KR20160121958A - Pan-tilt integrated surveillance camera system with a position tracking function of the object - Google Patents

Abstract

The present invention relates to a pan tilt integrated surveillance camera system with a position tracking function of a subject which can quickly photograph a specific position by extending a recognition distance using a laser for recognizing a subject at night, as well as remembering a pan tilt position based on an image through a preset function of a pan tilt drive unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a pan-tilt integral type surveillance camera system having a position tracking function of a subject,

The present invention relates to a surveillance camera system, and more particularly, to a surveillance camera system, in which a photographing operation at a specific position is quickly performed by memorizing an image reference pan tilt position through a preset function of a pan tilt driving unit, Tilt-type surveillance camera system having a function of tracking the position of a subject so as to enable the surveillance camera to monitor the position of the surveillance camera.

Closed circuit television (CCTV) is often used to prevent unauthorized access and intrusion of facilities in recent years. In general, the system monitors video at a remote location by recording the situation of a specific place 24 hours a day. do.

In particular, a light source for solving the problem that the image is darkened at nighttime or in a dark place to reduce the discrimination power may be additionally provided. As a light source used, a person who is a main monitoring target may be equipped with an infrared LED (IR LED: Infrared Light-Emitting Diode) is widely used.

However, since a surveillance camera with a conventional infrared light source is installed integrally with a front portion of a camera lens, infrared LEDs can not adjust the irradiation angle of the infrared LED. Therefore, There was no.

However, although the camera and the light source are pivoted to the left and right and up and down as required by the provision of the pan-tilt means, the restriction on the distance to recognize the subject is relatively short due to the projection characteristic of the infrared LED, As the problem is pointed out due to the generation of heat and the like, a product in which the operation and shooting of the light source are performed only when the motion of the subject is recognized, and the tracking and photographing is performed have been developed. However, In addition, there is a problem that the pan tilt means can not track the fast subject quickly.

Japanese Unexamined Patent Application Publication No. 2007-166570 (published on June 28, 2007)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide an apparatus and a method for improving the nighttime object recognizing distance remarkably by using a laser other than an infrared light source, And a position tracking function of the subject, which allows the photographing of a specific position to be quickly performed according to the movement of the subject, by storing the position of the subject.

In order to achieve the above object, according to the present invention, there is provided a pan / tilt integrated surveillance camera system comprising: a first image acquiring unit including a wide-angle camera unit for photographing a designated area and a laser beam projector for projecting a laser in an imaging area of the wide- A second image acquiring unit configured to acquire a high-resolution image of a narrow area of the wide-angle camera and to acquire a narrow-angle camera unit having a zoom function and a light-modulating unit to illuminate an imaging area of the narrow-angle camera unit; A pan tilt driving unit for rotating the second image acquiring unit in left and right and up and down directions; And a spatial coordinate generator for generating a spatial coordinate corresponding to a change sensing position of the comparator, wherein the spatial coordinate generating unit analyzes the image obtained through the wide angle camera unit, A control unit for controlling the unit and the pan / tilt driving unit; .

The controller may include a position information generator for generating a coordinate value based on a distance to the subject calculated through the distance measurement module, A signal transmission unit for transmitting data stored in the storage unit to a designated terminal; .

The comparison unit compares RGB values of adjacent images according to time, and determines the occurrence of a change when the comparison value is equal to or greater than a preset threshold value. The control unit calculates a shift distance and a direction of the change pixel determined by the comparison unit, A subject tracking unit for resetting the change detection area according to the tracking information generated by the tracking information generating unit and tracking the change, and a tracking unit for tracking the change according to the detection result of the subject tracking unit, And an interlocking unit for operating the image obtaining unit and the pan tilt driving unit.

A preset operation unit for continuously operating the narrow-angle camera unit and the pan / tilt drive unit according to a preset procedure and acquiring a plurality of photographing zones according to a preset preset signal; And a position setting unit for controlling the narrow-angle camera unit and the pan tilt driving unit at a zoom magnification and a position corresponding to a specific code input, respectively, for controlling the zoom camera unit and the pan tilt driving unit, A preset unit; .

The apparatus may further include an operation confirming unit and an acoustical output unit for outputting an emission signal and an acoustic signal into the photographing area of the wide angle camera unit when the comparison unit detects a change.

According to the present invention, it is possible to capture a clear subject by controlling the light-projecting unit and the coarse-angle camera even in the night time zone or in a dark place, and particularly, the recognition distance can be dramatically improved by using a laser for object recognition.

In addition, while capturing the motion of the subject during low-power shooting through a wide-angle camera and a laser, the narrow-angle camera and the dimmer unit are operated while capturing the motion of the subject, and the image reference pan tilt position is memorized through the preset function of the pan tilt driver, Can be performed.

FIG. 1 is a perspective view showing an outer shape according to a preferred embodiment of the present invention,
FIG. 2 is a perspective view of an external shape according to a preferred embodiment of the present invention,
3 is a block diagram illustrating a configuration and a connection relationship according to a preferred embodiment of the present invention.
4 is a block diagram illustrating a configuration and a connection relationship according to another embodiment of the present invention.
5 is a conceptual diagram illustrating the operation concept of the preset unit in the present invention.

Hereinafter, a configuration of a pan / tilt integral surveillance camera system having a position tracking function of a subject of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing an outer shape according to a preferred embodiment of the present invention, FIG. 2 is a perspective view showing an outer shape according to a preferred embodiment of the present invention from another angle, FIG. 3 is a perspective view showing a configuration according to a preferred embodiment of the present invention, In the preferred embodiment of the present invention, the wide-angle camera section 111, the laser beam projecting section 112, the narrow-angle camera section 121, the light control section 122 and the pan / tilt driving section 130 Angle camera unit 121. When a moving subject, which is normally photographed over the designated area through the wide-angle camera unit 111, is captured within the photographing area of the wide-angle camera unit 111, the narrow-angle camera unit 121, So that the subject is moving more clearly. In particular, the illumination unit 122, which is an illuminating unit, may be operated during the operation of the narrow-angle camera unit 121 so that even in the night time zone or in a dark place, photographing can be smoothly performed.

In the preferred embodiment of the present invention, the wide-angle camera unit 111 and the laser transmissive unit 112 are integrally formed by the first image acquiring unit 110, and the narrow-angle camera unit 121 and the light- The first image acquiring unit 120 and the second image acquiring unit 120 are integrally formed and combined with each other.

That is, the first image acquiring unit 110 corresponds to a wide angle CCTV camera system for continuously acquiring images for a relatively wide area. The first image acquiring unit 110 has a wide range of photographing while a zoom or pan / tilt function Power operation can be performed, and the photographing is always performed in a state fixed to a specific structure.

The wide-angle camera unit 111 is a camera unit configured to capture a relatively wide area as a whole. The wide-angle camera unit 111 uses a widening angle of view as the focal length between a normal lens and a CCD device becomes shorter, And a photograph is made at a level at which the movement to the subject can be at least discriminated even if the subject is not at a level that can accurately identify the shape of the subject.

The laser transmitting unit 112 is configured to replace a conventional infrared light source with a laser for the purpose of identifying a subject in the nighttime or in a dark place. The laser transmitting unit 112 is provided on the side of the wide angle camera unit 111, And projects at least one or more lasers in the photographing area of the wide-angle camera unit 111. In other words, conventionally, the nighttime object recognizing distance is limited to a level of 100 to 200 m due to the characteristics of a light source when photographing through an infrared light source. However, in the present invention, the use of a laser makes it possible to extend the nighttime object recognizing distance to 1 km or more.

If the area to be monitored is relatively narrow, the projected laser may be made up of one or a small number. However, if the monitoring area is wide, multiple lasers may be used corresponding to the size of the object to be identified and the range of the monitoring area And it is also possible that the projected laser is formed in a line shape of a horizontal length instead of a dot. With this configuration, the laser emitted from the laser transmitting unit 112 is cut off as the subject moves within the photographing area of the wide-angle camera unit 111, and the subject is recognized from the image of the wide-angle camera unit 111 Can be achieved.

The second image acquiring unit 120 may be a variable angle control type CCTV camera system capable of enhancing the image recognition rate in the nighttime or dark environment by 50% or more by assisting the first image acquiring unit 110. [ 1 and 2, the camera 100 includes a narrow-angle camera unit 121 and a light-shading unit 122. In the preferred embodiment of the present invention, And is mounted on the upper side of the acquiring unit 110 to be rotated in the vertical and horizontal directions.

The narrow angle camera unit 121 is configured to obtain a precise image of a moving subject photographed through the wide angle camera unit 111. The narrow angle camera unit 121 photographs a narrow area as compared with the wide angle camera unit 111, It is possible to acquire an image having a resolution higher than that of the object 111 and accurately capture the shape of the object. In addition, unlike the wide-angle camera unit 111 for acquiring an image of a fixed angle, a zoom function is provided to effectively correspond to a distance to a subject, so that the operation of the pan / tilt driver 130, Tracking can be done for any object in any position.

The illuminating unit 122 illuminates the shooting area of the coarse camera unit 121 in cooperation with the coarse camera unit 121. The illuminating unit 122 irradiates relatively strong light to acquire a clear image of the subject, To help you achieve your goals.

Unlike the first image obtaining unit 110, the second image obtaining unit 120 does not operate normally when there is no moving subject within the photographing range of the first image obtaining unit 110, And prevents the waste of electric power and overheating of the light setting unit 122 and performs accurate photographing of a moving subject by operating only when a moving subject is recognized within the shooting range of the first image obtaining unit 110. [

1 and 2, the pan tilt driving unit 120 is located below the second image acquiring unit 120 and controls the second image acquiring unit 120, specifically, the narrow-angle camera unit 121 and the light- 122 in left and right and up and down directions. The second image acquiring unit 120 may be moved to the left or to the right according to a signal of the controller 140 so that the second image acquiring unit 120 may be moved through the transmission device operated through the control unit 140 A vertical rotating part 131 and a horizontal rotating part 132 for moving the second image obtaining part 120 up and down. At this time, the vertical rotation unit 131 and the horizontal rotation unit 132 are constituted by a transmission device such as a servo motor capable of precisely controlling the second image acquisition unit 120, .

The control unit 140 basically controls the first image obtaining unit 110, the second image obtaining unit 120 and the pan tilt driving unit 120. The control unit 140 includes a comparison unit 141, (142). The detailed configuration of the control unit 140 detects a moving object in the photographing area through the image analysis obtained through the first image obtaining unit 110 and outputs the accurate image through the second image obtaining unit 120 So that the control of the pan tilt driving part 120 in accordance with the accurate position calculation of the subject and the tracking of the movement of the subject can be smoothly performed.

In addition, the control unit 140 basically transmits an image obtained through the wide angle camera unit 111 and the narrow angle camera unit 121 to a designated terminal 200 or a server or receives a control signal from an external terminal And a communication unit composed of wire / wireless communication means known to the public. The configuration of the terminal 200 and the communication unit is well known in the art, so a detailed description will be omitted.

The comparing unit 141 analyzes the image obtained through the wide angle camera unit and detects an image change with respect to a laser projected from the laser light projecting unit 112 at night. , And then the change area is recognized as a moving subject by comparing the frame with the sampled frame. In this case, when the sampling unit is too short, a space for storing the image and a long processing time are required. Therefore, a proper sampling time is set within a range where the subject in the frame can be recognized smoothly. So that a change in the pixel is detected.

The spatial coordinate generating unit 142 generates three-dimensional spatial coordinates corresponding to the detection of the change area of the comparing unit 141. The spatial coordinate generating unit 142 generates three-dimensional spatial coordinates corresponding to the area of the place to be photographed through the first image obtaining unit 110 The control unit 120 controls the operation of the narrow-angle camera unit 121 through the pan / tilt driving unit 130 with respect to a position where the basic information and the position control value of the pan / tilt driver 120 are input in advance, And calculates a position value corresponding to the photographing direction and the projection direction of the light control unit 122. [

The control unit 140 controls the second image acquisition unit 120 and the pan tilt driving unit 130 according to the three-dimensional spatial coordinates generated by the spatial coordinate generation unit 142, And accurate photographing is performed.

In addition, the wide-angle camera unit 111 may detect a change in the comparison unit 141 so as to prevent unauthorized / illegal intrusion by warning that the subject is being photographed, An operation confirming unit 160 and an acoustic output unit 170 for outputting the light emission signal and the sound signal respectively into the photographing area of the photographing apparatus.

The operation confirming unit 160 is a configuration of a flashing lamp located on the front side of the first image acquiring unit 110 or the second image acquiring unit, that is, on the side of a photographed subject. Specifically, The comparator 141 blinks as the change is detected and recognizes that the photographing is being performed on the subject side. This can prevent the continuous light emission or the light emission according to the selection, especially when the movement of the subject is not detected by effective means at night time zone. 1 and 2, the operation confirmation unit 160 is formed on the entire surface of the second image acquisition unit 120. However, the operation confirmation unit 160 may be modified to include a housing on the upper or side of the second image acquisition unit 120 And can be mounted separately.

The sound output unit 170 is configured to correspond to a speaker for outputting an alarm sound or voice announcement. The sound output unit 170 is installed in a plurality of areas in the photographing area of the wide-angle camera unit 111, Output the announcement message. Particularly, in the present invention, since a laser is introduced to improve the recognition distance of a subject, it is difficult to transmit sound to one sound output unit 170, so that a plurality of sound output units 170 are dispersedly arranged in the sensing region, The sound output unit 170 receives and outputs a sound signal from the control unit 140 in a wired or wireless manner.

FIG. 4 is a block diagram illustrating a configuration and a connection relationship according to another embodiment of the present invention. In the following description, components that perform the same functions as those of the preferred embodiment of the present invention described with reference to FIG. 3 will not be described in detail.

First, in another embodiment of the present invention, the laser transmitting unit 112 includes a distance measuring module 113 using a laser to be projected. The distance measuring module 113 is configured to measure a precise distance by detecting a reflected laser beam after emitting a laser toward a target. The distance measuring module 113 basically includes a photodetector for detecting a laser beam reflected from a subject through a projected laser beam, And a counter for calculating the reflection time, and the distance is calculated by measuring the time when the laser is reflected from the target.

The controller 140 includes a position information generator 143 for generating a coordinate value using a distance from the subject calculated through the distance measuring module 113, a storage 144 for storing the coordinate value, And a signal transmission unit 145 for transmitting the data stored in the storage unit 144 to the designated terminal 200.

When a plurality of systems according to the present invention are required, the position information generation unit 143 includes a GPS module so that the position information generation unit 143 generates a GPS coordinate value of the subject And it is possible to confirm the position of the subject with respect to the wide area and track the movement route by storing and delivering it according to the time flow.

Next, in another embodiment of the present invention, the comparison unit 141 compares RGB values of adjacent images with time, and determines the occurrence of a change when the comparison value is equal to or greater than a preset threshold value. In the present invention, the comparison unit 141 detects a change in an adjacent frame to detect a moving person as a main monitoring target. In order to minimize the influence of signal noise and accurately recognize a moving person, Values are compared with each other and it is judged that a change occurs when the difference value is equal to or larger than the set threshold value. In addition, the control unit 140 is provided with a tracking information generating unit 146, a subject tracking unit 147, and an interlocking unit 148 for accurate position tracking.

The tracking information generating unit 146 is configured to generate tracking information on a moving distance and a direction with respect to a pixel region in which the change determined by the comparing unit 141 is generated. And 8 spaces corresponding to the diagonal direction, thereby calculating the moving direction and speed of the change area.

The subject tracking unit 147 resets the change detection area according to the tracking information generated by the tracking information generating unit 146 and tracks the change. As described above, The tracking area is moved and expanded to the area coinciding with the moving direction of the changing area of the space of the moving object.

The interlocking unit 148 is configured to control the second image acquiring unit 120 and the pan tilt driving unit 130 according to the detection result of the subject tracking unit 147. In the preferred embodiment of the present invention, The three-dimensional spatial coordinates of the tracking of the subject are generated and the pan tilt driving unit 130 is controlled by operating the narrow-angle camera unit 121 and the light control unit 122 of the second image obtaining unit 120, So that accurate photographing can be performed.

In another embodiment of the present invention, the positions of the narrow-angle camera unit 121 and the pan / tilt driver 130 are stored in a state in which the code is pre-stored using a preset function, A preset unit 150 including a preset operation unit 151, a code assignment unit 152, and a position setting unit 153 for quickly performing operations of the driving unit 130 and zooming of the coarse camera unit 121, .

FIG. 5 is a conceptual diagram illustrating the operation concept of the preset unit in the present invention, and the configuration of the preset unit 150 will be described in connection with the concept of operation.

The preset operation unit 151 continuously operates the narrow-angle camera unit 121 and the pan / tilt driver 130 according to a preset procedure and acquires a plurality of image capturing zones according to a preset preset signal. 5 (a) and 5 (b) show this. FIG. 5 (a) shows a state in which the zoom area of the narrow-angle camera unit 121 is varied in three steps to the same position have. Specifically, if the position photographed in FIG. 5 (a) is set to the 0.0 position, the area indicated by the center square in FIG. 5 (a) is the area photographed with the 10x zoom, And the rectangular area on the outside thereof represents the area photographed through the double zoom.

In the same manner, FIG. 5 (b) shows that the pan tilt driving unit 130 is in the controlled state and the 0.1 zone is photographed such that the distance is set at the 0.0 position. The zoom range is 10 times, 5 times, The area obtained through the camera is shown.

The code assignment unit 152 is configured to assign codes to the zoom magnification of the narrow-angle camera unit 121 corresponding to the plurality of photographing zones and the position of the pan tilt driver 130, A code is assigned to each of the zones indicated by rectangles in FIG. 5 (a) and FIG. 5 (b), and in FIG. 5 (c), nine zones are assigned to zones set in this manner. Such a preset function can be automatically operated when a preset signal is applied. For example, the preset signal may be automatically applied at the beginning of driving by turning on the power, .

The position setting unit 153 controls the narrow-angle camera unit 121 and the pan / tilt driving unit 130 at a corresponding zoom magnification and position as a specific code is input. Particularly, The cooperative camera 121 and the pan / tilt driver 130 can be controlled by the administrator by manually inputting the code set for the designated area in the mode for enabling the cooperative camera 121 and the pan / tilt driver 130 to manually control the coarse camera 121 and the pan / And a code corresponding to the spatial coordinates or coordinate values generated in association with the spatial coordinate generating unit 142 or the positional information generating unit 143 is automatically input, It is also possible to perform rapid object tracking and accurate photographing through the two-image acquiring unit 120. [

It is to be understood that the invention is not limited to the disclosed embodiment, but is capable of many modifications and variations within the scope of the appended claims. It is self-evident.

110: first image acquiring unit 111: wide angle camera unit
112: laser transmitting portion 113: distance measuring module
120: second image acquiring unit 121: narrow-angle camera unit
122: illuminator 130: pan tilt driver
131: longitudinal rotating portion 132: lateral rotating portion
140: control unit 141:
142: Space coordinate generator 143: Position information generator
144: storage unit 145: signal transmission unit
146: tracking information generating unit 147:
148: interlocking part 150: preset part
151: preset operation unit 152:
153: Position setting unit 160: Operation check unit
170: Acoustic output unit 200:

Claims (5)

In a pan / tilt integral type surveillance camera system,
A first image acquiring unit 110 including a wide angle camera unit 111 for photographing a designated area and a laser light projecting unit 112 for projecting a laser in an imaging area of the wide angle camera unit 111;
A narrow-angle camera unit 121 having a zoom function for acquiring a high-resolution image with respect to a narrow area of the wide-angle camera unit 111, and a light-directing unit 122 for illuminating the photographing area of the narrow- A second image acquiring unit 120;
A pan tilt driving unit 130 for rotating the second image acquiring unit 120 in left and right and up and down directions;
A spatial coordinate generator 142 for generating spatial coordinates corresponding to the change sensing positions of the comparing unit 141, a comparison unit 141 for analyzing an image obtained through the wide-angle camera unit 111 and sensing a change, A controller 140 for controlling the second image acquiring unit 120 and the pan tilt driving unit 130 according to the spatial coordinates; And a camera for capturing an image of the subject.
The method according to claim 1,
The laser transmitting unit 112 includes a distance measuring module 113 using a laser to be projected,
The controller 140 includes a position information generator 143 for generating a coordinate value using a distance from the subject calculated through the distance measuring module 113, a storage 144 for storing the coordinate value, A signal transmitter 145 for transmitting the data stored in the storage 144 to the designated terminal 200; Further comprising a position tracking function for detecting a position of the subject.
The method according to claim 1,
The comparing unit 141 is configured to compare the RGB values of the adjacent images according to time, and to determine the occurrence of the change when the comparison value is equal to or greater than the preset threshold value,
The control unit 140 includes a tracking information generator 146 for generating tracking information on a moving distance and a direction of the changed pixel determined by the comparing unit 141, A second image acquiring unit 120 and a pan tilt driving unit 130 according to the detection result of the subject tracking unit 147; Further comprising an interlocking unit (148) for operating the position detection unit (140).
The method according to claim 1,
A preset operation section 151 for continuously operating the narrow-angle camera section 121 and the pan / tilt drive section 130 in accordance with a preset signal and acquiring a plurality of photographing sections, A code assigning unit 152 for assigning a code to the zoom magnification of the coarse angle camera unit 121 corresponding to the region and the position of the pan tilt driving unit 130, And a position setting unit (153) for controlling the coarse camera unit (121) and the pan tilt driving unit (130), respectively; Further comprising a position tracking function for detecting a position of the subject.
The method according to claim 1,
And an operation confirmation unit 160 and an audio output unit 170 for outputting the light emission signal and the sound signal into the shooting area of the wide angle camera unit 111 as the change is detected by the comparison unit 141 A surveillance camera system with a built-in pan / tilt system having a position tracking function for a subject.

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