KR101467209B1 - Trespass detecting apparatus and control method thereof - Google Patents

Abstract

The present invention relates to an intrusion detection device for detecting a moving target using a camera and a control method thereof, wherein the intrusion detection device comprises: a camera for capturing an image of a surveillance area; A displacement sensor unit for generating a position signal related to the position of the camera by using a rotation angle of the camera rotated by the driving unit, a rotation sensor for rotating the camera, And determining whether or not the rotation of the camera is completed by using the rotation command and the position signal received from the displacement sensor unit, and when the rotation of the camera is completed, And a controller for transmitting a signal to the camera.

Description

TECHNICAL FIELD [0001] The present invention relates to an intrusion detection apparatus and a control method thereof,

The present invention relates to an intrusion detection device and a control method thereof, and more particularly, to an intrusion detection device for detecting a moving target using a camera and a control method thereof.

Generally, an unmanned monitoring apparatus for monitoring a building or a facility can use a surveillance camera using a focal plane array (FPA) charge coupled device (CCD).

A surveillance camera is a device that captures an image of a subject or object in a closed circuit television (CCTV) system. Such a surveillance camera is used in many places requiring security.

Especially, it is being used for surveillance that can easily check the theft prevention and the operation condition of the machine, and the area of use for fire fighting detection and military use is expanding.

However, due to the fact that the surveillance cameras have a limited viewing angle, a plurality of surveillance cameras should be installed to prevent blind spots. At this time, if an intrusion is detected, the target can be monitored by manually changing the shooting direction of the camera using a PTZ (Pan-Tilt-Zoom) driving method.

An example of a surveillance camera using a PTZ (Pan / Tilt / Zoom) method according to the prior art is Korean Patent Registration No. 0242931. In the prior art, the support bracket is rotated, and in such a state, the camera is rotated together with the rotation shaft between the supports to make a tilting. However, such a surveillance camera can detect the target only for a certain period that can be controlled due to the limit of the viewing angle.

In order to improve these limitations, it is necessary to develop an intrusion detection device that monitors the omnidirectional step by step driving, and detects a non-manual, automatically moving target.

The present invention is to provide an intrusion detection device that rotates in step drive and performs imaging of a surveillance area when step drive is completed, and a control method thereof.

The present invention also provides an intrusion detection apparatus and a control method thereof for detecting an intrusion into a plurality of surveillance regions with a single monitoring apparatus.

One embodiment of the present invention relates to an intrusion detection device. The intrusion detection device includes a camera for capturing an image of a surveillance region, a driving unit connected to one side of the camera, for rotating the camera to change a photographing direction of the camera, A displacement sensor unit for generating a position signal related to the position of the camera using the angles, and a controller for transmitting a rotation command to the driving unit, performing rotation of the camera using the rotation command and the position signal received from the displacement sensor unit, And a controller for transmitting an image synchronization signal to the camera so that an image photographed by the camera is received when the rotation of the camera is completed.

According to an embodiment of the present invention, the intrusion detection device may further include a memory for storing an image received from the camera, wherein the control unit controls the n-th image and the (n-1) The difference image can be calculated and the moving target can be detected using the difference image.

In another embodiment of the present invention, when the position signal received from the driving unit is maintained within a preset range for a preset stabilization time (T ₁ ), the controller transmits the image synchronization signal to the camera .

According to another embodiment of the present invention, the control unit may transmit the rotation command to the driving unit when a predetermined image acquisition time (T ₂ ) is reached after the image synchronization signal is transmitted to the camera .

In another embodiment related to the present invention, the camera may include at least one of a day camera and a thermal camera. Also, the daytime camera may be a camera using a charge coupled device of a focal plane array type.

In addition, an embodiment of the present invention relates to an intrusion detection device. Wherein the intrusion detection device comprises: a camera for capturing an image of at least one of the first and second surveillance regions; a camera coupled to one side of the camera, A displacement sensor unit for measuring a rotation angle of the camera stepped by the DC motor and generating a position signal corresponding to the position of the camera using the rotation angle, Wherein the control unit transmits the rotation command to the DC motor, receives the position signal from the displacement sensor unit, determines whether the stepping operation for the camera is completed using the rotation command and the position signal, When the stepping driving of the camera is completed, It may comprise a control unit for transfer to the camera.

Further, an embodiment of the present invention relates to a control method of an intrusion detection device. The control method includes the steps of capturing an image of a first surveillance region, determining whether an image acquisition time has elapsed after capturing an image of the first surveillance region, Generating a position signal related to the position of the camera using the displacement sensor unit, determining whether the position signal is maintained within a predetermined range during the stabilization time, Transmitting an image synchronization signal to the camera such that the camera captures an image of the second surveillance area when the position signal is maintained, and photographing an image of the second surveillance area .

According to the present invention, since one intrusion detection device is rotated by the driving unit, it is possible to detect a target in all directions, thereby providing an efficient intrusion detection device.

Further, according to the present invention, since the rotation of the intrusion detection device and the photographing of the camera are synchronized by the control of the control section, it is possible to provide an intrusion detection device with high reliability.

1 is a conceptual diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.
2 is a block diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a method of controlling an intrusion detection apparatus according to an embodiment of the present invention.
4 is a flowchart for explaining step driving of the intrusion detection apparatus according to an embodiment of the present invention.
5 is a conceptual diagram illustrating the exterior and interior of an intrusion detection device according to an embodiment of the present invention.
6 is a diagram for explaining a control method of an intrusion detection apparatus according to an embodiment of the present invention;
7 is a view for explaining signals generated by an intrusion detection device according to an embodiment of the present invention;
8 is a block diagram illustrating a camera of an intrusion detection device according to an embodiment of the present invention.
9 is a view for explaining video output of a thermal camera according to an embodiment of the present invention;
10 is a view for explaining video output of a daytime camera according to an embodiment of the present invention;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings so that those skilled in the art can easily carry out the technical idea of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly explain the present invention, parts not related to the description are omitted, and like parts are denoted by similar reference numerals throughout the specification.

1 is a conceptual diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.

The intrusion detection device 100 according to an exemplary embodiment of the present invention includes at least one camera and may be rotated by a driving unit. The intrusion detection apparatus 100 may use a driving unit that is a combination of at least one of, for example, a DC motor, an AC servo motor, and a gear.

The driving unit may rotate the intrusion detection device 100 using at least one of a horizontal angle and a vertical angle. Thereby, the intrusion detection apparatus 100 can be installed at a specific position and can monitor and detect all directions. For example, the intrusion detection apparatus 100 may rotate in consideration of a viewing angle of the camera, and may detect an intrusion into the first to nth monitoring regions.

At this time, the intrusion detection apparatus 100 can capture images of the first to nth monitoring regions. The photographed image can be stored in the memory together with the time at which the image was photographed and information about the surveillance area where the image was photographed.

The intrusion detection apparatus 100 can detect a moving target using an image captured using a camera. For example, a moving target may be detected by applying a gaussian mixture model (GMM) to a difference image between a current image (n-th image) and a previous image (n-1-th image). A moving background can be detected by distinguishing a static background image from a moving object or a foreground image.

If a moving target is detected, the intrusion detection device 100 can notify that a moving target has been detected. The method of notifying can be performed in various ways, for example, by outputting an image in which the target is detected on the display unit, outputting an alarm sound, or transmitting the fact that the target is detected in the control center.

2 is a block diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.

2, the intrusion detection apparatus 100 may include a camera 110, a driving unit 120, a displacement sensor unit 130, a memory 140, and a power source unit 150. The components shown in FIG. 1 are not essential, so that the intrusion detection apparatus 100 having components having more or fewer components can be implemented.

Hereinafter, the components 110 to 150 of the intrusion detection apparatus 100 will be described in order.

The camera 110 processes image frames such as still images and moving images obtained by the image sensor in the photographing mode. The image frame processed by the camera 110 may be displayed on a display unit (not shown). These image frames can be stored in the memory 140 or transmitted to the outside through a communication unit (not shown). At least two cameras 110 may be provided depending on the use environment.

Such a camera 110 may include at least one of a daytime camera 110 and a thermal camera 114.

The daytime camera 112 may use a focal plane array (FPA) type charge coupled device (CCD). A charge coupled device (CCD) of the daytime camera 110 means a recording element that uses charge accumulation and transmission. As a kind of memory device, it is made up of a number of fine capacitor and switch connections. Such a charge coupled device (CCD) can accumulate and transfer charges in turn.

The thermal camera 114 refers to a camera using a photoconductive, photovoltaic or voltammetric sensor with sufficient sensitivity to infrared radiation.

The thermal camera 114 can radiate an infrared wavelength or absorb infrared energy emitted from a subject to take a thermal image. That is, the thermal camera 114 can convert the radiation temperature of an object into an electric signal and display it as a two-dimensional visual image.

The driving unit 120 is configured to rotate the camera 110 provided in the intrusion detection device 100. For example, the driving unit 120 may drive the camera to rotate in at least a horizontal direction and a vertical direction.

That is, the intrusion detection apparatus 100 includes a plurality of drivers 120, and the camera 110 may be configured to be rotated in various directions. For example, the driving unit 120 may include a horizontal driving unit 122 and a horizontal driving unit 124.

The vertical angle driver 122 may be configured such that the camera 110 is rotated up or down with respect to the horizon.

The horizontal angle driving unit 124 can rotate the camera 110 such that both sides of the rotation angle are on the horizontal plane.

In addition, the intrusion detection apparatus 100 may simultaneously drive the horizontal driving unit 122 and the horizontal driving unit 124 to move the camera 110 to a desired position.

The driving unit 120 may include at least one of a DC motor, an AC servo motor, and a DC motor, for example.

In particular, the intrusion detection device 100 can control the camera 110 to be step-driven using a DC motor. At this time, a DC motor means a motor using DC as a power source.

The intrusion detection apparatus 100 may rotate in a time-wise sequence to each of the first to nth monitoring regions by a stepping drive of a DC motor, and may capture an image for each region.

The displacement sensor unit 130 means a sensor for measuring the distance or position of an object. For example, the displacement sensor unit 130 may include a linear displacement sensor and a rotational displacement sensor.

The rotational displacement sensor may be, for example, a potentiometer, a rotary differential transformer, a synchro, a resolver, a rotary encoder, and a pulse generator. Particularly, a resolver means a sensor which has two phase windings respectively in a stator and a rotor and is used for detecting a rotation angle.

The displacement sensor unit 130 may measure the displacement of the camera 110 rotated by the driving unit 120. The displacement sensor unit 130 may transmit the measured displacement to the control unit 160 as a position signal.

When there are a plurality of driving units 120, a displacement sensor corresponding to each driving unit may be provided, and each displacement sensor may measure the displacement and transmit a position signal corresponding to the measured displacement to the control unit 160.

For example, when the driving unit 120 includes the vertical angle driving unit 122 and the horizontal angle driving unit 124, the displacement sensor unit 130 detects the vertical angle displacement sensor unit 132 and the horizontal angle displacement sensor unit 134 . The horizontal angle displacement sensor unit 132 measures the displacement by the vertical angle driver 122 and the horizontal angle displacement sensor unit 134 measures the displacement by the horizontal angle driver 124.

The memory 140 may store a program for the operation of the controller 160 and may store input and output data (for example, an image for the first monitoring area, a position signal transmitted from the displacement sensor, Information on each of them) may be temporarily stored.

The memory 140 may be a flash memory, a hard disk, a multimedia card micro type, a card type memory (e.g., SD or XD memory), a random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM) And may include at least one storage medium. The intrusion detection apparatus 100 may operate in association with a web storage that performs a storage function of the memory 140 on the Internet.

The power supply unit 150 receives external power and internal power under the control of the control unit 160 and supplies power necessary for operation of the respective components.

The controller 160 controls the overall operation of the intrusion detection apparatus 100. For example, the driving unit 120 may be controlled so that the photographing direction of the camera 110 is changed using information on the surveillance regions stored in the memory 160. [ In addition, when the camera 110 rotates in the photographing direction to be photographed, it is possible to perform control to photograph the surveillance area. It is possible to control the image captured by the camera 110 to be stored in the memory 140 and to calculate the difference image using the images stored in the memory 140. [

The various embodiments described herein may be implemented in a recording medium readable by a computer or similar device using software, hardware, or a combination thereof.

According to a hardware implementation, the embodiments described herein may be applied to various types of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays Microprocessors, microprocessors, and other electronic units for performing other functions, as will be appreciated by those skilled in the art. In some cases, the embodiments described herein may be implemented by the controller 160 itself.

According to a software implementation, embodiments such as the procedures and functions described herein may be implemented with separate software modules. Each of the software modules may perform one or more of the functions and operations described herein. Software code may be implemented in a software application written in a suitable programming language. This software code is stored in the memory 140 and can be executed by the control unit 160. [

Hereinafter, a control method for the intrusion detection device 100 will be described.

3 is a flowchart illustrating a method of controlling an intrusion detection apparatus according to an embodiment of the present invention.

Referring to FIG. 3, the method for controlling an intrusion detection apparatus according to an exemplary embodiment of the present invention includes capturing an image of a first surveillance region (S110). The intrusion detection device 100 may perform imaging of a surveillance area using at least one camera 110 provided in the intrusion detection device 100. [

The information on the surveillance area may be stored in the memory 160, and the surveillance area may be plural. Sequential expressions such as first, second, or n are used to distinguish the surveillance region, and the order is not necessarily set.

Next, it may be determined whether the image acquisition time has passed (S120). The controller 160 may count the time taken to photograph the image for the first surveillance area and compare the imaging time with the predetermined image acquisition time T ₂ .

Next, when the shooting time exceeds the image acquisition time, a step S 130 may be performed to transmit a rotation command to the driving unit 120 so as to photograph the second monitoring area. That is, the intrusion detection apparatus 100 according to the present invention can perform imaging of the surveillance region during a predetermined image acquisition time T ₂ . When the image acquisition time (T ₂ ) elapses from the start of photographing, photographing is performed with respect to another monitoring area.

The memory 140 may store information on the surveillance region, a sequence of photographing the surveillance region, information required for stepping and driving the driving section 120, and the like. The controller 160 may generate a rotation command using the information stored in the memory 160 and may transmit the generated rotation command to the driving unit 120.

For example, in the case of photographing the second surveillance region, information for changing the photographing direction of the camera 110 from the first surveillance region to the second surveillance region is extracted from the memory 140, To the second surveillance region.

The rotation command may be, for example, a signal corresponding to a rotation angle to be rotated. When the driving unit 110 is set to rotate in the clockwise direction and a signal of "3" is generated by the rotation command in a state where 30 degrees is set as one unit, the driving unit 110 must rotate 90 degrees clockwise . If the signal "2" is generated by the rotation command, the driving unit 110 must rotate 60 degrees in the clockwise direction.

Next, a step S140 of generating a position signal related to the position of the camera 110 using the displacement sensor unit 130 may be performed. When the camera 100 is rotated by the driving unit 120, displacement related to the position of the camera 110 may occur. The displacement means a vector amount representing the difference between the later position and the initial position of the camera 110. [

The displacement sensor unit 130 may measure such a displacement and transmit a position signal corresponding to the measured displacement to the control unit 160. [ The position signal may include, for example, information about a rotation angle, a moving distance, a moving direction, and the like of the camera 110. [

The position signal may be, for example, a signal corresponding to a rotation angle rotated by the driving unit 120. [ When the driving unit 110 rotates clockwise and the driving unit 110 rotates 60 degrees clockwise in a state where 30 degrees is set as one unit, the displacement sensor unit 130 moves to the position "2" Signal can be generated. If the driving unit 110 rotates 90 degrees in the clockwise direction, the displacement sensor unit 130 can generate a position signal of "3 ".

Next, the step of determining whether the position signal is maintained within the predetermined range for the stabilization time (T ₁ ) (S 150) may be proceeded.

For example, when 30 degrees is set as one unit and a signal "1" is generated by the rotation command, the driving unit 120 must rotate by "30 degrees ". At this time, as the driving unit 120 rotates, the displacement sensor unit 130 can generate a position signal that increases from "0" to "1". The control unit 160 may determine whether rotation of the driving unit 110 is completed using the rotation command and the position signal.

That is, when the position signal is maintained within a predetermined range for a preset stabilization time T ₁ , it can be determined that the rotation corresponding to the rotation command is completed. The range during the stabilization (T ₁ ) and the predetermined range can be variously changed according to the experimental result and the characteristics of the intrusion detection device 100.

When the rotation of the driving unit 120 is completed, a step S160 of transmitting an image synchronization signal to the camera so that the camera 110 captures an image of the second surveillance region may be performed. Next, the step S170 of photographing the image of the second surveillance area by the camera 110 may be performed.

The camera 110 may capture an image of a surveillance region in response to an image synchronization signal, and may transmit the sensed image to the control unit 160.

For example, the daytime camera 112 can continuously capture an image even during rotation, but when the image synchronization signal is transmitted from the control unit 160, the image being captured can be transmitted to the control unit 160.

For example, after the rotation of the intrusion detection device 100 is completed by the rotation command, the thermal camera 114 may perform imaging and transmit the photographed image to the control unit 160 when the image synchronization signal is transmitted have.

The control unit 160 may transmit the image synchronization signal to the camera 110 during the image acquisition time T ₂ . The camera 110 transmits the captured image to the control unit 160 while the image synchronization signal is received.

According to the present invention, since the camera 110 and the driving unit 120 are synchronized, the camera 110 can acquire images while the driving unit 120 is stopped. Accordingly, the intrusion detection apparatus 100 can calculate the difference image using the images acquired at the same position, and detect the moving target using the difference image.

Referring to FIG. 3, the control method for the first and second surveillance regions is described, but the present invention is not limited thereto. That is, the control unit 120 may repeat the above-described control method (S110 to S170) according to the shooting order for the surveillance areas. For example, the step of capturing an image for the second surveillance region (S170) may be followed by the step of transmitting a rotation command to the driving section 120 to capture an image for the nth surveillance region.

4 is a flowchart for explaining step driving of the intrusion detection apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the intrusion detection apparatus 100 according to an embodiment of the present invention may be step-driven based on a predetermined order. For example, the intrusion detection apparatus 100 may rotate at a predetermined angle by using a driving unit 120 such as a DC motor. The photographing direction of the camera 110 can be changed as the camera rotates stepwise. The sequence of such step driving can be freely changed as needed.

FIG. 5 is a conceptual diagram illustrating the exterior and interior of an intrusion detection apparatus according to an embodiment of the present invention.

The intrusion detection apparatus 200 according to an embodiment of the present invention may include a driving unit 220, a sensor head 210, and a controller 230. The intrusion detection apparatus 200 can control the first DC motor 222 of the driving unit 220 in a step-driving manner for autonomous monitoring. The intrusion detection device 200 can acquire images for a plurality of surveillance regions using a camera synchronized with the driving unit 220 controlled in a step-driving manner.

The driving unit 220 includes a first DC motor 222 and a resolver 224 and drives the sensor head 210. The first DC motor 222 of the driving unit 220 may be configured to rotate the intrusion detection device horizontally.

The sensor head 210 may include a daytime camera 212 and a thermal camera 214. In addition, the sensor head 210 may further include a second DC motor (not shown). The second DC motor rotates the sensor head 210 at a right angle

 The control unit 230 includes a digital control board 232, a motor driving board 234, and an autonomous monitoring board 236 to control the intrusion detection apparatus 100 and perform autonomous monitoring.

6 is a diagram for explaining a control method of an intrusion detection apparatus according to an embodiment of the present invention.

Referring to FIG. 6, there is shown a control method of the intrusion detection device 100 for synchronizing the driving unit 220 and the sensor head 210 using a signal for autonomous monitoring.

The control board 236 may transmit the rotation command 250 to the driving devices 216 and 222 in consideration of the camera viewing angle. The driving devices 216 and 222 can rotate the intrusion detection device 100 in response to the rotation command 250. [

The resolver sensors 218, 224 can measure the displacement along the rotation and generate a position signal 260 associated with the position of the camera. For example, a displacement corresponding to at least one of a vertical angle and a horizontal angle can be generated as a position signal.

When the position signal 260 is transmitted from the resolver sensors 218 and 224, the position signal 260 can be converted into the digital data 270. The control board 236 can generate the image synchronization signal 280 and transmit it to the day and night cameras 212 and 214 after confirming that the digital camera 270 has stopped at the command position using the digital data 270. [

The daytime and thermal cameras 212 and 214 may capture an image of the surveillance region and transmit the captured image 290 to the controller 230 while the image synchronization signal 280 is being transmitted. The control unit 230 can detect a moving target by using the photographed image 290.

7 is a diagram for explaining signals generated by an intrusion detection apparatus according to an embodiment of the present invention.

And generating an image synchronization signal 330 using the position signal 320. FIG. For example, if the position signal 320 is stabilized within ₁ pixel for the rotation command 310 and there is no positional variation during the stabilization time T ₁ , 340, then the image synchronization signal 330 can be generated. Then, after waiting for the image acquisition time (T ₂ , 350) so that the camera can acquire the image, the rotation command can be executed to the next step.

8 is a block diagram illustrating a camera of an intrusion detection device according to an embodiment of the present invention.

Referring to FIG. 8, an image synchronization signal may be interfaced with the internal camera of the thermal camera and the internal hardware of the daytime camera. After the image synchronizing signal is inputted to the digital camera, the image can be generated and output as shown in FIG. In addition, after being input to the image processing board of the daytime camera, the image can be outputted as shown in FIG.

According to one embodiment of the present invention, a thermal camera receives an image from a sensor according to an image synchronization signal after the camera stops, performs signal processing, and outputs the image. The daytime camera continuously outputs the image while the camera is moving, but does not output the image signal to the outside of the camera, and outputs the image to the outside according to the image synchronization signal.

9 is a diagram for explaining image output of a thermal camera according to an embodiment of the present invention.

Referring to FIG. 9, a control time diagram and a signal processing flow of a field programmable gate array (FPGA) of an internal digital signal processing board are described when an image synchronization signal is input to a thermal imaging camera. When an image synchronizing signal is input, it generates an internal synchronizing signal of the thermal camera and processes the output signal of the detector to output an analog image signal.

10 is a view for explaining video output of a daytime camera according to an embodiment of the present invention.

It outputs the image using the internal clock of the weekly camera, and outputs the image in the frame memory only when the image synchronizing signal is inputted.

As described above, according to the present invention, since one intrusion detection device is rotated by a driving unit and is synchronized with a camera that captures a surveillance region, it is possible to detect a target in all directions, thereby providing an efficient intrusion detection device . Further, according to the present invention, an intrusion detection device with high reliability can be provided.

Claims (12)

delete delete delete delete delete delete delete A control method of an intrusion detection device for calculating a difference image for an n-th image and an (n-1) -th image taken by a camera and detecting a moving target using the difference image,
Capturing an image of the first surveillance region using the camera, and detecting a target moving in the first surveillance region using the captured image;
Generating a rotation command to capture an image for a second surveillance region if the imaging time of the first surveillance region coincides with a predetermined image acquisition time;
Rotating the camera to a position corresponding to the second surveillance zone corresponding to the rotation command and measuring a displacement of the camera as the camera rotates;
Generating an image synchronization signal to detect a target moving in the second monitoring region if the measured displacement is maintained within a preset range for a predetermined stabilization time; And
Capturing an image of the second surveillance zone corresponding to the image synchronization signal, and detecting a target moving in the second surveillance zone using the captured image. 9. The method of claim 8,
Wherein the intrusion detection device limits image capture by the camera until the image synchronization signal is generated when the rotation command is generated. 9. The method of claim 8,
Wherein the intrusion detection device limits the output of the image captured by the camera until the image synchronization signal is generated when the rotation command is generated. 9. The method of claim 8,
The camera comprises:
A day camera, and a thermal camera. 12. The method of claim 11,
The daytime camera includes:
Wherein the camera is a camera using a charge coupled device of a focal plane array type.

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