JP2011258031A - Tracker for monitoring camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect, track and monitor a detection object in a detection area certainly with small power consumption.SOLUTION: A tracker includes a distance measuring sensor 7 for measuring a distance to a detection object, and operates the distance measuring sensor 7 when the detection object is detected in a detection area by a PIR sensor 6. A control device 9 detects and stores a position of the detection object at a predetermined time interval based on a signal supplied from the distance measuring sensor 7 to compute a travel direction and a travel speed of the detection object based on the obtained positional data of the detection object. In accordance with the obtained computed result, a tracking motor 3 is driven and controlled to change an orientation of a monitoring camera 2. The monitoring camera 2 tracks the detection object in the detection area.

Description

  The present invention relates to a tracking device for a surveillance camera.

  Conventionally, as a tracking system for a surveillance camera, (i) a surveillance camera is used as an image sensor (see, for example, Patent Document 1), and (ii) a plurality of pyroelectric infrared sensors (PIR sensors) are used to generate heat. A device that detects and tracks the movement of an object (for example, see Patent Document 2) is known.

JP 2005-117288 A JP 2002-62366 A

  In the case where the surveillance camera is an image sensor like the one described in Patent Document 1, the surveillance camera is always operated in order to track the intruder, so that power consumption increases. Some locations do not need to be monitored at all times, and such locations are wasteful. Since image analysis is performed, complicated processing is possible, but software requires a complicated algorithm and a CPU with a high processing speed. Therefore, the power consumption of the CPU increases. In addition, the tracking is performed only within the angle of view of the surveillance camera.

  Tracking with a plurality of PIR sensors (pyroelectric infrared sensors) as described in Patent Document 2 consumes less power, but does not track even if an intruder moves within the detection area of one PIR sensor. Therefore, it is necessary to make the camera lens a wide-angle lens according to the detection area, which makes it difficult to see. In addition, since the detection area of the PIR sensor is limited to about 1.6 m / s (about fast walking) and the detection speed is about the size of a human body (intruder), the number of PIR sensors is increased. However, it cannot be tracked and there is a risk of losing sight of the intruder.

  The present invention provides a tracking device for a monitoring camera that can detect and reliably track a detected object in a detection region with low power consumption.

  According to the first aspect of the present invention, there is provided an object detection sensor that detects the presence of a detection object in a detection region, a monitoring camera that takes a signal from the object detection sensor and shoots the detection object, and rotates the monitoring camera. In a tracking device of a surveillance camera, comprising a tracking motor that changes the direction of shooting, distance detection means for measuring a distance to a detection object existing in the detection region, and a signal from the object detection sensor, the detection object A measurement control means for operating the distance measurement means when detecting a position, a position detection / storage means for receiving a signal from the distance measurement means, detecting and storing the position of the detected object at regular time intervals, and the position Direction / speed calculation means for receiving a signal from the detection / storage means and calculating a moving direction and a moving speed of the detected object based on position data of the detected object; The tracking motor receives a signal from the speed calculating means is controlled and driven, characterized in that it comprises a tracking means for changing the orientation of the surveillance camera. Here, as the distance measuring means, any means can be used as long as it can measure the distance to the detection object existing in the detection region, and for example, a range sensor or a scanning laser range sensor is used.

  In this way, when the detection object does not exist in the detection area, the distance measuring means, the tracking motor, and the monitoring camera do not operate, and the object detection sensor (PIR sensor) with low power consumption is used. If a detection object such as an intruder exists in the detection area, and the detection object exists in the detection area, the distance measuring means is operated to track the detection object, and the drive control of the tracking motor is performed. Thus, the direction of the surveillance camera is changed to track the detected object. Therefore, it is possible to monitor the presence of the detection object in the detection region with low power consumption, and when the detection object exists, it is possible to monitor the detection object while reliably tracking the detection object.

  In this case, as described in claim 2, the tracking means includes a normal tracking mode in which the detected object rotates to a position where the detected object becomes the center of the angle of view of the monitoring camera, a camera angle of view, and a calculated value. Rotate the surveillance camera to a position where the detected object is at the end on the side where the detected object enters the camera angle of view, and a predictive tracking mode in which the surveillance camera stops rotating until the detected object deviates from the camera angle of view. You can choose to take it selectively. Here, “rotating the surveillance camera” includes not only the case where the surveillance camera is directly rotated, but also the case where the surveillance camera is rotated by rotating the camera support that supports the surveillance camera. Needless to say.

  In this way, the normal tracking mode in which the surveillance camera is constantly moved in accordance with the movement of the detected object according to the moving speed of the detected object, and the prediction in which the surveillance camera is moved to the predicted position and the surveillance camera is stopped at that position. It can be used flexibly according to the movement state of the detected object by properly using the tracking mode.

According to a third aspect of the present invention, the apparatus includes a speed determination unit that receives a signal from the direction / speed calculation unit and determines whether or not the moving speed of the detected object is faster than a specified speed. Receiving the signal from the speed determining means, and selecting the predictive tracking mode when the moving speed is faster than the prescribed speed, and selecting the normal tracking mode when the moving speed is not faster than the prescribed speed; It is desirable to do. Here, the specified speeds include (i) the limit speed at which the tracking motor can be driven and normally tracked by the monitoring camera, and (ii) the limit speed at which the monitor image of the monitoring camera can be maintained without being flowed. In this way, the predicted tracking mode is selected when the moving speed of the sensing object is faster than the specified speed. Therefore, if the normal tracking mode is maintained, tracking by the surveillance camera becomes impossible or the monitor video flows. It is avoided that the situation that it becomes difficult to see.

  According to a fourth aspect of the present invention, the tracking unit includes a prediction tracking mode selection switch, and the tracking unit tracks the detected object in the normal tracking mode except when the prediction tracking mode is selected by the prediction tracking mode selection switch. It is desirable to have a configuration.

  In this way, the normal tracking mode and the prediction tracking mode can be used properly based on the user's will.

  According to a fifth aspect of the present invention, it is desirable that the position detection / storage means is one that stops position detection by stopping tracking and clears stored position data.

  In this way, when a new sensing object is next present in the sensing area, it is possible to respond quickly.

  As described in claim 6, when a white LED that performs auxiliary illumination of the surveillance camera in a dark place, an illuminance sensor, and a signal from the illuminance sensor and the object detection sensor, a detection object enters the detection area. In this case, it is desirable to provide a white LED control means for operating the white LED as an auxiliary light when the illumination intensity is below a certain level.

  In this way, power can be saved even for the white LED as an auxiliary light, and monitoring with low power consumption is realized.

  The measurement control unit receives a signal from the distance measurement unit in addition to a signal from the object detection sensor and receives no signal from the object detection sensor, or When there is no change in the signal from the distance measuring means, it is desirable to stop the operation of the distance measuring means and set the standby mode to detect the intrusion of the detection object only by the object detection sensor.

  In this way, when there is no signal input from the object detection sensor or there is no change in the signal from the distance measurement means, the operation of the distance measurement means is stopped, and the detected object only by the object detection sensor. Since this is a standby mode for detecting the intrusion of the camera, power can be saved and monitoring with less power consumption can be realized.

  The present invention monitors whether or not a detection object such as an intruder exists in the detection area with an object detection sensor (PIR sensor) with low power consumption when the detection object does not exist in the detection area. When the detection object exists in the detection area, the distance measuring unit is operated to track the detection object, and the detection object is tracked by changing the direction of the monitoring camera by driving control of the tracking motor. The presence of the detection object in the detection area can be monitored with low power consumption, and when the detection object exists, the detection object can be monitored while being reliably tracked.

It is a block diagram about one embodiment of the tracking device of the surveillance camera concerning the present invention. It is explanatory drawing of the relationship between the detection area of a PIR sensor, and the angle of view of a surveillance camera. (A) (b) is explanatory drawing which shows the relationship between a detection object, a monitoring camera, a ranging sensor, and white LED, respectively, (c) is explanatory drawing of a motion of the sensor part of a ranging sensor. It is a flowchart figure which shows the flow of tracking control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the monitoring device 1 includes a monitoring camera 2 that is a CCD camera that captures a detection object (for example, an intruder) in a detection area, and a monitoring camera 2 (or a monitoring camera) below the monitoring camera 2. 2), a tracking motor 3 for tracking the moving detection object, and a white LED 4 for camera auxiliary illumination in a dark place. As the tracking motor 3, for example, a driving motor capable of controlling the position, for example, a stepping motor is used. The surveillance camera 2 and the white LED 4 are rotated together. Note that the image of the monitoring camera 2 is sent to the monitor 5.

  The monitoring device 1 includes a PIR sensor 6 (pyroelectric infrared sensor) as an object detection sensor, a distance measuring sensor 7 as a distance measuring means, an illuminance sensor 8 and a control device 9. The PIR sensor 6 has a Fresnel lens that collects heat rays, and detects the presence of a detection object in the detection area. The detection area of the PIR sensor 6 is an angle of view of the monitoring camera 2 as shown in FIG. Is wider than.

  The distance measuring sensor 7 is, for example, a scanning laser distance measuring sensor, and the sensor unit (detecting unit) repeatedly measures around the vertical axis to measure the distance to the detected object existing in the detection region in all directions. As shown in (a) and (b), the sensor unit emits light (LED light or laser light) while rotating, receives light reflected on the sensing object, and measures the distance, thereby providing wide-range distance data. Is output. The illuminance sensor 8 outputs data about ambient illuminance. Specifically, as shown in FIG. 3C, the distance measuring sensor 7 has a sensor portion 7b disposed in the housing 7a, and the sensor portion 7b rotates around the vertical axis O. Yes.

  The control device 9 performs control such as ON / OFF of the operation of the entire monitoring device 1, lighting of the white LED 4, driving of the tracking motor 3, and the like based on data from the PIR sensor 6, the distance measuring sensor 7 and the illuminance sensor 8. That is, the control device 9 receives a signal from the PIR sensor 6 and operates the distance sensor 7 when operating the distance sensor 7 when the detected object is detected, and the signal from the distance sensor 7. The position detection / storage means 9B that detects and stores the position of the detected object at regular time intervals, and receives a signal from the position detection / storage means 9B, and receives the signal of the detection object based on the position data of the detection object. Direction / speed calculating means 9C for calculating the moving direction and moving speed, and tracking means for receiving the signal from the direction / speed calculating means 9C to drive and control the tracking motor 3 to rotate the monitoring camera 2 and change its direction. 9D.

  The tracking means 9D includes a normal tracking mode in which the detected camera rotates to the position where the detected object is at the center of the angle of view of the monitoring camera 2 and always tracks, and a calculated value (calculation) by the camera angle of view and direction / speed calculating means 9C. Value), the monitoring camera 2 is rotated to a position where the detected object becomes the end on the side of entering the angle of view of the monitoring camera 2, and the monitoring camera 2 is moved until the detected object is out of the angle of view of the monitoring camera 2. The prediction tracking mode for stopping the rotation of the camera is selectively taken. That is, in the predictive tracking mode, the monitoring camera 2 does not always track the detected object, but the monitoring camera 2 is directed in advance in the direction in which the detected object moves, and the detected object is monitored in a stopped state. In addition, in order to detect a detection object with the data of the ranging sensor 7, the case where there exist a some detection object (intruder) is assumed. In such a case, it is considered that the necessity of monitoring is highest from the determination result by providing a determination means for determining which detection object is the shortest distance from the monitoring camera 2. It is preferable to track the detected object having the shortest distance from the monitoring camera 2. Further, the monitoring camera 2 may be rotated and tracked in a direction in which it is determined in advance that the number of detected objects in the angle of view is large from the angle of view of the monitoring camera 2.

  The tracking means 9D is linked to a prediction tracking mode selection switch 10, and the tracking means 9D tracks the detected object only in the normal tracking mode except when the prediction tracking mode selection switch 10 selects the prediction tracking mode. It is supposed to be.

  Further, a speed determining means 9E for determining whether or not a speed (tracking speed) necessary for tracking the detected object upon receiving a signal from the direction / speed calculating means 9C is higher than a specified speed is provided. When the predicted tracking mode is selected by the predicted tracking mode selection switch 10 according to the determination result by the determining means 9E, the tracking means 9D selects the normal tracking mode or the predicted tracking mode. . That is, when the signal from the speed determining means 9E is received and the tracking speed becomes faster than the specified speed, it is predicted that it is difficult to track the detected object in the normal tracking mode, so the prediction tracking mode is selected. On the other hand, if the tracking speed is not faster than the specified speed, the normal tracking mode is selected.

  Further, a white LED control means 9F for operating the white LED 4 as an auxiliary light when a detection object is present in the detection area and receives a signal from the illuminance sensor 8 and the PIR sensor 6 and is below a certain illuminance. Prepare.

  The ranging sensor control means 9A receives a signal from the ranging sensor 7 in addition to a signal from the PIR sensor 6, and there is no signal input from the PIR sensor 6, or there is no change in the signal from the ranging sensor 7. In this case, the operation of the distance measuring sensor 7 is stopped, and the standby mode for detecting the presence of the detected object only by the PIR sensor 6 is set. As a result, when there is no sensing object in the sensing area and there is no need for monitoring, the distance measuring sensor 7 and the like are stopped to save power.

  Therefore, in the standby mode, the monitoring device 1 monitors the intrusion of a detection object such as an intruder into the detection area with the PIR sensor 6 with low power consumption. When it is detected that the detected object is present, the control device 9 operates the monitoring camera (CCD camera) 2, the tracking motor 3, the distance measuring sensor 7, and the illuminance sensor 8. If the illuminance is less than the threshold value by the illuminance sensor 8, the white LED 4 is turned on as an auxiliary light.

  The distance measuring sensor 7 outputs distance data (position data) about the detected object (intruder's human body, etc.), and according to the data, the tracking camera 2 and the white LED 4 fixed at a fixed position are tracked by the tracking motor. 3 is rotated to track the detected object.

  When the sensing object is not present within the measurable range by the distance measuring sensor 7 and the tracking (measurement) is finished, the surveillance camera 2 is returned to the standby state facing the front, the operations other than the PIR sensor 6 are stopped, and the consumption is reduced. The power standby mode is set. However, it does not stop when the PIR sensor 6 is detecting something.

  If the PIR sensor 6 does not detect anything or the signal from the distance measuring sensor 7 does not change, it stops after a certain period of time and returns to the standby mode where only the PIR sensor 6 is monitored to save power. . “There is no change in the signal from the distance measuring sensor 7” means that there is no change in the distance data measured by the distance measuring sensor 7.

  Next, tracking control using the distance measuring sensor 7 will be described with reference to FIG.

  When a detection object (moving object) exists in the detection area and is detected by the PIR sensor 6 and tracking of the detection object is started, position data (distance data) by the distance measurement sensor 7 is acquired by the position detection / storage means 9B. (Step S1) and stored (step S2). This data acquisition is performed at regular time intervals (for example, 0.1 seconds), and the time information is incorporated into the position information (distance, direction).

  It is then determined whether there is previously stored data (step S3). The stored data is cleared by stopping tracking.

  If there is previously stored data, the current data is compared with the previous data (step S4), and the moving direction and moving speed are calculated by the direction / speed calculating means 9C (step S5). The moving direction and moving speed are calculated from the position information and time information described above.

  On the other hand, if there is no previously stored data, tracking starts, so the surveillance camera 2 (or camera support) is rotated so that the detected object to be tracked is at the center of the camera angle of view ( Step S6) and return to step S1.

  After step S5, it is determined whether or not the prediction tracking mode selection switch 10 is ON (step S7). If it is ON, it is determined whether or not the prediction tracking mode is in effect (step S8).

  If the predictive tracking mode selection switch is not ON, the predictive tracking mode is not required, and therefore the normal tracking mode is selected. Therefore, the surveillance camera is rotated so that the detected object is at the center of the camera angle of view. The normal tracking mode is set (step S9), and the process returns to step S1.

  If it is determined in step S8 that the prediction tracking mode is in effect, it is determined whether or not the detected object has come to a position that deviates from the angle of view of the surveillance camera 2 (step S10). Return. Note that during the predictive tracking mode, the monitoring camera 2 stops rotating until the detected object comes to a position that deviates (exits) from the angle of view.

  If it is determined in step S8 that the tracking mode is not in progress, it is determined whether or not the tracking speed is faster than the specified speed (step S11). If it is determined in step S10 that the detected object is out of the field angle of the monitoring camera 2, the process proceeds to step S11.

  If it is determined in step S11 that the speed is higher than the specified speed, the monitoring camera 2 reaches the position where the detected object is at the end on the side where the detected object is within the camera angle of view based on the camera angle of view and the value calculated by the direction / speed calculator 9C. Is rotated (step S12), and the process returns to step 1, while if the speed is not faster than the specified speed, the process proceeds to step S9, the normal tracking mode is set, and the process returns to step S1.

  Therefore, if the tracking speed is increased during the normal tracking mode, the mode is switched to the predicted tracking mode, and if the tracking speed is decreased during the predicted tracking mode, the mode is switched to the normal tracking mode.

  If comprised as mentioned above, the control apparatus 9 only performs simple processes, such as the detection by the PIR sensor 6, the processing of the position data from the distance measuring sensor 7, the control of the tracking motor 3, and the lighting control of the white LED 4. Therefore, complicated processing is not required, software (algorithm) is simplified, and the processing speed of the control device 9 does not need to be increased.

  In addition, with the conventional method using a plurality of PIR sensors, tracking may not be possible depending on the speed of movement of a detected object (such as an intruder), but by using the distance measuring sensor 7, the detected object is human. If there is, tracking becomes possible.

  By using the distance measuring sensor 7, the position data from the distance measuring sensor 7 is analyzed, the motion of the detected object is predicted, and the prediction tracking in which the monitoring camera 2 is directed in the previously predicted direction can be performed. In the case of normal tracking in which the surveillance camera 2 is always moved according to the movement of the sensing object, the monitor video flows and it may be difficult to see. However, the surveillance camera 2 is first moved to the predicted position, and the surveillance camera 2 is stopped and detected. By waiting for an object and monitoring its movement, there is a great merit that the monitor image of the detected object can be easily seen.

  In the standby mode, the monitoring camera 2 with high power consumption and the white LED 4 as the auxiliary light of the monitoring camera 2 are not operated, but the detected object is monitored only with the PIR sensor 6 with low power consumption, and an intruder or the like is in the detection area. When the detected object intrudes, the white LED 4 (camera auxiliary light), the tracking distance sensor 7 and the tracking motor 3 are activated using the detection of the detected object as a trigger. This is advantageous for power saving.

  Further, since the white LED 4 is used as a camera auxiliary light, not a general incandescent light bulb or halogen light bulb, power consumption by the auxiliary light can be suppressed.

  It is also possible to adopt a configuration in which the distance measuring sensor 7 has a function of processing distance data by the distance measuring sensor 7 itself and outputting that there is no change in the signal.

1 Monitoring device 2 Monitoring camera 3 Tracking motor 4 White LED
5 Monitor 6 PIR sensor (pyroelectric infrared sensor)
7 Distance sensor 7a Housing 7b Sensor unit 8 Illuminance sensor 9 Control device 9A Distance sensor control means (measurement control means)
9B Position detection / storage means 9C Direction / speed calculation means 9D Tracking means 9E Speed determination means 9F White LED control means 10 Predictive tracking mode selection switch

Claims (7)

An object detection sensor for detecting the presence of a detection object in a detection area; a monitoring camera for capturing a detection object in response to a signal from the object detection sensor; and a tracking for changing a direction of imaging by rotating the monitoring camera In a tracking device for a surveillance camera comprising a motor,
Distance measuring means for measuring a distance to a sensing object existing in the detection region;
A measurement control means for operating the distance measurement means when receiving the signal from the object detection sensor and detecting the detection object;
Position detection / storage means for receiving a signal from the distance measuring means, detecting and storing the position of the sensing object at regular time intervals;
Direction / speed calculation means for receiving a signal from the position detection / storage means and calculating a movement direction and a movement speed of the detection object based on position data of the detection object;
A monitoring camera tracking device comprising: tracking means for receiving a signal from the direction / velocity calculating means and drivingly controlling the tracking motor to change the direction of the monitoring camera.   The tracking means includes a normal tracking mode in which the detected object rotates to a position where the detected object is at the center of the angle of view of the surveillance camera, and a side where the detected object enters the camera angle of view by the camera angle of view and the calculated value. 2. A predictive tracking mode in which the surveillance camera is rotated to a position that becomes an end of the camera and the rotation of the surveillance camera is stopped until the detected object is out of the camera angle of view. The monitoring camera tracking device described. A speed determination unit that receives a signal from the direction / speed calculation unit and determines whether the moving speed of the sensing object is faster than a specified speed;
The tracking means receives a signal from the speed determining means, and selects the predictive tracking mode when the moving speed is faster than the specified speed, while the normal tracking mode when the moving speed is not faster than the specified speed. The tracking device for a surveillance camera according to claim 2, wherein: Predictive tracking mode selection switch
4. The monitoring according to claim 2, wherein the tracking unit tracks the detected object in a normal tracking mode, except when a predicted tracking mode is selected with the prediction tracking mode selection switch. 5. Camera tracking device.   The surveillance camera according to any one of claims 1 to 4, wherein the position detection / storage means is configured to stop position detection by clearing tracking and to clear the stored position data. Tracking device.   A white LED that performs auxiliary illumination of the surveillance camera in a dark place, an illuminance sensor, a signal from the illuminance sensor and the object detection sensor, and a detection object that has entered the detection area, at a certain illuminance or less The tracking device for a surveillance camera according to any one of claims 1 to 5, further comprising a white LED control unit that operates the white LED as an auxiliary light in some cases.   The measurement control means receives a signal from the distance measurement means in addition to a signal from the object detection sensor, and there is no signal input from the object detection sensor or there is a change in the signal from the distance measurement means. If not, the operation of the distance measuring unit is stopped, and a standby mode for detecting the intrusion of the detected object only by the object detection sensor is set. 7. A tracking device for surveillance cameras.

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