KR102441436B1 - System and method for security - Google Patents

Abstract

In order to be monitored by the security monitoring system interlocked with the radar sensor and the omni-directional camera, the radar sensor and the omnidirectional Synchronize the camera. At least one region of interest is set to detect an event by an arbitrary object, and when a radar sensor and an omnidirectional camera sense an object passing through the region of interest or collect an image, sensing information and image of the arbitrary object Notifies the occurrence of an event based on

Description

Security monitoring system and security monitoring method using the same

The present invention relates to a security monitoring system and a security monitoring method using the same.

Recently, as anxiety increases due to the frequent occurrence of crime, interest in personal or public safety is increasing. For this reason, various types of monitoring systems have been developed and utilized to prevent crimes in advance and to analyze and solve crimes after they have occurred.

Typically, CCTV (Closed Circuit Television) is installed in places requiring security, such as public places, crime areas, and access control areas using wide-area cameras. In addition, surveillance personnel at the control center monitor the screen images collected through CCTV, or record them in a storage device and then analyze the images afterward.

In this case, since CCTV monitors only an area with a fixed radius, when monitoring indoors with installed CCTVs, many cameras must be installed indoors to perform monitoring. Therefore, since the CCTV is installed for the reason of the burden and cost reduction of the camera installation, a blind area is generated.

In addition, the number of cases where security monitoring is performed through sensors installed in the monitoring area together with CCTV is increasing. In this case, there is a problem in that it is difficult to understand the relationship between the surveillance image and the sensor information because the video collected by the CCTV and the monitoring information collected by the sensors are respectively provided to the monitor.

In addition, when performing control by analyzing only an image, when a change occurs in a structure such as an indoor light installed in an area designated as an area of interest, it is frequently mistakenly detected as an event. This is because the image itself has only plane information, so only the change of the ROI is detected regardless of the distance of the region.

Accordingly, the present invention provides a security monitoring system in which a radar sensor and an omnidirectional camera are synchronized and a security monitoring method using the same.

As a method of monitoring by a security monitoring system interlocked with a radar sensor and an omnidirectional camera, which is one feature of the present invention for achieving the technical problem of the present invention,

Synchronizing the radar sensor and the omnidirectional camera based on distance information for each phase collected by the radar sensor sensing a specific object and an image captured by the omni-directional camera of the specific object; detecting an event caused by an object establishing at least one region of interest for

and when the radar sensor and the omnidirectional camera sense an arbitrary object passing the ROI and collect an image, notifying the occurrence of an event based on a time difference between the sensing information of the arbitrary object and the reception of the image.

The synchronizing step is

Receiving a synchronization request signal from the outside, analyzing an image of the specific object executing a specific event at an arbitrary position transmitted from the omni-directional camera, and setting the position of the specific object as a reference position, the receiving sensing information for a specific object from the radar sensor, and adjusting a phase of the specific object included in the sensing information as a reference phase; and

It may include synchronizing the omnidirectional camera and the radar sensor by mapping the reference phase to the reference position.

The step of setting the reference position includes the steps of setting the reference position to 0 degrees, and dividing the resolution collected from the image transmitted from the omni-directional camera into a preset number to set 90 degrees 180 degrees and 270 degrees may include steps.

The method further comprises collecting and storing background data including distance information for each phase from the radar sensor before the step of setting the reference position, wherein the background data is not detected in the area where the radar sensor is installed. In this case, it may correspond to distance information for each phase from the location where the radar sensor is installed to the wall within the installation area.

The step of notifying the occurrence of the event may include: receiving an image of an arbitrary object passing the region of interest from the omnidirectional camera; receiving sensing information on the arbitrary object from the radar sensor; receiving the image Checking whether a point in time and a point in time at which the sensing information is received occur within a preset time, and when the sensing information and the image are received within the preset time, confirming that an event has occurred have.

The step of receiving the sensing information includes the steps of checking the distance information for each phase included in the sensing information, comparing the checked distance information for each phase with the distance information for each phase stored as the background data, and in any phase If there is a difference between the distance on the stored background data and the distance included in the sensing information, the method may include confirming that the arbitrary object is detected.

After the step of notifying the occurrence of the event, generating monitoring information including a movement path of the object according to the order in which the event occurs, wherein the object on the movement path is determined by the radar sensor to detect the arbitrary object. The omni-directional camera may enlarge or reduce the image captured by the arbitrary object based on the detected distance for each phase of the sensing information.

As another feature of the present invention for achieving the technical problem of the present invention, a security monitoring system interlocked with a radar sensor and an omnidirectional camera,

It communicates with the radar sensor to receive background data, sensing information for synchronization collected from a specific object, and sensing information for sensing an arbitrary object passing a set ROI, and communicates with the omnidirectional camera to communicate with the specific object and the A communication unit that receives an image of an arbitrary object, synchronizes the radar sensor and the omni-directional camera based on sensing information and image for synchronization collected from the specific object, and the background data, sensing information and image of an arbitrary object and a processor for generating monitoring information by detecting the occurrence of an event based on , and a memory for storing reference data received from the radar sensor, the set region of interest, and synchronization information between the radar sensor and the omnidirectional camera.

When the processor receives a synchronization request signal for the radar sensor and the omni-directional camera, the processor analyzes the image transmitted from the omni-directional camera, sets the position of the specific object as a reference position, and receives from the radar sensor. By analyzing sensing information for synchronization, the phase of the specific object is set as a reference phase, and the reference position and the reference phase are mapped to synchronize the radar sensor and the omnidirectional camera.

If the processor determines that the arbitrary object is located in the region of interest and has occurred within a preset time by comparing an event occurrence time for the arbitrary object and a time at which an image for the arbitrary object is received, the It can be notified that an event has occurred by an arbitrary object.

According to the present invention, since several images collected through an omnidirectional camera are analyzed, a viewing angle without blind spots can be secured, and the effect of multiple cameras monitoring can be obtained at a low cost.

In addition, through the synchronization of the radar sensor and the omnidirectional camera, more accurate analysis of security monitoring is possible, and the flow of the entire event can be provided without interruption.

1 is an exemplary diagram of an image monitoring method using a general camera.
2 is an exemplary diagram of an environment to which a security monitoring system according to an embodiment of the present invention is applied.
3 is a structural diagram of a security monitoring system according to an embodiment of the present invention.
4 is a flowchart of an initial setting method of a security monitoring system according to an embodiment of the present invention.
5 is a flowchart of a method for detecting an event by a security monitoring system according to an embodiment of the present invention.
6 is an exemplary diagram in which an omnidirectional camera and a sensor are synchronized according to an embodiment of the present invention.
7 is an exemplary diagram in which a region of interest is set according to an embodiment of the present invention.
8 is an exemplary diagram of a notification screen according to an embodiment of the present invention.
9 is an exemplary diagram of monitoring information provided according to interworking of a radar sensor and an omnidirectional camera according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Hereinafter, a security monitoring system and a security monitoring method using the same according to an embodiment of the present invention will be described with reference to the drawings.

Before describing the embodiment of the present invention, for general video surveillance

1 is an exemplary diagram of an image monitoring method using a general camera.

FIG. 1(a) is an exemplary diagram illustrating a region of interest (ROI) set for video surveillance by installing three cameras 10-1 to 10-3 in an arbitrary space that requires control. As shown in Fig. 1 (a), in the related art, for video monitoring of an arbitrary space, an area (eg, a window, a doorway, etc.) where an event (eg, intrusion, theft, etc.) is likely to occur is monitored. Install the camera to

In addition, the ROI is set after the camera is installed in consideration of the possibility of occurrence of an event in a space other than an area where an event is likely to occur. In this case, a blind spot in which image information is not collected by the camera may occur.

To this end, in order to monitor a blind spot or to accurately monitor an area where an event is likely to occur, a sensor is added in addition to the camera for monitoring. In this case, the monitoring system provides a notification image by combining the image information collected by each camera and the sensing information collected by the sensor as shown in FIG. 1(b).

As shown in (b) of FIG. 1 , the control server installed in the control center that receives the images collected by each camera 10-1 to 10-3 analyzes the image information and the sensing information and provides it as analysis information. . To this end, the region of interest 10 - 4 is designated in the form of a line cross, and when the line cross is crossed or invaded within the region, the control server provides a notification image by combining the line cross and information sensed by the sensor.

At this time, since image information is collected by a plurality of cameras 10-1 to 10-3 and sensing information is also collected by a separately installed sensor, a plurality of image information and sensing information are provided in the order in which an event occurs. Therefore, it is cumbersome because it is necessary to view or check a plurality of pieces of information about the event.

In addition, since a plurality of cameras are installed, an installation cost is burdened, and even if a plurality of cameras are installed, there is a problem in that a blind spot occurs and accurate monitoring is difficult.

Therefore, in the embodiment of the present invention, the area can be monitored without blind spots through a single 360-degree omnidirectional camera. In addition, since sensing information sensed using a radar sensor is provided for accurate analysis together with an omni-directional camera, a user receiving monitoring information can check monitoring information only with one piece of information instead of a plurality of analysis information.

As described above, an environment to which the security monitoring system 100 for monitoring a monitoring area using an omnidirectional camera and a radar sensor is applied and a structure of the security monitoring system 100 will be described with reference to FIGS. 2 and 3 .

2 is an exemplary diagram of an environment to which a security monitoring system according to an embodiment of the present invention is applied.

As shown in FIG. 2 , the security monitoring system 100 interworks with one omnidirectional camera 200 and one radar sensor 300 . In the embodiment of the present invention, the use of the 360-degree omnidirectional camera 200 and the radar sensor 300 is described as an example, but the camera and the sensor are not necessarily limited as such. In addition, in the embodiment of the present invention, the radar sensor 300 and the omnidirectional camera 200 are installed in the center of the room as an example, but the present invention is not necessarily limited thereto.

The security monitoring system 100 synchronizes the omnidirectional camera 200 and the radar sensor 300 . A method in which the security monitoring system 100 synchronizes the omni-directional camera 200 and the radar sensor 300 will be described later in detail.

And, the security monitoring system 100 analyzes the image information collected by one omnidirectional camera 200 and the sensing information sensed by one radar sensor 300, respectively, and analyzes the analyzed image analysis information and the sensor analysis information. Based on the monitoring information is provided to the client (400).

About the structure of the security monitoring system 100 that synchronizes the omnidirectional camera 200 and the radar sensor 300 in the environment described above, and provides monitoring information in which image information and sensing information are fused to the client 400 It will be described with reference to FIG. 3 .

3 is a structural diagram of a security monitoring system according to an embodiment of the present invention.

As shown in FIG. 3 , the security monitoring system 100 includes a communication unit 110 , a processor 120 , and a memory 130 .

The communication unit 110 communicates with the omni-directional camera 200 and receives an image collected by the omni-directional camera 200 . In addition, the communication unit 110 communicates with the radar sensor 300 , and receives background data and sensing data collected by the radar sensor 300 .

Here, the background data transmitted from the radar sensor 300 means sensing information collected when there is no movement in the place where the radar sensor 300 is installed. The background data includes distance information for each phase and quality information. The distance information for each phase means distance information from the radar sensor 300 to the wall for each phase based on the radar sensor 300 installed indoors. The quality information is the reliability of the sensing information of the radar sensor 300 , and a detailed description of a method of measuring the reliability is omitted in the embodiment of the present invention.

Also, the communication unit 110 receives a synchronization request signal transmitted from the radar sensor 300 . The communication unit 110 communicates with the omnidirectional camera 200 and the radar sensor 300 and the communication form is not limited to any one.

In addition, the communication unit 110 provides the event occurrence notification and monitoring information generated by the processor 120 to the client 400 . Monitoring information will be described as an example in which an object is zoomed-in/zoom-out and provided according to distance information with the radar sensor 300 based on the order in which the events occur and the location where the events occur. The form of monitoring information will be described later.

When a synchronization request signal is input from the outside, the processor 120 receives and analyzes the image collected by the omnidirectional camera 200 immediately after the synchronization request signal is input. The image collected by the omni-directional camera 200 includes an event repeatedly performed by a specific object at a preset position or an arbitrary position at the same position.

The processor 120 sets the position of the object performing the event in the analyzed image as the reference position. Then, the processor 120 divides the resolution collected from the image into four and sets 90 degrees, 180 degrees, and 270 degrees.

When the reference position is set, the processor 120 receives and analyzes the sensing information sensed by the radar sensor 300 . Through the analyzed sensing information, the security monitoring system 100 adjusts the phase of a position where a specific object repeatedly performs an event to a reference phase of 0 degrees.

The processor 120 synchronizes the omnidirectional camera 200 and the radar sensor 300 so that the reference phase corresponds to the reference position set in the analyzed image. In the embodiment of the present invention, for convenience of explanation, when a specific object (eg, a person) repeats the same movement (eg, jump, etc.) in the same place, the omnidirectional camera 200 collects it as an example to explain

In addition, in the embodiment of the present invention, for convenience of explanation, images and sensing information collected by the omnidirectional camera 200 and the radar sensor 300 immediately after the synchronization request signal is input are referred to as 'synchronization data'. In addition, in the embodiment of the present invention, when an arbitrary object presses the synchronization button provided in the radar sensor 300 for a preset time, a synchronization request signal is generated as an example.

After synchronizing the omnidirectional camera 200 and the radar sensor 300 , the processor 120 analyzes the image collected by the omnidirectional camera 200 and the sensing data collected by the radar sensor 300 . Then, it is checked whether the time point at which the motion is monitored in the image captured by the omnidirectional camera 200 and the time point at which the motion is detected by the radar sensor 300 occurs within a preset time. If two events occur within a preset time, the processor 120 generates the image collected by the omnidirectional camera 200 and the sensing data collected by the radar sensor 300 as a notification screen, respectively, and provides it to the client.

To this end, the processor 120 compares the background data for the radar sensor 300 stored in the memory 130 with the sensing information collected by the radar sensor 300 to confirm whether an event has occurred. In addition, the processor 120 checks whether an event is generated by the object based on the image collected by the omnidirectional camera 200 and the region of interest stored in the memory 130 . A method of determining whether an event has occurred will be described in detail later.

The processor 120 generates monitoring information by using each notification screen provided to the client. When generating monitoring information, the processor 120 first extracts coordinate values for each of the x-coordinate, y-coordinate, and z-coordinate from the image in the order of occurrence of the event. Then, the processor 120 collects distance information for each phase in the order in which events occur in the sensing data sensed by the radar sensor 300 . The processor 120 enlarges or reduces an image of an object based on coordinate values and distance information for each phase to generate monitoring information.

The memory 130 includes background data collected by the radar sensor 300 , setting information on a region of interest among images captured by the omni-directional camera 200 , and the radar sensor 300 and the omni-directional camera 200 . Storing and managing synchronization data. In addition, the memory 130 stores software for executing the security monitoring system 100 .

A method for the security monitoring system 100 described above to initially set the omnidirectional camera 200 and the radar sensor 300 for security monitoring will be described with reference to FIG. 4 . In addition, a method of detecting an event through the images and sensing information collected by the initially set omnidirectional camera 200 and the radar sensor 300 will be described with reference to FIG. 5 .

4 is a flowchart of an initial setting method of a security monitoring system according to an embodiment of the present invention.

As shown in FIG. 4 , the security monitoring system 100 collects background data for the radar sensor 300 ( S100 ). The background data refers to sensing information collected when there is no movement of an object in a place where the radar sensor 300 is installed. The background data includes distance information for each phase and quality information, and is collected as shown in Table 1 below.

Phase distance quality … 39.9844 4381 47 41.1094 4421 47 … 53.5 2875 47 54.7344 2927 47 …

When each field in Table 1 is described, it can be seen that the distance from the wall to the wall at 39.9844 degrees in phase is 4381 mm based on the position where the radar sensor 300 is installed. In the embodiment of the present invention, since the radar sensor 300 is installed indoors as an example, the indoor structure is shown when lines are connected based on the distance information collected based on the phase from 0 degrees to 360 degrees.

In Table 1, the quality information is the reliability of the sensed information sensed by the radar sensor 300, and is a value calculated based on the ratio of the number of false positives among the total number of object detections. In the embodiment of the present invention, although the quality information among the background data for the radar sensor 300 is calculated by the manufacturer of the radar sensor 300 as an example, the description is not necessarily limited thereto.

The security monitoring system 100 receives a synchronization request signal from the radar sensor 300 (S101). In the embodiment of the present invention, the synchronization request signal is transmitted from the radar sensor 300 as an example, but is not necessarily limited thereto.

When the security monitoring system 100 receives the synchronization request signal, an arbitrary object repeatedly performs a specific event. In the exemplary embodiment of the present invention, the user repeatedly performs a jump at a specific position as an example, but the present invention is not limited thereto.

The security monitoring system 100 receives and analyzes an image of an object in which the omnidirectional camera 200 repeatedly executes a specific event. The security monitoring system 100 sets the position of the object executing the event as the reference position (S102). The coordinates of the reference position are (0, 0, 0).

Then, the security monitoring system 100 divides the resolution collected from the image into four, and sets 90 degrees, 180 degrees, and 270 degrees. Since the method of dividing the resolution, the number of divided screens, and the method of setting the angle of the security monitoring system 100 by the security monitoring system 100 can be executed in various ways, a detailed description will be omitted in the embodiment of the present invention.

The security monitoring system 100 receives and analyzes the synchronization data sensed by the radar sensor 300 (S103). Through the analyzed synchronization data, the security monitoring system 100 adjusts the phase of the position where the object performed the event as the reference phase. And the security monitoring system 100 synchronizes the reference phase analyzed and adjusted in step S103 to the reference position in the image analyzed in step S102 (S104).

When the radar sensor 300 is synchronized with the omnidirectional camera 200 through step S104, information on the distance at which the object has performed the event is checked. The security monitoring system 100 that has received the distance information confirmed by the radar sensor 300 determines the distance of the object from the radar sensor 300 based on the reference phase 0 degrees (hereinafter, referred to as 'reference distance' for convenience of description). It can detect that an event is being performed from a location as far away as possible.

An example in which the omnidirectional camera 200 and the radar sensor 300 are synchronized through step S104 will first be described with reference to FIG. 6 .

6 is an exemplary diagram in which an omnidirectional camera and a sensor are synchronized according to an embodiment of the present invention.

As shown in (a) of FIG. 6, when an arbitrary object 500 performs a jump event at a specific location, the security monitoring system 100 that receives the image of the object by the omnidirectional camera 200 is The position of the object 500 is set as the reference position 600-1. And the security monitoring system 100 divides the resolution 700 collected from the image into four, and sets the reference position 600-1 to 0 degrees from the right to 90 degrees (600-2), 180 degrees (600-3) , set to 270 degrees (600-4).

The security monitoring system 100 receives and analyzes the synchronization data sensed by the radar sensor 300, and as shown in FIG. -5). And the reference position shown in Fig. 6 (a) is synchronized to correspond to the reference phase shown in Fig. 6 (b). Through this, the security monitoring system 100 may confirm that an event has occurred by the object at a reference phase of 0 degrees and a reference distance of 3 m from the radar sensor 300 .

Meanwhile, referring to FIG. 4 , when the omnidirectional camera 200 and the radar sensor 300 are synchronized through step S104 , the security monitoring system 100 sets the region of interest based on the region setting information input from the outside. do (S105). Then, when the region of interest is set, the initial setting is completed together with synchronization of the omnidirectional camera 200 and the radar sensor 300 ( S106 ). Here, an example of the region of interest set in step S105 will first be described with reference to FIG. 7 .

7 is an exemplary diagram in which a region of interest is set according to an embodiment of the present invention.

As shown in FIG. 7 , when area setting information is input from the outside, the security monitoring system 100 displays the area of interest set on the control screen, or when an event occurs within the area, the security monitoring system 100 It notifies the user who receives monitoring information so that it can be recognized.

7 shows that when an event occurs at a point 3m away from the radar sensor 300 in phase 0 degrees, it is set to detect it, and when an event occurs at a point 4m away from the radar sensor 300 at 150 degrees of phase, it is set to detect it. that has shown However, the phase and distance are not necessarily limited in this way. In addition, in the embodiment of the present invention, the security monitoring system 100 sets a region of interest when receiving region setting information from the outside is described as an example, but the present invention is not limited thereto.

In the embodiment of the present invention, two locations are set as the ROIs 800 - 1 and 800 - 2 as an example, but the present invention is not limited thereto.

After the omnidirectional camera 200 and the radar sensor 300 are synchronized through the above procedure and the initial setting is completed, a method for the security monitoring system 100 to detect an event will be described with reference to FIG. 5 .

5 is a flowchart of a method for detecting an event by a security monitoring system according to an embodiment of the present invention.

As shown in FIG. 5 , the security monitoring system 100 receives and analyzes sensing information and images collected by the omnidirectional camera 200 and the radar sensor 300 respectively ( S200 and S202 ). The security monitoring system 100 analyzes the sensing information sensed by the radar sensor 300 and confirms whether there is a change in the distance according to the phase by any object sensed by the sensor (S201). That is, the sensing information sensed by the radar sensor 300 is analyzed, and it is checked whether distance information for an arbitrary phase matches the distance information for each phase on previously stored background data.

If there is no change in the distance according to the phase, it is confirmed that the event has not occurred, and the procedure after the step of receiving the sensing information of step S200 is repeated. However, if there is a change in the distance according to the phase, it is confirmed that the event is caused by an arbitrary object at the corresponding position.

For example, suppose the distance for phase 30 degrees is 4 m according to the background data. And, as a result of analyzing the sensing information, it is assumed that the distance with respect to a phase of 30 degrees is analyzed as 2m. Then, the security monitoring system 100 confirms that a change has occurred in the distance value according to the same phase, and confirms that the sensing event has occurred because there is an object at a point 2m in a phase of 30 degrees.

The security monitoring system 100 checks whether an event has occurred in the image analyzed in step S202 (S203). If the event exists, it is determined whether the sensing event confirmed in step S201 and the image event confirmed in step S203 have occurred within a preset time (S204). In an embodiment of the present invention, the time interval between the image event and the sensing event is not limited to any one time period.

If the image event and the sensing event do not occur within the preset time, it is finally determined that the event has not occurred and the procedure is repeated from steps S200 and S202. However, when the video event and the sensing event occur within a preset time, the security monitoring system 100 sends an event notification screen to the client to notify that the event has occurred (S205), and at the same time generates and provides monitoring information (S206).

Here, the event notification screen notified by the security monitoring system 100 in step S205 and the monitoring information generated in step S206 are as shown in FIGS. 8 and 9 below. First, an event notification screen will be described with reference to FIG. 8 .

8 is an exemplary diagram of a notification screen according to an embodiment of the present invention.

FIG. 8A illustrates that, when an event is generated by an object checked by the omni-directional camera 200, image motion is provided to the screen in the order in which the event occurred. And FIG. 8(b) is an exemplary diagram illustrating that when an event occurs by an object confirmed by the radar sensor 300, movement information of the object is collected and provided.

As shown in (a) of FIG. 8 , when the object 500 moves from the first region of interest 800-1 to the second region of interest 800-2, the security monitoring system 100 determines that the object is an event. The moving from the first region of interest 800-1 to the second region of interest 800-2 is provided as an image event in the order of occurrence. In this case, the security monitoring system 100 checks the x, y, and z coordinates extracted by the omnidirectional camera 200 according to the movement of the object 500 .

That is, the omnidirectional camera 200 calculates the coordinates when it appears in the first region of interest 800-1 and the coordinates when it moves to the second region of interest 800-2, respectively, and the security monitoring system 100 ) confirms the coordinates calculated by the omnidirectional camera 200 . The method for calculating the coordinates by the omnidirectional camera 200 or the method for checking the coordinates calculated by the security monitoring system 100 may be performed in various ways, so the embodiment of the present invention is not limited to any one method. .

And as shown in (b) of Figure 8, the security monitoring system 100, based on the sensing information transmitted from the radar sensor 300, the object 500 from the phase 0 degree and 3m distance from the phase 150 degree 4m distance You can see that it has moved. Here, information on the movement of the object 500 by the radar sensor 300 is shown in Table 2 below.

background data sensing information Phase distance quality Phase distance quality - 0.5469 599 47 - 1.9219 593 47 - 2.9063 586 47 - 3.9063 584 47 … … 38.9844 4381 47 28.7031 5346 47 41.1094 4421 47 40.9844 4393 47 - 42.0938 4419 47 53.5 2875 47 45.6875 2761 47 54.7344 2927 47 54.6094 2884 47 … …

The phase, distance, and quality information corresponding to the "background data" field on the left side of Table 2 is for the background data mentioned in Table 1 above. In addition, the phase, distance, and quality information corresponding to the right "sensing information" field is a matter in which the radar sensor 300 confirms the movement information of the object 500 .

As shown in Table 2, according to the sensed information measured compared with the time of collecting the initial background data, it is confirmed that the object 500 is positioned at a phase of 0.5469 degrees and a distance of 599 mm and a sensing event has occurred.

The security monitoring system 100 generates and provides the coordinates extracted according to the movement of the object 500 checked from the notification screen shown in FIG. 8 and monitoring information to be provided to the client. In the embodiment of the present invention, monitoring information to be provided to the client is provided in the moving direction of the object 500 that generated the event, or the radar sensor 300 ), an enlarged image can be provided by setting a magnification based on the distance information.

9 is an exemplary diagram of monitoring information provided according to interworking of a radar sensor and an omnidirectional camera according to an embodiment of the present invention.

As shown in (a) of Figure 9, the security monitoring system 100 utilizes the distance information to the object sensed by the radar sensor 300, and the coordinate information confirmed by the omnidirectional camera 200, to the object It provides monitoring information by enlarging (zoom-in) or zoom-out (zoom-out) the image for

That is, when the object enters a distance of 0 degrees/3 m in phase set as the first region of interest 800 - 1 based on the radar sensor 300 , the security monitoring system 100 starts tracking the object. Then, when the object 500 moves to another place through a position 2 m away from the phase 150 degrees set as the second region of interest 800 - 2 , the object is tracked up to the point set as the second region of interest 800 - 2 . do.

In this case, it is difficult for the client 400 to grasp the exact shape of an object 3 m away and an object 2 m away captured by the omnidirectional camera 200 . Therefore, as shown in (b) of FIG. 9, an object far away from the object tracking section provides an enlarged image, and for an object that is easy to grasp by the client 400 by moving closer to the omnidirectional camera 200, the image is provided without magnification.

To this end, the security monitoring system 100 enlarges/reduces and provides a zoom factor when reproducing an image based on the distance information of the radar sensor as shown in Table 3 below.

event occurs move 1 move 2 move 3 radar sensor Phase 0 degrees 45 degrees 09 degrees 150 degrees distance 3m 0.5m 1m 2m omnidirectional
camera coordinate X
(0-2160 pixels) 900 1080 1200 1500 Coordinate Y
(0-1440 pixels) 800 1200 1100 900 Coordinate Z
(0 to 8 times magnification) 4x magnification 1x magnification 2x magnification 3x magnification

Referring to Table 3 and FIG. 9(a) together, an object at a location 3 m away with a phase of 0 degrees from which tracking is started is provided to the client by magnifying an image by 4 times in proportion to the distance information. And, since the client 400 can determine the object even if the client 400 is not enlarged, the image is provided without magnification of the client 0.5m away from the 45 degree phase.

In this way, the angle of the omnidirectional camera 200 is automatically moved toward the object by using the x, y, z coordinates of the omnidirectional camera 200 according to the distance information of the object sensed by the radar sensor 300 . At the same time, by adjusting the PTZ corresponding to the z coordinate of the omni-directional camera 200, the image may be enlarged/reduced and collected.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto. is within the scope of the right.

Claims (14)

A method for monitoring by a security monitoring system interlocked with a sensor and an omnidirectional camera, the method comprising:
Synchronizing the sensor and the omni-directional camera based on the distance information for each phase collected by the sensor sensing the specific object and the image captured by the omni-directional camera of the specific object;
setting at least one region of interest to detect an event by the object; and
When the sensor and the omni-directional camera sense an arbitrary object passing the ROI and collect an image, notifying the occurrence of an event based on the time difference between the sensing information on the arbitrary object and the reception of the image
A security monitoring method comprising a. According to claim 1,
The synchronizing step is
Receiving a synchronization request signal from the outside;
analyzing an image of the specific object executing a specific event at an arbitrary position transmitted from the omni-directional camera, and setting the position of the specific object as a reference position;
receiving the sensing information for the specific object from the sensor, and adjusting the phase of the specific object included in the sensing information as a reference phase; and
Synchronizing the omni-directional camera and the sensor by mapping the reference phase to the reference position
A security monitoring method comprising a. 3. The method of claim 2,
The step of setting the reference position is,
setting the reference position to 0 degrees, and
dividing the resolution collected from the image transmitted from the omni-directional camera into a preset number, and setting 90 degrees 180 degrees and 270 degrees
A security monitoring method comprising a. delete 3. The method of claim 2,
The step of notifying the occurrence of the event is
Receiving an image of an arbitrary object passing through the ROI from the omni-directional camera;
Receiving sensing information on the arbitrary object from the sensor;
checking whether the time at which the image is received and the time at which the sensing information is received occur within a preset time, and
When the sensing information and the image are received within the preset time, confirming that an event has occurred
A security monitoring method comprising a. 6. The method of claim 5,
Receiving the sensing information comprises:
checking the distance information for each phase included in the sensing information;
comparing the identified distance information for each phase with the distance information for each phase included in the background data, and
If there is a difference between the distance on the background data stored for the arbitrary phase and the distance included in the sensing information, confirming that the arbitrary object is detected
includes
The distance information for each phase is distance information from the sensor to a wall in an installation area where the sensor is installed. According to claim 1,
After the step of notifying the occurrence of the event,
Generating monitoring information including the movement path of the object according to the order in which the event occurred
including,
The object on the moving path is a security monitoring method in which the omni-directional camera enlarges or reduces an image captured by the arbitrary object based on the distance for each phase of sensing information that the sensor detects the arbitrary object. As a security monitoring system interlocked with a sensor and an omni-directional camera,
It communicates with the sensor to receive background data, sensing information for synchronization collected from a specific object, and sensing information for sensing an arbitrary object passing through a set ROI, and communicates with the omnidirectional camera to communicate with the specific object and the arbitrary A communication unit that receives an image of an object of
The sensor and the omni-directional camera are synchronized based on the sensing information and the image for synchronization collected from the specific object, and the occurrence of an event is detected based on the background data and the sensing information and the image for an arbitrary object to generate monitoring information. processor, and
A memory for storing reference data received from the sensor, the set region of interest, and synchronization information between the sensor and the omnidirectional camera
A security monitoring system comprising a. 9. The method of claim 8,
The processor is
When a synchronization request signal for the sensor and the omni-directional camera is received, the image transmitted from the omni-directional camera is analyzed and the position of the specific object is set as a reference position,
By analyzing the sensing information for synchronization received from the sensor, the phase for the specific object is set as a reference phase,
A security monitoring system for synchronizing the sensor and the omni-directional camera by mapping the reference position and the reference phase. 10. The method of claim 9,
The processor is
A security monitoring system for setting 90 degrees, 180 degrees and 270 degrees based on the reference position by dividing the resolution collected from the image for the specific object into a preset number. 11. The method of claim 10,
The processor is
A security monitoring system that sets an area of interest based on area setting information input from the outside. delete 12. The method of claim 11,
The processor is
When the arbitrary object is located in the ROI and it is confirmed that the event occurred within a preset time by comparing the time of occurrence of the event for the arbitrary object and the time of receiving the image of the arbitrary object, the object is A security monitoring system that notifies that an event has occurred by 14. The method of claim 13,
The processor is
A security monitoring system for generating monitoring information by enlarging or reducing an image of an object in the image based on distance information confirmed from the sensing information of the arbitrary object.

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