KR102322890B1 - Sensing system including one or more laser scanners and method for counting people using the same - Google Patents

Abstract

The method for counting people performed by a detection system including a laser scanner according to an embodiment of the present invention generates detection information associated with at least one detection object based on a plurality of sensor curtains of the laser scanner, but the detection information is comprising time stamp information associated with the plurality of sensor curtains and coordinate information associated with the at least one sensing object; determining whether it is included in a pre-set center recognition range for a laser scanner based on the coordinate information; determining whether at least one first type of triangle is formed when the coordinate information is included in the central recognition range; when the at least one first type of triangle is formed, generating a first count value based on the number of the formed at least one first type of triangle; generating first counting direction information for at least one first type of triangle based on a first count value and the time stamp information; and updating the people count information based on the first counting direction information.

Description

A detection system comprising one or more laser scanners and a method for performing people counting using the same

The present specification relates to a detection system including a laser scanner, and more particularly, to a detection system based on one or more laser scanners and a method of performing people counting using the detection system.

The laser scanner refers to a device that detects the surface of an object based on a plurality of laser beams (ie, beam pointers) that are emitted in a predetermined order and direction through a rotating drum inside the device.

A Time of Flight (ToF) technology for measuring a distance using a time difference at which a laser beam (ie, a beam pointer) is reflected may be applied to the laser scanner. The touch area may be detected using location information obtained through a laser beam (ie, a beam pointer).

An object of the present specification is to provide a detection system based on at least one laser scanner and a method of performing people counting based on improved detection capability while covering a wide detection range using the same.

A method for people counting performed by a detection system including a laser scanner according to an embodiment of the present invention, generates detection information associated with at least one detection object based on a plurality of sensor curtains of the laser scanner, , wherein the sensing information includes time stamp information associated with the plurality of sensor curtains and coordinate information associated with the at least one sensing object; determining whether it is included in a pre-set center recognition range for a laser scanner based on the coordinate information; determining whether at least one first type of triangle is formed when the coordinate information is included in the central recognition range; when the at least one first type of triangle is formed, generating a first count value based on the number of the formed at least one first type of triangle; generating first counting direction information for at least one first type of triangle based on a first count value and the time stamp information; and updating the people count information based on the first counting direction information.

In the detection system based on a plurality of laser scanners according to the present embodiment, a detection area for counting people may be expanded. Furthermore, since the detection system based on a plurality of laser scanners according to the present embodiment can count people entering and leaving with an exceptional operation, a method of performing people counting with improved accuracy can be provided.

1 shows a block diagram of a detection system including one laser scanner according to an exemplary embodiment.
2 and 3 are diagrams for explaining in detail a sensing area formed by a sensor curtain according to an exemplary embodiment.
4 and 5 are diagrams for explaining a process of determining a moving direction of a person based on a plurality of sensor curtains according to an exemplary embodiment.
6 is a conceptual diagram for exemplarily explaining a coordinate area managed by the sensing system according to the present embodiment.
7 is a conceptual diagram for further explaining a coordinate area managed by the sensing system according to the present embodiment.
8 is a view for explaining a process in which a first type of triangle is determined by one sensor curtain among a plurality of sensor curtains according to the present embodiment.
9 is a view for explaining a process in which a second type of triangle is determined by one sensor curtain among a plurality of sensor curtains according to the present embodiment.
10 is a flowchart illustrating a method of performing people counting by a sensing system including one laser sensor according to an embodiment of the present invention.
11 is a block diagram of a detection system including a plurality of laser scanners according to an exemplary embodiment.
12 is a front view illustrating a detection area formed by a detection system including a plurality of laser scanners according to an exemplary embodiment.
13 is a plan view illustrating an example of a detection system including a plurality of laser scanners according to an exemplary embodiment.
14 is a flowchart illustrating an operation of a detection system including a plurality of laser scanners according to an exemplary embodiment.
15 is a flowchart illustrating an example of performing people counting performed by a detection system including a plurality of laser scanners according to an embodiment of the present invention.
16 is a flowchart illustrating another example of performing people counting performed by a detection system including a plurality of laser scanners according to an embodiment of the present invention.
17 is a front view illustrating a sensing area formed by a sensing system including a plurality of laser scanners according to another exemplary embodiment.
18 is a plan view illustrating an example of a detection system including a plurality of laser scanners according to another exemplary embodiment.
19 is a flowchart illustrating an operation of a detection system including a plurality of laser scanners according to another exemplary embodiment.
20 is a flowchart illustrating an example of performing people counting performed by a detection system including a plurality of laser scanners according to another exemplary embodiment.
21 is a flowchart illustrating another example of performing people counting performed by a detection system including a plurality of laser scanners according to another embodiment of the present invention.
22 is a flowchart associated with an example of an initial setting of a detection system including one or more laser scanners according to an exemplary embodiment.
23 is a diagram for explaining the operation of a detection system including one or more laser scanners and a web server according to an embodiment of the present invention.
24 is a view for explaining a setting operation between a detection system including one or more laser scanners and a setting server according to the present embodiment.

The foregoing characteristics and the following detailed description are all exemplary matters for helping the description and understanding of the present specification. That is, the present specification is not limited to such an embodiment and may be embodied in other forms. The following embodiments are merely examples for fully disclosing the present specification, and are descriptions for conveying the present specification to those skilled in the art to which this specification belongs. Therefore, when there are several methods for implementing the elements of the present specification, it is necessary to make it clear that the implementation of the present specification is possible in any one of these methods or an equivalent thereto.

When it is stated in the present specification that a configuration includes specific elements or a process includes specific steps, it means that other elements or other steps may be further included. That is, the terms used in this specification are only for describing specific embodiments, and are not intended to limit the concepts of the present specification. Furthermore, the examples described to help the understanding of the invention also include complementary embodiments thereof.

Terms used in this specification have meanings commonly understood by those of ordinary skill in the art to which this specification belongs. Commonly used terms should be interpreted with a meaning consistent with the context of the present specification. In addition, the terms used in this specification should not be construed in an overly idealistic or formal meaning unless the meaning is clearly defined. Hereinafter, embodiments of the present specification will be described with reference to the accompanying drawings.

1 shows a block diagram of a detection system including one laser scanner according to an exemplary embodiment.

Referring to FIG. 1 , the detection system 100 according to the present embodiment may include a laser scanner 110 , a control device 120 , and a user device 130 .

The laser scanner 110 may be installed on the ceiling of a specific space. Also, the laser scanner 110 may output a plurality of beam pointers according to a predetermined number and directions during one frame.

For example, a two-dimensional coordinate value may be obtained in a detection area defined based on the laser scanner 110 .

The control device 120 may be implemented based on a microcontroller (hereinafter referred to as 'MCU'), and may also be output as a relay. Here, a relay may be understood as an electromagnetically actuated electronic switch used to control the connection and short circuit of a signal line.

Also, the control device 120 may be electrically coupled to the laser scanner 110 based on a predetermined communication protocol (eg, serial communication).

Meanwhile, the control device 120 may be equipped with a people counting algorithm for determining the number of people entering and leaving a specific space based on a detection area defined based on the laser scanner 110 .

Meanwhile, the control device 120 may generate two-dimensional coordinate information of the sensing object based on output information of the laser scanner 110 . Here, the two-dimensional coordinate information generated by the control device 120 may be transmitted to the user device 130 .

The user device 130 may communicate with the control device 120 based on a specific communication protocol. The user device 130 may be provided with a graphic user interface (hereinafter, 'GUI') for managing a process of generating coordinate information based on the laser scanner 110 .

For example, the user may manage various settings for the tilt information and the sensing area through the user device 130 . In this case, the user device 130 may be understood as a user's personal computer, a mobile phone, or a web server.

For reference, although not shown in FIG. 1 , the detection system 100 according to the present embodiment may further include a camera. In this case, the camera may be understood as a configuration that is installed to conveniently check the installation angle of the laser scanner with the naked eye.

2 and 3 are diagrams for explaining in detail a sensing area formed by a sensor curtain according to an exemplary embodiment.

Referring to FIG. 2 , the laser scanner module 200 of FIG. 2 may be understood as a configuration corresponding to the laser scanner 110 and the control device 120 described in FIG. 1 .

For example, the laser scanner module 200 is installed on the ceiling of a specific space, and outputs a predetermined number (eg, k) of beam pointers in a predetermined direction (eg, counterclockwise direction, m to m' direction). can

Referring to FIG. 2 , the laser scanner module 200 may acquire a two-dimensional coordinate value of the detected object based on the time when the output beam pointer collides with the object and returns.

For example, the maximum diameter of the sensing object of the laser scanner module 200 may be defined as the first size. For example, the first size may be 6 cm.

If an object having a size greater than or equal to the first size is detected, the sensing object may be recognized by dividing the sensing object into units of the first size based on a part close to the corresponding laser scanner. For example, when an object of a second size (eg, 8 cm) is detected, two two-dimensional coordinate values for a 6 cm object and a 2 cm object according to the present embodiment may be managed.

For example, the reference point of the sensing area may be defined as (0, 0) located in the upper left corner. Meanwhile, the coordinates of the sensing region of FIG. 2 may increase as they move away from the reference point in the D1-axis direction and increase as they move away from the reference point in the D2-axis direction. For example, the maximum value of the sensing region of FIG. 2 may be defined as (100, 50).

Meanwhile, the height H of the sensing area may be predetermined, and may be set to a value of 1.9 meters (m) to 2 meters (m). In addition, the width (L) of the sensing area for detecting an actual person may be predetermined.

In this specification, the base (m-m') of the triangle formed by the laser scanner module 200 of FIG. 2 may be referred to as a sensor detection line, and depending on the setting, the sensor detection line is formed on the ground or on the ground It may be formed above the preset height.

1 to 3, the sensor detection line 300, m-m' of FIG. 3 is the base (m-m') of the triangle formed by the laser scanner module 200 of FIG. 2 mentioned in FIG. ) can be understood as a top view of

For example, the width (L) of the sensing area for sensing the real person of the sensor sensing line 300, m-m' of FIG. 3 is the center recognition range (Cm) for recognizing the center of the person (ie, the head) and lateral recognition ranges (C1, C2) for recognizing both sides of the person (ie, the shoulder).

According to the present embodiment, when the sensing object is sensed in the central recognition range and in the side recognition range, the type of triangle for determining that it is a person may be different. This will be described with reference to the drawings to be described later.

Meanwhile, the detection exception widths d1 and d2 of the sensor detection line 300 (m-m') of FIG. 3 may be included. Here, the detection exception widths d1 and d2 of FIG. 3 may correspond to the detection exception range of FIG. 2 .

For example, when the sensing object is detected in the detection exception range having the detection exception widths d1 and d2, the detection system may ignore the corresponding detection information or delete it from a predetermined storage space.

4 and 5 are diagrams for explaining a process of determining a moving direction of a person based on a plurality of sensor curtains according to an exemplary embodiment.

1 to 4 , the laser scanner module 400 of FIG. 4 may correspond to the laser scanner module 200 described with reference to FIG. 2 .

For example, when the laser scanner module 400 is installed on the Z-axis, the axis (X-X') associated with the sensing surface of the plurality of sensor curtains and the axis associated with the movement direction of the person with respect to the laser scanner module 400 (Y-Y') may be defined.

The laser scanner module 400 of FIG. 4 may form a plurality of sensor curtains (eg, S1, S2, S3, and S4). That is, the laser scanner module 400 of FIG. 4 may output a preset number and direction of beam points for each sensor curtain (eg, S1, S2, S3, S4).

The laser scanner module 400 of FIG. 4 may form a sensing area for a plurality of sensor curtains (eg, S1, S2, S3, S4) in a predetermined order during one frame. In addition, a predetermined number (eg, k) of beam points may be output in a preset direction (counterclockwise direction) within the sensing area formed by each sensor curtain.

For example, the laser scanner module 400 of FIG. 4 detects the first sensor curtain S1, the second sensor curtain S2, the third sensor curtain S3, and the fourth sensor curtain S4 according to the sequence. area can be formed.

For example, the first sensor curtain S1 , the second sensor curtain S2 , the third sensor curtain S3 , and the fourth sensor curtain S4 may be disposed in parallel along the X-X′ axis.

For example, the sensing area corresponding to the first sensor curtain (eg, S1) is to be formed based on k beam points output by the laser scanner module 400 in a counterclockwise direction (eg, m1 to m1'). can

For example, the detection area corresponding to the second sensor curtain (eg, S2) may be formed based on k beam points output by the laser scanner module 400 in a counterclockwise direction (eg, m2 to m2'). can

For example, the sensing area corresponding to the third sensor curtain (eg, S3) is to be formed based on k beam points output by the laser scanner module 400 in a counterclockwise direction (eg, from m3 to m3'). can

For example, the sensing area corresponding to the fourth sensor curtain (eg, S4) may be formed based on k beam points output by the laser scanner module 400 in a counterclockwise direction (eg, m4 to m4'). can

Meanwhile, time stamp information corresponding to one frame of the laser scanner module 400 may be generated.

For example, when 4*k beam points for the first sensor curtain to the fourth sensor curtain (eg, S1 to S4) are output during the first frame, first time stamp information for 4*k beam points can be created.

Subsequently, when 4*k beam points for the first to fourth sensor curtains (eg, S1 to S4) are output again during the second frame, second time stamp information for 4*k beam points is can be created

In the present specification, it is possible to determine the entrance of a person based on the time stamp information, which will be described in detail with reference to the drawings to be described later.

1 to 5 , the laser scanner module 500 of FIG. 5 may correspond to the laser scanner modules 200 and 400 described with reference to FIGS. 2 and 4 .

The laser scanner module 500 of FIG. 5 may determine the moving direction of the object based on a plurality of sensor curtains S1, S2, S3, and S4 formed in a predetermined order.

For example, the laser scanner module 500 of FIG. 5 may acquire coordinate information and first time stamp information of the sensing object based on the second sensor curtain S2 during the first frame.

Next, the laser scanner module 500 of FIG. 5 may acquire coordinate information and second time stamp information of the sensing object based on the third sensor curtain S3 during the second frame.

Next, the laser scanner module 500 of FIG. 5 may acquire coordinate information and third time stamp information of the sensing object based on the fourth sensor curtain S4 during the third frame.

Here, if the coordinate information of the sensing object does not deviate from a preset error range during the first frame to the third frame, the laser scanner module 500 may determine the moving direction of the person as the A direction.

As another example, the laser scanner module 500 of FIG. 5 may acquire coordinate information and first time stamp information of the sensing object based on the third sensor curtain S3 during the first frame.

Subsequently, the laser scanner module 500 of FIG. 5 may acquire coordinate information and second time stamp information of the sensing object based on the second sensor curtain S2 during the second frame.

Next, the laser scanner module 500 of FIG. 5 may acquire coordinate information and third time stamp information of the sensing object based on the first sensor curtain S1 during the third frame.

Here, if the coordinate information of the sensing object does not deviate from a preset error range during the first frame to the third frame, the laser scanner module 500 may determine the moving direction of the person as the B direction.

6 is a conceptual diagram for exemplarily explaining a coordinate area managed by the sensing system according to the present embodiment.

1 to 6 , a control device (not shown) according to the present embodiment manages a coordinate area for a sensing area based on a rectangular shape (eg, M, M' in FIG. 5 ) as shown in FIG. 5 . can do.

For example, when there are N objects (N is a natural number) sensed within the sensing area, the number of coordinate areas managed by the controller (not shown) may be N.

For example, the first coordinate area (M) for the first detected object is a pair of existing coordinate information (Z(x, y), Z'(x', y') composed of the upper left and the lower right. ) can be defined based on

Here, the component of the existing coordinate information Z(x, y) in the upper left of FIG. 6 may be updated based on small values of the components (a, b) of the new coordinate information associated with the sensed object.

For example, when x<a and y<b, the component of Z(x, y) is maintained as it is. For example, when x>a and y<b, Z(x, y) is updated to Z(a, y). For example, when x<a and y>b, Z(x, y) is updated to Z(x, b). For example, when x>a and y>b, Z(x, y) is updated to Z(a, b).

In addition, each component of the coordinate information Z'(x', y') of the lower right of FIG. 6 may be updated based on the large value of the components (a, b) of the new coordinate information associated with the sensed object.

For example, when x'>a and y'>b, the component of Z'(x', y') is maintained as it is. For example, when x'<a and y'>b, Z'(x, y) is updated to Z'(a, y'). For example, when x'>a and y'<b, Z'(x', y') is updated to Z'(x', b). For example, when x'<a and y'<b, Z'(x', y') is updated to Z'(a, b).

7 is a conceptual diagram for further explaining a coordinate area managed by the sensing system according to the present embodiment.

1 to 7 , the B1 coordinates (X_b1, Y_b1) of FIG. 7 may be understood as new coordinate information obtained based on one beam pointer of a laser scanner reflected from one surface of a sensing object.

The control device (not shown) according to the present embodiment may determine whether the B1 coordinates X_b1 and Y_b1 belong to the coordinate region M.

If the B1 coordinates (X_b1, Y_b1) belong to the coordinate region M, the control device (not shown) may determine that the object detected by the B1 coordinates (X_b1, Y_b1) is the same as the existing object.

In this case, the pair of existing coordinate information for the coordinate region M may be maintained without a separate update due to the B1 coordinates (X_b1, Y_b1).

If the B1 coordinates (X_b1, Y_b1) do not belong to the coordinate region M, the control device (not shown) controls the B1 coordinates (X_b1, Y_b1) to a second size (eg, FIGS. 6 and 6 ) from the coordinate region M. It can be determined whether the spaced apart exceeds d of 7).

If it is not spaced apart from the coordinate region M by more than a second size (eg, corresponding to d of FIGS. 6 and 7) (that is, when it belongs to region M'), the control device (not shown) controls the B1 coordinate The object detected by (X_b1, Y_b1) can be determined as the same object as the existing object.

However, in this case, the pair of existing coordinate information for the coordinate region M may be updated based on the new coordinate information B1 coordinates (X_b1, Y_b1).

8 is a view for explaining a process in which a first type of triangle is determined by one sensor curtain among a plurality of sensor curtains according to the present embodiment.

1 to 8 , the laser scanner module 800 of FIG. 8 may correspond to the laser scanner modules 200 , 400 , and 500 described with reference to FIGS. 2 , 4 and 5 .

It can be assumed that the sensor curtain S of FIG. 8 is any one of the first to fourth sensor curtains S1 to S4. In addition, it may be assumed that the first type of triangle is formed in the center recognition range Cm of the sensor curtain S of FIG. 8 .

The laser scanner module 800 of FIG. 8 according to the present embodiment may acquire a plurality of coordinate information based on a plurality of beam points that collide with a person and return based on the sensor curtain S.

For example, when the first type of triangle is formed in the center recognition range C of the sensor curtain S, the X coordinate value is the largest among the plurality of coordinate information acquired through a plurality of beam points and the Y coordinate value The first type of triangle may be formed based on the smallest point P_l, the point P_r having the largest X-coordinate value and the Y-coordinate value, and the point P_h having the smallest X-coordinate value.

According to this embodiment, when the shoulder line (ie, the line segment connecting P_l and P_r) and the top of the head (ie, P_h) exceed a preset distance (eg, 20 cm), FIG. 8 according to this embodiment The laser scanner module 800 of can determine that a triangle consisting of three points (P_l, P_r, P_h) is formed by a person.

9 is a view for explaining a process in which a second type of triangle is determined by one sensor curtain among a plurality of sensor curtains according to the present embodiment.

1 to 9 , the laser scanner module 900 of FIG. 9 may correspond to the laser scanner modules 200 , 400 , 500 , 800 mentioned in FIGS. 2 , 4 , 5 and 8 . .

It may be assumed that the sensor curtain S of FIG. 9 is any one of the first to fourth sensor curtains S1 to S4. In addition, it may be assumed that the second type of triangle is formed in the side recognition range of the sensor curtain S of FIG. 9 (eg, C2 of FIG. 3 ).

In other words, the second type of triangle in FIG. 9 is related to a case in which one shoulder is not detected due to a person's head in relation to the installation position of the laser scanner module when the detection target person is too biased to the side of the detection area can be

The laser scanner module 900 of FIG. 9 according to the present embodiment may acquire a plurality of coordinate information based on a plurality of beam points that collide with a person and return based on the sensor curtain S.

For example, when the second type of triangle is formed in the side recognition range (eg, C2 of FIG. 3 ) of the sensor curtain S, the X coordinate value is the most A second type of triangle may be formed based on a point (P_l) having the largest Y-coordinate value and the smallest X-coordinate value and the point having the smallest X-coordinate value and the X-coordinate value (P_h).

According to this embodiment, the height of the triangle formed by the intersection of the shoulder line (ie, the line segment extended from P_l) and the top of the head (ie, the line segment extended from P_h) at a right angle is a preset distance (eg, 20 cm) If exceeds, the laser scanner module 900 of FIG. 9 according to the present embodiment may determine that a triangle based on two points P_lP_h is formed by a person.

10 is a flowchart illustrating a method of performing people counting by a sensing system including one laser sensor according to an embodiment of the present invention.

1 to 10 , in step S1010 , the detection system (eg, 100 in FIG. 1 ) according to the present embodiment includes a plurality of sensor curtains (eg, FIGS. 4 and 1 ) associated with one laser scanner 110 . 5), sensing information related to the sensing object may be generated based on S1 to S4).

Meanwhile, it will be understood that the detection information may be one or more according to the number of objects detected based on a plurality of sensor curtains (eg, S1 to S4 in FIGS. 4 and 5 ) associated with the laser scanner 110 .

For example, the detection information includes time stamp information for a plurality of sensor curtains (eg, S1 to S4 in FIGS. 4 and 5) and a plurality of sensor curtains (eg, S1 in FIGS. 4 and 5) corresponding to one frame. ~ S4) may include coordinate information associated with the sensed object.

For example, the coordinate information according to the present embodiment may include one or more X-Y coordinate values obtained based on a plurality of sensor curtains (eg, S1 to S4 in FIGS. 4 and 5 ). Here, the X-Y coordinate value may be generated based on the updating procedure of the coordinate information mentioned in FIGS. 6 and 7 .

In step S1020 , the detection system (eg, 100 in FIG. 1 ) according to the present embodiment may determine whether the detection information is generated from a preset minimum height or higher. For example, when the X value of the coordinate information exceeds a preset value, the corresponding coordinate information may be deleted without being used in the following process.

In step S1030, the detection system (eg, 100 in FIG. 1 ) according to this embodiment is included in the center recognition range (eg, Cm in FIG. 3 ) preset for the laser scanner 110 based on the coordinate information. can be judged

As an example, it may be determined whether the Y coordinate value of the generated coordinate information belongs to a range associated with a center recognition range (eg, Cm of FIG. 3 ).

If it is determined that the coordinate information is included in the preset center recognition range (eg, Cm in FIG. 3 ), the procedure proceeds to step S1040.

Meanwhile, when it is determined that the coordinate information is not included in the preset center recognition range (eg, Cm in FIG. 3 ), the procedure proceeds to step S1031.

In step S1031, the detection system (eg, 100 in FIG. 1 ) according to the present embodiment is included in the preset side recognition range (eg, C1, C2 in FIG. 3 ) for the laser scanner 110 based on the coordinate information. It can be determined whether or not

For example, it may be determined whether the Y coordinate value of the generated coordinate information belongs to a range associated with a preset side recognition range (eg, C1 and C2 in FIG. 3 ).

If it is determined that the coordinate information is included in the preset side recognition range (eg, C1 and C2 in FIG. 3 ), the procedure proceeds to step S1041.

On the other hand, when it is determined that the coordinate information is not included in the preset side recognition range (eg, C1 and C2 in FIG. 3 ), since the coordinate information belongs to the detection exception range, the procedure ends.

In step S1040 , the sensing system (eg, 100 of FIG. 1 ) according to the present embodiment may determine whether the first type of triangle is formed based on the coordinate information.

For example, vertex information (eg, P_l, P_r, and P_h of FIG. 8 ) for the first type of triangle may be derived from the sensing information generated in step S1010 . In this case, the procedure proceeds to step S1050.

If vertex information (eg, P_l, P_r, and P_h of FIG. 8 ) for the first type of triangle is not derived, the procedure may be terminated.

In step S1041 , the sensing system (eg, 100 of FIG. 1 ) according to the present embodiment may determine whether a second type of triangle is formed based on the coordinate information.

For example, vertex information (eg, P_l and P_h in FIG. 9 ) for the second type of triangle may be derived from the sensing information generated in step S1010 . In this case, the procedure proceeds to step S1051.

If vertex information (eg, P_l and P_h of FIG. 9 ) for the second type of triangle is not derived, the procedure may be terminated.

In step S1050 , the sensing system (eg, 100 of FIG. 1 ) according to the present embodiment may determine a first count value based on the number of first type triangles formed based on coordinate information.

For example, when three triangles of the first type are formed, the first count value may be determined to be '3'.

In step S1051 , the sensing system (eg, 100 of FIG. 1 ) according to the present embodiment may determine the second count value based on the number of triangles of the second type formed based on the coordinate information.

For example, when two triangles of the second type are formed, the second count value may be determined to be '2'.

In step S1060, the detection system (eg, 100 in FIG. 1) according to the present embodiment determines the first counting direction information based on the at least one first type of triangle determined in step S1050 and time stamp information corresponding thereto. can create

Specifically, the detection system (eg, 100 in FIG. 1 ) according to the present embodiment determines at least one type of triangle of the first type determined in step S1050 (ie, corresponding to the current frame) and the corresponding time stamp information (that is, , time stamp information of the current frame) may be compared with sensing information corresponding to the previous frame (ie, at least one type of triangle corresponding to the previous frame and time stamp information corresponding to the previous frame).

For example, when three triangles of the first type are formed, the first triangle of the first type and the second triangle of the first type are determined as the A direction (ie, the IN direction) of FIG. 5 , and the first type The third triangle of may be determined as the B direction (OUT direction) of FIG. 5 .

In this case, the first counting direction information may include IN direction information set to '2' and OUT direction information set to '1'.

In step S1061, the detection system (eg, 100 in FIG. 1 ) according to the present embodiment determines the second counting direction information based on the at least one second type of triangle determined in step S1051 and time stamp information corresponding thereto. can create

Specifically, the detection system (eg, 100 in FIG. 1 ) according to the present embodiment determines at least one second type of triangle (that is, corresponding to the current frame) determined in step S1051 and the corresponding time stamp information (that is, , time stamp information of the current frame) may be compared with sensing information corresponding to the previous frame (ie, at least one second type of triangle corresponding to the previous frame and time stamp information corresponding to the previous frame).

For example, when two triangles of the second type are formed, both the first triangle of the second type and the second triangle of the second type may be determined to be in the A direction (ie, IN direction) of FIG. 5 .

In this case, the second counting direction information may include IN direction information set to '2' and OUT direction information set to '0'.

In step S1070 , the detection system (eg, 100 of FIG. 1 ) according to the present embodiment may update the people count information based on the first counting direction information.

For example, when the first counting direction information includes IN direction information set to '2' and OUT direction information set to '1', the detection system according to the present embodiment (eg, 100 in FIG. 1 ) The count information may be increased by '1'.

In step S1071 , the detection system (eg, 100 of FIG. 1 ) according to the present embodiment may update the people count information based on the second counting direction information.

For example, when the second counting direction information includes IN direction information set to '2' and OUT direction information set to '0', the sensing system (eg, 100 in FIG. 1 ) according to this embodiment The count information may be increased by '1'.

Meanwhile, step S1040 of FIG. 10 according to this embodiment is based on three sensor curtains (eg, S1, S2, S3) among the plurality of sensor curtains S1 to S4 shown in FIG. 4 (or FIG. 5). It may be further determined whether one or more triangles of the first type are formed.

If a person entering and leaving the detection area intentionally enters the detection area in the order of shoulder-head-shoulder, it may be excluded from people counting. However, if step S1040 is determined as three sensor curtains as in the present embodiment, it is possible to detect intentional entry and exit of a person, so that a detection system with improved detection capability can be provided.

When one or more triangles of the first type are formed based on three sensor curtains (eg, S1, S2, S3) among the plurality of sensor curtains (S1 to S4), steps S1041, S1060 and S1070 are the same as described above. The same can be done.

11 is a block diagram of a detection system including a plurality of laser scanners according to an exemplary embodiment.

Referring to FIG. 11 , the detection system 1100 according to the present embodiment may include a plurality of laser scanners 1110_1 to 1110_N, a plurality of control devices 1120_1 to 1120_N, and a user device 1130 .

The plurality of laser scanners 1110_1 to 1110_N may be installed to be spaced apart from each other by a predetermined interval on the ceiling of a specific space. For example, an overlapping section may be formed between the plurality of laser scanners 1110_1 to 1110_N.

Meanwhile, each of the plurality of laser scanners 1110_1 to 1110_N may output a plurality of beam pointers according to a predetermined number and direction during one frame. For example, at least one two-dimensional coordinate value may be obtained from a plurality of detection areas defined based on the plurality of laser scanners 1110_1 to 1110_N.

The plurality of control devices 1120_1 to 1120_N may be implemented based on a micro controller unit (hereinafter, 'MCU'), and may also be output as a relay. Here, a relay may be understood as an electromagnetically actuated electronic switch used to control the connection and short circuit of a signal line.

Meanwhile, each of the control devices 1120_1 to 1120_N may be coupled to each corresponding laser scanner 1110_1 to 1110_N based on a predetermined communication protocol (eg, serial communication).

For example, the first control device 1120_1 may be electrically coupled to the first laser scanner 1110_1 based on a predetermined communication protocol (eg, serial communication). For example, the first laser scanner 1110_1 and the first control device 1120_1 may be referred to as a first laser scanner module.

Similarly, the N-th control device 1120_N may be electrically coupled to the N-th laser scanner 1110_N based on a predetermined communication protocol (eg, serial communication). For example, the N-th laser scanner 1110_N, where N is a natural number) and the N-th control device 1120_N may be referred to as an N-th laser scanner module.

In this specification, a plurality of laser scanner modules may be associated based on the Internet. For example, the first laser scanner modules 1110_1 and 1120_1 and the second laser scanner modules 1110_2 and 1120_2 may perform communication based on the Internet.

In other words, when a slave role is set in the first laser scanner modules 1110_1 and 1120_1 and a master role is set in the second laser scanner modules 1110_2 and 1120_2, the first laser scanner module 1110_1, 1120_1 detects the updated Data may be transmitted to the second laser scanner modules 1110_2 and 1120_2 via the Internet.

On the other hand, each of the plurality of control devices 1120_1 to 1120_N is equipped with a people counting algorithm for determining the number of people entering and leaving a specific space based on a detection area defined based on each of the plurality of laser scanners 1110_1 to 1110_N. can be

Meanwhile, the plurality of control devices 1120_1 to 1120_N may generate 2D coordinate information of the sensing object based on output information of the plurality of laser scanners 1110_1 to 1110_N. Here, the two-dimensional coordinate information generated by the plurality of control devices 1120_1 to 1120_N may be transmitted to the user device 1130 .

The user device 1130 may communicate with the plurality of control devices 1120_1 to 1120_N based on a specific communication protocol. The user device 1130 may be provided with a graphic user interface (hereinafter, 'GUI') for managing a process of generating coordinate information based on the plurality of laser scanners 1110_1 to 1110_N.

For example, the user may manage various settings for the tilt information and the sensing area through the user device 1130 . In this case, the user device 1130 may be understood as a user's personal computer, a mobile phone, or a web server.

12 is a front view illustrating a detection area formed by a detection system including a plurality of laser scanners according to an exemplary embodiment.

11 and 12 , each of the first laser scanner module 1200_1 and the second laser scanner module 1200_2 of FIG. 12 may be understood as the laser scanner module described in FIG. 11 .

For example, a slave role may be set in the first laser scanner module 1200_1 , and a master role may be set in the second laser scanner module 1200_2 .

For example, the first laser scanner module 1200_1 may form a first detection area of a triangle formed based on three vertices o1-m1-m1' having a sensor detection line m1-m1'. have.

Meanwhile, the second laser scanner module 1200_2 may form a triangular second sensing area formed based on three vertices o2-m2-m2' having the sensor sensing line m2-m2'.

For example, an overlapping region formed based on three vertices h2-m2-m1 ′ may be formed between the first sensing region and the second sensing region.

Meanwhile, the height H of the overlapping region corresponding to the three vertices h2-m2-m1' may be preset. For example, the height H of the overlapping region may be set to a specific value within a range of 1.9 meters (m) to 2 meters (m).

In this specification, an area in the first sensing area excluding the overlapping area may be referred to as a first non-overlapping sensing area, and an area excluding the overlapping area in the second sensing area may be referred to as a second non-overlapping sensing area.

13 is a plan view illustrating an example of a detection system including a plurality of laser scanners according to an exemplary embodiment.

1 to 13 , each of the first laser scanner module 1300_1 and the second laser scanner module 1300_2 of FIG. 13 may be understood as the laser scanner module described in FIGS. 11 and 12 .

The sensor sensing lines m1-m2' of FIG. 13 may be understood based on the description of the sensor sensing line of FIG. 12 described above. For example, the sensor sensing lines m1 - m2' of FIG. 13 may be formed in a direction perpendicular to a person's entry/exit direction (ie, A direction or B direction).

On the other hand, the sensor detection line (m1-m2') of FIG. 13 corresponds to one sensor curtain, and although not shown through FIG. 13, the laser scanner module of the present specification is a person's entry/exit direction (ie, A direction or B direction). ) and it will be understood that a plurality of sensor sensing lines corresponding to the plurality of sensor curtains may be formed in a direction perpendicular to the .

14 is a flowchart illustrating an operation of a detection system including a plurality of laser scanners according to an exemplary embodiment.

14 is described on the assumption that sensing information, count value, and counting direction information for at least one sensing object are generated through step S1060 or S1061 of FIG. 10 .

Here, the sensing information may include time stamp information associated with a plurality of sensor curtains and coordinate information associated with at least one sensing object. Meanwhile, it may be assumed that the sensing system of FIG. 14 includes the first and second laser scanner modules described with reference to FIGS. 12 and 13 above.

1 to 14 , in step S1410, the detection system according to the present embodiment may determine whether a master role is set in the first laser scanner.

If it is determined that the master role is set in the first laser scanner, the procedure proceeds to step S1420. If it is determined that the master role is not set in the first laser scanner, the procedure proceeds to step S1460.

In step S1420, the detection system according to the present embodiment may determine whether there is detection data previously received from the second laser scanner to which the slave role is set.

In this specification, the previously received detection data may include detection information, count value, and counting direction information previously received from the laser scanner to which the slave role is set.

If it is determined that the previously received sensed data exists, the procedure may proceed to step S1430. If it is determined that the previously received sensed data does not exist, the procedure may skip to step S1440.

In step S1430, the sensing system according to the present embodiment may determine whether the at least one sensing object is included in the non-overlapping sensing area based on the previously received sensing data and coordinate information associated with the at least one sensing object. .

For example, the coordinate information associated with the sensing object may include vertex information (eg, P_h, P_l, and P_r of FIG. 12 ) of the first type of triangle.

According to this embodiment, when the coordinate information (eg, P_h, P_l, P_r of FIG. 12 ) associated with the sensing object is not included in the previously received sensing data, the sensing system detects that the sensing object is included in the non-overlapping sensing area. can be judged as In this case, the procedure proceeds to step S1440.

On the other hand, when coordinate information (eg, P_h, P_l, P_r of FIG. 12 ) associated with the sensing object is included in the previously received sensing data, the sensing system may determine that the sensing object is included in the overlapping region. In this case, the procedure proceeds to step S1450.

In operation S1440, the sensing system according to the present embodiment may update preset people count information based on a counting value associated with at least one sensing object and counting direction information associated with at least one sensing object.

In operation S1450, the detection system according to the present embodiment may maintain preset people count information.

15 is a flowchart illustrating an example of performing people counting performed by a detection system including a plurality of laser scanners according to an embodiment of the present invention.

12 to 15 , the first laser scanner module 1500_1 of FIG. 15 may correspond to the first laser scanner modules 1200_1 and 1300_1 of FIGS. 12 and 13 . Also, the second laser scanner module 1500_2 of FIG. 15 may correspond to the second laser scanner modules 1200_2 and 1300_2 of FIGS. 12 and 13 .

That is, a slave role may be set in the first laser scanner module 1500_1 , and a master role may be set in the second laser scanner module 1500_2 .

For a clear and concise description of FIG. 15 , the at least one sensing object is not an overlapping area between the first laser scanner module 1500_1 and the second laser scanner module 1500_2 but a first ratio of the first laser scanner module 1500_1 It can be assumed that the object is included in the overlap detection area.

In step S1510 , sensing information, count values, and counting direction information for at least one sensing object may be generated based on the plurality of sensor curtains associated with the first laser scanner module 1500_1 .

In step S1520, the detection system according to the present embodiment may control the first laser scanner module 1500_1 to transmit detection information for at least one detection object, a count value, and counting direction information as detection data. In this case, the sensed data may be transmitted to the second laser scanner module 1500_2.

In step S1530 , the detection system according to the present embodiment may control the second laser scanner module 1500_2 to determine whether the second laser scanner module 1500_2 is included in the overlapping area based on the received detection data and to update preset people count information.

Specifically, coordinate information associated with at least one sensing object included in the sensing data transmitted from the first laser scanner module 1500_1 may be used to determine whether the at least one sensing object is included in the overlapping area.

In addition, the count value associated with at least one sensing object and the counting direction information associated with the at least one sensing object included in the sensing data transmitted from the first laser scanner module 1500_1 may be used to update preset people count information. have.

16 is a flowchart illustrating another example of performing people counting performed by a detection system including a plurality of laser scanners according to an embodiment of the present invention.

12 to 14 and 16 , the first laser scanner module 1600_1 of FIG. 16 may correspond to the first laser scanner modules 1200_1 and 1300_1 of FIGS. 12 and 13 . Also, the second laser scanner module 1600_2 of FIG. 16 may correspond to the second laser scanner modules 1200_2 and 1300_2 of FIGS. 12 and 13 .

That is, a slave role may be set in the first laser scanner module 1600_1 , and a master role may be set in the second laser scanner module 1600_2 .

For a clear and concise description of FIG. 16 , it may be assumed that the at least one sensing object is an object included in an overlapping area between the first laser scanner module 1600_1 and the second laser scanner module 1600_2 .

In operation S1610 , sensing data for at least one sensing object may be generated based on the plurality of first sensor curtains associated with the first laser scanner module 1600_1 .

For example, the sensing data may include first sensing information for at least one sensing object, a first count value, and first counting direction information.

In operation S1620 , sensing data for at least one sensing object may be transmitted to the second laser scanner module 1600_2 . For example, the sensing data may include first sensing information for at least one sensing object, a first count value, and first counting direction information.

In step S1630, second sensing information, a second count value, and second counting direction information for at least one sensing object may be generated based on the plurality of second sensor curtains associated with the second laser scanner module 1600_2. .

In step S1640, in the detection system according to this embodiment, the second laser scanner module 1600_2 detects at least one detection object based on the detection data and the second detection information previously received from the first laser scanner module 1600_1. It can be controlled to determine that it is included in the overlapping area.

For example, it may be determined whether the at least one sensing object is included in the overlapping area by comparing the first sensing information and the second sensing information included in the previously received sensing data.

In step S1650, the detection system according to the present embodiment may control the second laser scanner module 1600_2 to maintain the people count information.

17 is a front view illustrating a sensing area formed by a sensing system including a plurality of laser scanners according to another exemplary embodiment.

11 and 17 , each of the first to third laser scanner modules 1700_1 , 1700_2 , and 1700_3 of FIG. 17 may be understood as the laser scanner module described with reference to FIG. 11 .

For example, a slave role is set in the first laser scanner module 1700_1, a slave role and a master role are set simultaneously in the second laser scanner module 1700_2, and a master role is set in the third laser scanner module 1700_3 can be set.

For example, the first laser scanner module 1700_1 may form a first detection area of a triangle formed based on three vertices o1-m1-m1' having a sensor detection line m1-m1'. have.

Also, the second laser scanner module 1700_2 may form a triangular second sensing area formed based on three vertices o2-m2-m2' having the sensor sensing line m2-m2'.

Also, the third laser scanner module 1700_3 may form a triangular third sensing area formed based on three vertices o3-m3-m3' having the sensor sensing line m3-m3'.

For example, a first overlapping region formed based on three vertices h-m2-m1 ′ may be formed between the first sensing region and the second sensing region. Also, a second overlapping region formed based on three vertices h′-m3-m2′ may be formed between the second sensing region and the third sensing region.

Meanwhile, the height H of the first overlapping region corresponding to the three vertices h-m2-m1' and the second overlapping region corresponding to the three vertices h'-m3-m2' may be preset. have. For example, the height H of the overlapping region may be set to a specific value within a range of 1.9 meters (m) to 2 meters (m).

18 is a plan view illustrating an example of a detection system including a plurality of laser scanners according to another exemplary embodiment.

1 to 18 , each of the first to third laser scanner modules 1800_1 , 1800_2 , and 1800_3 of FIG. 18 may be understood as the laser scanner module mentioned in FIG. 11 .

The sensor sensing lines m1-m3' of FIG. 18 may be understood based on the description of the sensor sensing line of FIG. 17 described above. For example, the sensor sensing lines m1 - m3 ′ of FIG. 18 may be formed in a direction perpendicular to the entry/exit direction of a person (ie, the A direction or the B direction).

On the other hand, the sensor detection line (m1-m3') of FIG. 18 corresponds to one sensor curtain, and although not shown through FIG. 18, the laser scanner module of the present specification is a person's entry/exit direction (ie, A direction or B direction). ) and it will be understood that a plurality of sensor sensing lines corresponding to the plurality of sensor curtains may be formed in a direction perpendicular to the .

19 is a flowchart illustrating an operation of a detection system including a plurality of laser scanners according to another exemplary embodiment.

19 is described on the assumption that sensing information, count value, and counting direction information for at least one sensing object are generated through step S1060 or S1061 of FIG. 10 .

Here, the sensing information may include time stamp information associated with a plurality of sensor curtains and coordinate information associated with at least one sensing object. Meanwhile, it may be assumed that the sensing system of FIG. 19 includes the first to second laser scanner modules described with reference to FIGS. 17 and 18 .

1 to 19 , it will be understood that the description of steps S1910 to S1950 of FIG. 19 may be replaced with the description of steps S1410 to S1450 of FIG. 14 .

In step S1960, the sensing system according to another embodiment may determine whether to set the slave role.

Here, step S1960 may be performed when the master role and the slave role are set at the same time as in the second laser scanner module (eg, 1700_2, 1800_2) mentioned in FIGS. 17 and 18 .

In other words, after the setting of the master role of the second laser scanner module (eg, 1700_2, 1800_2) is first confirmed in step S1910 of FIG. 19, the slave role of the second laser scanner module (eg, 1700_2, 1800_2) in step S1960 can be checked.

In step S1970 , the detection system according to another exemplary embodiment may transmit the updated people count information to the third laser scanner modules (eg, 1700_3 and 1800_3 ) in which the master role is set.

20 is a flowchart illustrating an example of performing people counting performed by a detection system including a plurality of laser scanners according to another exemplary embodiment.

17 to 20 , the first laser scanner module 2000_1 of FIG. 20 may correspond to the first laser scanner modules 1700_1 and 1800_1 of FIGS. 17 and 18 . In addition, the second laser scanner module 1500_2 of FIG. 20 may correspond to the second laser scanner modules 1700_2 and 1800_2 of FIGS. 17 and 18 . In addition, the third laser scanner module 1500_3 of FIG. 20 may correspond to the third laser scanner modules 1700_3 and 1800_3 of FIGS. 17 and 18 .

A slave role may be set in the first laser scanner module 2000_1, a master role and a slave role are set together in the second laser scanner module 2000_2, and a master role may be set in the third laser scanner module 2000_3 .

For a clear and concise description of FIG. 20 , it can be assumed that at least one sensing object is an object detected in the first non-overlapping sensing region, not in the first overlapping region in the first sensing region of the first laser scanner module 2000_1. have.

In step S2010 , sensing information, count values, and counting direction information for at least one sensing object may be generated based on the plurality of sensor curtains associated with the first laser scanner module 2000_1 .

In step S2020, the detection system according to the present embodiment may control the first laser scanner module 2000_1 to transmit detection information, count value, and counting direction information for at least one detection object as detection data. In this case, the sensed data may be transmitted to the second laser scanner module 2000_2.

In step S2030, the detection system according to the present embodiment may control the second laser scanner module 2000_2 to update the people count information based on the detection data previously received from the first laser scanner module 2000_1.

In step S2040, the detection system according to the present embodiment may transmit the people count information updated by the second laser scanner module 2000_2 as detection data. In this case, the sensed data may be transmitted to the third laser scanner module 2000_3.

For reference, step S2040 may be performed based on steps S1910 to S1940 and steps S1960 and S1970 of FIG. 19 .

In step S2050, the detection system according to the present embodiment may control the third laser scanner module 2000_3 to update the people count information based on the detection data previously received from the second laser scanner module 2000_2.

For reference, step S2150 may be performed based on steps S1910 to S1940 and S1960 of FIG. 19 .

21 is a flowchart illustrating another example of performing people counting performed by a detection system including a plurality of laser scanners according to another embodiment of the present invention.

1 to 21 , the first laser scanner module 2100_1 of FIG. 21 may correspond to the first laser scanner modules 1700_1 and 1800_1 of FIGS. 17 and 18 . Also, the second laser scanner module 2100_2 of FIG. 21 may correspond to the second laser scanner modules 1700_2 and 1800_2 of FIGS. 17 and 18 . Also, the third laser scanner module 2100_3 of FIG. 21 may correspond to the third laser scanner modules 1700_3 and 1800_3 of FIGS. 17 and 18 .

A slave role is set in the first laser scanner module 2100_1, a master role and a slave role are set together in the second laser scanner module 2100_2, and a master role can be set in the third laser scanner module 2100_3 .

For a clear and concise description of FIG. 21 , it may be assumed that at least one sensing object is an object detected in a first overlapping area formed between the first laser scanner module 2100_1 and the second laser scanner module 2100_2. .

In operation S2110 , sensing data for at least one sensing object may be generated based on the plurality of first sensor curtains associated with the first laser scanner module 2100_1 .

For example, the sensing data may include first sensing information for at least one sensing object, a first count value, and first counting direction information.

In operation S2120 , sensing data for at least one sensing object may be transmitted to the second laser scanner module 2100_2 . For example, the sensing data may include first sensing information for at least one sensing object, a first count value, and first counting direction information.

In step S2130 , second sensing information, a second count value, and second counting direction information for at least one sensing object may be generated based on the plurality of second sensor curtains associated with the second laser scanner module 2100_2. .

In step S2140, in the detection system according to this embodiment, the second laser scanner module 2100_2 detects at least one detection object based on the detection data and the second detection information previously received from the first laser scanner module 2100_1. It can be controlled to determine that it is included in the overlapping area.

For example, it may be determined whether the at least one sensing object is included in the first overlapping area by comparing the first sensing information and the second sensing information included in the previously received sensing data.

For reference, step S2140 may be performed based on steps S1910 to S1930 of FIG. 19 .

In step S2150, the detection system according to the present embodiment may control the second laser scanner module 2100_2 to maintain the people count information.

For reference, step S2150 may be performed based on step S1950 of FIG. 19 .

In operation S2160, the detection system according to the present embodiment may control the second laser scanner module 2100_2 to transmit people count information as detection data. In this case, the sensed data may be transmitted to the third laser scanner module 2100_3.

For reference, step S2160 may be performed based on steps S1960 and S1970 of FIG. 19 .

In step S2170 , in the detection system according to the present embodiment, the third laser scanner module 2100_3 may update the people counting information based on the detection data information previously received from the second laser scanner module 2100_2 .

For reference, step S2170 may be performed based on steps S1910 to S1940 and S1960 of FIG. 19 .

22 is a flowchart associated with an example of an initial setting of a detection system including one or more laser scanners according to an exemplary embodiment.

1 to 22 , in step S2210, the detection system including one or more laser scanners according to the present embodiment may determine whether the state of the laser scanner is normal.

If it is determined that the state of the laser scanner is not normal, the procedure ends, and step S2210 may be repeated at regular intervals until the state of the laser scanner returns to normal.

If it is determined that the state of the laser scanner is normal, the procedure proceeds to step S2220.

In step S2220, the detection system including one or more laser scanners according to the present embodiment may determine whether the state of the camera is normal.

If it is determined that the state of the camera is not normal, the procedure is terminated, and step S2220 may be repeated at regular intervals until the state of the laser scanner returns to normal.

If it is determined that the state of the camera is normal, the procedure proceeds to step S2230.

In step S2230, the detection system including one or more laser scanners according to the present embodiment may determine whether a communication state based on a predetermined communication protocol (eg, Bluetooth or Wi-Fi) is normal.

If it is determined that the communication state is not normal, the procedure is terminated, and step S2230 may be repeated at regular intervals until the state of the laser scanner returns to normal.

If it is determined that the communication state is normal, the procedure proceeds to step S2240.

In step S2240, the detection system including one or more laser scanners according to the present embodiment may activate the installation guide beam in an ON state.

In step S2251, the detection system including one or more laser scanners according to the present embodiment may activate a web server.

In step S2252, the detection system including one or more laser scanners according to the present embodiment may activate a counting algorithm.

In step S2253, the detection system including one or more laser scanners according to the present embodiment may activate a configuration server.

23 is a diagram for explaining the operation of a detection system including one or more laser scanners and a web server according to an embodiment of the present invention.

1 to 23 , in step S2310, the web server according to the present embodiment may determine whether to connect to the client based on the sensing system according to the present embodiment.

If it is determined that there is no connected client, the procedure ends, and step S2310 may be repeated at regular intervals until the existence of the connected client is confirmed.

If it is determined that there is a connected client, the procedure proceeds to step S2320.

In step S2320, the web server according to the present embodiment may transmit the requested web page according to the request of the client based on the sensing system according to the present embodiment.

24 is a view for explaining a setting operation between a detection system including one or more laser scanners and a setting server according to the present embodiment.

1 to 24 , in step S2410, the sensing system according to the present embodiment may wait for connection with another device.

In step S2420, the sensing system according to the present embodiment may determine whether to connect with another device based on a predetermined communication protocol (eg, Bluetooth or Wi-Fi).

If it is determined that the communication protocol-based connection with another device is not performed, the procedure proceeds to step S2410 again.

If it is determined that the communication protocol-based connection with another device is performed, the procedure proceeds to step S2430.

In step S2430, the detection system according to the present embodiment may determine whether configuration data is received from the configuration server.

If it is determined that the setting data is not received from the setting server, the procedure proceeds to step S2420 again.

If it is determined that the setting data is received from the setting server, the procedure proceeds to step S2440.

In step S2440, the sensing system according to the present embodiment may store configuration data.

In step S2450, the detection system according to the present embodiment may determine whether a master role is set in another device.

If it is determined that the master role is set in another device, master flag information (Master_Flag) associated with the setting data may be set to '1' in step S2461.

If it is determined that the slave role is set in another device, master flag information (Master_Flag) associated with the setting data may be set to '0' in step S2462.

In step S2470, the sensing system according to the present embodiment may determine whether a slave role is set in another device.

If it is determined that the slave role is set in another device, slave flag information (Slave_Flag) associated with the setting data may be set to '1' in step S2481.

If it is determined that the slave role is set in another device, slave flag information (Slave_Flag) associated with the setting data may be set to '0' in step S2482.

In the detailed description of the present specification, specific embodiments have been described, but various modifications are possible without departing from the scope of the present specification. Therefore, the scope of the present specification should not be limited to the above-described embodiments, but should be defined by the claims and equivalents of the claims of the present invention as well as the claims to be described later.

100: detection system 110: laser scanner
120: control device 130: user device

Claims (9)

A method for people counting performed by a sensing system comprising a laser scanner, the method comprising:
Based on the plurality of sensor curtains of the laser scanner, generating sensing information associated with at least one sensing object,
wherein the sensing information includes time stamp information associated with the plurality of sensor curtains and coordinate information associated with the at least one sensing object;
determining whether it is included in a center recognition range preset for the laser scanner based on the coordinate information;
determining whether at least one first type of triangle is formed when the coordinate information is included in the center recognition range;
when the at least one first type of triangle is formed, generating a first count value based on the number of the formed at least one first type of triangle;
generating first counting direction information for the at least one first type of triangle based on the first count value and the time stamp information; and
and updating people count information based on the first counting direction information. According to claim 1,
determining whether the coordinate information is included in a side recognition range preset for the laser scanner when the coordinate information is not included in the center recognition range;
determining whether at least one second type of triangle is formed when the coordinate information is included in the side recognition range; and
generating a second count value based on the number of the formed at least one second type of triangle when the at least one second type of triangle is formed;
generating second counting direction information for the at least one second type of triangle based on the second count value and the time stamp information; and
The method further comprising the step of updating the people count information based on the second counting direction information. 3. The method of claim 2,
Determining whether the at least one first type of triangle is formed comprises:
determining whether the at least one first type of triangle is formed in any one of the plurality of sensor curtains; and
and determining whether the at least one first type of triangle is formed based on three sensor curtains of the plurality of sensor curtains. A method for people counting performed by a sensing system comprising a plurality of laser scanners, the method comprising:
The first laser scanner generates detection information, count values, and counting direction information for at least one sensing object based on a plurality of sensor curtains associated with the first laser scanner,
wherein the sensing information includes time stamp information associated with the plurality of sensor curtains and coordinate information associated with the at least one sensing object;
determining, by the first laser scanner, whether a master role of the first laser scanner is set;
When the master role is set for the first laser scanner, the first laser scanner determines whether there is detected data previously received from a second laser scanner in which the slave role is preset among the plurality of laser scanners step;
When it is determined that the detection data exists, the first laser scanner determines whether the at least one detection object is detected in a preset overlapping area between the plurality of laser scanners based on the detection data and the coordinate information to do; and
and maintaining, by the first laser scanner, preset people count information when it is determined that the at least one sensing object is detected in the overlapping area. delete 5. The method of claim 4,
When it is determined that the at least one sensing object is not detected in the overlapping area, the method further comprising: updating, by the first laser scanner, the people count information based on the coordinate information, the count value, and the counting direction information How to. 7. The method of claim 6,
determining, by the first laser scanner, whether the slave role of the first laser scanner is set after updating or maintaining the people count information; and
When it is determined that the slave role is set, the first laser scanner transmits the maintained people count information or the updated people count information to a third laser scanner in which the master role is preset among the plurality of laser scanners A method comprising further steps. 8. The method of claim 7,
Both the master role and the slave role are set for the first laser scanner,
the first laser scanner is configured to perform the master role in association with the second laser scanner, and
The first laser scanner is configured to perform the role of the slave in association with the third laser scanner. one or more laser scanners outputting a plurality of beam pointers in a predetermined order and direction and receiving at least one beam pointer reflected from an object within a detection area;
a control device for generating coordinate information of the object based on the reflected at least one beam point; and
a user device electrically coupled to the control device;
The control device is
is implemented to generate sensing information associated with at least one sensing object based on a plurality of sensor curtains of the one laser scanner,
The sensing information includes time stamp information associated with the plurality of sensor curtains and coordinate information associated with the at least one sensing object,
is implemented to determine whether it is included in a pre-set center recognition range for the one or more laser scanners based on the coordinate information,
is implemented to determine whether at least one first type of triangle is formed when the coordinate information is included in the center recognition range,
and when the at least one first type of triangle is formed, generate a first count value based on the number of the formed at least one first type of triangle;
and generate first counting direction information for the at least one first type of triangle based on the first count value and the time stamp information, and
and to update people count information based on the first counting direction information.

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