WO2011093574A2 - 추적감시용 카메라 장치 및 이를 채용하는 원격 감시 시스템 - Google Patents
추적감시용 카메라 장치 및 이를 채용하는 원격 감시 시스템 Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
- G08B13/19626—Surveillance camera constructional details optical details, e.g. lenses, mirrors or multiple lenses
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
- G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
- G08B13/19632—Camera support structures, e.g. attachment means, poles
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19639—Details of the system layout
- G08B13/19641—Multiple cameras having overlapping views on a single scene
- G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Definitions
- the present invention relates to a television camera device, and more particularly, to a hybrid monitoring camera device having a plurality of cameras.
- the present invention relates to a remote monitoring system employing such a camera device.
- Security / surveillance systems using surveillance camera devices are widely used for access control and crime prevention.
- the installation of such security / surveillance systems is spreading in banks, military facilities, other public facilities or business buildings requiring security, and in general roads and residential areas.
- pan tilt capable of horizontal rotation (i.e. panning) and vertical rotation (i.e. tilting) and zoom in / zoom out.
- speed dome camera device with a zoom (Pan-Tilt-Zoom).
- zoom Pan-Tilt-Zoom
- the horizontal rotation, vertical rotation and zoom in / zoom out of the camera can be controlled remotely, so that the remote operator can change the monitoring area and monitor only a specific target as needed. You may.
- the angle of view of the lens employed in the PTZ camera device is not wide, a blind spot that the camera device cannot capture may occur depending on the monitoring direction set by the operator.
- a user zooms in and drives a panning and tilting mechanism to track and monitor a specific object, there is a problem in that the monitoring is impossible except for the surroundings of the tracking object.
- the fisheye lens type camera can only be used to examine the overall situation, and is rarely used in a speed dome camera device that tracks and monitors in combination with a PTZ mechanism.
- Korean Patent Laid-Open Publication No. 2004-0031968 name of the invention: an intruder tracking device using a dual camera and its method
- a first camera using a fisheye lens, a convex mirror, or a convex mirror / concave mirror combination Acquire a panoramic image of the indoor or surveillance area, and automatically detects the moving position of the intruder when the intruder occurs in the monitored area, and captures the intruder's image while tracking the intruder by the second camera.
- the dual camera device described in this document is very complicated in structure, as the inventors intended, so that the processing and assembling work is large. Furthermore, since the first camera is provided at the bottom center of the dual camera device, the first camera obstructs the field of view of the second camera or hinders the up, down, left and right movements of the second camera. Accordingly, when the intruder is located below the center of the dual camera device, it is impossible to accurately photograph the intruder with the second camera.
- Korean Patent Laid-Open Publication No. 2005-0103597 name of the invention: a surveillance system using a real-time panoramic video image and a method of controlling the system
- a plurality of component cameras are installed on the outer circumferential surface of the support bar
- a PTZ camera is integrated on the support bar.
- the monitoring system installed as is described.
- a panorama image is generated by projecting and combining images photographed by a plurality of component cameras on a virtual cylindrical surface, and a region selected by a user or a region where a moving object is detected by a PTZ camera.
- the device described in the above document is because a plurality of component cameras and PTZ cameras are manufactured separately and installed on the support bar, not only increases the size of the device, but also increases the constraints on the installation space or the installation method.
- a plurality of component cameras only serve as sensors, and it is virtually impossible to identify continuous moving lines of a moving object in an image acquired by the component cameras.
- the present invention is to solve the above problems, it is equipped with a wide-range surveillance camera and a centralized surveillance camera integrally, with the overall situation monitoring over a wide range of areas, it is possible to smoothly perform both centralized monitoring and tracking of a specific area or object.
- the technical problem is to provide a camera device in which the shadow area does not occur in the immediate area.
- Another object of the present invention is to provide a surveillance system that employs such a camera apparatus and can provide a general situation monitoring over a wide range of areas and a tracking and monitoring of a specific area or an object smoothly.
- the main frame has a lens mounting surface whose normal faces outward.
- the first camera unit is installed on the main frame, and has a wide-angle lens disposed on the lens mounting surface such that the optical axis is directed downward, and a first image sensor for converting light incident through the wide-angle lens into an electrical signal.
- the second camera unit includes a second image sensor and is installed to rotate horizontally and vertically with respect to the main frame.
- the main frame protrudes outward from the outer circumferential surface and has a support protrusion whose front side faces outwardly downward.
- the wide-angle lens may be attached to the front surface of the support protrusion.
- the support protrusion and the first camera unit may be provided in plural to be horizontally symmetrical from the outer circumferential surface of the main frame.
- the outer circumferential surface of the main frame is provided with a groove for inserting the support protrusion
- the support protrusion is detachably installed in the groove.
- any one of the side wall of the groove and the side of the support protrusion is formed with a rotational projection
- the other is provided with an insertion hole
- the user tilts the support protrusion while the rotation projection is inserted into the insertion hole
- the optical axis direction of the first camera unit may be varied.
- any one of the side wall of the groove and the side surface of the support protrusion is formed with a locking projection, and the other is provided with a plurality of intermittent holes, so that the locking protrusion can be caught by one of the plurality of intermittent holes.
- the support protrusion may be driven and rotated by the tilting motor.
- the second camera unit includes a zoom driver for adjusting the imaging size of the subject; And a pan / tilt driver for adjusting the photographing direction.
- the camera device may be configured to control a second camera unit to photograph the moving object by driving a motion detecting unit detecting a moving object in the wide-angle image acquired by the first camera unit and a pan / tilt driving unit of the second camera unit. It further comprises a drive control unit.
- the camera device further comprises a look-up table that stores mapping information of panning and tilting angles for each pixel in the wide-angle image.
- the driving controller may drive the pan / tilt driving unit with reference to the lookup table according to the position of the moving object in the wide-angle image, and may drive the zoom driving unit according to the size of the moving object.
- the camera device may further include an image combination unit configured to combine the wide-angle image and the concentrated monitoring image acquired by the second camera unit to form an output image.
- the camera apparatus may further include a distortion correcting unit to correct distortion in the wide-angle image.
- the motion detector detects the motion object in the distortion-corrected wide-angle image
- the image combination unit configures the output image by combining the distortion-corrected wide-angle image and the focused monitoring image.
- the dome is provided at the lower end of the main frame, and the second camera unit is installed in the dome.
- the camera device is further provided with a horizontal rotating frame which is installed to be able to rotate horizontally with respect to the main frame, the second camera unit is installed to be able to rotate vertically with respect to the horizontal rotating frame.
- the camera device includes a main frame, a first camera unit, a second camera unit, a controller, and an image combination unit.
- the main frame has a lens mounting surface whose normal faces outward.
- the first camera unit is provided on the main frame, and has a wide-angle lens disposed on the lens mounting surface such that its optical axis faces outwardly downward, thereby capturing a peripheral image including a point directly below the surveillance camera device.
- the second camera unit includes a second image sensor and is installed to rotate horizontally and vertically with respect to the main frame.
- the control unit detects a moving object in the wide-angle image acquired by the first camera unit, and controls the second camera unit to photograph the moving object.
- the image combination unit combines the wide-angle image and the centralized monitoring image obtained by the second camera unit to form an output image, and transmits the output image to the remote monitoring apparatus.
- the camera device includes a first camera unit, that is, a wide-range surveillance camera and a second camera unit, that is, a centralized surveillance camera, as a whole. All monitoring can be done smoothly. Since the three-stage monitoring patterns of "whole area detection", “intensive monitoring” and “automatic tracking” are carried out sequentially and simultaneously, the apparatus and system of the present invention perform operations close to "human intelligence and visual monitoring.” Can be implemented to achieve complete surveillance.
- the tracking monitoring can be performed without interruption even when the power of the central monitoring room is interrupted or a failure of the remote control device or communication line occurs. have.
- the lens of the wide-area surveillance camera is disposed such that its optical axis faces outwardly downward on the outer peripheral surface of the housing, there is an effect that a shadow area does not occur in a proximal region including a point directly under the camera apparatus.
- the wide area surveillance camera and the centralized surveillance camera do not interfere with each other, the field of view of each camera can be ensured to the maximum.
- the manufacturing cost is low and in harmony with the installation environment, it does not impair the aesthetics, and even in the eyes of potential intruders who want to avoid or bypass the surveillance system. There is an inconspicuous advantage.
- FIG. 1 is a perspective view of one embodiment of a camera apparatus according to the present invention.
- FIG. 2 is a side view of the camera device shown in FIG. 1; FIG.
- FIG. 3 is a partially exploded perspective view of the camera device shown in FIG. 1;
- FIG. 4 is a view illustrating a process of changing a direction of a first camera unit in the camera device shown in FIG. 1;
- FIG. 5 is a block diagram showing an embodiment of an electrical / optical configuration of the camera device shown in FIG. 1;
- FIG. 6 is a view showing an example of a distortion correction process by a reverse warping algorithm
- FIG. 7 is a view showing a configuration example of a panoramic image
- FIG. 9 is a block diagram of one embodiment of a remote monitoring device suitable for use in combination with the camera device shown in FIG. 1;
- FIG. 10 is a side view of a modified embodiment of the camera device of FIG. 1;
- FIG. 11 is a block diagram showing the electrical / optical configuration of the camera device shown in FIG. 10;
- FIG. 12 is a view for explaining a panoramic image configuration process by the camera device of FIG.
- FIG. 13 is a side view of another modified embodiment of the camera device of FIG. 1; FIG.
- FIG. 14 is a side view of another modified embodiment of the camera device of FIG. 1;
- FIG. 15 is a bottom view of the camera device shown in FIG. 14; FIG.
- FIG. 16 is a bottom view of another modified embodiment of the camera device of FIG. 1;
- FIG. 17 is a perspective view of another embodiment of a camera apparatus according to the present invention.
- FIG. 18 is a partially exploded perspective view illustrating a connection relationship between a main frame and a first camera unit in the camera device of FIG. 17;
- FIG. 19 is a view illustrating a process of changing a direction of a first camera unit in the camera device of FIG. 17;
- FIG. 20 is a perspective view of a modified embodiment of the camera device of FIG. 17.
- FIG. 21 is a perspective view of another modified embodiment of the camera device of FIG. 17.
- a camera apparatus includes a main frame 10 having a shape such as a bell, and a dome 50 provided below the main frame 10. Equipped.
- the housing of the main frame 10 is preferably made of metal or opaque synthetic resin, and the dome 50 is preferably made of translucent synthetic resin.
- the first camera unit 12 is provided below the housing of the main frame 10 via the support protrusion 18.
- the second camera unit (not shown in FIG. 1) is installed in the dome 50.
- a bracket 30 may be provided on the top of the main frame 10 to mount the camera device on the wall.
- the support protrusion 18 is made of synthetic resin, and spatially supports the first camera unit 12 to determine the direction of the first camera unit 12.
- the support protrusion 18 is installed below the outer circumferential surface of the housing of the main frame 10, and the condenser lens 14 of the first camera unit 12 is exposed to the outside of the support protrusion 18. Is installed.
- the front surface of the support protrusion 18 is inclined downward so that the optical axis of the condenser lens 14 of the first camera unit 12 faces the outside downward of the camera device. Accordingly, the first camera unit 12 may capture a surrounding image including a point directly below the camera device.
- the condenser lens 14 of the first camera unit 12 is preferably composed of a wide-angle lens, particularly preferably implemented using a fisheye lens. Accordingly, the first camera unit 12 acts as a wide area surveillance camera.
- the fisheye lens 14 and the image sensor (not shown in FIGS. 1 and 2) of the first camera unit 12 are fixedly installed in the support protrusion 18.
- the second camera unit acting as a centralized monitoring camera is a conventional PTZ camera installed inside a space defined by the dome 50 under the main frame 10. Since a PTZ camera can be easily implemented by those skilled in the art to which the present invention pertains, a detailed description of the mechanical configuration of the second camera unit is omitted.
- the bracket 30 is made of a metal material, and is vertically connected in the vertical direction, and a lower end thereof is coupled to the upper surface of the main frame 10, and is bent backward from the upper end of the vertical part to be connected in the horizontal direction. It consists of a horizontal part and the attachment plate provided in the rear end of the said horizontal part. A plurality of holes are formed in the attachment plate, and the mounting plate can be attached to the support pole or the wall surface by the bolts 32.
- the support protrusion 18 may be detachable from the outside or the inside of the main frame 10.
- the rotating protrusion 20 is formed in the lower side of the support protrusion part 18 side surface.
- a locking protrusion 24 is formed to protrude from the rear of the rotation protrusion 24.
- the groove for inserting and installing the support protrusion 18 is provided in the lower side of the outer peripheral surface of the main frame 10.
- An insertion hole 22 is formed below the side wall of the groove corresponding to the pivoting protrusion 24.
- a plurality of intermittent holes 26A, 26B, 26C are formed in the upper rear of the insertion hole 22.
- the wiring for connecting the first camera unit 12 to the printed circuit board of the camera device is omitted in FIG. 3.
- the support protrusion 18 may be installed by being inserted into the groove of the main frame 10 from the inside or from the front of the main frame 10. At this time, the pivoting protrusion 20 of the support protrusion 18 is fitted into the insertion hole 22 of the groove of the main frame 10, thereby preventing the support protrusion 18 from being inadvertently detached, and supporting protrusion (18) can be rotated within a limited range around the pivot (24).
- the locking protrusion 24 of the supporting protrusion 18 is caught by any one of the plurality of intermittent holes 26A, 26B, and 26C in the recess, so that the supporting protrusion 18 is centered on the pivoting protrusion 24. To prevent random rotation.
- the support protrusion 18 cannot rotate arbitrarily about the rotation protrusion 20 in the state which the locking protrusion 24 hangs in any one of the some interruption hole 26A, 26B, 26C, the locking protrusion 24 And the locking state of the interruption hole (26A, 26B, 26C) can be easily released by the external force.
- the operator may allow the catching protrusion 24 to be disengaged from the intermittent holes 26A, 26B, and 26C, and then engage the other intermittent holes. Therefore, the operator may change the photographing direction of the first camera unit 12 by tilting the support protrusion 18.
- FIG. 4 the solid line shows the outline of the first camera unit 12 in the state where the engaging protrusion 24 is engaged with the interruption hole 26C, and the dotted line shows that the engaging protrusion 24 is engaged with the interruption hole 26B.
- the outline of the first camera unit 12 in the present state is shown.
- the support protrusion 18 When the operator exerts a force from the upper side to the rear of the support protrusion 18 to release the engaging protrusion 24 from engaging the interrupting hole 26B and causing the engaging protrusion 24 to engage the interrupting hole 26C, Correspondingly, the support protrusion 18 is tilted upward, and the optical axis of the fisheye lens 14 of the first camera unit 12 is rotated upward, thereby changing the photographing direction of the first camera unit 12. . Therefore, the photographing area of the first camera unit 12 is moved upwardly in space view and far from the camera device in view of the ground surface.
- FIG. 5 is a block diagram showing an embodiment of an electrical / optical configuration of the camera device shown in FIG. 1.
- the camera device includes a first camera unit 12 and a second camera unit 14, first and second analog / digital (A / D) converters 39 and 69, a control unit 70, and an image combination.
- the unit 80 and the interface port 82 are provided.
- the first camera unit 12 is electrically / optically equipped with a fisheye lens 14 and a first image sensor 16.
- the fisheye lens 14 omnidirectionally has a viewing angle of 150 degrees or more, and collects light incident from a space within the viewing angle.
- the F value of the fisheye lens 14 is 1.4 so that the amount of light capable of performing the monitoring function at night is ensured.
- the maximum sensing distance of the fisheye lens 14 is 80 meters (m) and the resolution is 3-5 megapixels.
- the first image sensor 16 converts the light collected by the fisheye lens 14 into an electrical image signal (hereinafter, referred to as a 'first image signal').
- the second camera unit 52 includes a lens 54 and a second image sensor 56, a zoom motor 58, a zoom motor driver 60, a panning motor 62, a panning motor driver 64, and a tilting motor. 66, and a tilting motor driver 68.
- the lens 54 collects light incident from the front, and the second image sensor 56 converts the light collected by the lens 54 into an electrical image signal (hereinafter referred to as a second image signal). do.
- the zoom motor 58 allows the zoom in / zoom out function to be implemented by varying the focal length of the lens 54, and the zoom motor driver 60 operates the zoom motor 58 in response to a control signal from the controller 70. Drive.
- the panning motor 62 rotates the second camera unit 52 in the horizontal direction, and the panning motor driver 64 drives the panning motor 62 in response to a control signal from the controller 70.
- the tilting motor 66 rotates the second camera unit 52 in the vertical direction, and the tilting motor driver 68 drives the tilting motor 66 in response to a control signal from the controller 70.
- the zoom motor 58, the panning motor 62, and the tilting motor 66 are each preferably implemented by a stepping motor.
- the first and second camera units 12 and 52 preferably include a broadband anti-reflection film.
- the first and second camera units 12 and 52 automatically switch an IR cut-off filter. Is preferably provided.
- the first A / D converter 39 converts the first video signal into digital data and outputs fisheye video data.
- the first A / D converter 69 converts the second video signal into digital data and outputs the centralized monitoring video data.
- the controller 70 includes a distortion corrector 72, a motion detector 74, a coordinate-angle lookup table 76, and a motor drive controller 78.
- the distortion corrector 72 corrects the distortion in the fisheye image.
- the distortion correction unit 72 deforms the original pixel value of the fisheye image by a forward warping algorithm and corresponds to the pixel value in the fisheye image after correction.
- the distortion correction unit 72 obtains each pixel value in the fisheye image after correction by an inverse warping algorithm. 6 shows an example of a distortion correction process by a reverse warping algorithm.
- the point (x, y) in the fisheye image before correction corresponding to the point (x ', y') in the fisheye image after correction is determined, and the pixel value g at point (x ', y') (x ', y') is determined based on the pixel value f (x, y) at point (x, y).
- the color error may be reduced by applying the Bilinear Interpolation algorithm together.
- the distortion correction unit 72 may not be separately provided. Since the distortion correction is not a core technical idea of the present invention and the present invention is not limited to a specific distortion correction algorithm, a detailed description of the distortion correction algorithm will be omitted.
- the motion detector 74 compares the distortion-corrected fisheye image by a predetermined number of frame units to determine a change in each pixel value, and determines a group of pixels whose pixel value change amount is larger than a predetermined reference value as the motion object. In addition, the motion detector 74 detects a motion amount of objects in the fisheye image and extracts an approximate center point of each object.
- the coordinate-angle lookup table 76 stores mapping information of a panning angle / tilting angle for each pixel in the distortion-corrected fisheye image.
- the corrected fisheye image position value which is the input value of the coordinate / angle lookup table 76, may be set at equal intervals, but may also be determined at boiling intervals.
- the motor driving controller 78 determines the pan / tilt / zoom amount according to the movement amount of the object, that is, the movement amount of the center point and the size of the object, and causes the second camera unit 52 to make the movement. Control to track objects.
- the movement amount of the object that is, the movement amount of the center point and the size of the object
- the motor driving controller 78 determines the pan / tilt / zoom amount according to the movement amount of the object, that is, the movement amount of the center point and the size of the object, and causes the second camera unit 52 to make the movement. Control to track objects.
- the motor driving controller 78 determines the pan / tilt / zoom amount according to the movement amount of the object, that is, the movement amount of the center point and the size of the object, and causes the second camera unit 52 to make the movement. Control to track objects.
- one or more objects to be tracked are selected according to a predetermined criterion. For example, the object having the largest amount of movement among the plurality of moving objects may be selected as the tracking
- the motor driving controller 78 receives the center point data of the movement object to be tracked and monitored from the motion detection unit 74, and refers to the mapping information of the coordinate / angle lookup table 76, and panning angle / tilting of the center point of the movement object. Determine the angle.
- the motor driving controller 78 controls the panning motor driver 64 and the tilting motor driver 68 according to the determined panning angle / tilting angle so that the panning motor 62 and the tilting motor 66 rotate.
- the motor driving controller 78 determines the zoom magnification according to the size of the moving object to be tracked and monitored to drive the zoom motor driver 60. As the zoom motor 58, the panning motor 62, and the tilting motor 66 are driven according to the position and size of the moving object, tracking and monitoring of the moving object is possible.
- the motor drive control unit 78 may change the tracking monitoring target in response to a control signal from the remote monitoring device received through the interface port 82.
- the motor driving controller 78 may drive the motor drivers 60, 64, and 68 in response to the control signal.
- the image combination unit 80 constructs a reference panoramic image from the corrected fisheye image, and combines the panoramic image and the concentrated monitoring image to form one output image.
- the image combination unit 80 transmits the output image to the remote monitoring apparatus through an image signal line such as a coaxial cable.
- the image combining unit 80 selects only a predetermined region 102 from the corrected fisheye image 100 to form a panoramic image or a wide range surveillance image.
- the portion extracted from the corrected fisheye image 100 as the panoramic image 102 may be determined in advance by a program executed in the camera apparatus, or may be changed by an operator of the remote monitoring apparatus.
- the image combination unit 80 formats the intensive monitoring image and the panoramic image 102 to form an output image.
- 8 shows an example of an output image.
- the centralized monitoring image 110 is displayed at the top and center regions of the output image, and the panoramic image 102 is displayed at the bottom.
- the centralized monitoring image 110 and the panoramic image 102 are arranged to have a height ratio and a width ratio of 3: 1.
- a pointer indicating a portion where moving objects exist is added to the panoramic image 102 included in the output image.
- a solid pointer indicates an object area for tracking and a dotted line
- a dotted line pointer indicates an object area for which a tracking and monitoring is not performed.
- the object area for tracking and the object area for tracking and monitoring may be distinguished by different colors.
- the interface port 82 receives a control signal from the remote monitoring device and provides the control signal to the motor drive controller 78.
- the interface port 82 transmits status information, such as whether a moving object is detected and / or a panning angle / tilting angle, to the remote monitoring apparatus.
- the signal transmission / reception channel between the interface port 82 and the remote monitoring device may be implemented according to, for example, the RS-232C or RS-485 standard.
- control unit 70 and the image combination unit 80 may be implemented using an ARM core (ARM926) and a DSP core (C64 +) commercially supplied by Texas Instruments. You can also use the DaVinci DM644x digital media processor with an integrated ARM core (ARM926) and DSP core (C64 +).
- control unit 70 and the image combination unit 80 may be implemented by a general purpose microprocessor or a microcontroller.
- the remote monitoring apparatus includes a control unit 90, an input unit 92, an interface port 94, a display unit 96, and an image storage unit 98.
- the control unit 90 controls the overall operation of the device as previously determined by the program based on a user's operation command applied through the input unit 92 and state information received from the camera device through the interface port 94. . In addition, the controller 90 outputs a control signal for controlling pan / tilt / zoom driving of the camera device through the interface port 94.
- the input unit 92 may include a keyboard, a mouse, and / or a joystick, and a user may select an object to be tracked and monitored within an image, select or change a panoramic image area, input a pan / tilt / zoom command, set an image storage function, And other monitoring function settings.
- the display unit 96 displays an output image received from the camera device, and the image storage unit 98 stores the output image under the control of the controller 90.
- the format of the output image displayed on the display unit 96 may be changed according to an operator's operation command through the input unit 92. For example, the operator may display only the panoramic image 102 or only the centralized monitoring image 110.
- the operator can operate the input unit 92 to manually operate the camera's viewpoint in any direction up, down, left and right, change the tracking surveillance object, and arbitrarily manipulate the monitoring system in various ways. Can be.
- FIG. 10 shows a modified embodiment of the camera device shown in FIGS. 1 and 2.
- the first camera units 212A and 212B which employ the fisheye lens to perform the wide-area monitoring are horizontally centered on the upper and lower virtual center axes of the main frame 210 under the outer circumferential surface of the main frame 210.
- Two are provided to be symmetrical.
- the bracket for fixing the camera device is a straight line without a bent portion, and thus can be suitably installed on a support rod having an installation surface facing downward or on the ceiling of the room.
- FIG. 11 shows the electrical / optical configuration of the camera device shown in FIG. 10.
- the A / D converters 239A and 239B convert image signals from the first camera units 212A and 212B into digital data, respectively.
- the A / D converter 269 converts the video signal from the second camera unit 52 into digital data.
- the distortion correcting unit 272 corrects the distortion in the fisheye images from the A / D converters 239A and 239B.
- the motion detector 274 detects the motion object in the image by comparing the distortion-corrected fisheye images by a predetermined number of frames. In addition, the motion detector 274 detects the amount of movement of the objects, and extracts an approximate center point of each object.
- the coordinate-angle lookup table 276 stores mapping information of a panning angle / tilting angle for each pixel in the distortion-corrected fisheye images.
- the motor driving control unit 78 may determine the pan / tilt / zoom amount according to the movement amount and the size of the object with reference to the coordinate-angle lookup table 276, and determine the motor drivers (according to the determined pan / tilt / zoom amount). Driving the 60, 64, 68 causes the second camera unit 52 to track the object.
- the image combiner 280 constructs a panoramic image from the two distortion-corrected fisheye images.
- FIG. 12 illustrates a process of constructing a panoramic image in the camera apparatus of FIG. 11.
- the image combination unit 280 selects only certain regions 302 and 312 from the corrected fisheye images 300 and 310, and horizontally connects the selected image portions to form a panoramic image 320.
- the image combination unit 280 forms a single output image by formatting the panoramic image and the intensive monitoring image from the A / D converter 269.
- the image combination unit 280 transmits the output image to the remote monitoring apparatus through an image signal line such as a coaxial cable.
- FIG. 10 Other features of the camera device shown in FIG. 10 are similar to those of the device shown in FIG. 1, and thus redundant descriptions thereof will be omitted.
- the horizontal viewing angle of the entire wide-range surveillance camera unit in which the two first camera units 212A and 212B are combined is doubled, thus providing the first camera units 212A and 212B to the first camera units 212A and 212B.
- the area for wide area monitoring can be doubled.
- Figure 13 shows another embodiment of a camera apparatus according to the present invention.
- the lower side of the outer circumferential surface of the main frame 410 is inclined such that its imaginary normal faces outward.
- the first camera units 412A and 412B may be installed below the outer peripheral surface of the housing of the main frame 410 without requiring a separate support. That is, in this embodiment, the fisheye lens of the first camera units 412A and 412B or its protection body may be fixedly installed on the outer peripheral surface of the housing of the main frame 410.
- the installation position of the first camera units 412A and 412B is determined so as to minimize the portion of the first camera unit 412A or 412B that is covered by the dome 50.
- FIG. 13 illustrates that two first camera units 412A and 412B are provided, only one first camera unit may be provided in the modified embodiment.
- the shooting area can be changed by introducing the support protrusions shown in Fig. 3 into the first camera units 412A and 412B.
- the camera device has a form that can be directly attached to the ceiling without a separate bracket.
- the camera device is bolted to a screw hole formed in the fastening portion in a state in which a plurality of fastening portions provided on the upper end of the main frame 510 provided with the first camera units 512A, 512B and the dome 50 are in close contact with the ceiling. 32 or by screwing it to the ceiling.
- the first camera units 612A to 612C employing the fisheye lens to perform wide-area monitoring are provided under the outer circumferential surface of the main frame 610. Three are provided so as to be horizontally symmetric about an up and down virtual central axis of the housing. Also in this embodiment, each of the first camera units 612A to 612C is preferably provided with an installation position such that a portion of the first camera units 612A to 612C is covered by the dome 50 is minimized.
- the viewing angle of the first camera unit is further extended, thereby facilitating the configuration of the panoramic image for wide area monitoring, and the images captured by the first camera units 612A to 612C.
- the viewing angle of the first camera unit is further extended, thereby facilitating the configuration of the panoramic image for wide area monitoring, and the images captured by the first camera units 612A to 612C.
- the camera device according to the present embodiment includes a main frame 710, a horizontal rotating frame 620, and a second camera unit 30.
- the main frame 710 has a columnar shape of a substantially circular cross section or a polygonal cross section, and a first camera unit 712 employing the wide-angle lens 714 is installed through the support protrusion 718 below the front side. have.
- the first camera unit 12 is installed so that the optical axis of the wide-angle lens 714 faces outward, so that the photographing area includes a point directly below the camera device.
- a plurality of support / fastening protrusions 716A to 716C having through holes formed on the lower side surface of the main frame 710 is provided so that the main frame 710 is stably supported on the installation surface and a bolt (not shown). To be fixed to the mounting surface.
- the horizontal rotation frame 720 is installed on the main frame 710 so as to pan, that is, rotate horizontally with respect to the main frame 710.
- a panning motor is installed in the main frame 710 or the horizontal rotating frame 720 so that the horizontal rotating frame 720 can be rotated horizontally on the main frame 710, and a panning shaft (not shown) is installed in the panning motor. Dynamically connected, the main frame 710 and the horizontal rotating frame 720 is connected via a panning shaft.
- the second camera unit 730 is installed to be tilted, that is, vertically rotated above the horizontal rotating frame 720.
- a tilting motor is installed in the horizontal rotating frame 720, and a tilting shaft (not shown) connected to the horizontal rotating frame 720 in the horizontal direction is installed in the tilting motor.
- Brackets 732 are connected to both ends of the tilting shaft, and the second camera unit 730 is fixed to the upper portion of the bracket 732.
- the front surface of the second camera unit 730 is provided with a transparent window 734 to protect the lens while transmitting light.
- the shade 736 is attached or formed on the upper portion of the second camera unit 730 so that the second camera unit 730 is protected from dust or snow.
- a wiper motor holder 738 is installed at the front end of the bottom of the second camera unit 730, and a wiper 39 for wiping off dust or rain water from the transparent window 734 is connected to the wiper motor therein.
- LED lights 740A and 740B are installed at both sides of the horizontal rotating frame 720 so that the lights can be irradiated to the front at night.
- the condenser lens 714 used in the first camera unit 712 is preferably composed of a wide-angle lens, and particularly preferably implemented using a fisheye lens.
- the condenser lens 714 and the image sensor of the first camera unit 712 may be manufactured to be integrally formed in the support protrusion 718 of the synthetic resin material and installed to protrude from the main frame 710.
- the support protrusion 718 determines the direction of the assembly of the fisheye lens 714 of the first camera unit 712 and spatially supports the assembly.
- a pivoting protrusion 750 is formed at a lower side of the first camera unit 712.
- the locking protrusion 754 is formed to protrude from the rear of the rotation protrusion 750.
- a recess for inserting and installing the first camera unit 712 is provided in the front lower side of the main frame 710.
- An insertion hole 752 is formed below the side wall of the groove corresponding to the rotation protrusion 750.
- a plurality of intermittent holes 756A, 756B, and 756C are formed in the upper rear of the insertion hole 752.
- the wiring for connecting the first camera unit 712 to the printed circuit board of the camera device is omitted in FIG. 18.
- the first camera unit 712 is installed by being inserted into the groove of the main frame 710 from the inside or front of the main frame 710.
- the pivoting protrusion 750 of the first camera unit 712 is fitted into the insertion hole 752 of the groove of the main frame 710, thereby preventing the first camera unit 712 from being inadvertently detached.
- the first camera unit 712 can be rotated within a limited range around the pivoting projection 750.
- the locking protrusion 754 of the first camera unit 12 is caught by any one of the plurality of interruptions 756A, 756B, and 756C in the recess, so that the first camera unit 712 rotates. To prevent random rotation around
- the first camera unit 712 may arbitrarily rotate about the rotation protrusion 750.
- the locking state of the locking protrusion 54 and the interruption hole 756A, 756B, 756C can be easily released by the external force. Therefore, when the camera device is installed or in the installed state, the operator may allow the locking protrusion 754 to be separated from the interruption holes 756A, 756B, and 756C, and then engage the other interruption holes, thereby allowing the first to be engaged.
- the photographing area of the camera unit 712 may be changed.
- the solid line shows the outline of the first camera unit 712 in the state where the locking projection 754 is engaged with the interruption hole 756C
- the dotted line shows the locking projection 754 with the interruption hole 756B.
- the outline of the first camera unit 712 in the present state is shown.
- the first camera unit which employs a fisheye lens for wide-area monitoring is placed at the front and the rear so as to be horizontally symmetrical on the outer circumferential surface of the main frame 710 via the support protrusions 718A and 718B. Dogs are prepared. Since the electrical / optical configuration of the camera device shown in FIG. 20 is similar to that of the device shown in FIG. 10, a detailed description thereof will be omitted.
- FIG. 21 shows another modified embodiment of the camera device of FIG. 17.
- the camera device according to the present embodiment includes a main frame 710, a horizontal rotating frame 820, a second camera unit 830, and an LED light 840.
- the main frame 710 has a columnar shape of a substantially circular cross section or a polygonal cross section, and a first camera unit 712 employing a wide-angle lens 714 is provided below the front side.
- the first camera unit 712 is installed such that the optical axis of the wide-angle lens 714 faces outward, so that the photographing area includes a point directly below the camera device.
- a plurality of supporting / fastening protrusions 716A to 716C having through holes are formed at the lower side of the main frame 710 so that the main frame 710 can be stably supported on the installation surface and a bolt (not shown). To be fixed to the mounting surface.
- the horizontal rotating frame 820 is installed on the main frame 710 so as to pan, that is, rotate horizontally with respect to the lower frame.
- a panning motor is installed in the main frame 710 or the horizontal rotating frame 820 so that the horizontal rotating frame 820 rotates horizontally on the main frame 710, and a panning shaft (not shown) is installed in the panning motor. Dynamically connected, the main frame 710 and the horizontal rotating frame 820 is connected via a panning shaft.
- the second camera unit 830 is installed to be tilted, that is, vertically rotated in the lateral direction of the horizontal rotating frame 820.
- a tilting motor is installed in the horizontal rotating frame 820, and a tilting shaft (not shown) connected to the horizontal rotating frame 820 in the horizontal direction is installed in the tilting motor.
- the second camera unit 830 is installed at one end of the tilting shaft, and the LED light 840 is installed at the other end. Accordingly, when the tilting motor and the tilting shaft rotate, the second camera unit 830 and the LED light 840 correspondingly rotate vertically.
- a transparent window 832 is provided on the front of the second camera unit 830 to protect the lens while transmitting light.
- the embodiment has been described with reference to an embodiment in which the support protrusion 18, which enables the first camera unit to support the fisheye lens and the image sensor while changing the photographing area, is rotated manually, that is, by an operator by hand.
- a support may be rotated by a motor and tilted.
- the driving of such a motor may be remotely controlled in a manner similar to the pan / tilt control for the second camera unit.
- the panning / tilting driving of the camera device is described based on an embodiment in which the panning / tilting driving is performed automatically based on the motion detection in the camera device. Tilting drive may be made. It goes without saying that the remote monitoring apparatus may pan / tilt / zoom by detecting movement in the panoramic image.
- the camera apparatus selects the panoramic image portion from the wide-vision surveillance image.
- the selection of the image may be performed by the remote monitoring apparatus.
- the present invention can be used in all applications requiring omnidirectional surveillance and tracking surveillance for moving objects.
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Abstract
Description
Claims (15)
- 감시용 카메라 장치로서,법선이 외측 하방을 향하는 렌즈 설치면을 구비하는 메인 프레임;상기 메인 프레임에 설치되며, 그 광축이 외측 하방을 향하도록 상기 렌즈 설치면에 배치되는 광각렌즈와, 상기 광각렌즈를 통해 입사되는 빛을 전기적 신호로 변환하는 제1 이미지 센서를 구비하여, 상기 감시용 카메라 장치의 직하 지점을 포함한 주변 영상을 촬영하는 제1 카메라 유닛; 및제2 이미지 센서를 구비하고, 상기 메인 프레임에 대하여 수평회전 및 수직회전할 수 있게 설치되는 제2 카메라 유닛;을 구비하는 감시용 카메라 장치.
- 청구항 1에 있어서, 상기 메인 프레임이외주면으로부터 외부로 돌출되어 있고, 그 전면이 외측 하방을 향하는 지지 돌출부;를 구비하며,상기 광각렌즈가 상기 지지 돌출부의 상기 전면에 부착되어 있는 감시용 카메라 장치.
- 청구항 1 또는 청구항 2에 있어서,상기 제1 카메라 유닛이 상기 메인 프레임의 외주면에서 수평적으로 대칭이 되게 복수 개 마련되는 감시용 카메라 장치.
- 청구항 2에 있어서, 상기 메인 프레임의 상기 외주면에 상기 지지 돌출부를 삽입 설치하기 위한 요홈이 마련되어 있고,상기 지지 돌출부가 상기 요홈에 착탈가능하게 설치되는 감시용 카메라 장치.
- 청구항 4에 있어서,상기 요홈의 측벽과 상기 지지 돌출부의 측면 중 어느 하나에 회동돌기가 형성되고, 다른 하나에 삽입공이 마련되어 있어서, 상기 회동돌기가 상기 삽입공에 삽입된 상태에서 상기 지지 돌출부를 틸팅하여 상기 제1 카메라 유닛의 상기 광축 방향을 가변시킬 수 있게 되어 있는 감시용 카메라 장치.
- 청구항 5에 있어서,상기 요홈의 측벽과 상기 지지 돌출부의 측면 중 어느 하나에 걸림돌기가 형성되고, 다른 하나에 복수의 단속공이 마련되어 있어서, 상기 걸림돌기가 상기 복수의 단속공 중 하나에 걸릴 수 있게 되어 있는 감시용 카메라 장치.
- 청구항 4에 있어서,상기 지지 돌출부를 상기 회동돌기의 중심축을 기준으로 틸팅하기 위한 광축 틸팅 모터;를 더 구비하는 감시용 카메라 장치.
- 청구항 2에 있어서, 상기 제2 카메라 유닛이피사체의 촬상 크기를 조절하기 위한 줌 구동부와;촬영 방향을 조정하기 위한 팬/틸트 구동부;를 구비하며,상기 제1 카메라 유닛에 의해 획득된 광각 영상에서 움직임 객체를 검출하는 움직임 검출부; 및상기 제2 카메라 유닛의 상기 팬/틸트 구동부를 구동하여, 상기 제2 카메라 유닛이 상기 움직임 객체를 촬영하도록 제어하는 구동 제어부;를 더 구비하는 카메라 장치.
- 청구항 8에 있어서,상기 광각 영상 내의 각 픽셀에 대한 패닝각 및 틸팅각의 맵핑 정보를 저장하는 룩업테이블;을 더 구비하며,상기 구동 제어부가 상기 광각 영상 내에서의 상기 움직임 객체의 위치에 따라 상기 룩업테이블을 참조하여 상기 팬/틸트 구동부를 구동하는 카메라 장치.
- 청구항 8에 있어서, 상기 구동 제어부가 상기 움직임 객체의 크기에 따라 상기 줌 구동부를 구동하는 카메라 장치.
- 청구항 8에 있어서,상기 광각 영상과 상기 제2 카메라 유닛에 의해 획득된 집중감시 영상을 조합하여 출력영상을 구성하는 영상 조합부;를 더 구비하는 카메라 장치.
- 청구항 11에 있어서,상기 광각 영상 내에 있는 왜곡을 보정하는 왜곡 보정부;를 더 구비하며,상기 움직임 검출부는 왜곡 보정된 광각 영상에서 상기 움직임 객체를 검출하고,상기 영상 조합부는 상기 왜곡 보정된 광각 영상과 상기 집중감시 영상을 조합하여 상기 출력영상을 구성하는 카메라 장치.
- 청구항 1에 있어서,상기 메인 프레임의 하단에 마련되는 돔;을 더 구비하고,상기 제2 카메라 유닛이 상기 돔 내에 설치되는 카메라 장치.
- 청구항 1에 있어서,상기 메인 프레임에 대하여 수평회전할 수 있도록 설치되는 수평회전 프레임;을 더 구비하고, 상기 제2 카메라 유닛이 상기 수평회전 프레임에 대하여 수직회전할 수 있도록 설치되는 카메라 장치.
- 감시용 카메라 장치와, 상기 감시용 카메라 장치와 전기적으로 접속될 수 있는 원격 감시 장치를 구비하는 원격 감시 시스템에 있어서,상기 감시용 카메라 장치가법선이 외측 하방을 향하는 렌즈 설치면을 구비하는 메인 프레임;상기 메인 프레임에 설치되고, 그 광축이 외측 하방을 향하도록 상기 렌즈 설치면에 배치되는 광각렌즈를 구비하여, 상기 감시용 카메라 장치의 직하 지점을 포함한 주변 영상을 촬영하는 제1 카메라 유닛;제2 이미지 센서를 구비하고, 상기 메인 프레임에 대하여 수평회전 및 수직회전할 수 있게 설치되는 제2 카메라 유닛;상기 제1 카메라 유닛에 의해 획득된 광각 영상에서 움직임 객체를 검출하고, 상기 제2 카메라 유닛이 상기 움직임 객체를 촬영하도록 제어하는 제어부; 및상기 광각 영상과 상기 제2 카메라 유닛에 의해 획득된 집중감시 영상을 조합하여 출력영상을 구성하고, 상기 출력영상을 상기 원격 감시 장치에 전송하는 영상 조합부;을 구비하여, 상기 원격 감시 장치가 상기 출력영상을 표시장치에 디스플레이하는 원격 감시 시스템.
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/515,410 US20120257064A1 (en) | 2010-02-01 | 2010-10-11 | Tracking and monitoring camera device and remote monitoring system using same |
BR112012019126A BR112012019126A2 (pt) | 2010-02-01 | 2010-10-11 | dispositivo de monitoramento e rastreamento e sistema de monitoramento remoto utilizando o mesmo. |
CA2788734A CA2788734A1 (en) | 2010-02-01 | 2010-10-11 | Tracking and monitoring camera device and remote monitoring system using same |
JP2012551072A JP5687289B2 (ja) | 2010-02-01 | 2010-10-11 | 追跡監視用カメラ装置及びこれを採用する遠隔監視システム |
CN2010800627677A CN102714711A (zh) | 2010-02-01 | 2010-10-11 | 追踪监视用摄像装置及采用此装置的远程监视*** |
MX2012008878A MX2012008878A (es) | 2010-02-01 | 2010-10-11 | Dispositivo de camara de seguimiento y supervision y sistema remoto de supervision que usa el mismo. |
EP10844798.8A EP2533534A4 (en) | 2010-02-01 | 2010-10-11 | PURSUIT AND SURVEILLANCE CAMERA DEVICE AND REMOTE MONITORING SYSTEM USING THE SAME |
NZ601178A NZ601178A (en) | 2010-02-01 | 2010-10-11 | Tracking and monitoring camera device and remote monitoring system using same |
SG2012057626A SG182842A1 (en) | 2010-02-01 | 2010-10-11 | Tracking and monitoring camera device and remote monitoring system using same |
AU2010344652A AU2010344652A1 (en) | 2010-02-01 | 2010-10-11 | Tracking and monitoring camera device and remote monitoring system using same |
RU2012137375/07A RU2012137375A (ru) | 2010-02-01 | 2010-10-11 | Камера слежения и наблюдения и система дистанционного наблюдения с таким же применением |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR10-2010-0009028 | 2010-02-01 | ||
KR20100009028 | 2010-02-01 |
Publications (2)
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WO2011093574A2 true WO2011093574A2 (ko) | 2011-08-04 |
WO2011093574A3 WO2011093574A3 (ko) | 2011-11-03 |
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PCT/KR2010/006942 WO2011093574A2 (ko) | 2010-02-01 | 2010-10-11 | 추적감시용 카메라 장치 및 이를 채용하는 원격 감시 시스템 |
Country Status (17)
Country | Link |
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US (1) | US20120257064A1 (ko) |
EP (1) | EP2533534A4 (ko) |
JP (1) | JP5687289B2 (ko) |
KR (1) | KR101002066B1 (ko) |
CN (1) | CN102714711A (ko) |
AU (1) | AU2010344652A1 (ko) |
BR (1) | BR112012019126A2 (ko) |
CA (1) | CA2788734A1 (ko) |
CL (1) | CL2012002110A1 (ko) |
CO (1) | CO6680602A2 (ko) |
EC (1) | ECSP12012124A (ko) |
MX (1) | MX2012008878A (ko) |
MY (1) | MY157170A (ko) |
NZ (1) | NZ601178A (ko) |
RU (1) | RU2012137375A (ko) |
SG (1) | SG182842A1 (ko) |
WO (1) | WO2011093574A2 (ko) |
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Also Published As
Publication number | Publication date |
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ECSP12012124A (es) | 2012-12-28 |
CN102714711A (zh) | 2012-10-03 |
MY157170A (en) | 2016-05-13 |
KR101002066B1 (ko) | 2010-12-21 |
CL2012002110A1 (es) | 2014-01-24 |
NZ601178A (en) | 2014-08-29 |
JP2013519254A (ja) | 2013-05-23 |
EP2533534A4 (en) | 2014-08-13 |
SG182842A1 (en) | 2012-08-30 |
BR112012019126A2 (pt) | 2016-06-28 |
CO6680602A2 (es) | 2013-05-31 |
JP5687289B2 (ja) | 2015-03-18 |
WO2011093574A3 (ko) | 2011-11-03 |
US20120257064A1 (en) | 2012-10-11 |
RU2012137375A (ru) | 2014-03-10 |
AU2010344652A1 (en) | 2012-09-20 |
EP2533534A2 (en) | 2012-12-12 |
CA2788734A1 (en) | 2011-08-04 |
MX2012008878A (es) | 2012-11-06 |
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