KR101432512B1 - Virtual image displaying apparatus for load control - Google Patents

Abstract

The present invention relates to a virtual image display apparatus for traffic control for displaying a detection target image by overlaying a target object image detected by a radar with a closed circuit television (CCTV) image. The apparatus includes a radar detection unit to convert detection data by receiving an electric wave reflecting from a detection target after transmitting the electric wave to an imaging region so that vehicle information is detected based on the converted detection data; a CCTV control unit to generate a vehicle image by adding traffic related information to the image information acquired through a camera; and an image combining device to convert the detection data, detected from the radar detection unit, into an image, to generate a control image for traffic control by overlaying the converted image with the vehicle image generated from the CCTV control unit, and to transfer the generated control image to an image output device for display.

Description

Technical Field [0001] The present invention relates to a virtual image display apparatus for controlling a road situation,

More particularly, the present invention relates to a virtual image display apparatus for a road situation control apparatus for displaying a detection target image by overlaying an object detection using a radar and a CCTV image, .

Recently, due to the rapid increase in the number of vehicles, road traffic has become increasingly crowded day by day. The increasing speed of these vehicles is problematic in that they are much faster than the expansion or the speed of the road.

Therefore, it is necessary to comprehend the traffic situation in a comprehensive manner and to control traffic communication smoothly.

A method mainly used for the control of the road situation is to shoot the image of the road through the CCTV camera and transmit it to the remote control center through communication. The operator of the remote road situation control center judges the road condition by watching the CCTV image of each road received.

Background Art [0002] Conventional techniques for road control using images are disclosed in Korean Patent Laid-Open Publication No. 10-2011-0082870 (published on July 20, 2011) and Korean Patent Laid- 0125705 (published on November 19, 2012).

The prior art disclosed in Patent Document 1 can process a video of a surveillance camera (CCTV) to calculate a traffic flow at a specific location in order to effectively measure traffic information on the road, A real-time traffic information measurement and road information guidance apparatus and method capable of measuring current position and traveling speed information by exchanging information with a navigation or communication terminal of a vehicle, and measuring a traffic situation at a specific location from information received from a plurality of vehicles .

The prior art disclosed in Patent Document 2 is a video camera which receives video information and backs it up and transmits it to a traffic control center through a network in real time Control device, and image information, and a traffic control center for remote control of traffic situation judgment and signal controller of intersection based on image information, and a three-dimensional Traffic surveillance and method video system.

Korean Patent Publication No. 10-2011-0082870 (Published on July 20, 2011) Korean Patent Publication No. 10-2012-0125705 (published on November 19, 2012)

However, since the above-described conventional techniques use a CCTV image for road control, there is a problem that road control can not be performed when the image can not be normally acquired due to the influence of the weather or a fire.

As another conventional technique, there is a case in which a mist eliminator for roads is applied, but this is for the safety of the driver and is not applicable to the traffic control of the traffic control center.

SUMMARY OF THE INVENTION It is an object of the present invention to overcome the above-described problems of the related art, and it is an object of the present invention to provide a virtual environment for a road situation control in which a detection target image is displayed by overlaying an object detection using a radar and a CCTV image. And a video display device.

Another object of the present invention is to provide a virtual image display apparatus for providing a video image of a current road situation (traffic situation) even in a bad weather condition in which visibility can not be secured, so that a real time traffic control is always performed.

It is still another object of the present invention to provide a method and apparatus for detecting a vehicle through a radar detector in a situation where a visible distance can not be secured and displaying the same as a CCTV image with a virtual image, And a virtual image display device for controlling a road situation.

In order to achieve the above object, a virtual image display apparatus for controlling a road situation according to the present invention receives a radio wave reflected from an object to be detected after transmitting a radio wave to an imaging region, converts the received radio wave into detection data, A radar detector for detecting vehicle information based on the data; A CCTV controller for generating a vehicle image by adding traffic related information to image information acquired through a camera; A control unit for converting the detection data detected by the radar detector into an image, superimposing the converted image and the vehicle image generated by the CCTV control unit to generate a control image for road situation control, and outputting the generated control image to a video output device To the image blending device.

Wherein the radar detector includes: an RF module that transmits a radio wave to an imaging region and receives a radio wave reflected from a detection target; Wherein the RF module converts radio waves received by the RF module into detection data, converts the detection data into a numerical value to calculate the size of the detection vehicle, classifies the vehicle type based on the size of the detection vehicle, And a radar processor for detecting vehicle information including a moving speed.

The CCTV control unit includes a Man-Machine Interface (MMI) for interfacing a user's operation signal; A central processing unit for controlling the operation of the camera in accordance with the camera operation signal through the MMI and controlling the image acquired from the camera and the traffic related information to be superimposed; A text superimposer for superimposing traffic-related information texts at arbitrary positions of the images photographed by the camera under the control of the central processing unit; And a video output unit for outputting an image output from the text superimposing unit.

The traffic related information includes at least one of traffic direction information, weather information, and traffic information of the road.

The image mixing apparatus includes a video input unit for receiving a vehicle image output from the CCTV control unit; A serial communication module for receiving detection data output from the radar detector; An image processor for converting detection data input through the serial communication module into an image and superimposing the converted image and the vehicle image inputted through the video input unit to generate a control image; And a video output unit for outputting the control image generated by the image processor to the image display apparatus.

The image mixing apparatus may further include a position adjusting unit for adjusting an overlapping position of the detection data and the vehicle image.

The image processor generates a control image by directly superimposing the converted image and the vehicle image according to whether the vehicle image is input or the state of the vehicle image, or generates a control image by implementing a virtual image using only the converted image .

If the vehicle image does not exist or the vehicle image can not be identified, the image processor implements the virtual image of the road and the vehicle using only the image converted based on the vehicle information, And generates a control image.

According to the present invention, images of the current road situation (traffic situation) are provided even in a bad weather condition in which visibility can not be ensured by overlaying object detection using a radar and CCTV images, And the like.

In addition, according to the present invention, a vehicle is detected through a radar detector and converted into a virtual image to be displayed like a CCTV image, so that the communication state and the current state of the road can be accurately checked in real time There are advantages to be able to.

1 is a configuration diagram of a video display device for controlling a road situation according to a preferred embodiment of the present invention;
2B is a view showing a CCTV image in the present invention, FIG. 2C is an example of a control image in which radar detection data and a CCTV image are superimposed in the present invention, FIG. 2D is an example of a control image in the present invention, An example of control image combining CCTV image with radar detection data and virtual image.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a virtual image display apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a virtual image display apparatus for controlling a road situation according to a preferred embodiment of the present invention.

The virtual image display apparatus for controlling the road situation according to the preferred embodiment of the present invention includes a radar detector 100, a camera unit 10, a CCTV control unit 200, and an image mixing apparatus 300.

The radar detector 100 receives a radio wave reflected from an object to be detected after transmitting a radio wave to an image pickup area, converts the received radio wave into detection data, and detects the vehicle information based on the detected detection data. The radar is classified into a primary radar and a secondary radar according to the shape of a transmission / reception signal. The former is a radar that uses a radio wave that is transmitted and reflected by a target, and the latter is a radar that uses a radio wave that a target re-radiates. The primary radar is again classified as a pulse radar and a continuous wave radar. The pulse radar uses square-shaped pulse-modulated waves as the transmission and reception waveforms of the radar, and the continuous-wave radar uses sine waves that are not pulse-modulated. The frequency used in the radar is several MHz to several tens GHz or more, but microwaves of 1 GHz or more, which are easy to obtain a sharp beam and are easy to miniaturize the apparatus, are often used.

The radar detector 100 includes an RF module 110 for transmitting a radio wave to an imaging area and receiving a radio wave reflected from a detection target; Converts the radio wave received by the RF module 110 into detection data, converts the detection data into a numerical value to calculate the size of the detection vehicle, classifies the vehicle type based on the size of the detection vehicle, And a radar processor 120 for detecting vehicle information including a vehicle number and a moving speed.

The RF module 111 includes a transmitter 111 for transmitting radio waves and a receiver 112 for receiving a radio wave reflected from a detection object and the receiver 112 is composed of two . In addition, the RF module 110 includes a DAC 113 for converting a digital control signal output from the radar processor 120 into an analog signal, a PLL 114 for phase synchronization, And an SPI 115 for a serial-parallel interface.

The radar detector 100 includes an amplifier 130 for amplifying a signal received by the receiver 112 and transmitting the amplified signal to the radar processor 120, various data for extracting control programs, detection data, and vehicle information A serial communication unit 150 for communication with the image mixing device 300, a can communication unit 160 for internal communication between devices, and the like.

The camera unit 10 may include a high resolution camera of a high definition full HD image quality, various lenses and a driving device for pan / tilt, focus, and zoom operation of a camera.

The CCTV controller 200 adds traffic related information to the image information acquired through the camera to generate a vehicle image.

The CCTV control unit 200 includes an MMI (Man-Machine Interface) 204 for interfacing a user's operation signal; An interface unit 203 for receiving an external signal; A serial communication module 201 for performing serial communication such as the RS-485 with the camera unit 10; An Ethernet (202) for data communication with the image mixing apparatus (300); A memory 205 in which a control program is embedded and for temporarily storing the photographed image; A central processing unit (207) for controlling the operation of the camera in accordance with a camera operation signal through the MMI (204) and controlling the image and traffic related information acquired from the camera to be overlaid; A text superimposing unit (206) for superimposing traffic related information texts at arbitrary positions of the images photographed by the camera under the control of the central processing unit (207); And a video output unit 208 for outputting an image output from the text superimposing unit 206. [ Here, the traffic-related information preferably includes at least one of traffic direction information, weather information, and traffic information of the road.

The image mixing apparatus 300 converts the detection data detected by the radar detector 100 into an image and superimposes the converted image and the vehicle image generated by the CCTV control unit 200 to generate a control image And transmits the generated control image to the video output device for display. The video output device may include a DLP, a monitor, and other display devices.

The image mixing apparatus 300 includes a video input unit 301 for receiving a vehicle image output from the CCTV control unit 200; A serial communication module (303) for receiving detection data output from the radar detector (100); An image processor 302 for converting detection data inputted through the serial communication module 303 into an image and superimposing the converted image and the vehicle image inputted through the video input unit 301 to generate a control image; A video output unit 305 for outputting the control image generated by the image processor 302 to the image display device; A position adjustment unit (302) for adjusting an overlapping position of the detection data and the vehicle image; And an Ethernet (304) for data communication with the CCTV control unit (200).

The image processor 302 generates a control image by directly superimposing the converted image and the vehicle image according to whether the vehicle image is inputted or the state of the vehicle image, or implements a virtual image using only the converted image to generate a control image do. In addition, when the vehicle image is not present or the vehicle image can not be identified, the image processor 302 implements a virtual image of the road and the vehicle using only the image based on the vehicle information, It is preferable to superimpose the related information to generate the control image.

The operation of the virtual image display apparatus for controlling the road situation according to the preferred embodiment of the present invention will be described in detail as follows.

First, when the virtual image display apparatus is driven for road control, the radar processor 120 of the radar detector 100 generates a control signal for detecting the detection target and transmits the control signal to the RF module 110. The digital-to-analog converter 113 of the RF module 110 receives the control signal, converts it into an analog signal corresponding to the control signal, and transmits the analog signal to the RF module 110.

The transmitter 111 of the RF module 110 transmits a radio wave to the photographing area according to the control signal. Here, the photographing area may be a road to be monitored. At this time, a quadrangular pulse modulated wave may be used as the transmission waveform, or a sine wave not pulse-modulated may be used. It is preferable to use a microwave of 1 GHz or more which is easy to obtain a sharp beam and is easy to miniaturize the device.

The receiver 112 receives a radio wave reflected from a detection target (for example, a vehicle, a motorcycle, a person, or the like) existing in the photographing area and transmits the signal to the photographing area. A phase locked loop (PLL) 114 is used for processing the received signal. Here, it is preferable that the receiver uses two receivers in order to achieve path diversity and accuracy of the received signal.

The signal received at the receiver 112 is amplified to a predetermined level through the amplifier 130, and then transmitted to the radar processor 120. The analog-to-digital converter configured in the radar processor 120 converts the input analog received signal into a corresponding digital signal to generate detection data.

At this time, the detection data includes position information. That is, when the image signal is processed, the image is processed frame by frame, the signal processing is performed in the horizontal and vertical pixel units in the image processing in the frame unit, and the pixel in which the data exists and the pixel in which there is no data are known. So that the user can easily know the position information of the user.

Further, the radar processor 120 converts the detection data generated from the received signal into the numerical data to calculate the size of the detection vehicle. Here, there are various methods for converting the detection data into numerical data, but it is preferable to use a normal numerical data processor.

When the detection data is converted into numerical data, the size of the detection vehicle (detection subject) can be known, and the vehicle type can be classified based on the size of the detection vehicle. The RAM 140 stores size information of each vehicle type in a table form, and can be implemented simply. Also, it is possible to grasp the number of vehicles based on the detection data, and the moving speed (calculated by the moving distance according to the change of time) can also be implemented simply. The size information, the vehicle type information, the vehicle number information, the moving speed information, the position information, the detection data, and the like of the detection vehicle calculated as described above are referred to as vehicle information.

The vehicle information generated based on the detection data is transmitted to the image mixing apparatus 300 through the serial communication unit 150 such as RS-485.

At the same time as the operation of the radar detector 100, the CCTV controller 200 also operates to photograph the photographing area. Here, the photographing area is the same area as the detecting area for detecting the object to be detected by the radar detector 100. That is, the positions and orientations of photographing and detection are the same. For this, if the radar detector 100 and the CCTV camera are formed into one body and controlled, the radar detecting area and the camera photographing position can be easily matched.

When the CCTV control unit 200 operates, it controls the camera unit 10 through the serial communication module 201 to photograph the photographing area. In accordance with the control, the CCTV camera of the camera unit 10 photographs the photographed image and transmits the photographed image to the CCTV control unit 200 through serial communication.

Here, it is preferable to use a high resolution camera of FULL HD class. The operator can control the pan / tilt, focus, and zoom operations of the camera through the MMI 204 of the CCTV control unit 200.

The photographed image received through the serial communication module 201 is stored in the memory 205 and transmitted to the central processing unit 207. The central processing unit 207 controls the text superimposing unit 206 to generate a vehicle image by adding traffic related information to the acquired image.

For example, the text superimposing unit 206 superimposes the traffic-related information text on any position of the image photographed by the camera under the control of the central processing unit 207, and transfers the text to the video output unit 208. The video output unit 208 transmits the generated vehicle image to the image mixing apparatus 300 using the Ethernet 202 or the like. 2B is an illustration of a vehicle image captured through the CCTV camera. Here, the arbitrary position means the position of the screen displayed on the video output device, and the position can be changed by the operator. And may preferably be the lower end of the screen. The traffic-related information may include at least one of traffic direction information, weather information, and traffic information of a road. It is preferable to interwork with the weather information providing device or the traffic control server through the Ethernet 202 to receive the necessary information.

The image mixing apparatus 300 converts the sensing data detected by the radar detector 100, which is input through the serial communication module 303 in the image processor 302, into an image. FIG. 2A is an exemplary diagram of a screen in which detection data detected through the radar detector 100 is converted into an image. Since the position information is included in each of the detection data, the detection data is imaged based on the position information. At this time, it is preferable to image the vehicle considering the size and type information of the vehicle, and the moving speed information.

In addition, the image processor 302 converts detection data into an image, and superimposes the converted image and the vehicle image generated by the CCTV control unit 200 to generate a control image for road situation control.

Here, the control image can be generated in various ways. First, when the vehicle image is input and the visibility of the input vehicle image is secured, the control image is generated by superimposing the converted image and the vehicle image. 2C is an example of a control image generated by superimposing the converted image and the vehicle image. Here, the visibility of the vehicle image can be obtained by using the sharpness of the image, the blurring state extraction of the object, and the object identification state information from the image. For example, when object information is accurately extracted through outline extraction from a vehicle image, it is considered that the visibility of the vehicle image is secured.

When the vehicle image is input and the visibility of the vehicle image is not ensured, that is, when the object information can not be accurately extracted through contour extraction from the vehicle image, the virtual image is implemented only with the converted image And generates a control image. In the control image thus generated, the vehicle is not seen in FIG. 2C, but only the rectangular red object is displayed. The red object has a size corresponding to the size of the detected vehicle. In this case, it is difficult to identify the photographed image due to bad weather or the like, and information such as the vehicle position, the vehicle speed, the vehicle number, and the vehicle type is displayed using the image data based on the detection data.

Third, when the vehicle image does not exist or the vehicle image is completely unidentifiable, the virtual image of the road and the vehicle is implemented only by the image converted based on the vehicle information, And generates a control image. FIG. 2D is an example of a virtual image when the vehicle image is not available and the vehicle image is not available due to bad weather or the like, so that the vehicle image can not be used at all. For example, since the position of the road can be known using the traffic information included in the photographed image or the vehicle information, the road is virtually imaged based on the position of the road. Since the vehicle position, the vehicle size, and the vehicle type can be known through the vehicle information, the vehicle shape information is generated based on the information. Then, based on the positional information, the position adjustment unit 302 matches the virtually shaped vehicle information to the virtual road. In this manner, a virtual image is generated as shown in FIG. 2d and transmitted to the video output device as a control video image to display the control video image on the screen.

Therefore, the operator can confirm the control image as if the current road is photographed through the virtually shaped control image, even if the current photographing area is weather-deteriorated and the image identification is impossible at all.

2C and the control image display method as shown in FIG. 2D can be automatically performed in consideration of the presence or absence of an input image and the identification state of the input image in the image processor 302, It is possible to manually select the control image display method as shown in Fig. 2C or the control image display method as shown in Fig. 2D through the apparatus.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

The present invention is applied to a technique for generating a control image for road control.

10:
100; Radar probe
110: RF module
120: Radar processor
200: CCTV control unit
206: Text overlap section
207: Central Processing Unit
208: Video output unit
300: image mixing device
302: Image processor
306:

Claims (8)

A radar detector which receives a radio wave reflected from an object to be detected after transmitting the radio wave to the photographing area, converts the received radio wave into detection data, and detects the vehicle information based on the converted detection data; A CCTV controller for generating a vehicle image by adding traffic related information to image information acquired through a camera; And a control unit for converting the detection data detected by the radar detector into an image and superimposing the converted image and the vehicle image generated by the CCTV control unit to generate a control image for controlling the road situation and outputting the generated control image as a display image And an image mixing device for delivering the image to the device,
The radar detector calculates the size of the detection vehicle by converting the detection data into numerical values, classifies the vehicle type on the basis of the size of the detection vehicle, detects the vehicle information including the vehicle number and the moving speed based on the detection data In addition,
The image mixing apparatus includes an image processor for converting input sensing data into an image and generating a control image by superimposing the transformed image and the vehicle image input through the video input unit, and for adjusting the overlapping position of the detection data and the vehicle image And a position adjustment unit
The image processor generates a control image by superimposing the converted image and the vehicle image according to whether the vehicle image is inputted or the state of the vehicle image, or generates a control image by implementing a virtual image using only the converted image,
When the vehicle image does not exist or the vehicle image is in an unidentifiable state, a virtual image of the road and the vehicle is implemented using only the image converted based on the vehicle information, the traffic related information is superimposed on the implemented virtual image, ≪ / RTI >
Wherein the vehicle information includes at least one of size information of a detection vehicle, vehicle type information, vehicle number information, moving speed information, position information, and detection data.
delete [2] The apparatus of claim 1, wherein the CCTV control unit comprises: a Man-Machine Interface (MMI) for interfacing a user's operation signal; A central processing unit for controlling the operation of the camera in accordance with the camera operation signal through the MMI and controlling the image acquired from the camera and the traffic related information to be superimposed; A text superimposer for superimposing traffic-related information texts at arbitrary positions of the images photographed by the camera under the control of the central processing unit; And a video output unit for outputting an image output from the text superimposing unit.
The virtual image display apparatus according to claim 3, wherein the traffic related information includes at least one of traffic direction information, weather information, and traffic information of a road.
The image mixing apparatus of claim 1, wherein the image mixing apparatus comprises: a video input unit for receiving a vehicle image output from the CCTV control unit; A serial communication module for receiving detection data output from the radar detector; And a video output unit for outputting the control image generated by the image processor to the video display device.
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