TWI688924B

TWI688924B - Monitoring system for identifying and tracking object

Info

Publication number: TWI688924B
Application number: TW108112996A
Authority: TW
Inventors: 李宏銘; 蔡家銘
Original assignee: 勝品電通股份有限公司
Priority date: 2019-04-15
Filing date: 2019-04-15
Publication date: 2020-03-21
Also published as: TW202040524A

Abstract

A monitoring system for identifying and tracking object includes a plurality of monitoring devices. The monitoring devices are configured in an area and for monitoring a plurality of sub area of the area respectively. The monitoring devices communicate with each other and each of monitoring device includes sensor modules, a processor and a communicating module. The sensor modules are configured for obtaining monitoring information of the sub area. The processor detects a moving object according to the monitoring information and generates an object data according to the moving state of the moving object. When the moving object moves away from the sub area monitored by the monitoring device, the monitoring device transmits the object data to the other monitoring devices through the communicating module according to the object data of the moving object.

Description

追蹤辨識監控系統 Tracking identification monitoring system

本發明關於一種追蹤辨識監控系統，並且特別地，關於一種可自動檢測與辨識移動物件並且直接傳送其物件資料至其他監控裝置以利其他監控裝置繼續追蹤的追蹤辨識監控系統。 The present invention relates to a tracking identification monitoring system, and in particular, to a tracking identification monitoring system that can automatically detect and identify moving objects and directly transmit their object data to other monitoring devices to facilitate other monitoring devices to continue tracking.

監控產業於現今的社會中已佔有一席之地，從公共建設與警政維安，到民間企業店面與工廠倉庫，皆能看到安全監控設備。監控設備藉由錄製影像來記錄並監控某一區域的狀態，例如：道路上的十字路口、倉庫的出入口、展覽品的周遭區域等。當有事故或是意外發生時，監控人員可以從監控設備所錄製的影像中尋找或收集相關資料。而監控設備除了用以作為安全監控的用途之外，也已發展出具有辨識功能的監控設備，例如：人臉辨識、物體辨識等。同時，也可針對辨識出的物體進行追蹤以了解物體於此區域中的移動狀況。 The surveillance industry has a place in today's society. From public construction and police security, to private enterprise stores and factory warehouses, security surveillance equipment can be seen. The monitoring equipment records and monitors the status of a certain area by recording images, such as: intersections on the road, entrances and exits of warehouses, surrounding areas of exhibits, etc. When an accident or accident occurs, the monitoring personnel can find or collect relevant data from the images recorded by the monitoring equipment. In addition to being used for security monitoring, monitoring equipment has also developed monitoring equipment with identification functions, such as face recognition and object recognition. At the same time, the identified object can also be tracked to understand the movement of the object in this area.

然而，監控設備通常只有一個鏡頭，而且只能拍攝某一區域的影像，因此，監控設備設置的位置取決於拍攝的範圍。雖然現今已有發展出360度全景的監控設備，但若拍攝的範圍內包含較大型的阻擋物時，監控設備還是無法完全拍攝到各個地方。因此，會使用多個監控設備以不同位置、不同角度的設置方式拍攝與錄製監控影像，以確保需監控的區域皆能完全受到監控。 However, the monitoring device usually has only one lens, and can only take images of a certain area. Therefore, the location of the monitoring device depends on the shooting range. Although monitoring equipment for 360-degree panoramas has been developed, if the scope of the shooting includes a large-scale obstruction, the monitoring equipment cannot fully capture all places. Therefore, multiple surveillance devices will be used to shoot and record surveillance images with different positions and different angles to ensure that all areas to be monitored are Can be fully monitored.

雖然需監控的區域係由多個監控設備個別拍攝不同的範圍拼接而成，但是各監控設備皆為獨立作業。因此，各監控設備必須將監控影像傳送至監控中心，並且需由監控人員判斷。而目前具有辨識功能的監控設備中，也是為獨立作業的設備，因此，當移動的物體從一監控設備的監控範圍移動到另一監控設備的監控範圍時，針對移動物體的監控都需要經由監控中心的監控人員從不同監控設備的影像來進行追蹤，不但增加了作業時間，並且也降低了監控效率 Although the area to be monitored is made by splicing multiple ranges of multiple monitoring devices individually, each monitoring device operates independently. Therefore, each monitoring device must transmit the monitoring image to the monitoring center, and it must be judged by the monitoring personnel. And the current monitoring equipment with identification function is also a device that operates independently. Therefore, when a moving object moves from the monitoring range of one monitoring device to the monitoring range of another monitoring device, the monitoring of the moving object needs to be monitored. The monitoring personnel of the center track from the images of different monitoring equipment, which not only increases the working time, but also reduces the monitoring efficiency

因此，有必要研發一種追蹤辨識監控系統，可透過不同的監控設備直接追蹤移動物體，以解決先前技術之問題。 Therefore, it is necessary to develop a tracking identification monitoring system that can directly track moving objects through different monitoring devices to solve the problems of the prior art.

有鑑於此，本發明之一範疇在於提供一種追蹤辨識監控系統，可自動追蹤及辨識移動物件並且可自動傳送物件資料至其他的監控裝置。 In view of this, one category of the present invention is to provide a tracking identification monitoring system that can automatically track and identify moving objects and can automatically transmit object data to other monitoring devices.

根據本發明之一具體實施例，追蹤辨識監控系統包含複數個監控裝置，設置於區域中並且監控裝置互相溝通。監控裝置係分別用以監控區域中的複數個子區域。各監控裝置進一步包含至少一感測模組、處理器以及通訊模組。感測模組用以感測子區域中的一者以得到監控資訊。處理器連接感測模組，並且係用以根據感測模組所得到的監控資訊辨識出至少一移動物件，並且根據至少一移動物件的移動狀態產生至少一物件資料。通訊模組連接處理器，並且係用以與其他的監控裝置建立連線，以傳送至少一物件資料至其他的監控裝置及自其他的監控裝置接收至少一物件資料。其中，當至少一移動物件脫離監控裝置所監控的子區域時，監控裝置根據至少一物件資料傳送至少一物件資料至其他的監控裝置。 According to an embodiment of the invention, the tracking identification monitoring system includes a plurality of monitoring devices, which are arranged in the area and the monitoring devices communicate with each other. The monitoring device is used to monitor a plurality of sub-areas in the area. Each monitoring device further includes at least one sensing module, processor and communication module. The sensing module is used to sense one of the sub-regions to obtain monitoring information. The processor is connected to the sensing module, and is used to recognize at least one moving object according to the monitoring information obtained by the sensing module, and generate at least one object data according to the moving state of the at least one moving object. The communication module is connected to the processor and is used to establish a connection with other monitoring devices to transmit at least one object data to and receive at least one object from other monitoring devices data. Wherein, when at least one moving object deviates from the sub-area monitored by the monitoring device, the monitoring device transmits at least one object data to other monitoring devices according to the at least one object data.

其中，各監控裝置進一步包含儲存模組。儲存模組連接處理器並且用以儲存至少一移動物件的至少一物件資料。 Wherein, each monitoring device further includes a storage module. The storage module is connected to the processor and used to store at least one object data of at least one moving object.

其中，至少一物件資料包含移動物件編號、移動速度、移動物件高度、移動方向以及離子區域的邊界的距離中之至少一者。 The at least one object data includes at least one of the number of the moving object, the moving speed, the height of the moving object, the moving direction, and the distance of the boundary of the ion region.

其中，監控裝置中的第一監控裝置的處理器根據至少一移動物件的移動速度、移動方向以及離子區域的邊界的距離控制通訊模組傳送至少一物件資料至所對應的監控裝置。 The processor of the first monitoring device in the monitoring device controls the communication module to transmit at least one object data to the corresponding monitoring device according to the moving speed, the moving direction of the at least one moving object, and the distance of the boundary of the ion region.

其中，當監控裝置中的第二監控裝置接收到第一監控裝置所傳送的至少一物件資料時，第二監控裝置的處理器根據至少一物件資料自第二監控裝置所得到的監控資訊中找出至少一移動物件，並且根據至少一移動物件的移動狀態更新至少一物件資料。 Wherein, when the second monitoring device in the monitoring device receives at least one object data transmitted by the first monitoring device, the processor of the second monitoring device finds from the monitoring information obtained by the second monitoring device based on the at least one object data At least one moving object is generated, and at least one object data is updated according to the moving state of the at least one moving object.

其中，當至少一移動物件脫離子區域的方向無對應的其他的監控裝置時，處理器儲存至少一物件資料至儲存模組。 When there is no other monitoring device corresponding to the direction in which the at least one moving object deviates from the sub-region, the processor stores at least one object data to the storage module.

其中，追蹤辨識監控系統進一步包含伺服器連接監控裝置。當監控裝置中的第三監控裝置無法運行時，其他的監控裝置將原本會傳送至第三監控裝置的至少一移動物資料傳送至伺服器。 Among them, the tracking identification monitoring system further includes a server connection monitoring device. When the third monitoring device in the monitoring device fails to operate, the other monitoring devices send at least one moving object data that would be sent to the third monitoring device to the server.

本發明之另一範疇在於提供一種追蹤辨識監控方法，包含以下步驟：(S1)以複數個監控裝置分別感測區域的複數個子區域的複數個監控資訊；(S2)監控裝置中的第一監控裝置自監控資訊中判斷是否有至少一移動物件並根據至少一移動物件的移動狀態產生至少一物件資料，其中至少一物件資料包含移動物件編號、移動速度、移動物件高度、移動方向以及離子區域的邊界的距離中之至少一種；(S3)第一監控裝置依據至少一物件資料選擇性地將至少一物件資料傳送給監控裝置的第二監控裝置；以及(S4)第二監控裝置依據接收到的至少一物件資料自監控資訊中找到至少一移動物件並更新至少一物件資料。 Another category of the present invention is to provide a tracking identification monitoring method, which includes the following steps: (S1) using a plurality of monitoring devices to respectively sense a plurality of monitoring information of a plurality of sub-regions of an area; (S2) a first monitoring in the monitoring device The device determines whether there is at least one moving object from the monitoring information and generates at least one object data according to the moving state of the at least one moving object, wherein the at least one object data includes the moving object number, moving speed, moving object height, moving direction, and ion area At least one of the boundary distances; (S3) the first monitoring device selectively transmits at least one object data to the second monitoring device of the monitoring device based on at least one object data; and (S4) the second monitoring device based on the received At least one object data finds at least one moving object from the monitoring information and updates at least one object data.

其中，於步驟(S3)進一步包含以下步驟：(S31)第一監控裝置根據至少一物件資料判斷至少一移動物件是否即將脫離第一監控裝置所監控的子區域；步驟(S32)，若步驟(S31)的判斷結果為是，則第一監控裝置判斷至少一移動物件脫離子區域之方向是否對應其他的監控裝置；步驟(S33)，若步驟(S32)的判斷結果為是，則第一監控裝置將至少一物件資料傳送給第二監控裝置；以及步驟(S34)，若步驟(S32)的判斷結果為否，則第一監控裝置儲存至少一物件資料於儲存模組。 Wherein, step (S3) further includes the following steps: (S31) the first monitoring device determines whether at least one moving object is about to leave the sub-area monitored by the first monitoring device based on at least one object data; step (S32), if the step ( S31) if the judgment result is yes, the first monitoring device judges whether the direction of the at least one moving object leaving the sub-region corresponds to other monitoring devices; step (S33), if the judgment result of step (S32) is yes, the first monitoring The device transmits at least one object data to the second monitoring device; and step (S34), if the judgment result of step (S32) is no, the first monitoring device stores at least one object data in the storage module.

其中，進一步包含以及步驟：(S51)第一監控裝置判斷是否與第二監控裝置連線；若判斷結果為是，則執行步驟(S3)；若判斷結果為否，則執行步驟(S52)；以及步驟(S52)，第一監控裝置依據至少一物件資料選擇性地將至少一物件資料傳送至伺服器。 Among them, it further includes and steps: (S51) The first monitoring device determines whether to connect with the second monitoring device; if the determination result is yes, then execute step (S3); if the determination result is no, then execute step (S52); And step (S52), the first monitoring device selectively transmits at least one object data to the server according to at least one object data.

綜上述，綜上所述，本發明之追蹤辨識監控系統可自動追蹤及辨識移動物件並且檢測及計算出移動物件的物件資料，並且可根據移動物件之移動狀態自動傳送物件資料至其他的監控裝置，不僅可以節省辨識與計算時間，也可提高監控效率。 In summary, in summary, the tracking identification monitoring system of the present invention can automatically track and identify moving objects and detect and calculate the object data of the moving objects, and can automatically transmit the object data to other monitoring devices according to the moving state of the moving objects , Not only can save identification and calculation time, but also improve monitoring efficiency.

1‧‧‧追蹤辨識監控系統 1‧‧‧Tracking identification monitoring system

11、11A~11F‧‧‧監控裝置 11.11A~11F‧‧‧Monitoring device

111‧‧‧感測模組 111‧‧‧sensor module

112‧‧‧處理器 112‧‧‧ processor

113‧‧‧通訊模組 113‧‧‧Communication module

114‧‧‧儲存模組 114‧‧‧storage module

14‧‧‧伺服器 14‧‧‧Server

2‧‧‧區域 2‧‧‧Region

21、21A~21F‧‧‧子區域 21, 21A~21F‧‧‧Subregion

3、3A~3F‧‧‧移動物件 3. 3A~3F‧‧‧Moving objects

S1~S5、S31~S35、S51、S52‧‧‧步驟 S1~S5, S31~S35, S51, S52

圖1係繪示根據本發明之一具體實施例之追蹤辨識監控系統的示意圖。 FIG. 1 is a schematic diagram of a tracking identification monitoring system according to an embodiment of the invention.

圖2係繪示根據圖1之追蹤辨識監控系統各單元間的連接示意圖。 FIG. 2 is a schematic diagram of connections between units of the tracking identification monitoring system according to FIG. 1.

圖3係繪示根據圖1之監控裝置的功能方塊圖。 FIG. 3 is a functional block diagram of the monitoring device according to FIG. 1.

圖4係繪示根據本發明之一具體實施例之追蹤辨識監控系統各單元間的連接示意圖。 4 is a schematic diagram showing the connection between units of the tracking identification monitoring system according to an embodiment of the invention.

圖5係繪示根據本發明之一具體實施例之追蹤辨識監控系統的流程圖。 FIG. 5 is a flowchart of a tracking identification monitoring system according to an embodiment of the invention.

圖6係繪示根據本發明之一具體實施例之追蹤辨識監控方法的流程圖。 6 is a flowchart illustrating a tracking identification monitoring method according to an embodiment of the invention.

圖7係繪示根據本發明之一具體實施例之追蹤辨識監控方法的流程圖。 7 is a flowchart illustrating a tracking identification monitoring method according to an embodiment of the invention.

為了讓本發明的優點，精神與特徵可以更容易且明確地了解，後續將以具體實施例並參照所附圖式進行詳述與討論。值得注意的是，這些具體實施例僅為本發明代表性的具體實施例，其中所舉例的特定方法、裝置、條件、材質等並非用以限定本發明或對應的具體實施例。又，圖中各裝置僅係用於表達其相對位置且未按其實際比例繪述，合先敘明。 In order to make the advantages, spirit and features of the present invention easier and clearer to understand, detailed descriptions and discussions will follow with specific embodiments and with reference to the accompanying drawings. It is worth noting that these specific embodiments are only representative specific embodiments of the present invention, and the specific methods, devices, conditions, materials, etc. exemplified therein are not intended to limit the present invention or the corresponding specific embodiments. In addition, the devices in the figure are only used to express their relative positions and are not drawn according to their actual proportions.

請參考圖1及圖2，圖1係繪示根據本發明之一具體實施例之追蹤辨識監控系統1的示意圖，圖2係繪示根據圖1之追蹤辨識監控系統1各單元間的連接示意圖。如圖1所示，追蹤辨識監控系統1包含複數個監控裝置11A~11F。複數個監控裝置11A~11F設置於區域2中，並且每個監控裝置11A~11F分別監控區域2中不同的子區域21A~21F。詳言之，區域2分割成與監控裝置11A~11F相同數量的子區域21A~21F，並且各子區域21A~21F的邊界重合，即為各子區域21A~21F互相緊鄰而無重疊部份或間隙。每個監控裝置11A~11F個別監控每個子區域21A~21F，即一個監控裝置11A~11F對應監控一個子區域21A~21F。因此，這些監控裝置11A~11F可完整地監控區域2。如圖2所示，各監控裝置11A~11F互相連接與溝通，因此，各監控裝置11A~11F之間皆可傳輸資料及訊號。請注意，雖然監控裝置11A~11F以及所對應的子區域21A~21F的數量於本具體實施例中為六個，但於實務中不以此為限。而各監控裝置之間的連接可為有線連接或無線連接。此外，在本具體實施例中，各監控裝置11A~11F可連接至伺服器14。於實務中，伺服器14可為監控中心的電腦或是主機。 Please refer to FIG. 1 and FIG. 2, FIG. 1 is a schematic diagram of a tracking identification monitoring system 1 according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of connections between units of the tracking identification monitoring system 1 according to FIG. 1 . As shown in FIG. 1, the tracking identification monitoring system 1 includes a plurality of monitoring devices 11A-11F. A plurality of monitoring devices 11A to 11F are provided in the area 2, and each monitoring device 11A to 11F monitors different sub-areas 21A to 21F in the area 2 respectively. In detail, the area 2 is divided into the same number of sub-areas 21A to 21F as the monitoring devices 11A to 11F, and the boundaries of the sub-areas 21A to 21F coincide, that is, the sub-areas 21A to 21F are close to each other without overlapping parts or gap. Each monitoring equipment Set 11A~11F to individually monitor each sub-region 21A~21F, that is, one monitoring device 11A~11F correspondingly monitors one sub-region 21A~21F. Therefore, these monitoring devices 11A to 11F can completely monitor the area 2. As shown in FIG. 2, the monitoring devices 11A to 11F are connected and communicate with each other. Therefore, data and signals can be transmitted between the monitoring devices 11A to 11F. Please note that although the number of the monitoring devices 11A-11F and the corresponding sub-areas 21A-21F is six in this embodiment, it is not limited in practice. The connection between the monitoring devices can be a wired connection or a wireless connection. In addition, in this specific embodiment, each monitoring device 11A-11F can be connected to the server 14. In practice, the server 14 can be a computer or a host in the monitoring center.

請一併參考圖1及圖3，圖3係繪示根據圖1之監控裝置11A~11F的功能方塊圖。如圖3所示，監控裝置11包含至少一感測模組111、處理器112以及通訊模組113，其中，處理器112耦接感測模組111，並且通訊模組113耦接處理器112。於實務中，感測模組111可為影像感測器(如：CCD)、位置感測器或速度感測器等。當感測模組111為影像感測器時，監控裝置11可透過拍攝影像感測於子區域21內是否有物品。更進一步地，影像感測器也可包含具有自動感光或聚焦功能的鏡頭。當監控的環境的亮度不足時，影像感測器還可包含光源以自動補光或調整亮度而更清楚地監控對應的子區域21。具有自動聚焦的影像感測器可針對拍攝影像中的任何位置進行自動聚焦，以能夠更清楚地拍攝位於子區域21中的物體，除此之外，也可透過來自伺服器14的指令聚焦於物體上以進行持續追蹤。當感測模組111為位置感測器或影像感測器時，監控裝置11可透過位置感測器或影像感測器檢測物體於子區域21內的外形尺寸並判定物體的位置。當感測模組111為速度感測器或影像感測器時，監控裝置11可透過速度感測器或影像感測器檢測物體於子區域21內的移動速度與方向。當感測模組111偵測或檢測到物體時，感測模組111根據物體的特徵以及運動狀態產生監控資訊。請注意，圖3中感測模組111的數量僅顯示一個，但不限於此，感測模組111的數量可為一個以上並且皆與處理器112連接。 Please refer to FIGS. 1 and 3 together. FIG. 3 is a functional block diagram of the monitoring devices 11A to 11F according to FIG. 1. As shown in FIG. 3, the monitoring device 11 includes at least one sensing module 111, a processor 112, and a communication module 113, wherein the processor 112 is coupled to the sensing module 111, and the communication module 113 is coupled to the processor 112 . In practice, the sensing module 111 can be an image sensor (such as a CCD), a position sensor, or a speed sensor. When the sensing module 111 is an image sensor, the monitoring device 11 can sense whether there is an object in the sub-region 21 by shooting an image. Furthermore, the image sensor may also include a lens with an automatic light-sensing or focusing function. When the brightness of the monitored environment is insufficient, the image sensor may further include a light source to automatically fill light or adjust the brightness to monitor the corresponding sub-region 21 more clearly. The image sensor with auto focus can auto focus on any position in the captured image, so that the object in the sub-region 21 can be photographed more clearly. In addition, it can also focus on the command from the server 14 On the object for continuous tracking. When the sensing module 111 is a position sensor or an image sensor, the monitoring device 11 can detect the outer size of the object in the sub-region 21 through the position sensor or the image sensor and determine the position of the object. When the sensing module 111 is a speed sensor or an image sensor, the monitoring device 11 can sense the speed sensor or the image The detector detects the moving speed and direction of the object in the sub-region 21. When the sensing module 111 detects or detects an object, the sensing module 111 generates monitoring information according to the characteristics and motion status of the object. Please note that the number of sensing modules 111 shown in FIG. 3 is only one, but not limited to this, the number of sensing modules 111 may be more than one and all are connected to the processor 112.

處理器112可為CPU或與CPU整合之具有影像辨識功能的晶片，因此，處理器112可根據感測模組111所感測的監控資訊辨識並標示出於子區域21中的移動物件3，並且可計算並產生移動物件3的物件資料。通訊模組113可為資料發射/接收器或者為訊號發射/接收器，可透過有線或無線的方式傳送由處理器112產生的物件資料至其他的監控裝置11，以及接收由其他的監控裝置11所傳送的物件資料。此外，當追蹤辨識監控系統1啟動時，各監控裝置11的通訊模組113先建立各監控裝置11之間的連線。請注意，雖然圖1中的移動物件3中的箭頭僅指向一個方向，但於實務中並不代表移動物件3僅往一個方向移動，而移動物件3中的箭頭長短也不代表移動物件3僅以一個速度移動，也就是說，移動物件3在子區域21內時，可能隨時改變移動方向與速度，也可能在子區域21內保持同一個方向與速度，但進入到另一個子區域21時改變了另一個移動方向與速度。 The processor 112 may be a CPU or a chip with image recognition function integrated with the CPU. Therefore, the processor 112 may recognize and mark the moving object 3 in the sub-region 21 according to the monitoring information sensed by the sensing module 111, and The object data of the moving object 3 can be calculated and generated. The communication module 113 can be a data transmitter/receiver or a signal transmitter/receiver, and can transmit object data generated by the processor 112 to other monitoring devices 11 through wired or wireless means, and receive other monitoring devices 11 The object data sent. In addition, when the tracking identification monitoring system 1 is started, the communication module 113 of each monitoring device 11 first establishes a connection between the monitoring devices 11. Please note that although the arrows in the moving object 3 in FIG. 1 only point in one direction, in practice it does not mean that the moving object 3 only moves in one direction, and the length of the arrow in the moving object 3 does not mean that the moving object 3 only Moving at a speed, that is to say, when the moving object 3 is in the sub-region 21, it may change the moving direction and speed at any time, or may maintain the same direction and speed in the sub-region 21, but when entering another sub-region 21 Changed another direction and speed of movement.

前述的物件資料可包含移動物件編號、移動速度、移動物件高度、移動方向以及離子區域21的邊界的距離中之至少一者。於實務中，處理器112可藉由監控資訊以及影像辨識功能判斷出移動物件3的外觀特徵(如移動物件高度或外形)並將移動物件3進行編號。並且，處理器112也可自監控資訊計算出移動物件3的移動速度及方向，並且可計算出移動物件3與子區域21的邊界的距離。由於移動物件3可能會隨時改變移動方向和移動速度，因此處理器112係持續地計算與更新移動物件3的移動速度、移動方向以及與子區域21的邊界的距離。 The aforementioned object data may include at least one of a moving object number, a moving speed, a moving object height, a moving direction, and the distance of the boundary of the ion region 21. In practice, the processor 112 can determine the appearance characteristics of the moving object 3 (such as the height or shape of the moving object) through the monitoring information and the image recognition function and number the moving object 3. Moreover, the processor 112 can also calculate the moving speed and direction of the moving object 3 from the monitoring information, and can also calculate the distance between the moving object 3 and the boundary of the sub-region 21. Since the moving object 3 may change the moving direction and moving speed at any time, the processor 112 continuously calculates and updates the moving speed, moving direction, and distance from the boundary of the sub-region 21 of the moving object 3.

如圖1所示，當移動物件3A自子區域21A移動至子區域21B時，監控裝置11A的處理器112根據感測模組111所檢測的移動物件3A的移動方向以及移動速度計算出移動物件3A與子區域21A及子區域21B的邊界距離。而監控裝置11A的處理器112可預先儲存有一子區域21A及子區域21B的邊界閥值，並且伺服器可儲存所有監控裝置11A~11F的邊界閥值。因此，當監控裝置11A的處理器112計算出移動物件3A與子區域21B邊界距離小於邊界閥值時，處理器112判斷移動物件3A即將離開子區域21B，進而將檢測與計算出的物件資料藉由通訊模組113傳送至監控裝置11B。當監控裝置11B接收到監控裝置11A的通訊模組113所傳送的物件資料後，監控裝置11B的處理器112根據監控裝置11A所傳送的物件資料於監控裝置11B所得到之子區域21B的監控資訊中尋找移動物件3A，接著再根據子區域21B的監控資訊中移動物件3A的移動方向和移動速度更新移動物件3A的物件資料。 As shown in FIG. 1, when the moving object 3A moves from the sub-region 21A to the sub-region 21B, the processor 112 of the monitoring device 11A calculates the moving object according to the moving direction and the moving speed of the moving object 3A detected by the sensing module 111 The boundary distance between 3A and the sub-region 21A and the sub-region 21B. The processor 112 of the monitoring device 11A can pre-store the boundary thresholds of a sub-region 21A and the sub-region 21B, and the server can store the boundary thresholds of all the monitoring devices 11A-11F. Therefore, when the processor 112 of the monitoring device 11A calculates that the boundary distance between the moving object 3A and the sub-region 21B is less than the boundary threshold, the processor 112 determines that the moving object 3A is about to leave the sub-region 21B, and then borrows the detected and calculated object data It is transmitted from the communication module 113 to the monitoring device 11B. After the monitoring device 11B receives the object data transmitted by the communication module 113 of the monitoring device 11A, the processor 112 of the monitoring device 11B according to the object data transmitted by the monitoring device 11A in the monitoring information of the sub-region 21B obtained by the monitoring device 11B Find the moving object 3A, and then update the object data of the moving object 3A according to the moving direction and moving speed of the moving object 3A in the monitoring information of the sub-area 21B.

於實務中，監控裝置11A可根據移動物件3A的移動方向及移動速度預先將物件資料傳送至對應的監控裝置11B，因此，當移動物件3A脫離監控裝置11A的監控範圍而進入監控裝置11B的監控範圍時，監控裝置11B能夠根據已預先接收到的物件資料(如編號、高度及外形)快速地於監控裝置11B於子區域21B的監控資訊中尋找並繼續追蹤移動物件3A，而不需再重新檢測與計算。因此，不僅節省了計算時間，也提高了監控效率。 In practice, the monitoring device 11A can send the object data to the corresponding monitoring device 11B in advance according to the moving direction and moving speed of the moving object 3A. Therefore, when the moving object 3A leaves the monitoring range of the monitoring device 11A and enters the monitoring of the monitoring device 11B In the range, the monitoring device 11B can quickly find and continue to track the moving object 3A in the monitoring information of the sub-area 21B of the monitoring device 11B according to the pre-received object data (such as number, height, and shape), without having to restart Detection and calculation. Therefore, not only the calculation time is saved, but also the monitoring efficiency is improved.

此外，當移動物件3B自子區域21B朝向子區域21F移動時，監控裝置11B的處理器112根據感測模組111所檢測的移動物件3B的移動方向以及移動速度計算出移動物件3B即將脫離子區域21B而進入子區域21F，而移動物件3B在移動途中會經過子區域21C及21E，因此，監控裝置11B之處理器112將所檢測與計算出的物件資料藉由通訊模組113傳送至監控裝置11C、11E及11F，使監控裝置11C及監控裝置11E能於移動物件3B經過子區域21C及子區域21E時對其進行監控。因此，監控裝置11不僅可傳送物件資料至其他的一個監控裝置11，也可同時傳送至多個其他的監控裝置11。 In addition, when the moving object 3B moves from the sub-region 21B toward the sub-region 21F, the processor 112 of the monitoring device 11B according to the moving direction of the moving object 3B detected by the sensing module 111 The direction and moving speed calculate that the moving object 3B is about to leave the sub-region 21B and enter the sub-region 21F, and the moving object 3B will pass through the sub-regions 21C and 21E during the movement. Therefore, the processor 112 of the monitoring device 11B will detect and calculate The object data is transmitted to the monitoring devices 11C, 11E, and 11F through the communication module 113, so that the monitoring device 11C and the monitoring device 11E can monitor the moving object 3B when it passes the sub-region 21C and the sub-region 21E. Therefore, the monitoring device 11 can not only transmit object data to one other monitoring device 11 but also to multiple other monitoring devices 11 at the same time.

而在另一具體實施例中，每個監控裝置分別監控的子區域與相鄰的子區域部份重疊(圖未示)，而各監控裝置的處理器可根據移動物件的移動方向以及進入子區域重疊的位置來判斷並傳送物件資料至相對應的監控裝置。於實務中，子區域重疊的部份即為前一具體實施例的邊界閥值。舉例來說，當移動物件自第一子區域朝向相鄰的第二子區域移動並且即將通過第二子區域時，移動物件會先接觸到第一子區域與第二子區域的重疊子區域。此時，監控第一子區域的第一監控裝置中的處理器判斷移動物件將前往第二子區域而傳送移動物件的物件資料至監控第二子區域的第二監控裝置。請注意，本具體實施例的第一監控裝置以及第二監控裝置的各單元的功能與前一具體實施例的監控裝置的功能大致相同。 In another specific embodiment, the sub-regions monitored by each monitoring device partially overlap with the adjacent sub-regions (not shown), and the processor of each monitoring device can be based on the moving direction of the moving object and the sub-region Determine the location of overlapping areas and send object data to the corresponding monitoring device. In practice, the overlapping part of the sub-regions is the boundary threshold of the previous specific embodiment. For example, when the moving object moves from the first sub-region toward the adjacent second sub-region and is about to pass the second sub-region, the moving object will first contact the overlapping sub-region of the first sub-region and the second sub-region. At this time, the processor in the first monitoring device monitoring the first sub-area determines that the moving object will go to the second sub-area and transmits the object data of the moving object to the second monitoring device monitoring the second sub-area. Please note that the functions of the units of the first monitoring device and the second monitoring device of this embodiment are substantially the same as the functions of the monitoring device of the previous embodiment.

如圖3所示，監控裝置11進一步包含儲存模組114。於實務中，儲存模組114可為硬碟、SD卡、記憶卡等儲存元件。當監控裝置11的處理器112根據感測模組111所檢測出的監控資訊計算出移動物件的物件資料後，其物件資料會儲存於儲存模組114中，而當移動物件持續在監控裝置11所監控的子區域內時，處理器112將持續計算與更新移動物件的物件資料並且持續更新儲存於儲存模組114的物件資料。如圖1所示，當移動物件3C脫離監控裝置11C所監控的子區域21C，並且移動物件3C脫離的方向無其他的監控裝置11時(如圖4所示)，監控裝置11C的處理器112儲存移動物件3C的物件資料於儲存模組114。於實務中，當移動物件3C脫離追蹤辨識監控系統1後，移動物件3C的物件資料不需再傳送至其他的監控裝置11，因此，將最後的偵測與計算資料儲存至儲存模組113中以提供後續歸檔作業。 As shown in FIG. 3, the monitoring device 11 further includes a storage module 114. In practice, the storage module 114 can be a storage device such as a hard disk, an SD card, or a memory card. After the processor 112 of the monitoring device 11 calculates the object data of the moving object according to the monitoring information detected by the sensing module 111, the object data of the moving object is stored in the storage module 114, and when the moving object continues to be in the monitoring device 11 In the monitored sub-region, the processor 112 will continuously calculate and update the object data of the moving object and continuously update the object data stored in the storage module 114. As shown in Figure 1, when the moving object 3C is off When it is away from the sub-area 21C monitored by the monitoring device 11C and there is no other monitoring device 11 in the direction where the moving object 3C is detached (as shown in FIG. 4), the processor 112 of the monitoring device 11C stores the object data of the moving object 3C in the storage mode Group 114. In practice, when the moving object 3C deviates from the tracking identification monitoring system 1, the object data of the moving object 3C does not need to be sent to other monitoring devices 11, so the final detection and calculation data is stored in the storage module 113 To provide follow-up archiving.

請參考圖4，圖4係繪示根據本發明之一具體實施例之追蹤辨識監控系統1各單元間的連接示意圖。如圖4所示，當追蹤辨識監控系統1的監控裝置11E故障或損壞而導致無法運行時，其他的監控裝置11無法與監控裝置11E的通訊模組113連線，亦即其他監控裝置11所產生的物件資料無法傳送到監控裝置11E。因此，當其他的監控裝置11偵測到移動物件3往監控裝置11E的子區域而需把移動物件3的物件資料傳送至監控裝置11E時，其他的監控裝置11會將移動物件3的物件資料傳送至伺服器14。在實務中，當移動物件3的物件資料需傳送至未連線的監控裝置11時，其物件資料會被傳送至伺服器14，此時，伺服器14將根據物件資料預測並判斷移動物件3的移動方向，並且再將移動物件3的物件資料傳送至其他的監控裝置11以繼續追蹤移動物件3。 Please refer to FIG. 4, which is a schematic diagram illustrating the connection between the units of the tracking identification monitoring system 1 according to an embodiment of the present invention. As shown in FIG. 4, when the monitoring device 11E of the tracking identification monitoring system 1 fails or is damaged and cannot be operated, other monitoring devices 11 cannot be connected to the communication module 113 of the monitoring device 11E, that is, the other monitoring devices 11 The generated object data cannot be transmitted to the monitoring device 11E. Therefore, when the other monitoring device 11 detects the moving object 3 to the sub-region of the monitoring device 11E and needs to transmit the object data of the moving object 3 to the monitoring device 11E, the other monitoring device 11 will transfer the object data of the moving object 3送到Server14. In practice, when the object data of the moving object 3 needs to be sent to the unconnected monitoring device 11, its object data will be sent to the server 14, at this time, the server 14 will predict and judge the moving object 3 based on the object data The moving direction of the object, and then send the object data of the moving object 3 to other monitoring devices 11 to continue tracking the moving object 3.

請參考圖5，圖5係繪示根據本發明之一具體實施例之追蹤辨識監控方法的流程圖。於實務中，圖5之追蹤辨識監控方法可利用圖1及圖3之追蹤辨識監控系統1達成。本具體實施例之追蹤辨識監控方法包含以下步驟：步驟S1，以複數個監控裝置11A~11F分別感測一區域的複數個子區域21A~21F的複數個監控資訊；步驟S2，監控裝置中的第一監控裝置11A自監控資訊中判斷是否有至少一移動物件並根據至少一移動物件的移動狀態產生至少一物件資料，其中至少一物件資料包含移動物件編號、移動速度、移動物件高度、移動方向以及離子區域的邊界的距離中之至少一種；步驟S3，第一監控裝置11A依據至少一物件資料將至少一物件資料傳送至監控裝置之第二監控裝置11B；以及步驟S4，第二監控裝置11B依據接收到的至少一物件資料自監控資訊中找到至少一移動物件並更新至少一物件資料。本具體實施例所提及的單元的功能與先前的具體實施例之相對應單元的功能大致相同，於此不再贅述。 Please refer to FIG. 5, which is a flowchart illustrating a tracking identification monitoring method according to an embodiment of the present invention. In practice, the tracking identification monitoring method of FIG. 5 can be achieved using the tracking identification monitoring system 1 of FIGS. 1 and 3. The tracking identification monitoring method of this embodiment includes the following steps: Step S1, the plurality of monitoring information of a plurality of sub-regions 21A~21F of a region are respectively sensed by the plurality of monitoring devices 11A-11F; Step S2, the first A monitoring device 11A determines whether there is at least one moving object from the monitoring information and generates according to the moving state of the at least one moving object Generating at least one object data, wherein the at least one object data includes at least one of a moving object number, a moving speed, a moving object height, a moving direction, and the distance of the boundary of the ion region; step S3, the first monitoring device 11A is based on the at least one object data Sending at least one object data to the second monitoring device 11B of the monitoring device; and step S4, the second monitoring device 11B finds at least one moving object from the monitoring information based on the received at least one object data and updates at least one object data. The functions of the units mentioned in this specific embodiment are substantially the same as the functions of the corresponding units in the previous specific embodiments, and will not be repeated here.

請參考圖6，圖6係繪示根據本發明之一具體實施例之追蹤辨識監控方法的流程圖。於實務中，圖6之追蹤辨識監控方法可利用圖1及圖3之追蹤辨識監控系統1達成。如圖6所示，於追蹤辨識監控方法的步驟(S3)中，進一步包含以下步驟：步驟S31，第一監控裝置11A根據物件資料判斷移動物件是否即將脫離第一監控裝置11A所監控的子區域21A；步驟S32，若步驟S31的判斷結果為是，則第一監控裝置11A判斷移動物件脫離子區域21A的方向是否對應其他的監控裝置；步驟S33，若步驟S32的判斷結果為是，則第一監控裝置11A將物件資料傳送至第二監控裝置11B；步驟S34，若步驟S32的判斷結果為否，則第一監控裝置11A儲存物件資料至儲存模組114。本具體實施例所提及的單元的功能與先前的具體實施例之相對應單元的功能大致相同，於此不再贅述。 Please refer to FIG. 6, which is a flowchart illustrating a tracking identification monitoring method according to an embodiment of the present invention. In practice, the tracking identification monitoring method of FIG. 6 can be achieved using the tracking identification monitoring system 1 of FIGS. 1 and 3. As shown in FIG. 6, the step (S3) of the tracking identification monitoring method further includes the following steps: Step S31, the first monitoring device 11A determines whether the moving object is about to leave the sub-area monitored by the first monitoring device 11A according to the object data 21A; step S32, if the judgment result of step S31 is yes, the first monitoring device 11A judges whether the direction of the moving object leaving the sub-region 21A corresponds to other monitoring devices; step S33, if the judgment result of step S32 is yes, then the A monitoring device 11A transmits the object data to the second monitoring device 11B; step S34, if the judgment result of step S32 is NO, the first monitoring device 11A stores the object data to the storage module 114. The functions of the units mentioned in this specific embodiment are substantially the same as the functions of the corresponding units in the previous specific embodiments, and will not be repeated here.

請參考圖7，圖7係繪示根據本發明之一具體實施例之追蹤辨識監控方法的流程圖。於實務中，圖7之追蹤辨識監控方法可利用圖1及圖3之追蹤辨識監控系統1達成。如圖7所示，追蹤辨識監控方法進一步包含以下步驟：步驟S51，第一監控裝置11A判斷是否與第二監控裝置11B連線，若判斷結果為是，則執行步驟S3；若判斷結果為否，則執行步驟S52；以及步驟S52，第一監控裝置11A依據物件資料選擇性地將物件資料傳送至伺服器14。本具體實施例所提及的單元的功能與先前的具體實施例之相對應單元的功能大致相同，於此不再贅述。 Please refer to FIG. 7, which is a flowchart illustrating a tracking identification monitoring method according to an embodiment of the present invention. In practice, the tracking identification monitoring method of FIG. 7 can be achieved using the tracking identification monitoring system 1 of FIGS. 1 and 3. As shown in FIG. 7, the tracking identification monitoring method further includes the following steps: In step S51, the first monitoring device 11A determines whether it is connected to the second monitoring device 11B. If the judgment result is yes, step S3 is executed; if the judgment result is no, step S52 is executed; and step S52, the first monitoring device 11A selectively transmits the object data to the server 14 according to the object data. The functions of the units mentioned in this specific embodiment are substantially the same as the functions of the corresponding units in the previous specific embodiments, and will not be repeated here.

綜上所述，本發明之追蹤辨識監控系統可自動追蹤及辨識移動物件並且檢測及計算出移動物件的物件資料，並且可根據移動物件之移動狀態自動傳送物件資料至其他的監控裝置，不僅可以節省辨識與計算時間，也可提高監控效率。 In summary, the tracking identification monitoring system of the present invention can automatically track and identify moving objects and detect and calculate the object data of the moving objects, and can automatically transmit the object data to other monitoring devices according to the moving state of the moving objects, not only Save identification and calculation time, and also improve monitoring efficiency.

藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。因此，本發明所申請之專利範圍的範疇應根據上述的說明作最寬廣的解釋，以致使其涵蓋所有可能的改變以及具相等性的安排。 With the above detailed description of the preferred embodiments, it is hoped that the features and spirit of the present invention can be described more clearly, rather than limiting the scope of the present invention with the preferred embodiments disclosed above. On the contrary, the purpose is to cover various changes and equivalent arrangements within the scope of the patent application of the present invention. Therefore, the scope of the patent scope applied for in the present invention should be interpreted broadly based on the above description, so that it covers all possible changes and equal arrangements.

11A~11F‧‧‧監控裝置 11A~11F‧‧‧Monitoring device

2‧‧‧區域 2‧‧‧Region

21A~21F‧‧‧子區域 21A~21F‧‧‧Subregion

3A~3F‧‧‧移動物件 3A~3F‧‧‧Moving objects

Claims

一種追蹤辨識監控系統，其包含：複數個監控裝置，設置於一區域中並且該等監控裝置互相溝通，該等監控裝置係分別用以監控該區域中之複數個子區域，各該監控裝置進一步包含：至少一感測模組，用以感測該等子區域中之一者以得到至少一監控資訊；一處理器，連接該等感測模組，該處理器係用以根據該等感測模組所得到之該等監控資訊辨識出至少一移動物件，並根據該至少一移動物件之移動狀態產生並持續更新至少一物件資料；以及一通訊模組，連接該處理器，該通訊模組係用以與其他的該等監控裝置建立連線，以傳送該至少一物件資料至其他的該等監控裝置及自其他的該等監控裝置接收該至少一物件資料；以及一伺服器連接該等監控裝置；其中，當該至少一移動物件脫離該監控裝置所監控之該子區域時，該監控裝置根據該至少一物件資料傳送該至少一物件資料至其他的該等監控裝置；其中當該等監控裝置中之一第三監控裝置無法運行時，其他的該等監控裝置將原本會傳送至該第三監控裝置之該至少一物件資料傳送至該伺服器。 A tracking identification monitoring system includes: a plurality of monitoring devices, which are arranged in an area and communicate with each other. The monitoring devices are used to monitor a plurality of sub-areas in the area, and each of the monitoring devices further includes : At least one sensing module for sensing one of the sub-regions to obtain at least one monitoring information; a processor connected to the sensing modules, the processor is used for sensing The monitoring information obtained by the module recognizes at least one moving object, and generates and continuously updates at least one object data according to the moving state of the at least one moving object; and a communication module connected to the processor and the communication module It is used to establish a connection with other monitoring devices to send the at least one object data to the other monitoring devices and receive the at least one object data from the other monitoring devices; and a server connects to the monitoring devices A monitoring device; wherein, when the at least one moving object deviates from the sub-area monitored by the monitoring device, the monitoring device transmits the at least one object data to the other monitoring devices according to the at least one object data; wherein when the When one of the third monitoring devices cannot be operated, the other monitoring devices send the at least one object data that would be sent to the third monitoring device to the server.

如申請專利範圍第1項所述之追蹤辨識監控系統，其中各該監控裝置進一步包含一儲存模組，該儲存模組連接該處理器並且用以儲存該至少一移動物件之該至少一物件資料。 The tracking identification monitoring system as described in item 1 of the patent scope, wherein each of the monitoring devices further includes a storage module connected to the processor and used to store the at least one object data of the at least one moving object .

如申請專利範圍第1項所述之追蹤辨識監控系統，其中該至少一物件資料包含對應該至少一移動物件的外觀特徵的移動物件編號、移動速度、移動物件高度、移動方向以及離該子區域之邊界之距離中之至少一者。 The tracking identification monitoring system as described in item 1 of the patent application scope, wherein the at least one object data includes a moving object number, a moving speed, a moving object height, a moving direction and a distance from the sub-area corresponding to the appearance characteristics of at least one moving object At least one of the distances between the boundaries.

如申請專利範圍第3項所述之追蹤辨識監控系統，其中該等監控裝置中之一第一監控裝置之該處理器根據該至少一移動物件之移動速度、移動方向以及離該子區域之邊界之距離控制該通訊模組傳送該至少一物件資料至所對應之該監控裝置。 The tracking identification monitoring system as described in item 3 of the patent application scope, wherein the processor of one of the monitoring devices of the first monitoring device is based on the moving speed, moving direction and boundary from the sub-region of the at least one moving object The distance controls the communication module to transmit the at least one object data to the corresponding monitoring device.

如申請專利範圍第4項所述之追蹤辨識監控系統，其中當該等監控裝置中之一第二監控裝置接收到該第一監控裝置所傳送之該至少一物件資料時，該第二監控裝置之該處理器根據該至少一物件資料自該第二監控裝置所得到之該等監控資訊中找出該至少一移動物件，並根據該至少一移動物件之移動狀態更新該至少一物件資料。 The tracking identification monitoring system as described in item 4 of the patent application scope, wherein when a second monitoring device among the monitoring devices receives the at least one object data transmitted by the first monitoring device, the second monitoring device The processor finds the at least one moving object from the monitoring information obtained from the second monitoring device according to the at least one object data, and updates the at least one object data according to the moving state of the at least one moving object.

如申請專利範圍第2項所述之追蹤辨識監控系統，其中當該至少一移動物件脫離該子區域之方向無對應之其他的該等監控裝置時，該處理器儲存至少一物件資料至該儲存模組。 The tracking identification monitoring system as described in item 2 of the patent application scope, wherein when the at least one moving object deviates from the sub-area without corresponding other monitoring devices, the processor stores at least one object data to the storage Module.

一種追蹤辨識監控方法，包含以下步驟：(S1)以複數個監控裝置分別感測一區域之複數個子區域之複數個監控資訊；(S2)該等監控裝置中之一第一監控裝置自該等監控資訊中判斷是否有至少一移動物件並根據該至少一移動物件之移動狀態產生並持續更新至少一物件資料，其中該至少一物件資料包含對應該至少一移動物件的外觀特徵的移動物件編號、移動速度、移動物件高度、移動方向以及離該子區域之邊界之距離中之至少一種； (S3)該第一監控裝置依據該至少一物件資料選擇性地將該至少一物件資料傳送給該等監控裝置之一第二監控裝置；(S4)該第二監控裝置依據接收到的該至少一物件資料自該等監控資訊中找到該至少一移動物件並更新該至少一物件資料；(S51)該第一監控裝置判斷是否與該第二監控裝置連線，若判斷結果為是，執行步驟(S3)，若判斷結果為否，執行步驟(S52)；以及(S52)該第一監控裝置依據該至少一物件資料選擇性地將該至少一物件資料傳送至一伺服器。 A tracking identification monitoring method, comprising the following steps: (S1) sensing monitoring information of a plurality of sub-regions of a region with a plurality of monitoring devices; (S2) one of the monitoring devices is selected from the monitoring devices The monitoring information determines whether there is at least one moving object and generates and continuously updates at least one object data according to the moving state of the at least one moving object, wherein the at least one object data includes a moving object number corresponding to the appearance characteristics of the at least one moving object, At least one of moving speed, moving object height, moving direction, and distance from the boundary of the sub-region; (S3) The first monitoring device selectively transmits the at least one object data to a second monitoring device of the monitoring devices according to the at least one object data; (S4) The second monitoring device depends on the received at least one An object data finds the at least one moving object from the monitoring information and updates the at least one object data; (S51) The first monitoring device judges whether to connect with the second monitoring device, if the judgment result is yes, executes the step (S3) If the judgment result is no, perform step (S52); and (S52) the first monitoring device selectively transmits the at least one object data to a server according to the at least one object data.

如申請專利範圍第7項所述之方法，其中步驟(S3)進一步包含以下步驟：(S31)該第一監控裝置根據該至少一物件資料判斷該至少一移動物件是否即將脫離該第一監控裝置所監控之該子區域；(S32)若步驟(S31)之判斷結果為是，該第一監控裝置進一步判斷該至少一移動物件脫離該子區域之方向是否對應其他的該等監控裝置；(S33)若步驟(S32)之判斷結果為是，該第一監控裝置將該至少一物件資料傳送給該第二監控裝置；以及(S34)若步驟(S32)之判斷結果為否，該第一監控裝置將該至少一物件資料儲存於一儲存模組。 The method as described in item 7 of the patent application scope, wherein step (S3) further includes the following steps: (S31) the first monitoring device determines whether the at least one moving object is about to leave the first monitoring device based on the at least one object data The sub-area being monitored; (S32) if the judgment result of step (S31) is yes, the first monitoring device further determines whether the direction of the at least one moving object deviating from the sub-area corresponds to other monitoring devices; (S33 ) If the judgment result of step (S32) is yes, the first monitoring device transmits the at least one object data to the second monitoring device; and (S34) if the judgment result of step (S32) is no, the first monitoring device The device stores the at least one object data in a storage module.