KR20090061405A - Apparatus and method for auto tracing using multi-infra red array thermal sensor - Google Patents

Abstract

An automatic tracking device using a contactless multi-infrared temperature sensor and a method thereof are provided to perceive locations of plural mobile monitoring targets, and to track movement of the monitoring targets, thereby expanding images on the targets to store the expanded images. A first multi-infrared temperature sensor horizontally monitors a monitoring space, and outputs a detection signal if a monitoring target is detected. A second multi-infrared temperature sensor(S2) vertically monitors the monitoring space, and outputs a detection signal if a monitoring target is detected. An operating unit calculates 3D coordinates of the monitoring targets according to the detection signals, and outputs a control signal for instructing an image of the calculated coordinates to be taken. A CCTV unit takes the image of the corresponding coordinates, and converts the image into image data.

Description

Automatic tracking device and method using non-contact multi-infrared temperature sensor {APPARATUS AND METHOD FOR AUTO TRACING USING MULTI-INFRA RED ARRAY THERMAL SENSOR}

The present invention relates to an apparatus and method for automatically tracking the position of a moving object, and in particular, the present invention provides an automatic tracking apparatus and method using a non-contact multiple infrared temperature sensor.

In general, a surveillance camera is used to detect a position and a moving direction of a monitored object and use the detected result. Surveillance cameras are usually composed of a sensor that can detect a surveillance object and CCTV (Closed-Circuit Television) to shoot the notification of the movement of the surveillance object through the sensor to inform the monitor. In addition, when there is a movement in the monitoring object, a tracking sensor for detecting and tracking the movement of the monitoring object is separately configured or integrated with the detection sensor. In general, an infrared sensor is used. The infrared sensor detects a temperature emitted by a monitored object, compares the detected monitored object temperature with a reference temperature, and determines the appearance of the monitored object according to the comparison result.

The monitoring apparatus according to the prior art includes a sensor for monitoring the position and movement of a monitored object, a controller for receiving a signal from the sensor and calculating a position and a moving direction of the monitored object, and generating a control signal according to the control signal of the controller. It is composed of a driving unit for controlling the direction of the CCTV and a memory unit for recording and storing information about the image taken and the detected object through the CCTV.

However, the monitoring apparatus according to the prior art has a large direction of movement of the monitored object because the control unit receiving the detection signal of the first monitored object must determine the moving direction of the monitored object according to the signal of the sensor and transmit the same to the driving unit to control the driving unit. Or if the movement speed is high, it is impossible to track it quickly and accurately.

Accordingly, after installing at least a plurality of infrared sensors for detecting the monitored object through a temperature difference in different directions in a predetermined place, the installed infrared sensors identify the infrared sensor that detected the monitored object and monitor the detected detection. An apparatus for detecting an object position direction using an infrared sensor and a method of controlling the same have been proposed for detecting a direction in which an object is located, and setting the detected direction to a direction in which the object is located to perform a control operation accordingly.

In particular, Korean Patent Publication No. 2002-18515 (published on March 8, 2002) discloses an infrared sensor module that detects the object, and detects a direction in which the object is located by reading a light receiving range of the identified infrared sensor module. An apparatus and method are disclosed for measuring a distance to an object by adjusting the radiation position of the laser of the laser telemeter in the direction in which the detected object is located.

1 is a view showing the principle of the sensor used in the monitoring device according to the prior art, such as the disclosed patent, non-contact infrared temperature sensor (hereinafter referred to as "IR sensor") according to the prior art as shown in Figure 1, It has a detection area Pixel proportional to the detection angle Angle and the distance. The detection range is indicated by its diameter. The relationship between the detection range according to the detection angle and the detection distance is shown as a table in FIG. 2.

3A and 3B show an example of a multi-IR sensor generally used in a surveillance apparatus, FIG. 3A shows a multi-IR sensor incorporating the sensor in an array of 1 x 8, and FIG. 3B shows a 4 x sensor. It shows multiple IR sensors integrated in an array of four. The numbers (1-8, 1-16) corresponding to each sensor constituting the multiple IR sensors respectively measure the temperature value of the magnetic detection area.

However, even if the above-described object position direction detecting apparatus and its control method are implemented using multiple IR sensors as shown in FIGS. 4A and 4B, there is a dead zone where the monitored object cannot be detected. . 4A and 4B are diagrams showing blind spots of a multi-IR sensor according to the prior art, and FIG. 4A shows a state in which a multi-IR sensor is installed on a top of a detection area, and FIG. 4B shows a multi-IR sensor. It shows the state installed in the side (Wall) of the detection area. 4A and 4B, when the integrated sensor is simply installed, the position of the sensing object can be tracked, but blind spots inevitably occur, so the detection area is limited. Therefore, in order to reduce such blind spots, there is a problem in that more sensors are integrated or the number of sensors is increased and the installation angle is adjusted.

In addition, since the detection apparatus according to the prior art detects only the direction and distance when the monitoring object is detected in a flat manner, the CCTV is not only photographing the monitoring object but rather photographing a screen including the monitoring object, and thus the monitoring object. We cannot provide enough information to correctly identify In addition, despite the fact that CCTV can not accurately capture the three-dimensional shape of the monitoring object, because unnecessary image data is included, there is an inefficient problem in capacity management because the processing capacity and storage capacity of the captured image are very large compared to the data required.

Accordingly, an object of the present invention is to provide an automatic tracking device and method using a non-contact multi-infrared temperature sensor capable of identifying the positions of a plurality of moving monitoring objects and tracking their movement.

In addition, another object of the present invention is to provide an automatic tracking device and method using a non-contact multi-infrared temperature sensor capable of three-dimensionally detect and track a plurality of mobile monitoring objects to enlarge and store the image as needed.

It is still another object of the present invention to provide an automatic tracking device and method using a non-contact multi-infrared temperature sensor that can manage detection data of a plurality of mobile monitoring objects with an optimal processing capacity and storage capacity.

Automatic tracking device using a non-contact multi-infrared temperature sensor according to the present invention for achieving the above object, in the automatic tracking device using a non-contact multi-infrared temperature sensor, is installed on the side of the monitoring space at a predetermined angle A first multi-infrared temperature sensor which monitors horizontally and outputs a detection signal when a monitoring object is detected; A second multi-infrared temperature sensor installed at an upper surface of the monitoring space and vertically monitoring the monitoring space at a predetermined angle to output a detection signal when a monitoring object is detected; Calculates three-dimensional coordinates of the monitored object according to the monitored object detection signal received from the first multiple infrared temperature sensor and the second multiple infrared temperature sensor, and outputs a control signal instructing to capture an image of the calculated coordinates. An operation unit; A CCTV unit which photographs an image of a corresponding coordinate and converts the image into image data according to a control signal received from the calculating unit; And a storage unit for receiving and storing coordinate information of the monitoring object from the operation unit and image data of the corresponding coordinates from the CCTV unit.

In addition, the automatic tracking method using a non-contact multi-infrared temperature sensor according to the present invention for achieving the above object, the process of receiving a detection signal of the monitoring object from the first multi-infrared temperature sensor for monitoring the monitoring space horizontally; Receiving a detection signal of a monitored object from a second multiple infrared temperature sensor for vertically monitoring the surveillance space; Calculating three-dimensional coordinates of the monitored object according to the monitored object detection signal received from the first multiple infrared temperature sensor and the second multiple infrared temperature sensor; Outputting a control signal instructing CCTV to take an image of the calculated coordinates; And storing data of the calculated coordinates and data of the image photographed by the CCTV unit.

As described above, the present invention has the effect of detecting the location of a plurality of moving monitoring objects and tracking their movement by three-dimensionally detecting the monitoring area using a non-contact multi-infrared temperature sensor.

In addition, the present invention by detecting and tracking a plurality of mobile monitoring objects three-dimensionally, there is an effect that can be stored to enlarge the image as needed.

In addition, the present invention can enlarge and store images of a plurality of mobile monitoring targets as necessary, there is an effect that can manage the detection data at the optimum processing capacity and storage capacity.

DETAILED DESCRIPTION Hereinafter, detailed descriptions of preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the same components in the figures represent the same numerals wherever possible. Specific details are set forth in the following description, which is provided to aid a more general understanding of the present invention. In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

In the following description will be presented a representative embodiment in the present invention for achieving the above technical problem. Also, in the above embodiment, for convenience of description of the present invention, an apparatus and method for monitoring a predetermined space by using multiple IR sensors having a specific arrangement will be described. Surveillance device having a limitation does not limit the scope of the present invention, of course, can be applied to a monitoring system having a similar technical background.

5 is a view showing the arrangement of the multi-IR sensor for the three-dimensional detection according to the present invention, it can be seen that the blind spot is very small compared to Figure 4 showing the detection blind spot of the multi-IR sensor according to the prior art.

As shown in Figure 5, two 4 x 4 multiple IR sensors are installed at the corners of the ceiling at a predetermined angle. The 4 x 4 multiple IR sensors are integrated with 16 sensors each having a constant angle. Referring to FIG. 5, when the distance d0 between the two 4 × 4 multiple IR sensors, the height d1 of the wall, and the installation angle of the multiple IR sensors are known, when a monitored object is detected by the two multiple IR sensors, 2 The X, Y coordinates on the dimensional plane and the Z coordinates on the three-dimensional solid can be obtained. Therefore, in contrast to the planar detection by the position and distance of the object to be monitored as in the prior art, the automatic tracking method using the non-contact multi-infrared temperature sensor according to the present invention by expanding the position recognition function of the object to be monitored in three dimensions By acquiring the data, the enlarged screen can be taken by CCTV as needed.

6 and 7 illustrate the mathematical basis for obtaining three-dimensional coordinates of the monitored object as described with reference to FIG. 5. First, FIG. 6 is a view for explaining a method of obtaining two-dimensional coordinates (x, y) of a monitored object by a trigonometric function, and FIG. 7 illustrates a change in output value when a monitored object enters a surveillance area of a multiple IR sensor. The graph shown.

Referring to FIG. 6, since the X-axis represents the distance between the two sensors shown in FIG. 5, the distance d0 between the first sensor S1 and the point B and the second sensor S2 and the point B 'is B'-B. Is the installation angle of the two sensors. When the position of the object to be monitored is point A, the distance between the point C, which is vertically lowered on the straight line connecting the positions of the two sensors at point A, the position B of the first sensor, and the point C is a, If the distance between the object and the point C is b, and the distance between the point B and the point A is c, the coordinates of the monitored object can be obtained by the trigonometric formula. In particular, the height of the wall of the space where the two sensors are installed is the maximum length of the Y-axis, the length of the ceiling or floor is the maximum length of the X-axis, and since we already know the maximum length of the X-axis and the Y-axis, Accurately calculate the position of the monitored object.

After detecting the position of the monitored object on the X axis and the Y axis as described above, in order to obtain the exact coordinates of the Z axis of the monitored object, a normal distribution output graph of the monitoring area Pix of the sensor is used as shown in FIG. 7. . As shown in FIG. 7, when the monitoring object enters the sensing area, the output value changes as the monitoring object enters the sensing area by 20%, 50%, and 100%, and the change of the output value is normally distributed. By adding such a change in the output value to the calculation of the position of the monitored object by the trigonometric function described above, the position of the monitored object can be precisely tracked.

Hereinafter, an automatic tracking method using a non-contact multi-infrared temperature sensor according to the present invention will be described in detail with reference to FIGS. 8 and 9. FIG. 8 is a view showing a sensor configuration installed to monitor 90 degrees, and is suitable as a sensor configuration for monitoring one direction of a corridor, and FIG. 9 is a sensor configuration installed to monitor all 360s by combining four sensor configurations of FIG. 8. As shown in the drawings, a sensor configuration for monitoring a predetermined space accessible to a monitoring object from all directions. In particular, FIG. 8 illustrates an embodiment in which one 1 x 8 multiple IR sensor S1 is installed on a wall and one 4 x 4 multiple IR sensor S2 is installed on a ceiling. CCTV and 1 x 8 multi-IR sensor is installed in the center of each, and 4 x 4 multi-IR sensor is installed in each quadrant.

First, referring to FIG. 8, the surveillance area monitored by S1 is eight areas of A, B, C, D, E, F, G, and H, and d0 is a distance that can be monitored by the sensor. It can be adjusted according to resolution and amplification degree. Referring to the operation of the sensor, first, S1 detects the monitored object, and when S2 detects the monitored object, the distance to the monitored object and its size are calculated by the trigonometric function. Accordingly, even when there are a large number of objects to be monitored, simultaneous detection is possible, and the size of the object to be monitored can be enlarged in CCTV by detecting the size of the object to be monitored, thereby increasing the resolution of the object to be monitored. In addition, when there are many monitored objects, the movement path of each monitored object is stored to track and manage each monitored object.

9, the automatic tracking method using a non-contact multi-infrared temperature sensor according to the present invention is configured to monitor all 360 degrees. Even if multiple objects are approaching from all directions at the same time, the objects to be monitored are captured by the stored priorities and enlarged and stored as necessary. In particular, all the monitored objects approached can be detected and stored by the sensor before they are captured and stored by CCTV, so that even if the moving object is fast, the moving path can be detected and stored accurately.

In the embodiment of Figure 9, the 1 x 8 multi-IR sensor installed in the center may be installed in a form that can be moved with the CCTV installed in the CCTV.

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the following claims, but also by the equivalents of the claims.

1 is a view showing the principle of the sensor used in the monitoring device according to the prior art,

2 is a view showing a relationship with a detection range according to the detection angle and detection distance;

3a and 3b is a view showing an example of a multiple IR sensor used in a general monitoring device,

4a and 4b is a view showing a detection blind spot of a multiple IR sensor according to the prior art,

5 is a view showing the arrangement of a multi-IR sensor for stereoscopic sensing according to the present invention;

FIG. 6 is a view for explaining a method for obtaining two-dimensional coordinates of a monitored object by a trigonometric function; FIG.

7 is a graph showing a change in output value when a monitoring object enters a monitoring area of a multiple IR sensor;

8 is a view showing a sensor configuration installed to monitor 90 degrees in accordance with the present invention,

9 is a view showing a sensor configuration installed to monitor 360 degrees in accordance with the present invention.

Claims (8)

In the automatic tracking device using a non-contact multiple infrared temperature sensor, A first multiple infrared temperature sensor that monitors the monitoring space horizontally at a predetermined angle and outputs a detection signal when a monitoring object is detected; A second multi-infrared temperature sensor which monitors the monitoring space vertically at a predetermined angle and outputs a detection signal when a monitoring object is detected; Calculates three-dimensional coordinates of the monitored object according to the monitored object detection signal received from the first multiple infrared temperature sensor and the second multiple infrared temperature sensor, and outputs a control signal instructing to photograph an image of the calculated coordinates. An operation unit; A CCTV unit which photographs an image of a corresponding coordinate and converts the image into image data according to a control signal received from the calculating unit; And And a storage unit configured to receive and store coordinate information of the monitoring object from the operation unit and image data of the corresponding coordinates from the CCTV unit. 2. An automatic tracking device using a non-contact multi-infrared temperature sensor. The method of claim 1, wherein the calculation unit, And a control signal instructing to enlarge and capture the image of the calculated coordinates. The method of claim 1, wherein the first multiple infrared temperature sensor, Automatic tracking device using a non-contact multiple infrared temperature sensor, characterized in that mounted to the CCTV at a predetermined angle. The method of claim 1 or 2, wherein the second multiple infrared temperature sensor, Automatic tracking device using a non-contact multiple infrared temperature sensor, characterized in that mounted to the CCTV at a predetermined angle. In the automatic tracking method using a non-contact multiple infrared temperature sensor, Receiving a detection signal of a monitoring object from a first multi-infrared temperature sensor monitoring the monitoring space horizontally; Receiving a detection signal of a monitored object from a second multiple infrared temperature sensor for vertically monitoring the surveillance space; Calculating three-dimensional coordinates of the monitored object according to the monitored object detection signal received from the first multiple infrared temperature sensor and the second multiple infrared temperature sensor; Outputting a control signal instructing CCTV to take an image of the calculated coordinates; And And storing the information of the calculated coordinates and the data of the image photographed by the CCTV unit. According to claim 5, After calculating the three-dimensional coordinates of the monitored object, And further outputting a control signal instructing to enlarge and capture the image of the calculated coordinates. The method of claim 2, further comprising: a non-contact multi-infrared temperature sensor. The method of claim 5, wherein the first multiple infrared temperature sensor, Automatic tracking device using a non-contact multi-infrared temperature sensor, characterized in that installed in the CCTV unit. The method of claim 5 or 6, wherein the second multiple infrared temperature sensor, Automatic tracking device using a non-contact multi-infrared temperature sensor, characterized in that installed in the CCTV unit.

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