RU2031545C1 - Device for detection of moving objects - Google Patents

Abstract

FIELD: TV and computer technology. SUBSTANCE: device for detection of moving objects has TV pickup 1, detector 2 of object stopping, former 3 of analysis zone, frequency divider 4, storage 5, OR gate 6, unit 7 determining value of object movement, measurement unit 8, subtracter 9, digital comparator 10, threshold unit 11. EFFECT: expanded functional capabilities by extraction and registration of parameters of both moving and stopped objects within analysis zone. 3 cl, 3 dwg

Description

 The invention relates to computer technology and can be used to automatically detect and record parameters of moving objects, for example, vehicles in motion control systems, in control systems for the movement of open-pit vehicles, etc.

 One of the known devices for the selection and registration of moving objects is a device for controlling a moving object, comprising an image input unit, an output image memory unit, a distance plotting system, a distance memory unit, control image memory unit, a receiving unit, an object image memory unit , range finder, hazard signal detector, unit for measuring the size of an object, annunciator and control unit [1].

 This device compares the current and reference images, selects (or excludes) the image of a moving object in the receiving unit and stores it in the memory unit, as well as measures the size of objects and range in the measurement unit.

 When monitoring in the process of movement, it is necessary to take into account both moving and objects stopped in the analysis zone. The lack of such a possibility is the disadvantage of this device.

 Known television device that provides selection of moving objects, which contains a television camera, synchronizer, threshold unit, AND, OR, memory unit, three D-flip-flops [2].

 The disadvantage of this device is the low accuracy of detection of objects, the inability to measure the magnitude of the displacement and geometric parameters of objects.

 The closest technical solution for this object is a device for detecting moving objects, which includes a television sensor, a memory unit, a threshold unit, an OR element, a measuring unit, an analysis zone formation unit, an object movement magnitude determination unit, and a frequency divider [3].

 The disadvantage of this device is the lack of the ability to control during the movement to record both moving and stopped in the analysis zone of objects.

 The purpose of the invention is the expansion of functionality by highlighting and recording parameters of both moving and stopped in the analysis zone of objects.

 In FIG. 1 is a structural electrical diagram of a device for detecting moving objects; figure 2 and 3 are embodiments of the detector stopping the object and the unit for determining the magnitude of the movement of the object.

 A device for detecting moving objects contains a television (TV) sensor 1, an object stop detector 2, an analysis zone forming unit 3, a frequency divider 4, a memory unit 5, an OR element 6, an object moving amount determining unit 7, a measuring unit 8, a subtractor 9, the digital comparator 10 and the threshold unit 11. The detector 2 stops the object includes the elements And 12, 13 and 14, the triggers 15, 16 and 17 and the elements And 18 and 19, and the composition of the unit for determining the magnitude of the displacement 7 of the object - storage blocks 20 and 21 current and reference signal values and bl for comparison 22.

 A device for detecting moving objects works as follows.

 In the memory unit 5, digital signals of the current and reference images are generated, which are transmitted to the subtractor 9, and the recording signal is generated by the frequency divider 4 and fed to the detector 2, the memory unit 5 and the unit for determining the displacement value 7 of the object. The reference image is an image delayed by n frames relative to the current one. The recording signal is the result of dividing by n pulses the frame part of the frame sync pulses (CSI). Under the influence of this signal, information can be read for n frames, and for one frame, the read-modify-write mode, during which the information recorded in the previous access cycle is read from the selected memory cell and current information is recorded in its place.

 Current information (television signal) from the output of the TV sensor 1 is recorded in the memory unit 5, from which the current and reference images are read by the recording signal.

 In the subtractor 9, the reference image is subtracted from the current one and the interframe difference signal (MCR) is fed to a digital comparator 10, where it is compared with a predetermined threshold code from the threshold unit 11 and converted into a binary MCR signal (object signal). The threshold code can be set, for example, using switches.

 From the output of the digital comparator 10, the object signal is transmitted through the OR element 6 to the unit for determining the amount of displacement 7. The second input of the OR element 6 receives a signal from the detector 2, which is a binary signal of the object stopped in the controlled area.

 In the unit for determining the amount of displacements 7 of the object according to the recording signal from the divider 4, the current signal of the object is entered into the storage unit 20, and the object signal obtained in the previous comparison cycle is transferred to the storage unit 21. The signals read from the storage units 20 and 21 are compared in block comparison 22, which is also a logical multiplication by the signal of the analysis zone, coming from the block forming the analysis zone 3.

 The resulting difference signal is proportional to the amount of movement of the object during the comparison cycle. This signal from the output of the comparison unit 3 is fed to the measuring unit 8, in which the indicated value is fixed. The other inputs of the measuring unit 8 respectively receive the signal of the object from the output of the storage unit 21 and the signal of the analysis zone from the forming unit 3.

 To account for an object that has stopped in a controlled area, a detector 2 stops the object, the essence of which is as follows.

 The absence (step 1 of the algorithm) of the binary MCR signal in the next comparison cycle indicates that there was either no movement at all, or the object stopped in the controlled area, or left it.

 The absence (step 2 of the algorithm) of the coincidence of the reference signal of the object and the first analysis zone indicates that the object was not detected in the previous comparison cycle and, therefore, there was no movement.

 The presence of the indicated coincidence indicates that the object either stopped in the first analysis zone or left it. The presence of the binary MKR signal in the second analysis zone indicates the exit of the object from the first analysis zone, and the absence of the binary MKR signal in the second analysis zone indicates the stop of the object in the first analysis zone (step 3 of the algorithm).

 When a fact of an object stopping in the first analysis zone is detected, the object signal from the storage unit 21 of the reference signal value of the object signal of the displacement determination unit 7 is transmitted to the first output of the detector 2, and an object stop sign is generated at the second output. From the output of the detector 2, the signal of the object enters through the element OR 6 to the input of the unit for determining the amount of displacement 7 for memorization at the end of the comparison cycle. Thus, in detector 2, three conditions are checked: is there an MKR signal in the first analysis zone, was there an MKR signal in the first analysis zone in the previous comparison cycle, is there an MKR signal in the second analysis zone. Based on the check, a decision is made on allowing passage to the output of the detector 2 from the unit for determining the displacement value 7 of the object.

 Before the start of the comparison cycle, the triggers 15-17 of the detector 2 are set to the initial state. During each frame of the comparison cycle, three conditions are analyzed by the And 12-14 elements and the analysis result is recorded (log. "0" or log. "1") in triggers 15-17.

 The fact of the presence of an object in the first analysis zone in the current comparison cycle is recorded in trigger 16 (the first condition of the algorithm).

 The fact that the object is in the first analysis zone in the previous comparison cycle (the second condition of the algorithm) is recorded in trigger 17. The fact that the object is not in the second analysis zone in the current comparison cycle (the third condition of the algorithm) is recorded in trigger 15.

 If all of the above conditions are met during the operation of the write signal (read-modify-write mode) through the And 18 element, the signal of the reference object from the unit for determining the displacement value 7 is allowed to pass.

 The signal from the output of the detector 2 enters through the OR element 6 to the input of the unit for determining the displacement value 7 and is stored in the storage unit 20 of the current signal value.

 Thus, the registration of an object stopped in a controlled area is carried out.

 If in some comparison cycle a previously moving object stopped, then at the end of this comparison cycle the image will be recorded in memory block 5.

 The binary MCR signal (object signal) in this comparison cycle will be recorded in the storage unit 20 of the current signal value, and the previous binary MCR signal from the storage unit 20 of the current signal value will be transferred to the storage unit 21 of the signal reference value. At the same time, the current image of the stopped object will be recorded in memory unit 5.

 At the end of the next comparison cycle (the first comparison cycle), the image of the stationary object is transferred to the memory unit 5. The binary MCR signal (object signal) in this comparison cycle is recorded in the storage unit 20 of the current signal value, and the previous binary MKR signal from the storage unit 20 transferred to the storage unit 21. The current image of the stationary object is entered in the memory unit 5.

 In the second comparison cycle, when reading from block 5, the binary MCR signal is not detected, however, when the above conditions are met (the object is stopped in the controlled area), detector 2 transmits the object signal from the storage unit 21 through the OR element 6 to the input of the storage unit 20. As a result, the information about the object stopped in the first analysis zone is stored in the storage blocks 20 and 21.

 When motion is restored in the first analysis zone, a binary MCR signal appears, which leads to the shutdown of detector 2 (prohibition of the transmission of the object signal through the And 18 element). In this case, the binary MKP signal again begins to arrive at the input of the storage unit 20 from the memory unit 5 through the OR element 6.

 Thus, the proposed device allows you to select and record the parameters of both moving and stopped in the analysis zone of objects.

Claims (3)

 1. A DEVICE FOR DETECTING MOVING OBJECTS, comprising a television sensor, a memory unit, a threshold unit, an OR element, a measuring unit, an analysis zone formation unit, an object displacement determination unit and a frequency divider, characterized in that a digital comparator, a subtractor and an object stop detector, while the output of the television sensor through the memory unit is connected to the inputs of the subtractor, the output of which is connected through a digital comparator to the first input of the OR element, the output of which is connected to the first the input of the unit for determining the amount of movement of the object and the first input of the detector stopping the object, the second input of which is connected to the first input of the measuring unit and the first output of the unit for determining the amount of movement of the object, the second output of which is connected to the second input of the measuring unit, the third input of which is connected to the second input of the determination unit the magnitude of the object’s movement, the third input of the object’s stop detector and the first output of the analysis zone forming unit, the second output of which is connected to the fourth input stop detector of the object, the first output of which is connected to the second input of the OR element, the output of the threshold block is connected to another input of the digital comparator, and the synchronizing outputs of the television sensor are connected to the corresponding inputs of the memory block and the unit for determining the amount of movement of the object, synchronizing the output "Frame sync pulses" ) is connected to the corresponding input of the unit for forming the analysis zone, the synchronizing outputs f and "Horizontal sync pulses" are connected to the corresponding inputs unit, and the synchronizing output of the CSI through a frequency divider is connected to the control inputs of the recording of the memory unit, the object stop detector and the unit for determining the amount of object movement.  2. The device according to claim 1, characterized in that the unit for determining the amount of movement of the object is made in the form of a storage unit of the current signal value and a storage unit of the reference signal value, the outputs of which are connected to the corresponding inputs of the comparison unit, the output of the storage unit of the current signal value being connected to the input of the storage unit of the reference value of the signal, the synchronizing and control inputs of the storage units of the current and reference values of the signals are interconnected and are synchronizing m and the control inputs of the unit for determining the amount of movement of the object, the first and second inputs and the first and second outputs of which are respectively the input of the storage unit of the current signal value and the third input of the comparison unit and the outputs of the storage unit of the reference signal value and the comparison unit.  3. The device according to claim 1, characterized in that the stop detector is made in the form of the first, second and third elements And, the outputs of which are connected via corresponding triggers to the corresponding inputs of the fourth element And, the output of which is connected to the first input of the fifth element And, the first inputs of the first and second elements And are interconnected and are the first input of the object stop detector, the second input of which is the first input of the third element And connected to each other and the second input of the fifth element And, t whose input is connected to the synchronizing inputs of the first, second, and third triggers and is the control input of the stop detector of the object, the third input of which is the second inputs of the second and third elements AND connected to each other, the fourth input f is the second input of the first element And, and the output is the output fifth element of I.

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