KR102265002B1 - Integrated building management system using lidar sensor - Google Patents

Abstract

The present invention is installed in a monitoring area of a security facility, a lidar sensor for collecting point cloud data, a transmission module for transmitting the point cloud data collected by the lidar sensor, and the transmission module An analysis module that receives point cloud data and analyzes location information and shape, and selectively outputs alarm activation and shape detection information according to whether an alarm is activated or a false alarm signal is detected according to the control logic of the program in response to the analysis signal It provides a lidar sensor-based facility control system including a detection signal module. According to the above, in order to compensate for the shortcomings of the existing method through CCTV and infrared cameras installed in the surveillance area, the detection area of one sensor is maximized through the lidar sensor, and accurate location information-based intrusion path tracking is possible regardless of day or night. Do.

Description

{Integrated building management system using lidar sensor}

The present invention relates to an integrated building management system using a lidar sensor, and more particularly, a lidar sensor capable of integrated management of various situations that may occur in a building, such as building security or fire management, using the lidar sensor. It relates to the integrated building management system used.

In general, LiDAR (Light Detection And Ranging) uses light to detect a target and measure the distance to the target, and such a lidar is similar to radar (RADAR: Radio Detection And Ranging) in its function. However, unlike radar that uses radio waves, there is a difference in that it uses light.

Accordingly, various devices using the lidar have been developed, and as an example of a technology for a lidar sensor device using such a lidar, Korean Patent Registration No. 10-1773020 discloses a laser corresponding to each emission direction while changing the transmission direction. A transmitting unit for transmitting laser light including photo identification information, a receiving unit for receiving reflected light that is reflected back by the laser light on an object, and a corresponding to the reflected light based on the laser light identification information included in the received reflected light A lidar sensor device including a signal processing unit for identifying a direction in which laser light is emitted has been disclosed.

Meanwhile, in buildings with important facilities such as offices, buildings, and houses, CCTV and infrared cameras are used to detect illegal intruders from the outside to protect private property and human life, and an alarm is generated when an intruder is detected. At the same time, a security system device that notifies the security company is installed.

However, in the case of such a conventional security system device, it is difficult to obtain accurate information because the detection image is not so accurate that it is difficult to identify it with the naked eye at night, and since its function is limited to simple intrusion detection, it can occur in buildings such as fire or aging. There was a problem that it was difficult to manage various possible.

Republic of Korea Patent Registration No. 10-1773020

The present invention can obtain reliable data by acquiring accurate information through the lidar sensor, and can manage not only security but also fire and deterioration of buildings, so that various integrated management of architectural work is possible using a lidar sensor. It aims to provide a management system.

The present invention, a frame portion fixedly installed in a building; a lidar sensor unit installed on the frame unit and configured to sense the position and shape of the object using a light source; a sensor control unit for controlling driving of the lidar sensor unit according to a control signal and transmitting the sensed data received from the lidar sensor unit; It is possible to provide an integrated building management system using a lidar sensor, characterized in that it comprises an integrated control unit that analyzes the sensed data collected from the sensor control unit and transmits the control signal.

Here, the frame unit, the support frame fixed to the building, the lidar sensor unit is coupled, is rotatably coupled to the support frame, and is configured to include a rotating frame rotated by a driving signal of the sensor control unit. can

In this case, the rotating frame is rotatably coupled to the support frame, and a first rotating shaft unit for rotating the lidar sensor unit in a horizontal or vertical direction, the lidar sensor unit is coupled, and the lidar sensor unit is formed. It may be configured to include a second rotational shaft portion formed in a direction orthogonal to the first rotational shaft portion so as to rotate about a rotational axis orthogonal to the rotational axis of the first rotational shaft portion.

The integrated controller may be configured to time-series measurements of changes in the positions of the objects through the sensed data, and to classify and analyze the objects for each object according to the measurement result.

In detail, the object includes a structure in which the position change is less than a set limit value, a structure in which the position change is greater than or equal to a set limit value, and a periodicity in the position change, and the position change is more than a set limit value, and the position change An independent object having no periodicity but having a stop time equal to or greater than a set reference value, and a moving object having a change in position greater than or equal to a set limit value and having no periodicity in the change in position but having a stop time less than a set reference value, may be distinguished.

Accordingly, the integrated control unit, when the object is divided into a structure, a relative angle change between the structure boundaries occurs, and when the accumulated relative angle change of the structure has linearity, shear deformation of the structure is in progress. It can be configured to determine that it is.

In addition, the integrated control unit, when the object is divided into a structure, there is no change in the relative angle between the boundary lines of the structure, but if there is a change in the direction of gravity, it can be configured to determine that the floating settlement of the structure is occurring. .

In addition, the integrated control unit, when the object is divided into a structure, a shape change of the structure surface occurs, and when the accumulated shape change amount of the structure increases, it can be configured to determine that the structure is cracked have.

Here, the integrated control unit may be configured to collect and store sensing data for the structure and output an alarm signal when the amount of shear deformation or floating settlement or cracking of the structure is greater than or equal to a preset value.

The lidar sensor unit receives the laser reflected after being irradiated through a light irradiation unit configured to irradiate a laser to the object through irradiation units arranged in a plurality of rows, and receiving units configured in a shape corresponding to the light irradiation unit and a data transmitter configured to transmit the sensed data generated through the laser beams received by the light receiver to the sensor controller.

The integrated control unit may be configured to detect the object and, when the object is determined to be a moving object, collect and store sensing data for the moving object.

The integrated control unit may be configured to transmit the location information of the moving object to an external CCTV management center server so that a CCTV near the moving object may enlarge the moving object.

The integrated control unit may be configured to set a location for the landing point of the delivery drone, and to transmit location information about the landing point to the delivery drone.

The integrated control unit measures the light reflectivity of the sensed data, determines whether smoke is generated through the variation of the light reflectivity and the irregularity of the light reflectance gradient, and outputs an alarm signal when it is determined that smoke has occurred. can be configured.

In this case, the integrated control unit may determine whether the degree of change of the light reflectivity in the sensed data is within a preset range.

Also, the integrated control unit may determine whether the degree of change of the light reflectance has irregularity.

Meanwhile, the integrated control unit compares and measures the received energy between the light-receiving lasers received through the receiving unit with respect to the output laser of the same energy irradiated from the irradiation unit, and a difference value between the received energies is preset. It is determined whether the value is greater than or equal to the value, and if the difference value between the received energies is greater than or equal to the preset value, it is determined whether the object is an installation or an independent object, and when the object is determined to be an installation or an independent object, the object is irradiated By determining the unit, it may be configured to reduce the laser output amount of the irradiation unit.

The integrated building management system using the lidar sensor according to the present invention provides the following effects.

First, by using the lidar sensor, more accurate detection data can be obtained, so reliable information can be obtained, and because the reliability is high, unnecessary warning sounds and malfunctions (animals or winds, etc.) can be minimized.

Second, it is possible to manage not only security against external intrusion, but also fire and deterioration of buildings, so that efficient integrated management of the entire building is possible.

Third, it is possible to determine not only the floating settlement and shear deformation of the building structure, but also the effective aging management of the building structure by judging the cracks generated on the structural surface of the building structure.

Fourth, the blind spot of the detection area that the lidar sensor may have can be minimized through the rotating frame, so that the detection area can be maximized.

Fifth, the detection efficiency can be improved by classifying the object by each structure, installation, independent object, and moving object, and controlling the detection and control in response to the intrusion of an outsider corresponding to each object, cracks in the structure, floating subsidence, or shear deformation.

Sixth, by preventing image distortion from occurring, it is possible to secure more accurate sensing data, thereby improving data reliability.

Seventh, it is possible to track an intrusion path based on accurate location information regardless of day or night, as well as provide useful alarm information by synthesizing location information and object shape to provide reliable and efficient management of security facilities, unlike existing CCTVs and infrared cameras. is possible

Eighth, through the lidar sensor, not only can the intruder be identified, but also the infiltration location and the infiltration and escape route can be accurately identified, and the detection area can be easily controlled with a simple operation, thereby maximizing user convenience.

Ninth, since the detection area is wide, there is no need to install excessive sensors, and it is convenient because it is possible to control the approval of security cancellation and locking with a simple operation.

1 is a block diagram showing the configuration of an integrated building management system using a lidar sensor according to an embodiment of the present invention.
FIG. 2 is a view showing the operation of the support frame and the rotating frame in the integrated building management system using the lidar sensor of FIG. 1 .
FIG. 3 is a flowchart illustrating a control flow for the integrated control unit to classify an object for each object in the building integrated management system using the lidar sensor of FIG. 1 .
4 is a flowchart illustrating a control flow for determining shear deformation or floating settlement of a structure when the integrated control unit of FIG. 3 determines that the object is a structure.
5 is a flowchart illustrating a control flow for determining a crack of a structure when the integrated control unit of FIG. 3 determines that the object is a structure.
6 is a flowchart illustrating a process of collecting and storing sensing data when the integrated controller of FIG. 3 determines that the object is a moving object.
7 is a flowchart illustrating a process of correcting image distortion when the object of the integrated control unit of FIG. 3 is an installation.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, referring to FIGS. 1 and 2 , the integrated building management system (hereinafter referred to as 'building integrated management system') using a lidar sensor according to an embodiment of the present invention includes a frame unit 100 and a lidar sensor unit. 200 , a sensor control unit 300 , and an integrated control unit 400 may be included.

The frame part 100 is fixedly installed in a building, and the lidar sensor part 200 is coupled to serve to fix and support the position of the lidar sensor part 200 .

The frame part 100 may include a support frame 110 and a rotating frame 120 .

Here, the support frame 110 is fixed to a building corresponding to the installation position of the sensor control unit 300 . Here, as for the configuration of the support frame 110, if it can be fixedly installed in a building, various types of frames are applicable, and it is also possible to be fixedly installed in the building through anchor bolts, etc., and detailed description thereof will be omitted. .

The rotating frame 120 is coupled to the support frame 110 , and the lidar sensor unit 200 is coupled thereto.

On the other hand, although the lidar sensor unit 200 has a wide sensing area, there is inevitably a sensing blind area due to the characteristics of the light source having straightness and the structural characteristics of the building structure. Therefore, in order to minimize the detection blind area, it is possible to supplement this by installing more lidar sensor units 200 . However, in this case, the cost increase due to excessive installation of the lidar sensor unit 200, etc., as well as damage to the building due to coupling means such as anchor bolts, and lowering the aesthetics of the building.

Accordingly, the present invention enlarges the sensing area of the lidar sensor unit 200 by rotating the rotation frame 120 to which the lidar sensor unit 200 is coupled, instead of installing a lot of the lidar sensor unit 200 . , through which it can be configured to minimize the detection blind area.

Accordingly, looking at the rotation configuration of the rotation frame 120 , the rotation frame 120 is rotatably coupled to the support frame 110 , and is controlled to be rotated by a driving signal of the sensor control unit 300 . do.

In detail, the rotation frame 120 may include a first rotation shaft part 121 and a second rotation shaft part 122 so as to be capable of two-axis rotation.

The first rotation shaft unit 121 is rotatably coupled to the support frame 110 , and is configured to rotate the lidar sensor unit 200 in a horizontal or vertical direction.

And the second rotation shaft part 122, one side is rotatably coupled to the first rotation shaft part 121, and the lidar sensor part 200 is coupled to the other side, and the lidar sensor part according to the rotation. 200 is formed in a direction orthogonal to the first rotational shaft portion 121 to rotate about a rotational axis orthogonal to the rotational axis of the first rotational shaft portion 121 .

On the other hand, the configuration of the first rotation shaft part 121 and the second rotation shaft part 122 is a rotation driving part which is driven and controlled by a driving signal of the sensor control part 300, respectively, and is connected to the rotation driving part to rotate the shaft. It may be configured to include a rotation shaft and a body coupled to the rotation shaft, and various configurations may be applied if the above-described two-axis rotation configuration, such as a configuration including a known rotation gear unit.

According to the above, the rotating frame 120 can rotate the lidar sensor unit 200 in a horizontal direction through the first rotating shaft part 121 and the second rotating shaft part 122 as well as vertically. Since it can be rotated in one direction, the detection area of the lidar sensor unit 200 can be enlarged as much as possible, and the detection blind area can also be minimized.

On the other hand, in the drawing, the first rotation shaft part 121 is positioned in a horizontal direction, one side is coupled to the support frame 110 , and can be rotated about a virtual horizontal rotation axis with respect to the support frame 110 . are tightly coupled.

And the second rotation shaft portion 122 is erected in a vertical direction, the upper side is coupled to the lower portion of the other side of the first rotation shaft portion 121, and a virtual vertical rotation axis with respect to the first rotation shaft portion 121 as a center rotatably coupled. Here, the horizontal direction and the vertical direction refer to the transverse direction and the longitudinal direction, and of course include not only the horizontal and vertical directions but also the inclined directions.

According to this, the sensor control unit 300 not only rotates in the vertical direction through the first rotation shaft part 121 and the second rotation shaft part 122 as shown, but also rotates in the horizontal direction to form a sensing area. It can be enlarged, and thus the detection blind area can be minimized.

On the other hand, although the first rotation shaft part 121 and the second rotation shaft part 122 are positioned horizontally and vertically, respectively, they can be installed in various shapes, and if the above-described two-axis rotation in different directions is possible, various designs is of course possible.

The lidar sensor unit 200 is installed on the frame unit 100 and is configured to detect the position and shape of the object using a light source.

In detail, the lidar sensor unit 200 may include a light irradiation unit 210 , a light receiving unit 220 , and a data transmission unit 230 .

The light irradiation unit 210 is configured to irradiate a laser to the object through irradiation units arranged in a plurality of rows. Here, the irradiation unit, is configured to irradiate a laser light source, such a configuration can be applied to the configuration of a known laser irradiating means.

The light receiving unit 220 is configured to receive the laser reflected after being irradiated through the irradiation units, including the receiving units. Here, the receiving units are configured in a shape corresponding to the light irradiator 210, and are configured to receive the laser irradiated and reflected from the irradiating unit.

Here, the light receiving unit 220 is configured to receive the reflected laser, as well as to receive various information of the laser, such as energy information of the reflected laser.

On the other hand, the irradiation unit and the receiving unit correspond to the configuration of irradiating a light source consisting of a matrix, such as a known VCSEL (vertical-cavity surface-emitting laser), and the number and arrangement thereof can be set in various ways. Of course, it can be designed in various ways in consideration of the detection range and installation location.

The data transmitter 230 is configured to transmit the sensed data generated through the laser beams received by the light receiver 220 to the sensor controller 300 .

Here, the sensed data includes energy information of the irradiated laser and energy information of the received laser, and may include various information such as a received time after irradiating the laser.

The sensor control unit 300 drives and controls the light receiving unit 220 and the light irradiation unit 210 of the lidar sensor unit 200 according to a control signal transmitted from the integrated control unit 400, and the lidar sensor It is configured to transmit the sensed data received from the data transmission unit 230 of the unit 200 .

In addition, the sensor control unit 300 is configured to receive a control signal from the integrated control unit 400 and transmit a driving signal to the frame unit 100 .

The integrated control unit 400 analyzes the sensed data collected from the sensor control unit 300 and serves to transmit a control signal.

That is, the integrated control unit 400 analyzes the sensed data in a configuration that controls the overall building management system, and transmits a control signal to the sensor control unit 300 to the frame unit 100 and the lidar sensor unit. (200) control the drive.

On the other hand, as described above, the integrated control unit 400 controls the integrated building management system as a whole to perform integrated management of buildings such as intrusion from outsiders, fires, cracks or inclinations of buildings, and the efficient management is required

Accordingly, the integrated control unit 400 measures changes in the positions of the objects in time series through the sensed data, classifies them into individual objects according to the measured results, and moves the sensed objects according to whether or not they are movable. It can be configured to efficiently manage and control objects by classifying them into objects and analyzing them according to analysis criteria such as behavioral characteristics and change characteristics for each divided object.

Before examining the control of the integrated control unit 400 for each object, first, the object will be examined.

The object may be divided into a structure, an installation, an independent object, and a moving object.

First, the structure has a configuration in which the position change is less than a set limit value, and the limit value at this time considers the movement in consideration of the inclination of the structure. Accordingly, the structure may represent a configuration in which the position is almost fixed, and a building may be configured as a representative example.

Next, the installation shows a configuration in which the position change is greater than or equal to the set limit value, and the position change has periodicity. Here, the periodicity of the location change includes that the location change has a certain period and that the location change occurs in a certain pattern, and may include a configuration such as an opening/closing door normally installed in a building.

The independent object represents a configuration in which the change in position is greater than or equal to a set limit value, there is no periodicity in the change in position, and the stop time is equal to or greater than a set reference value. That is, since the independent object can move separately from the structure, it has a location change but does not have a certain pattern, and may include a fire extinguisher or furniture installed in a building.

The moving object represents a configuration in which the change in position is greater than or equal to a set limit value, there is no periodicity in the change in position, and the stop time is less than a set reference value. According to this, the moving object not only moves without a specific periodicity in a building, but also exhibits a configuration with frequent mobility because the stop time is not long, and may include a person, an animal, or the like.

Hereinafter, a process in which the integrated control unit 400 classifies an object by object will be described.

First, the integrated controller 400 may classify the object for each object based on the amount of change in the position of the object, the periodicity of the change in position, and the stopping time of the object.

Here, the position change amount means the position change amount of the object for a set time. And the periodicity with respect to the position change means that the position change has a repetitive periodicity from the time of appearance to the time of disappearance.

Referring to FIG. 3 , when the object classification criterion is set in this way, the integrated control unit 400 first collects sensed data (S11), and specifies an object to be determined through the collected sensed data (S12).

Then, in order to classify the specified object for the corresponding object, the integrated controller 400 first compares the position change amount of the object with the limit value, and determines whether the position change amount of the object is equal to or greater than the limit value (S13).

Here, the limit value is an extremely small value, and when the amount of change in position is less than the limit value, the position is almost fixed, and when the object is a structure such as a building, the limit value is a value in consideration of the inclination of the structure. .

Meanwhile, in the above, when the amount of change in the position of the object is less than the limit value, the integrated control unit 400 determines that the object is a structure ( S15 ). As described above, it can be determined that the position is fixed when the amount of position change is less than the limit value, and in this case, the object can indicate that the position is a fixed structure, such as a building.

On the other hand, if the amount of change in the position of the object is greater than or equal to the limit value, the integrated control unit 400 determines whether there is a periodicity in the change in the position of the object in the following process (S14).

In this case, the integrated control unit 400 determines that the object is an installation when there is a periodicity in the change in the position of the object (S16). This is because, as described above, that the position change of the object has a periodicity means that it has a position movement pattern like a rotating door installed in a building, and in this case, it can be determined as an installation.

On the other hand, when there is no periodicity in the position change of the object, the integrated control unit 400 measures the stop time of the object in order to distinguish whether the object is an independent object or a driving object, and the stop time of the object is a reference value. It is determined whether it is abnormal (S17).

Accordingly, the integrated control unit 400 determines that the object is an independent object if the stop time of the object is equal to or greater than the reference value (S18), and determines that the object is a driven object if the stop time of the object is less than the reference value (S19).

Hereinafter, various detailed control methods for each object of the integrated control unit 400 will be described.

First, looking at the case where the object is determined to be a structure, the structure corresponds to the fixedly installed building as described above, and in the case of such a structure, safety management or aging management including deformation is required.

Accordingly, the integrated control unit 400, the shear deformation in which the inclination between the structure vertical member and the horizontal member is deformed by the horizontal force acting on the structure, the inclination of the structure caused by the floating subsidence of the ground, and the external force or deterioration of the structure Analyze and inspect each crack caused by

Here, the floating settlement (unequal settlement) refers to all settlements in which the entire structure is inclined because the amount of settlement of the structure is not the same due to the uneven state of the support base of the structure caused by various causes. In addition, the term "crack" is used to include not only cracks occurring in structural members such as walls, columns, slabs, beams, but also peeling of concrete, compression fracture, and the like.

Hereinafter, with reference to FIGS. 4 and 5 , a case in which the integrated control unit 400 determines shear deformation or floating settlement or cracking of such a structure will be described, respectively.

First, a case of determining the shear deformation of a structure will be described.

Referring to FIG. 4 , when the object is determined to be a structure ( S21 ), the integrated controller 400 measures relative angles between the boundary lines of the structure and measures the change in the relative angle ( S22 ). In this case, the measurement target may be the structural member of the structure as described above.

Thereafter, the integrated control unit 400 determines whether the relative angle between the boundary lines of the structure changes (S23), and when the relative angle change of the structure occurs, the accumulated relative angle change amount of the structure is measured, and the relative angle It is determined whether the amount of change has linearity (S24).

At this time, when it is determined that the accumulated relative angle change amount of the structure has linearity, the integrated control unit 400 determines that the structure undergoes shear deformation (S26). This is because the fact that the accumulated relative angle change of the structure has linearity can be determined that the structure is tilting.

On the other hand, if it is determined that the accumulated relative angle change amount of the structure does not have linearity, the integrated control unit 400 performs the measurement of the relative angle between the previous structure boundary lines again (S22).

On the other hand, if it is determined that the shear deformation of the structure proceeds as described above, the integrated control unit 400 accumulates, collects and stores the sensed data for the structure (S28).

Afterwards, if the shear deformation of the structure is out of the set range through the accumulated detection data for the structure and falls within the risk range for structural design safety, an alarm signal is output to the integrated manager (S29) to conduct a safety check.

Next, a case of determining the floating settlement of the structure will be described.

Prior to this, looking at the floating settlement of the structure, the floating settlement means that the entire structure inclines as the base ground of the structure settles non-uniformly, and this floating settlement can be determined through the change of the relative angle between the boundary lines of the structure. can't Therefore, in order to determine the floating settlement, a change in the position (direction) of the structural member with respect to the direction of gravity is measured, and the floating settlement can be determined through this.

Accordingly, first, when the object is determined to be a structure as described above (S21), the integrated control unit 400 measures the change in relative angle between the boundary lines of the structure (S22) to determine whether the relative angle between the boundary lines of the structure changes. (S23) is performed.

And at this time, when it is determined that there is no change in the relative angle of the structure, the integrated control unit 400 determines whether there is a change in the direction of gravity of the structure next (S25).

If there is no change in the direction of gravity of the structure at this time, the integrated control unit 400 determines that there is no specific problem with the structure, and continuously measures the change in the relative angle between the boundary lines of the structure.

On the other hand, if it is determined that there is a change in the direction of gravity of the structure, the integrated control unit 400 determines that the floating settlement of the structure occurs (S27). At this time, the integrated control unit 400, in determining the occurrence of floating settlement, if a plurality of lidar sensor parts 200 are mounted in the structure, the degree of agreement of the floating settlement amount measured by each lidar sensor part 200 Accordingly, it can be judged as the floating settlement of the structure or the support defect of the individual lidar sensor.

On the other hand, if it is determined that the floating settlement of the structure occurs as described above, the integrated control unit 400 accumulates, collects and stores the sensing data for the structure (S28), and thereafter, the amount of the floating settlement of the structure If it goes out of the set range and falls within the set risk range for structural safety, it outputs an alarm signal to the integrated manager to carry out safety check.

Next, a case of judging a crack in a structure will be described.

First, the integrated control unit 400 detects a change in the shape of the surface of the structure of the object determined to be a structure in order to determine the crack of the structure, and when the change in the shape of the surface of the structure occurs, it is determined whether the amount of change in the shape increases. do.

Referring to FIG. 5 , the integrated control unit 400 detects the shape of the surface of the structure when it is determined that the object is a structure ( S31 ).

And the integrated control unit 400 determines whether the shape of the structure surface is changed (S33).

Here, when it is determined that there is no change in the shape of the surface of the structure, the integrated control unit 400 continuously detects the shape of the surface of the structure (S32). On the other hand, when there is a change in the shape of the surface of the structure, the accumulated shape change amount of the surface of the structure It is determined whether or not it has linearity within this preset variation range (S34).

At this time, when the accumulated shape change does not have linearity within the preset change amount range, the integrated control unit 400 determines that it is caused by damage to the interior or exterior materials of the building, contamination of the structure, etc., and determines the shape of the structure surface. Continuously detects (S32).

However, the integrated control unit 400 determines that the crack progresses in the structure when the accumulated shape change amount of the structure surface increases linearly within the preset change amount range (S35).

This is because, given the characteristics of cracks that progress at a very slow rate as time goes by, increasing the amount of change in the shape of the structure surface within the preset change range may mean that the crack is progressing in the structure.

When it is determined that the crack of the structure is progressing as described above, the integrated control unit 400 collects and stores the detection data for the structure (S36), and thereafter, the amount of change in the shape of the structure falls within the risk range for structural design safety. If it belongs, it outputs an alarm signal to the integrated manager (S37) to conduct a safety check.

Meanwhile, in the above description, the case in which the integrated control unit 400 determines the shear deformation or floating settlement or cracking of the structure when the object is a structure has been described.

Hereinafter, an analysis process of the integrated control unit 400 when the object is a moving object will be described with reference to FIG. 6 .

First, a moving object can be classified as a person who can move freely as described above. In this case, when the object is a moving object, it is necessary to collect and monitor data of the moving object for security and the like.

Accordingly, the integrated controller 400 first detects the object (S41) and analyzes whether the object is determined to be a moving object (S42). In this process, when the object is determined to be a moving object, the integrated controller 400 collects and stores sensing data for the corresponding moving object (S43), and when the object is not a moving object, the integrated control unit 400 detects the object again.

On the other hand, here, the integrated control unit 400, for efficient and economical monitoring and security work, detects the movement of the object determined to be a moving object, and stops the collection and storage of the sensed data when the movement of the moving object is stopped. can do.

Furthermore, the integrated control unit 400 transmits the collected detection data information of the moving object to the external CCTV management center server, so that the CCTV near the moving object takes an enlarged picture of the moving object, so that more accurate information of the moving object can be configured to obtain

Meanwhile, in the following, a configuration of the present invention that is configured to correct image distortion and can acquire more accurate sensed data will be described.

First, it has been described above that the present invention is configured to acquire sensing data through an output laser and a light-receiving laser that is reflected thereto, and to perform integrated management of a building through this.

In consideration of this, when the object is made of a material that affects the reflection of the light source, only the energy of the light source reflected on the object is significantly higher than the energy of the light source reflected on the other object, so The interference may cause sensing distortion around the reflective material object, thereby reducing the accuracy of the sensing data.

For example, when the object is made of a material such as glass or a mirror, in the sensed data, the received energy of the light receiving laser becomes high while the object reflects the output laser, and this high received energy causes interference with other light receiving lasers. It may cause phenomena such as image distortion as well as lowering the accuracy of the sensed data.

Therefore, in the present invention, considering that image distortion may occur due to such interference,

In order to prevent this, the difference between the output energy and the received energy can be configured to reduce the laser output amount of the corresponding irradiation unit greater than the set value, and to reduce the received energy reflected in response thereto, so that more accurate sensing data can be obtained.

Furthermore, in the present invention, in the process of correcting such image distortion, the object is limited to an installation or an independent object. This is because, in the case of a structure, correction setting is possible through the data of the structure at the initial stage of setting, and in the case of a moving object that moves frequently, the utility of the correction data is small.

Hereinafter, an image distortion correction process of the integrated controller 400 will be described with reference to FIG. 7 .

First, the integrated control unit 400 compares and measures the received energy between the light-receiving lasers through the receiving unit for the output laser of the same energy irradiated from the irradiation unit (S51), and the difference value between the received energies is set. It is determined whether or not the value is greater than the value (S52).

Here, the set value is an energy difference value by which it can be determined that image distortion may occur due to interference, etc., and the set value is set according to the algorithm of the integrated control unit 400 using the sensed data and the performance of the receiving unit. can

In the above process, when it is determined that the difference between the received energies is greater than or equal to a preset value, the integrated control unit 400 determines whether the object is an installation or an independent object (S53). This is because the object determination of the object is for effective data processing and management as described above, and it is inefficient to apply the correction algorithm to the case where the image distortion is temporary in a short time.

Accordingly, when the object is an installation or an independent object, the integrated control unit 400 determines the irradiation unit for irradiating the object (S54). Here, the determination of the irradiation unit for irradiating the object may be determined through an algorithm in consideration of the positional movement of the irradiation unit due to the rotation frame 120 .

When the irradiation unit that irradiates the object is determined by the above process, the integrated control unit 400 reduces the laser output amount of the irradiation unit (S55) so that the difference between the received energies is maintained within an appropriate range. and corrects image distortion through this (S56).

Here, the reduction value of the laser output amount of the irradiation unit may be set by comparing the difference between the output energy and the received energy, and the received energy value of the other light-receiving lasers.

On the other hand, the building integrated management system, including the detection of cracks or inclinations of the above-described building, security according to the intrusion of an outsider, and also possible efficient management of drone delivery in connection with the delivery system using a drone.

To this end, the integrated control unit 400 sets the location of the landing point of the delivery drone in the building, and transmits the location information of the landing point set in this way to the delivery drone or the drone management system to make efficient drone delivery. It can be configured to

In addition, the integrated building management system may be configured to detect a fire occurring in a building and implement a fire alarm accordingly.

To this end, the integrated control unit 400 measures the light reflectivity of the sensed data, determines whether smoke is generated through the irregularity of the degree of change of the light reflectivity and the degree of change of the light reflectance, and when it is analyzed that smoke is generated, a fire may be configured to output an alarm signal by determining that has occurred. Here, the degree of change in light reflectance in the preset range indicates a range of change in light reflectance measured by smoke particles.

As described above, the integrated control unit 400 determines whether smoke is generated by determining whether the degree of change in light reflectivity for the entire light-receiving laser is within a preset range. This is to distinguish whether the light reflectance is lowered by a moving object or an independent object.

In addition, the integrated control unit 400 determines the smoke generation according to whether the light reflectance gradient has irregularity. This is to use the diffusion characteristics of smoke in order to distinguish between changes in ambient illuminance, etc. and a decrease in light reflectance caused by smoke.

As described above, the integrated control unit is configured to reduce the light reflectance due to smoke particles when smoke is generated, and considering that the light reflectance change rate is irregular due to the diffusion characteristics of smoke, the light reflectance change rate and Through the characteristics including irregularity of the light reflectance gradient, it is possible to determine whether smoke is generated and to conduct a safety check.

Here, the alarm signal may be transmitted to a fire alarm speaker or a manager terminal in a building to generate an alarm visually and aurally, and may transmit an alarm signal to an external fire engine.

This is in consideration of the fact that smoke generated during a fire lowers the light reflectivity of the irradiated laser, and the integrated control unit 400 considers that smoke has occurred and determines that a fire has occurred if the light reflectivity is low within a set range. .

Although the present invention has been described with reference to the embodiments shown in the drawings, which are merely exemplary, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

Meanwhile, the building integrated management system may be configured according to another embodiment below.

Looking at this, the building integrated management system may be configured to include a lidar sensor, a transmission module, an analysis module, and a detection signal module.

First, the lidar sensor consists of a TX module of the lidar sensor installed in the center of a specific monitoring area of a security facility, and an RX module that receives the collected point cloud data, determines whether there is an intrusion, and issues an alarm. can

In detail, the lidar sensor may be installed including a TX module in the center of the measurement area, and an RX module that receives the collected point cloud data, determines whether there is an intrusion, and issues an alert.

The transmission module serves to transmit the point cloud data collected by the lidar sensor to the analysis module.

The analysis module is configured to receive the point cloud data transmitted from the TX module, analyze whether location information is included, and analyze whether there is a shape and transmit the analyzed information to the detection signal processing unit.

The detection signal module is configured to selectively output alarm activation and shape detection information according to whether an alarm is activated or a false alarm signal is detected according to the control logic of the program in response to the analysis module and the analysis signal.

Hereinafter, a location-based tracking system by the integrated building management system will be described.

The above-described location-based tracking system is a technology for tracking and detecting intruders based on location information. Unlike the intruder detection system using an infrared sensor and real-time monitoring of a supervisor through a conventional fixed video camera, an inflection point of an object or person is generated based on location-based information. It represents an intrusion path tracking system based on time x, y, z location information.

The building integrated management system has a specialized extended detection area in the existing CCTV, extended detection coverage to sections other than buildings, and a wide range of detection coverage for possible intrusion paths in the sky and surrounding areas other than buildings And, with the advent of small flying devices such as drones, it is possible to meet the need for sensing in the sky and around buildings.

The building integrated management system may have a drag security solution unlock function, and a drag security release lock solution, a security release lock solution through centimeter class division setting, and security based on the location of the constructed 3D building exterior wall A release lock and drag function may be provided.

In addition, the building integrated management system is configured to include a security lock release algorithm and a security release algorithm through a mouse drag in a certain section or area on the program.

On the other hand, the integrated management system for the building can maximize the tracking range of the existing CCTV or infrared camera with a lidar sensor installation location of up to 200m, and a detection range of up to 200m with one sensor.

Preferably, the lidar sensor is preferably attached to the lidar sensor at a position of about 8:2 from the ground based on the central entrance of the building, and coverage can be optimized according to the installation location, and the attachment angle and lidar performance This can lead to functional improvement.

On the other hand, the building integrated management system may also perform a building aging management function. In other words, the lidar sensor-based facility control system can manage aging such as cracks and erosion types in the building wall in addition to detecting intruders, and after initializing the inclination degree and crack degree of the building exterior wall into a DB, tilt cracks at a certain period By measuring the degree, it becomes a stepping stone to build an information database on the difference value, and then it can be used to implement a system that generates a warning sound for the part that is exceeded by setting building design standards and maintenance standards.

Furthermore, the building integrated management system can be used as a drone delivery management system in relation to drone delivery by adding a function of setting accurate landing coordinates based on location information for unmanned services such as drone delivery.

The building integrated management system can also be applied as a video tracking system linked with lidar and CCTV. The lidar sensor-based facility control system may be implemented to transmit the intrusion traces and changes detected based on location information in the lidar to the CCTV, and move the camera to the corresponding position to track the image.

To this end, the lidar detection signal CCTV is transmitted, and the change point of the acquired point cloud data is transmitted to the CCTV processor as location information, and the CCTV detects it and moves to the corresponding point through a 3D building map to zoom in and zoom in. Then, when continuous changes are detected, the corresponding function can be implemented by tracking the CCTV image.

The building integrated management system may be applied as an interlocking system with a 3D model of a building constructed with lidar and a CCTV imaging device.

At this time, the lidar CCTV interworking technology (algorithm) for implementing a video tracking system interlocking lidar and CCTV is to construct a 3D DB on the exterior wall of the lidar building (100), extract and convert the location information value, and input the CCTV Sends location information to , maps the received location information on the outer wall map of the building, moves the CCTV to the point of change, zooms in (x4, x 8), releases the movement when there is no change, and sets the CCTV tracking system when there is a change After that, it goes through the process of video recording along the path.

In addition, the integrated building management system receives the output signal of the LIDAR communication module that receives the location analysis signal and transmits it to the detection signal processing unit by interworking with the DB that calls the 3D modeling building 3D data, and the CCTV facility side communication module, and sends it to the detection signal processing unit. It includes a CCTV communication module that transmits.

Hereinafter, a fire detection system using lidar location information will be described. The lidar sensor-based facility control system can be applied as a fire alarm device using 3D information outside or inside a building, and by measuring the reflectivity of the lidar based on the acquired location data, it immediately recognizes the situation in the event of a fire and issues an alarm. The ringing system is configured to make an emergency call to 119 when a detection alarm occurs.

In addition, the building integrated management system may automatically track fire detection through a lidar sensor, and detect a lidar response method and information after fire detection for implementing a sensor tracking response system for fire occurrence.

In addition, the lidar sensor-based facility control system, the integrated management system for buildings, generates a warning alarm when a fire is detected, displays the location information on the map after the alarm, and automatically transmits information about the location and fire size to 119 automatically. have.

100: frame part 110: support frame
120: rotating frame 121: first rotating shaft part
122: second rotation shaft unit 200: lidar sensor unit
210: light irradiation unit 220: light receiving unit
230: data transmission unit 300: sensor control unit
400: integrated control unit

Claims (16)

a frame unit fixedly installed in a building;
a lidar sensor unit installed in the frame unit and configured to sense the position and shape of the object using a light source;
a sensor control unit for controlling driving of the lidar sensor unit according to a control signal and transmitting the sensed data received from the lidar sensor unit;
and an integrated control unit that analyzes the sensed data collected from the sensor control unit and transmits the control signal:
The frame part,
a support frame fixed to the building;
The lidar sensor unit is coupled, is rotatably coupled to the support frame, and is configured to include a rotating frame rotated by a driving signal of the sensor control unit:
The rotating frame is
A first rotating shaft portion rotatably coupled to the support frame to rotate the lidar sensor unit in a horizontal or vertical direction;
The lidar sensor unit is coupled, and comprises a second rotating shaft portion formed in a direction orthogonal to the first rotational shaft portion to rotate the lidar sensor portion about a rotational axis orthogonal to the rotational axis of the first rotational shaft portion:
The integrated control unit,
It is configured to measure the change in the position of the object in time series through the sensing data, and to classify and analyze the object by object according to the measured result:
The object is
a structure in which the position change is less than a set limit value;
An installation in which the position change is greater than or equal to a set limit value, and there is a periodicity in the position change;
an independent object in which the position change is greater than or equal to a set limit value, there is no periodicity in the position change, and the stop time is equal to or greater than a set reference value;
The integrated building management system using a lidar sensor, characterized in that the position change is greater than or equal to a set limit value, and there is no periodicity in the position change, but each is classified as a moving object whose stop time is less than a set reference value.
delete delete delete delete The method of claim 1,
The integrated control unit,
When the object is classified as a structure,
Integrated management of buildings using a lidar sensor, characterized in that it is configured to determine that the shear deformation of the structure is in progress when the relative angle change between the structure boundary lines occurs and the accumulated relative angle change amount of the structure has linearity system.
The method of claim 1,
The integrated control unit,
When the object is classified as a structure,
If there is no change in the relative angle between the boundary lines of the structure, but there is a change in the direction of gravity, the integrated building management system using a lidar sensor, characterized in that it is configured to determine that the floating settlement of the structure is occurring.
The method of claim 1,
The integrated control unit,
When the object is classified as a structure,
A building integrated management system using a lidar sensor, characterized in that it is configured to determine that a crack progresses in the structure when the shape change of the structure surface of the structure occurs and the accumulated shape change amount of the structure increases.
9. The method according to any one of claims 6 to 8,
The integrated control unit,
If the amount of shear deformation or floating settlement or cracking amount of the structure is greater than or equal to a preset value, the integrated building management system using a lidar sensor, characterized in that it is configured to collect and store the detection data for the structure and output an alarm signal.
The method of claim 1,
The lidar sensor unit,
a light irradiator for irradiating a laser to the object through irradiation units arranged in a plurality of rows;
a light receiving unit for receiving the laser reflected after being irradiated through receiving units configured in a shape corresponding to the light irradiation unit;
The integrated building management system using a lidar sensor, characterized in that it comprises a data transmitter for transmitting the sensed data generated through the laser beams received by the light receiver to the sensor controller.
The method of claim 1,
The integrated control unit,
A building integrated management system using a lidar sensor, characterized in that it is configured to detect the object and collect and store the sensed data for the moving object when the object is determined to be a moving object.
12. The method of claim 11,
The integrated control unit,
The integrated building management system using a lidar sensor, characterized in that by transmitting the location information of the moving object to an external CCTV management center server, the CCTV near the moving object is configured to enlarge the moving object.
The method of claim 1,
The integrated control unit,
A building integrated management system using a lidar sensor, characterized in that it is configured to set the location of the landing point of the delivery drone and transmit the location information about the landing point to the delivery drone.
The method of claim 1,
The integrated control unit,
Measuring the light reflectivity of the sensed data, determining whether smoke is generated through the irregularity of the degree of change of the light reflectance and the degree of change of the light reflectance, and outputting an alarm signal when it is determined that smoke has occurred Building integrated management system using lidar sensor.
15. The method of claim 14,
The integrated control unit,
Building integrated management system using a lidar sensor, characterized in that it is determined whether or not smoke is generated based on whether the degree of change of the light reflectivity in the detection data is within a preset range.
15. The method of claim 14,
The integrated control unit,
A building integrated management system using a lidar sensor, characterized in that it is determined whether smoke is generated based on whether the degree of change of the light reflectance has irregularity.

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