of the fifth axis (A ₅ ) is 180 °, the angle of the sixth axis (A ₆ ) is 240 ° (see FIGS. 8 to 10 ) ).

However, when the cameras are rotated in this way, the direction each camera sees, that is, the field of view changes. Accordingly, the target M is not visible in the second field of view F2 of the second camera 1122 as shown in FIG. (M) can be seen. Accordingly, the target M may be displayed on the third image screen I3 photographed by the third camera 1123 as shown in FIG. 9B .

When the target is detected after the camera is rotated, the detection unit 1130 detects the position of the detected target M after the rotation. That is, the position of the target on the image screen in which the target M is detected is detected.

To this end, the detector 1130 calculates an angle difference (second angle difference) between the axis of the image screen on which the target M is displayed and the target. For example, looking at the second image screen I2 of FIG. 9B , the target M is positioned at an angle of 45° with respect to _{the third axis A 3 60°.} That is, the _{angle difference (second angle difference) between the third axis A 3} (60°) and the target 45° is -15°. In other words, there is a target at a position of -15° from the third axis A ₂ (60°), which is the position of the target P ₂ .

Thereafter, the detection unit 1130 compares the first position P ₁ , which is the position of the target M detected before the rotation, with the second position P, which is the position of the target M detected after the rotation. And, when the first position (P ₁ ) and the second position (P ₂ ) are the same, the detection unit 1130 detects the target M detected by the second image I2 of the second camera 1122 before rotation. And, it is determined that the target M detected by the third image I3 of the third camera 1123 after rotation is the same target.

8 and 9, the target (M) in FIG. 8 (b) before the rotation is a -15° position (P ₁ ) _{from the second axis (A 2 ) of the second image (I2).} In (b) of FIG. 9 (b), which is in a state after rotation, the target M is at a -15° position (P ₂ ) _{from the third axis A 3 of the third image I3.} Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are the same, and the detection unit 1130 determines that the target before rotation and the target after rotation are the same target. .

After it is determined to be the same target, this determination signal may be transmitted to the controller 1200 through the monitoring communication unit 1160 . And, the controller 1200 may recognize that the target detected before the rotation and the target detected after the rotation are the same target, and may not generate a command for a separate additional action.

Then, after rotation, the secondary images photographed secondarily from each of the first to sixth cameras 1121 to 1126 are synthesized and transmitted to the synthesizing unit 1140 . In addition, the synthesizing unit 1140 generates a synthesized image by synthesizing the secondary images transmitted from the first to sixth cameras 1121 to 1126 .

However, when the first position (P ₁ ) and the second position (P ₂ ) are different, the detection unit 1130 detects the target M detected by the second image I2 of the second camera 1122 before rotation. And, it is determined that the target M detected by the third image I3 of the third camera 1123 after rotation is another target.

Comparing FIGS. 8 and 10, in FIG. 8 (b) before the rotation, the target M is at a -15° position (P _{1 ) from the second axis A 2 of the second image screen I2.} ), and in FIG. 10 (b) after rotation, the target M is at the position (60°) (P ₂ ) _{of the third axis A 3 of the third image screen I3.} Accordingly, on the third image screen I3 , the angle difference DA (second angle difference) of the target from the third axis line A3 is 0°. _{This can be described as that the target M is located at a point 0° apart from the third axis A 3} on the third image screen I3, that is, located on the third axis A ₃ . can be described as Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are different, and the detection unit 1130 determines that the target before rotation and the target after rotation are different targets. .

Thereafter, after rotation, the secondary images photographed secondarily from the first to sixth cameras 1121 to 1126 are transmitted to the synthesizing unit 1140 . In addition, the synthesizing unit 1140 generates a synthesized image by synthesizing the secondary images transmitted from the first to sixth cameras 1121 to 1126 .

In addition, when it is determined that the target detected before rotation and the target detected after rotation are different targets, the detection unit 1130 recognizes and determines whether there is a target detected before rotation in addition to the target detected after rotation. And this determination signal may be transmitted to the controller, and the controller 1200 may take a follow-up action command. For example, a search for a target that was detected prior to rotation may be performed.

In the above, it has been described whether the target detected before the rotation and the target detected after the rotation are the same target by detecting the angle value of the position of the target on the image. However, the present invention is not limited thereto, and as described with reference to FIG. 7 , the images I1 to I6 obtained from each of the plurality of cameras 1121 to 1126 are displayed on the XY coordinate plane, and the position of the target on the image is the XY coordinate position. can be detected with

8 and 9, the target M in the state before rotation of FIG. 8 (a) is -15° from _{the second axis A 2 of the second camera 1122 (P 1} ) In (a) of FIG. 9 (a) which is in a state after rotation, the target M is at a -15° position (P ₂ ) _{from the third axis A 3 of the third camera 1123 .}

The angular difference of the target from this axis is converted into a position value and displayed on the XY coordinates of the video screen. More specifically, the angle difference of the target from the axis is reflected in the position on the X coordinate of the image screen, and the position of the Y coordinate is fixed. _{Accordingly, the position (P 1} ) of the target (M) on the second image screen (I2) before rotation _{X 1} , Y _{1 ,} and the position (P) of the target (M) on the third image screen (I3) after rotation ₂ ), which is X ₂ , Y ₂ is the same. Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are the same, and the detection unit 1130 determines that the target before rotation and the target after rotation are the same target. .

However, comparing FIGS. 8 and 10, the target M in the state before rotation of FIG. 8 (a) is -15° from _{the second axis A 2 of the second camera 1122 (P) 1} ), and in FIG. 10 ( a ) after rotation, the target M is at a position ( 60° ) ( P ₂ ) _{of the third axis A 3 of the third camera 1123 .}

It is displayed on the XY coordinates of the video screen so that the angle difference of the target from this axis is reflected. _{Accordingly, the position (P 1} ) of the target (M) on the second image screen (I2) before rotation _{X 1} , Y _{1 ,} and the position (P) of the target (M) on the third image screen (I3) after rotation ₂ ), X ₂ , Y ₂ is different. More specifically, the positions (X ₁ , X ₂ ) in the X-axis direction are different. Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are different, and accordingly, the detection unit 1130 determines that the target before rotation and the target after rotation are different.

11 is a conceptual diagram for explaining a method of setting a monitoring area by a method according to an embodiment of the present invention, and dividing the monitoring area into a central area and a remote area using the deep area.

The monitor 1100 monitors the monitoring area by the method according to the embodiment of the present invention in the monitoring area set using the depth area.

Hereinafter, the monitoring area MA and a method of dividing the monitoring area MA into a plurality of areas will be described with reference to FIG. 11 .

First, figure out the enemy's depth area (DA). At this time, it is possible to determine the enemy's depth area (DA) through a satellite or an aircraft. The identified enemy depth area DA is transmitted to the control control processing unit 1220 of the controller 1200 .

The operator or control control processing unit 1220 sets the monitoring area MA for recognizing or understanding the current situation using the delivered deep area DA. The monitoring area MA is divided into a central area CA and a remote area LA as shown in FIG. 11 . In other words, the monitoring area MA includes a central area CA and a remote area LA. In this case, the central area CA may be described as an area between the deep area DA and the remote area LA.

Hereinafter, a method of setting the monitoring area MA and dividing the monitoring area MA into a central area CA and a remote area LA will be described in more detail.

As shown in FIG. 11 , a first point P1 is a point farthest from the controller 1200 among the set deep areas DA, and a point closest to the controller 1200 among the set deep areas DA is a second point. _{When the point P2 is referred to as the third point P3 and the point separated by the first distance L 1} toward the controller 1200 from the second point P1 is referred to as the third point P3, the second point P2 and the third point Set the area between (P3) as the monitoring area (MA). In this case, the first distance L1 can be set by the operator by adjusting the position of the second point P1, the area of the deep area DA, and the like.

And, when a point separated by a second distance L2 from the second point P2 toward the controller 1200 is referred to as a fourth point P4, the area between the second point P2 and the fourth point P4 is The central area (CA), the area between the fourth point (P4) and the third point (P3) is set as the remote area (LA). In this case, the fourth point P4 and the third point P3 may be described as being spaced apart by the third distance L3. In addition, the second distance L2 may be adjusted and set according to the positions of the first and second points L1 and L2, the area of the deep area DA, and the like.

In this way, as shown in FIG. 11, the monitoring area MA is set, and the monitoring area MA is divided or divided into a central area CA and a remote area LA.

The remote area (LA) refers to an area far from the depth area (DA) identified as the enemy's operational area, and may be an area where the enemy's operation has not been performed or is unlikely to be performed. In other words, the remote area LA may be an area having a relatively low risk compared to the central area CA and the deep area DA. And, the central area CA located between the deep area DA and the remote area LA is a region relatively adjacent to the deep area DA compared to the distant area LA, and compared to the remote area LA. may be a relatively high-risk area, and a relatively low-risk area compared to the depth area (DA).

12 is a flowchart illustrating a situation monitoring method according to an embodiment of the present invention.

Hereinafter, a situation monitoring method according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6 and FIGS. 8 to 12 . In this case, the content overlapping with the previously described content will be omitted or briefly described.

In this case, the monitor 1100 will be described as including six cameras 1121 to 1126 .

When the depth area (DA) is determined or set, the controller 1200 sets the monitoring area (MA) using the depth area (DA) (S110). Then, the monitoring area MA is divided into a central area CA and a remote area LA (S120). Next, the monitor 1100 is moved (S130). The monitor 1100 may autonomously drive according to the driving path transmitted from the control unit 1210 of the controller 1200 . Of course, the operator may directly board the vehicle of the monitor 1100, and the operator may directly drive the vehicle.

When the movement of the monitor 1100 is started, it is determined whether the monitor 1100 is within the monitoring area MA by tracking the position of the monitor 1100 (S140). That is, after the movement of the monitor 1100 starts, it is determined in real time whether the monitor 1100 is within the current monitoring area MA. In this case, the position of the monitor 1100 may be tracked through the control unit 1210 of the controller 1200 or tracked by the monitor 1100 itself.

At this time, if it is detected or determined that the monitor 1100 is not within the monitoring area MA (No), the detection unit 1130 may not send an operation signal to the first to sixth cameras 1121 to 1126 . And the monitor 1100 continues to move (S130).

However, when it is detected or determined that the monitor 1100 is within the monitoring area MA (Yes), the detection unit 1130 transmits an operation signal to each of the first to sixth cameras 1121 to 1126 . Accordingly, each of the first to sixth cameras 1121 to 1126 is operated, and images are captured from the respective cameras 1121 to 1126 (S210) (primary photographing). Accordingly, first to sixth images, which are primary images, are obtained from each of the plurality of cameras.

In addition, the first to sixth images photographed from each of the first to sixth cameras 1121 to 1126 are transmitted to the detector 1130 , and the detector 1130 uses or analyzes the transmitted images to determine whether a target is present. to determine or detect (S220).

When it is detected or determined as a gun with a target in at least one of the first to sixth images captured by the first to sixth cameras 1121 to 1126 (eg), the detection unit 1130 is a target on the image screen. A position (P ₁ ) of is detected ( 230 ). For example, when a target is detected from the second image screen I2 that is the primary image obtained from the second camera 1122 among the first to sixth cameras 1121 to 1126 , the target is detected on the second image screen I2 . The position of the target M is detected.

For example, as shown in (b) of FIG. 8 , the target on the second image screen I2 may be at a -15° position (P ₁ ) _{from the second axis (A 2 ).} In other words, the angular difference (the first angular difference) between _{the second axis A 2 and the target is -15°.} In this case, the detection unit 1130 detects the position P ₁ of the target M as a point -15° away from the second axis A _{2 .}

Meanwhile, after the target is detected in this way, the first support unit 1120a on which the plurality of cameras 1121 to 1126 are supported may be rotated before images are transferred to the synthesis unit 1140 . For example, when it is identified as a target such as an enemy's tank, an armored vehicle, a self-propelled gun, and the like and urgently needs to attack the target, the gun 1190 must be rotated to point it toward the target to be attacked. To this end, when the driving unit 1180 is operated, the first supporting unit 1120a connected to the driving unit 1180 as well as the second supporting unit 1190a on which the fabric 1190 is supported rotates together. Accordingly, the plurality of cameras 1121 to 1126 connected to the first support unit 1120a rotates (S310). In other words, the plurality of cameras 1121 to 1126 rotates around the rotation axis AX of the first support unit 1120a ( S310 ). In this case, the rotation angle may be, for example, 60°.

When the camera rotates in this way, shooting is performed again (secondary shooting) (S320), and first to sixth images, which are secondary images, are obtained from each of the plurality of cameras 1121 to 1126. The first to sixth images, which are secondary images obtained from each of the first to sixth cameras 1121 to 1126 , are transmitted to the detection unit 1130 , and the detection unit 1130 uses or analyzes the transmitted images to target the target. is determined or detected (S330).

When it is detected or determined that there is a target M in at least one of the first to sixth images captured by the first to sixth cameras 1121 to 1126 (eg), the detection unit 1130 is The position of the target, that is, the second position (X ₂ , Y ₂ ) is detected ( 340 ). For example, when the target M is detected from the third image screen I3 that is the secondary image obtained from the third camera 1123 among the first to sixth cameras 1121 to 1126 , the third image screen I3 ) to detect the position of the target M on the At this time, for example, as shown in (b) of FIG. 9 , on the third image screen I3 , the target may be at a -15° position (P ₂ ) _{from the third axis line (A 3 ).} That is, the angular difference (second angular difference) between _{the second axis A 2 and the target is -15°.} In this case, the detection unit 1130 detects the second position (P ₂ ) of the target (M) as a point -15° away from the third axis (A _{3 ).}

Then, the detector 1130 determines whether the first position P _{1 , which is the position of the target detected before the rotation, and the second position P 2} , which is the position of the target detected after the rotation, are the same ( S350 ). At this time, as in the above example, the target M is at a -15° position (P _{1 ) from the second axis A 2} of the second image screen I2 in the pre-rotation state (see FIG. 8 ), and rotates In the post state, it is at a _{position P 2} of -15° from _{the third axis A 3} of the third image screen I3 (see FIG. 9 ). Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are the same, and the detection unit 1130 determines that the target before rotation and the target after rotation are the same target. (S361).

Thereafter, the detection unit 1130 transmits the determination signal to the controller 1200 through the monitoring communication unit 1160 . Accordingly, the controller 1200 recognizes that the target detected before the rotation and the target detected after the rotation are the same target.

Then, after rotation, the first to sixth images, which are secondary images obtained by secondary imaging, from each of the first to sixth cameras 1121 to 1126 are transmitted to the synthesizing unit 1140 . Then, the synthesizer 1140 generates a synthesized image by synthesizing the first to sixth images, which are secondary images ( S500 ), which is transmitted to the controller through the monitoring communication unit 1160 .

As another example, as shown in (b) of FIG. 10 , the target on the third image screen I3 may be at a position P ₂ (60°) of _{the third axis A 3 .} Accordingly, on the third image screen I3, the angle difference DA of the target with the third axis A3 is 0°. Accordingly, the detection unit 1130 detects the second position (P ₂ ) of the target (M) as a point 0° away from the third axis (A _{3 ).}

Then, the detector 1130 determines whether the first position P _{1 , which is the position of the target detected before the rotation, and the second position P 2} , which is the position of the target detected after the rotation, are the same ( S350 ). At this time, as in the above example, the target M is at a -15° position (P _{1 ) from the second axis A 2} of the second image screen I2 in the pre-rotation state (see FIG. 8 ), and rotates _{It is at a position P 2} (O°) at a point 0° away from _{the third axis A 3} of the third image screen I3 in the post-state state. That is, in the second image screen I2, _{the angle difference between the second axis A 2} and the target (the first angle difference) is -15°, and in the third image screen I3, the third axis A ₃ and The target angle difference (second angle difference) is 0°. Accordingly, the detection unit 1130 determines that the first position P ₁ and the second position P ₂ are different, and the detection unit 1130 determines that the target before rotation and the target after rotation are different targets. (S362).

Also, after rotation, the first to sixth images, which are secondary images obtained by secondary imaging, from each of the first to sixth cameras 1121 to 1126 are transmitted to the synthesizing unit 1140 . Then, the synthesizer 1140 generates a synthesized image by synthesizing the first to sixth images, which are secondary images ( S500 ), which is transmitted to the controller through the monitoring communication unit 1160 .

In addition, the determination signal that the detection unit 1130 determines that the target detected before rotation and the target detected after rotation are different targets is transmitted to the controller 1200 through the monitoring communication unit 1160 . Accordingly, the controller 1200 recognizes that the target detected before the rotation and the target detected after the rotation are different targets. Then, the controller 1200 may take the follow-up action command. For example, it is possible to send a work command to the monitor to search for the target M that was detected before the rotation.

In the above case, after the target is detected from the primary image obtained by the primary shooting of the plurality of cameras 1121 to 1126, the plurality of cameras 1121 to 1126 are rotated about the rotation axis AX before synthesis. explained. However, after a target is detected from the primary images or before synthesis, the plurality of cameras 1121 to 1126 may not rotate about the rotation axis AX ( S400 ). That is, for example, there may be no need to urgently attack the target after the target is detected from the primary images or before synthesis. In this case, the camera does not rotate. In this case, the primary images obtained during the primary photographing of the plurality of cameras 1121 to 1126 are sent to the synthesizing unit 1140 to generate a synthesized image (S500).

As described above, in the situation monitoring apparatus 1000 according to the embodiment, after the target M is detected from the images captured by the plurality of cameras 1121 to 1126 , the plurality of cameras 1121 to 1126 are positioned in the horizontal direction. When the rotation axis AX is rotated to be changed, it is determined whether a target detected before rotation and a target detected after rotation are the same target.

Accordingly, it is possible to prevent recognition that the target detected before the rotation and the target detected after the rotation are actually the same target, but different from each other. That is, it is possible to prevent erroneous recognition of the same target as different targets. Accordingly, it is possible to improve the situational awareness of the monitoring area (MA).

1100: monitor 1200: controller
1110: vehicle
1121 to 1126: first to sixth cameras

Claims (18)

A primary photographing process of acquiring a primary image using a camera;
a primary detection process of detecting the presence or absence of a target by using the acquired primary image;
a first position detection process of detecting the position of the target detected in the primary image;
a secondary photographing process of acquiring a secondary image when the camera is moved;
a secondary detection process of detecting the presence or absence of a target using the acquired secondary image;
a second position detection process of detecting the position of the target detected in the secondary image;
a determination process of comparing the first position with the second position and determining whether the targets detected in the first and second detection processes are the same;
including,
The first position detection process and the second position detection process are,
detecting a position difference between a center position in a width direction of an image screen on which an image including a target is displayed and a target on the image screen;
The process of determining the position difference as the position of the target; includes,
A plurality of cameras are provided, and the plurality of cameras are movable about one axis,
determining, as a reference line, a center of one camera among the plurality of cameras in a width direction and an imaginary line passing through the one axis;
setting an angle value of an end opposite to the one axis among both ends of the reference line to 0°;
in each of the plurality of cameras, a process of giving an angle to an axis passing through a center in a width direction and the one axis, based on the 0°; and
in each of the plurality of video screens obtained from each of the plurality of cameras, giving an angle with respect to the axis of each of the plurality of cameras to an axis that is a center of the video screen in the width direction; including,
The axes of each of the plurality of image screens are provided at different angles from 0° to 360°,
The process of detecting a position difference between the center position in the width direction of the video screen including the target and the target on the video screen calculates the difference between the angle of the axis of the video screen including the target and the angle of the target on the video screen including the process of
Let the first angle difference calculated in the first position detection process be the first position, and the second angle difference calculated in the second position detection process be the second position,
The judgment process is
determining that the first and second positions are the same and the targets detected in the first and second detection processes are the same when the first angle difference and the second angle difference are the same;
determining that the first and second positions are different from each other and the targets detected in the first and second detection processes are different when the first angle difference is different from the second angle difference; Situation monitoring method including. A process of photographing using different cameras before and after moving the camera;
A primary detection process of detecting the presence of a target in the primary image taken from the camera before moving; and
a secondary detection process of detecting the presence of a target in the secondary image taken from the camera after movement;
a first position detection process of detecting the position of the target detected in the first detection process; and
a second position detection process of detecting the position of the target detected in the secondary detection process;
a determination process of comparing the first position with the second position and determining whether the targets detected in the first and second detection processes are the same; includes,
The first position detection process and the second position detection process are,
detecting a position difference between a center position in a width direction of an image screen on which an image including a target is displayed and a target on the image screen;
The process of determining the position difference as the position of the target; including,
A plurality of cameras are provided, and the plurality of cameras are movable about one axis,
determining, as a reference line, a center of one camera among the plurality of cameras in a width direction and an imaginary line passing through the one axis;
setting an angle value of an end opposite to the one axis among both ends of the reference line to 0°;
in each of the plurality of cameras, a process of giving an angle to an axis passing through a center in a width direction and the one axis, based on the 0°; and
in each of the plurality of video screens obtained from each of the plurality of cameras, giving an angle with respect to the axis of each of the plurality of cameras to an axis that is a center of the video screen in the width direction; including,
In giving an angle to the axis of each of the plurality of cameras to the axis that is the center of the width direction of the video screen, different angles are given from 0° to 360°,
The process of detecting a position difference between the center position in the width direction of the video screen including the target and the target on the video screen calculates the difference between the angle of the axis of the video screen including the target and the angle of the target on the video screen including the process of
Let the first position difference calculated in the first position detection process be the first position, and the second angle difference calculated in the second position detection process be the second position,
The judgment process is
determining that the first position and the second position are the same and the targets detected in the first and second detection processes are the same when the first angle difference and the second angle difference are the same;
determining that the first and second positions are different from each other and the targets detected in the first and second detection processes are different when the first angle difference is different from the second angle difference; Situation monitoring method including. delete delete delete delete delete delete The method according to claim 1 or 2,
In moving the plurality of cameras,
A situation monitoring method that rotates by an angle difference between the axes of the plurality of cameras. 10. The method of claim 9,
A method for monitoring a situation in which the viewing angle of the camera during the primary photographing for acquiring the primary image is the same as the viewing angle of the camera during the secondary photographing for acquiring the secondary image. A camera and a detector for detecting the presence or absence of a target using the image obtained from the camera, including a rotatable monitor,
When the camera is rotationally moved, the detection unit determines whether the target detected before rotation and the target detected after rotation according to a difference in position of the target on a video screen displaying images obtained from different cameras before and after rotation of the camera. to determine whether these are the same targets, and
The camera is provided in plurality,
The plurality of cameras are rotated and moved about one axis,
Among the plurality of cameras, the width direction center of any one camera and an imaginary line passing through the one axis are determined as a reference line,
Among both ends of the reference line, an angle value of an end opposite to the one axis is set to 0°,
Based on the 0°, in each of the plurality of cameras, an angle is given to an axis passing through the center of the width direction and the one axis,
For each of the video screens obtained from each of the plurality of cameras, the detection unit gives an angle with respect to the axis of each of the plurality of cameras to an axis that is the center of the video screen in the width direction,
The detection unit detects the difference in angle between the angle of the axis of the image screen including the target and the target on the image screen as the position of the target,
In giving an angle to the axis of each of the plurality of cameras to the axis, which is the center of the width direction of the video screen, different angles are given from 0° to 360°,
The detection unit,
If the angle difference detected before the rotation and the angle difference detected after the rotation are the same, it is determined that the target detected before the rotation and the target detected after the rotation are the same target;
When the angle difference detected before the rotation is different from the angle difference detected after the rotation, the situation monitoring apparatus determines that the target detected before the rotation and the target detected after the rotation are different targets. delete delete delete delete delete 12. The method of claim 11,
and a synthesizing unit for synthesizing images obtained from the plurality of cameras to generate a synthesized image. 18. The method of claim 17,
Situation monitoring device including a controller for receiving the composite image transmitted from the monitor.

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