TW541505B - Moving object monitoring system and method thereof - Google Patents
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541505 五、發明說明(1) 【發明之應用領域】 本發明係關於一種物體的跟蹤方法,特別是一 縱移動物體並能自動加以監控的移動物體的監控系統:: 方法。 /、 【發明背景】 隨著多媒體通訊技術的發展,動態物體的影理, 在電7功能越來越強大的條件許可下,逐 究領域。而動態物體的影像,其表現都以 像= ^為動態影像(Full-MQtlQn VldeQ),於是,序列圖方式 處理逐漸成為影像處理技術的焦點。 由於序列圖像包含了一系列的圖 的 =物進行辨識成為影像處理的重點。而其應 列,像中的目標進行實際分割、識別與跟蹤,而可 m:領域,例如:自動監視、體育報導、視頻壓 細、生產線監控,以及智能交通管理等。 -報2外,序列圖像處理技術當中的目標跟縱技術也成為 取視頻,像壓縮標準MPEG—4當中的關鍵技術,其中, \正疋使用目標跟縱和分割技術,提供了基於内容 夂I操作。因此,對這項技術進行深入的研究,開發其 各項應用具有深遠的意義。 . ^ 已經有許多目標識別與跟蹤算法,其中應用得 父”、、κ泛的是基於圖像特徵的模板匹配(pattern 气與更新算法。這一算法主要是利用所提取的當 月〗回特彳政和被跟蹤目標模板的特徵,將兩者加以比對,541505 V. Description of the invention (1) [Application field of the invention] The present invention relates to a method for tracking an object, in particular, a monitoring system for a moving object that can move an object longitudinally and can be automatically monitored: Method. [Background of the invention] With the development of multimedia communication technology, the imaging of dynamic objects, subject to the increasingly powerful functions of D7, will be studied in the field. However, the images of dynamic objects all use image = ^ as dynamic images (Full-MQtlQn VldeQ). Therefore, the processing of sequence diagrams has gradually become the focus of image processing technology. Because the sequence image contains a series of images, identifying objects has become the focus of image processing. And its application should be the actual segmentation, identification and tracking of the targets in the image, but m: areas, such as: automatic surveillance, sports reports, video compression, production line monitoring, and intelligent traffic management. -In addition to Report 2, the target tracking technology in sequence image processing technology has also become a key technology in video compression, such as the compression standard MPEG-4. Among them, Zheng Zheng uses the target tracking and segmentation technology to provide content-based technology. I operate. Therefore, it is of far-reaching significance to carry out in-depth research on this technology and develop its applications. ^ There are already many target recognition and tracking algorithms. Among them, the "", κ "are template matching based on image features (pattern qi and update algorithm. This algorithm mainly uses the extracted current month to return special features). Compare the characteristics of the target template and the tracked target template,
541505 五、發明說明(2) f採用的特徵通常是圖像的邊緣特徵。進行目標模板盘牟 别圖像之間的匹配,並在匹配的過程之中完成模板的更: 工作。其中,基於Hausdorff距離的模板匹配方法是最 發展起來的一種效果較好的方法。但由於採用這種演曾 時,匹配過程中的搜索空間會隨著圖像大小和模板大:的 增加而急遽增大,進而導致搜索所需的記憶體與處理器 的電腦負荷大幅增加。此外,圖像特徵的提取並不是— 簡單的工作,當圖像大小與模板大小增加時,即會導致拮 索與跟蹤的效率降低,很難達到實際處理的要求。 所以,如何能在目標跟蹤上’能讓跟蹤的結果更加準 ^ ,並能貫現自動跟蹤,且能提高跟蹤的效率,以上種種 莫不成為研究者所亟欲解決的研究課題。 【發明之目的及概述】 鑒於以上習知技術的問題,本發明的目的在於提供一 Ϊ =移動物體的方法與^ ’透過影像辨識技術,抽離 物體的影像,再藉由一連線的監控系統,持續對移 動物體進行監控。 从舰依據本發明所揭露的技術,本發明提供-種監控移動 物?的系統,運用多個監視器對某個區域做監視,每台監 有一個可監視角與一個重覆監視角,重覆監視角定 k 了兩台監視器之間的重覆可視區,系統於監視時透過 :二t個監視器以自動監控-移動物體,&系統包含:-。己^杈組,用以圯錄拍攝到該移動物體之該監視器所攝取 之^移動物體之複數個圖像序列,該記憶模組並記錄有複 541505 五、發明說明(3) 數個可監視目標模板以做自動監控之比對,·一目標辨識模 用以分析該複數個圖像序列並產生複數個目標模板, *该稷數個目標模板符合該複數個可監視目標模板之一 呀,輸出一監控目標指令;一速度計算單元,用以計算該 目標物之移動速度並轉換為監視中之該監視器之移動角速 度,角度凋整單元,依據該移動角速度計算得出調整監 視中之該監視器之監視角度,以傳送一調整角度訊號;一 切換單7,用以切換監視狀態為一單一監視器監視狀態或 ^監視器監視狀態、;一控制| &,係於接收該監控目標指 々後,^ ^該記憶模組中的該複數個圖像序列並傳送至該 速度计^早7G以計算該移動角速度,並接收該調整角度訊 號以傳迗至監視中之該監視器,並控制該切換單元以變更 監視狀態;及,一連接單元,用以連接該記憶模組、該目 ,辨識模組、該速度計算單元、該角度調整單元、該切換 早元與該控制單元。 依據本發明的監控移動物體的系統,本發明更提供一 種移,體的二控方法,包含下列步驟:言史定複數個;監 視目標杈板,當該移動物體出現,^ ^ ^ ^ ^ ^ ^ 取該移動物體之圖像序列.視益操 生-辨識模板;比對該辨:動物體之圖像序列產 板,並依-相似度決定===複數個可監視目標模 可於满物_姦4 一 β描二移動物體為一可監視物體;對該 .^ 一 目輮模板與一新目標模板;依據該目;ρ 兮銘叙、# Ρ κ Ϊ I ^視物體之移動速度;依據 4移動速度调^視中之該監視器之監視角度;當監視中 ΙΕΗ541505 V. Description of the invention (2) The features used by f are usually the edge features of the image. The target template is used to match between different images, and the template is updated during the matching process: work. Among them, the template matching method based on Hausdorff distance is the most developed method with better effect. However, due to the use of this kind of performance, the search space in the matching process will increase sharply with the increase of image size and template size, which will cause the computer load of the memory and processor required for the search to increase significantly. In addition, the extraction of image features is not a simple task. When the image size and template size increase, the efficiency of antagonism and tracking will decrease, and it will be difficult to meet the actual processing requirements. Therefore, how to make the target tracking result more accurate ^, and can realize automatic tracking, and improve the tracking efficiency, all these are the research topics that researchers are desperate to solve. [Objective and Summary of the Invention] In view of the problems of the above-mentioned conventional technologies, the purpose of the present invention is to provide a method of moving objects and ^ 'through the image recognition technology, extract the image of the object, and then monitor by a connection System to continuously monitor moving objects. According to the technology disclosed by the ship according to the present invention, the present invention provides a kind of monitoring of moving objects? The system uses multiple monitors to monitor a certain area. Each monitor has a monitorable angle and a repeated monitoring angle. The repeated monitoring angle determines the repeated viewing area between the two monitors. The system During monitoring, two t monitors are used to automatically monitor-moving objects. The & system includes:-. A self-control group is used to record a plurality of image sequences of the mobile object captured by the monitor that captured the mobile object, and the memory module also records the complex 541505. V. Description of the invention (3) Monitor target templates for automatic monitoring comparison. A target recognition module is used to analyze the multiple image sequences and generate multiple target templates. * The target templates match one of the multiple target templates that can be monitored. Output a monitoring target instruction; a speed calculation unit for calculating the moving speed of the target and converting it into the moving angular speed of the monitor during monitoring; The monitoring angle of the monitor transmits an adjustment angle signal; a switching order 7 is used to switch the monitoring state to a single monitor monitoring state or a monitor monitoring state; a control | & is for receiving the monitoring After the target is pointed, ^ ^ the plurality of image sequences in the memory module are transmitted to the speedometer 7G as early as to calculate the moving angular velocity, and receive the adjustment angle signal Transmitting to the monitor under monitoring, and controlling the switching unit to change the monitoring state; and a connection unit for connecting the memory module, the head, the identification module, the speed calculation unit, and the angle adjustment Unit, the switching early element and the control unit. According to the system for monitoring a moving object according to the present invention, the present invention further provides a two-control method for moving and moving bodies, including the following steps: a plurality of histories are determined; and a monitoring target plate, when the moving object appears, ^ ^ ^ ^ ^ ^ ^ Take the image sequence of the moving object. Vision-identification template; compare the identification: the image sequence of the animal body is produced and determined according to-similarity === multiple monitorable target modules can be full物 _ TR4 A β depicts two moving objects as a monitorable object; for this. ^ One target template and a new target template; according to the target; ρ Xi Mingxu, # Ρ κ Ϊ I ^ depending on the moving speed of the object; Adjust the monitoring angle of the monitor according to 4 moving speed; when monitoring ΙΕΗ
五、發明說明(4) 之該監視器之監視角度由該可監視 切換監視中之監視器為兩台監视器.轉至該重覆監視角, 台監視器之一之監視角度超出該重,’當監視中之該兩 視角度由該重覆監視角轉至該 现視角,另一台之監 視器為-台監視器。 ^視角,切換監視中之監 有關本發明的特徵與實作,兹 詳細說明如下·· _ e圖不作最佳實施例 【發明之詳細說明】 一請參考「第1圖」,本發明之移動%驶# 示意圖。透過本發明的監控系統2 〇, _的監控之系統 來監視移動物體6〇,如「第J圖」中即-可知控多台監視器 30、第二監視器4〇到第N監視器5〇。,二的第一監視器 與監控系統20連線,一方面可僖 母一台監視器都直接 2 0,另一方面,也可接收監控系象汛5虎至監控系統 做移動的動作。 /、、、、 所傳送的控制命令以 每台監視器都可以做旋轉的 點轉移。所以,每台監視器都 J、,也就是,將監視焦 要達到全方位的監視,就必須要^ =視範圍。一般來講, 用,以避免死角的問題。、 夕台的監視器交又運 所以,如「第1圖」所示,火 器30往第二監視器40的方向移田士移動物體從第一監視 一監視器3 0所攝取的影像來判日寸,監控系統2 0即依據第 物體6 0的移動速度來下達第—p物體的移動,並依據移動 移動物體60到達了第一監視哭二視器30的旋轉角度;一旦 °° d 0的可視範圍的界限時,亦 541505 五、發明說明(5) 即,此時應到達了第二監視器4 0的可視界限,此處為第一 監視器3 0與第二監視器4 0的交叉監視範圍,監控系統2 0即 將監視的任務共同賦予第一監視器30與第二監視器40並同 時調整第二監視器40的監視角度。如此,一旦移動物體60 超出第一監視器30的監視範圍,第二監視器40仍然可以持 續監視,並接受監控系統2 0的監控命令,其控制方法與第 一監視器3 0的控制方法相同。 所以,在監視器的裝設上,可以定義出監視器的監視 角度為可監視角與重覆監視角,此兩個角度加起來即為監 視器的視角。其中,重覆監視角即為上述的兩台監視器的 重覆可監視區的範圍;而可監視角則為監視器的視角當中 除了重覆監視角之外的區域。一旦物體進入重覆監視區, 其必然落入多台監視器當中的兩台監視器的共同可監視範 圍。 透過如此的監控方式,將可持續監控監視系統於可監 視範圍當中的移動物體。並且,可以解決掉死角的問題。 「第1圖」的監控系統2 0,其具體的功能方塊圖,請 參考「第2圖」,其包含了控制單元21、記憶模組22、目 標辨識模組2 3、速度計算單元2 4、角度調整單元2 5、切換 單元26、連接單元27與警示單元28。 一開始,只要任何一個監視器所監視的影像有所變 動,即可能有目標物出現。此時,監控系統2 0即開始依據 監視器所傳送的資料來自動進行判斷與監視。以下,將實 際說明監控系統2 0中的每個元件的用途以及功能。V. Description of the invention (4) The monitor angle of the monitor is changed from the monitor in the monitorable monitor to two monitors. Go to the repeat monitor angle, and the monitor angle of one of the monitors exceeds the monitor angle. "When the two viewing angles in monitoring are changed from the repeated monitoring angle to the present viewing angle, the other monitor is a-monitor. ^ The perspective, the supervisor in the switching monitoring, regarding the features and implementation of the present invention, is described in detail as follows. _E is not the preferred embodiment. [Detailed description of the invention]-Please refer to "Figure 1", the movement of the present invention % 驾 # diagram. Through the monitoring system 20 of the present invention, the monitoring system of _ is used to monitor the moving object 60, as shown in the "Figure J"-it can be known that multiple monitors 30, the second monitor 40 to the Nth monitor 5 can be controlled 〇. The first monitor of the two is connected with the monitoring system 20, on the one hand, both the mother and the monitor are directly 20, and on the other hand, it can also receive the monitoring system like Xun 5 Tiger to the monitoring system to do the movement. / ,,,, The control command is transferred to each monitor which can be rotated. Therefore, each monitor is J, that is, the monitoring focus must reach ^ = the viewing range to achieve all-round monitoring. Generally speaking, it is used to avoid dead space problems. As shown in the "Figure 1", the firearm 30 moves the Tianshi moving object in the direction of the second monitor 40 from the image captured by the first monitor 30 to determine In the day, the monitoring system 20 sends the movement of the -p object according to the moving speed of the 60th object, and the rotation angle of the first surveillance camera 30 is reached according to the moving and moving object 60; once °° d 0 The limit of the visible range of the camera is also 541505. V. Description of the invention (5) That is, the visible limit of the second monitor 40 should be reached at this time. Here is the difference between the first monitor 30 and the second monitor 40. Crossing the monitoring range, the tasks to be monitored by the monitoring system 20 are collectively assigned to the first monitor 30 and the second monitor 40 and the monitoring angle of the second monitor 40 is adjusted at the same time. In this way, once the moving object 60 exceeds the monitoring range of the first monitor 30, the second monitor 40 can still continuously monitor and accept the monitoring command of the monitoring system 20. The control method is the same as that of the first monitor 30 . Therefore, in the installation of the monitor, the monitoring angle of the monitor can be defined as the monitorable angle and the repeated monitoring angle. The two angles together are the angle of view of the monitor. Among them, the repeated monitoring angle is the range of the repeatable monitorable area of the two monitors mentioned above; and the monitorable angle is the area of the monitor's viewing angle other than the repeated monitorable angle. Once the object enters the repeated monitoring area, it must fall into the common monitorable range of two monitors among the multiple monitors. Through such a monitoring method, the continuous monitoring and monitoring system is used to monitor the moving objects in the range that can be monitored. In addition, the problem of dead ends can be solved. "Figure 1" monitoring system 20, the specific functional block diagram, please refer to "Figure 2", which contains the control unit 21, memory module 22, target recognition module 2 3, speed calculation unit 2 4 , Angle adjustment unit 25, switching unit 26, connection unit 27 and warning unit 28. At first, as long as the image monitored by any monitor changes, there may be a target appearing. At this time, the monitoring system 20 will automatically perform judgment and monitoring based on the data transmitted by the monitor. In the following, the purpose and function of each element in the monitoring system 20 will be explained practically.
541505541505
、發明說明(6) 首先’記憶模組22當中 標模板,並且,記憶模組2 2 模板。目標辨識模組23則負 像貧料’並進行目標模板的 像’並形成新的目標模板。 模板的產生與比對的工作, 合圯憶模組2 2中的可監控目 出一監控命令至控制單元2 1 單疋21即送出一警示訊號至 統已開始進行監控。 記錄了一些基本的可監控的目 也隨時記錄新的須監控的目棒 責接收各個監視器所傳來的影 比對工作,以辨識出目標影 目標辨識模組平時即不斷地做 只要監視器所拍攝到的影像符 標模板,目標辨識模組23即送 ’系統開始監控。同時,控制 警示單元2 8,警告操作人員系 速度計算單元24則依據監視器所傳送來的影像序列, 依據影像的位移來計算移動物體的角速度。角度調整 託則依據速度計算單元24所計算的移動物體的角速度, 调整監視器的監視角度,讓監視器能將焦點擺在移動物 體。切換單元26則用以切換不同的監視器,如上述的一個 監視器,或兩個監視器’或切換到下一個監視器以持續於 視移動物體。連接單元27則用來連接各個其他單元以及: 個外接的監視器。 至於控制單元21,其負責進行整個控制訊號的傳送以 及程序。當目標辨識模組23判斷有目標物出現時,即傳送 目標出現訊號至控制單元21,控制單元21便控制記憶模组 22:續儲存目標影像資料。接著,控制單元21便將記錄於 記te杈組22當中的目標影像資料序列,送至速度叶皙單元 24當中以計算出目標物的移動速度,並轉換為角速Z。速6. Description of the invention (6) First, the memory module 22 is the winning template, and the memory module 2 2 is the template. The target recognition module 23 then takes a negative image and performs a target template image 'to form a new target template. For template generation and comparison, the monitorable unit in the memory module 2 2 can send a monitoring command to the control unit 2 1 and the unit 21 sends a warning signal to the system to start monitoring. Recorded some basic monitorable items and also recorded new to-be-monitored items at any time. Responsible to receive the comparison work from each monitor to identify the target. The target recognition module always does as long as the monitor The captured image sign template, the target recognition module 23 is sent to the system to start monitoring. At the same time, the warning unit 28 is controlled and the operator is warned. The speed calculation unit 24 calculates the angular velocity of the moving object based on the image sequence sent from the monitor and the displacement of the image. The angle adjustment bracket adjusts the monitoring angle of the monitor according to the angular velocity of the moving object calculated by the speed calculation unit 24, so that the monitor can focus on the moving object. The switching unit 26 is used to switch different monitors, such as one monitor described above, or two monitors', or switch to the next monitor to keep looking at the moving object. The connection unit 27 is used to connect various other units and: an external monitor. As for the control unit 21, it is responsible for the entire control signal transmission and procedure. When the target recognition module 23 judges that a target is present, it sends a target appearance signal to the control unit 21, and the control unit 21 controls the memory module 22 to continue storing the target image data. Then, the control unit 21 sends the target image data sequence recorded in the recording unit 22 to the speed leaf unit 24 to calculate the moving speed of the target object and converts it into the angular velocity Z. speed
541505 五、發明說明(7) 度計算單兀24則將計算的角速度傳至角度調整單元25 度調整單兀2 5則依據各個監視器的角度狀態資料來 臣七 視器所需調整的監視角度,控制單元21即依此 :二 器角度以持續鎖定目桿。而V、+、从你%%咕, 玉皿说 單元27來達成。 而上速的傳遞都透過連接 接著’如果監視器所監視的目標物,亦即 到達監視器可旋轉角度的界限,此時,另一個監視= ,該個目標物甘控制單元21即控制切換單元26進行於二 1控的切換。,、中,切換的模式可為單一監視器監;; Ϊ:器監視。雙監視器監視係在兩個監視器都同時可視目 標物的狀況下進行,如果目標物的影像 J :了視目 監視器,此時即為單一監視器,:二個 台監視器即可。 L制早凡21即控制一 接下來,再介紹本發明對移動 參考「第3圖」,其包含了下列步驟.:—控的^圖’請 板(步驟110)、擷取圖像序列(步驟丨^^可監視目標模 (步驟130)、為可監視目標(步驟14〇) f生辨識模板 目標模板(步驟150)、目標模板移動 生目標模板與新 速度(步驟170)、調整監視角度(步驟广驟16〇)、計算目標 (步驟1 9 0 )以及切換監視器(步驟2 〇 〇 )。、超出監視範圍 事貝上,口j發現此一流程為單—κ 其亦可作為雙監視器的監控流程。監^,器的監控流程, 像資訊,什麼時候開始做監控的動作2為平常就會攝取影 透過事先儲存於「第2圖」記憶模纟且成為重點。本發明 ' §中的可監控目標541505 V. Description of the invention (7) Degree calculation unit 24 transmits the calculated angular velocity to the angle adjustment unit 25 degree adjustment unit 2 5 According to the angle status data of each monitor, the monitoring angle required by the seven-viewer adjustment , The control unit 21 follows this: two-device angle to continuously lock the eyepiece. And V, +, from you %% Gu, Yu Ding said unit 27 to achieve. And the transmission of the high speed is through the connection and then 'if the target monitored by the monitor, that is, the limit of the monitor's rotatable angle is reached, at this time, another monitoring =, the target control unit 21 is the control switching unit 26 is performed at the switch of the second one. ,,, And the switching mode can be a single monitor; Ϊ: device monitoring. The dual monitor monitoring is performed under the condition that both monitors can see the target at the same time. If the image of the target J: the visual monitor, then it is a single monitor: two monitors. L system as early as 21 is controlled. Next, the present invention will refer to the mobile reference "Figure 3", which includes the following steps:-control the picture, please board (step 110), capture image sequence ( Step 丨 ^^ The target model can be monitored (step 130), the target template can be identified (step 150), the identification template target template (step 150), the target template can be moved to generate the target template and the new speed (step 170), and the monitoring angle is adjusted. (Step 16), calculate the target (Step 19 0), and switch the monitor (Step 2 00). Beyond the scope of the monitoring, I found that this process is single-κ It can also be used as dual The monitoring process of the monitor. The monitoring process of the monitor, such as information, when to start the monitoring action 2 Normally, the image will be captured through the memory mode stored in "picture 2" in advance and become the focus. The present invention ' Monitorable targets in §
五、發明說明(8) 模板,如人物、I等等,來作為# 依據,此即步驟1丨〇。σ要政 疋古為可&視目標的 動,系統即開始進行攝取:俊視'所攝取的影像有所變 衫像疋以圖像序列的方式來儲存。 所攝取的 產生辨識模板(步驟130)。一曰攝取&像的同時,即可 目標模板的設定,亦即步糊此;:=:合可監控 動調整各個監視器的監視角丨。其中、?二?監控與自 的形狀來判定,只要符人一 付Β又可以模板 視目標。相似度可::刚:=产… 標,則不做監控的動作。 4。一旦非為可監視目 列監控的動 標杈板(步驟1 5 0)。由於目銲 產生目私权板與新目 目標的移動而有所不同',因?,反與新目標模板可能隨著 板於圖像當中的位置差里, 依f目標模板與新目標模 此即步驟160據以判斷〃板叶算出目標的移動與否, 鼻目標速度(步驟17〇),並計瞀進订下一步驟’亦即’計 速度。如果判斷出來目# # 出目軚相對於監視器的角 與新目標模板= ;動,則持續進行目標模板 即可依據此一角速产來 =P,回到步驟150。接著, J器能持續面f“;物:(步驟_,以讓監 現範圍,一旦目桿物超出ί $ ::硯角度可以判定一定的監 才物I出^視乾圍(步驟1 90),立即切換 五、發明說明(9) 監視器(步驟200 )。不過 的安全限度之内,亦即,此…處的監視範圍事實上在一定 内,當切換監視器時,表^疋的監視範圍在可監視範圍之 所以,步驟2 0 0代表同昉々不另〜個監視器也可同時監控。 目標物超出監視範圍與^個監視器監視的狀態。 系統所云。只要物體從可=,其判定方法如上述的監控 域移動,換句話說,監視哭角的區域往重覆監視角的區 整至重覆監視角的角度時了 ^移動為從可監視角的角度調 即須控制另一台監視=%敕代表了超出監視範圍,此時 即,調整為同時有兩個;動物體出現的範圍。亦 月J似瓜視态監視移動物體。 此外’在步驟140時,若確定為可監視目標時,亦可 增加一個發出警示訊號的步驟,以警示系統操作人員。 綜上所述,本發明可透過監控系統的運作,自動判定 目標並對目標加以監控,而不^人力的運用。 雖然本發明以前述之較徒實施例揭露如上,然其並非 用以限定本發明,任何熟習相關技藝者’在不脫離本發明 之精神和範圍内,當可作呰許之更動與潤飾,因此本發明 之專利保護範圍須視本説明書所附之申請專利範圍所界定 者為準。V. Description of the invention (8) Templates, such as characters, I, etc., are used as the # basis, which is step 1 丨 〇. σ Yaozheng is an action that can & look at the target, and the system starts to capture: the image captured by Junshi has changed. The shirt image is stored as an image sequence. The ingestion generates a recognition template (step 130). As soon as you capture the & image, you can set the target template, that is, step by step ;: =: together can monitor the monitoring angle of each monitor. among them,? two? Monitoring and self-determination, as long as the person pays B, the template can be used to view the target. The similarity can be:: gang: = production ... target, then no monitoring action is performed. 4. Once non-monitorable, the target is monitored (step 15 0). Due to the movement of the eye-welding board and the new goal, it is different, 'because? In contrast, the new target template may follow the position difference of the board in the image. According to the f target template and the new target template, step 160 is used to judge whether the target plate leaves the target ’s movement or not, and the nasal target speed (step 17). 〇), and calculate the next step 'i.e.' speed. If it is judged that the angle of the head # # 出 目 軚 relative to the monitor and the new target template =; move, continue to carry out the target template and can quickly produce according to this angle = P, return to step 150. Next, the J device can continue to face the f "; object: (step _, so that the scope of monitoring, once the eyepiece object exceeds ί $ :: 砚 angle can determine a certain monitoring object I ^ see the dry surrounding (step 1 90 ), Immediately switch V. Description of the invention (9) Monitor (step 200). However, within the safety limit, that is, the monitoring range here is actually within a certain range. When the monitor is switched, the The reason why the monitoring range is within the monitorable range is that step 2 0 means that you can monitor simultaneously with no more than one monitor. The target is out of the monitoring range and the status monitored by ^ monitors. The system is cloud. =, The determination method is the same as the above-mentioned monitoring field movement. In other words, the area of the monitoring cry angle is adjusted to the angle of the repeated monitoring angle to the angle of the repeated monitoring angle. Control another monitor =% 敕 represents beyond the monitoring range, that is, adjusted to have two at the same time; the range of the animal body appears. Yiyue J looks like a moving object to monitor the moving object. In addition, at step 140, if When determined as a monitorable target, you can also add one The step of issuing a warning signal to alert the system operator. In summary, the present invention can automatically determine the target and monitor the target through the operation of the monitoring system without manual use. Although the present invention uses the aforementioned comparison The embodiment is disclosed as above, but it is not intended to limit the present invention. Any person skilled in the art can make changes and retouches without departing from the spirit and scope of the present invention. Therefore, the scope of patent protection of the present invention must be determined by The scope of the patent application attached to this specification shall prevail.
541505 圖式簡單說明 第1圖為本發明之移動物體的監控之系統示意圖; 第2圖為本發明之移動物體的監控系統之功能方塊 圖;及 第3圖為本發明之移動物體的監控之方法流程圖。541505 Brief Description of the Drawings Figure 1 is a schematic diagram of a system for monitoring a moving object of the present invention; Figure 2 is a functional block diagram of a monitoring system of a moving object of the present invention; and Figure 3 is a monitoring block of a moving object of the present invention Method flowchart.
【圖 示符號說 明 ] 20 監 控 系 統 21 控 制 單 元 22 記 憶 模 組 23 g 標 辨 識 模 組 24 速 度 計 算 單 元 25 角 度 調 整 單 元 26 切 換 單 元 27 連 接 單 元 28 警 示 單 元 30 第 一 監 視 器 40 第 二 監 視 器 50 第 N監視器 60 移 動 物 體[Illustration of symbols] 20 Monitoring system 21 Control unit 22 Memory module 23 g Mark recognition module 24 Speed calculation unit 25 Angle adjustment unit 26 Switching unit 27 Connection unit 28 Warning unit 30 First monitor 40 Second monitor 50 Nth monitor 60 moving object
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