KR101394736B1 - A control system for Wrap-arround view running device - Google Patents

Abstract

The present invention relates to a driving apparatus for a vehicle, which comprises a running section which can be moved by the force of an engine or a motor, an image photographing section for photographing a front / rear / left / right image while moving together with the traveling section, And a data communication control unit for transmitting the corrected images through wireless communication, and a data communication control unit for transmitting the adjusted images to the omnidirectional monitoring omnidirectional monitoring apparatus. A driving control terminal capable of transmitting a control command to the monitoring driving device, and a controller for receiving the combined omnidirectional image captured by the omnidirectional monitoring driving device through wireless communication, transmitting the received omnidirectional image to the driving control terminal, And transmits the traveling control signal input through the terminal to the omnidirectional monitoring traveling device Wherein the data communication control unit includes a first SBC for correcting and matching distortions of an image photographed by the image photographing unit and a first SBC for correcting a travel control signal input from the travel control terminal to the server And a second SBC for converting the received signal into a signal recognizable by the driving unit and delivering it. This makes it possible to remotely control the omnidirection monitoring traveling device while checking the surrounding conditions.

Description

Description of the Related Art [0002] A control system for a wide-

The present invention relates to a system for controlling a movable traveling device while performing omnidirectional monitoring.

In general, the omnidirectional monitoring system is configured such that a photographing camera is installed on the front / back / left / right sides of the traveling device, and the information photographed by the installed camera is registered on the screen.

For example, Korean Unexamined Patent Publication No. 2010-0005971 entitled " vehicle omnidirectional surveillance system " generates an omnidirectional image by combining a plurality of depressed images converted into a sub- And displays a predicted locus display of the vehicle on the display and outputs it to the display.

In the above-described conventional technique, the driver can use the vehicle omnidirection monitoring system to more reliably drive the vehicle while confirming the omnidirectional image outside the vehicle from inside the vehicle.

However, in the related art as described above, there is a problem that the vehicle must be controlled while checking the surrounding images only when the vehicle is inside the vehicle.

That is, it is difficult for the user to confirm the omnidirectional image around the vehicle at the remote place, and it is difficult to control the vehicle remotely even if the omnidirectional image is confirmed.

An object of the present invention is to provide an omnidirectional monitoring and traveling device control system which acquires an omnidirectional image through an image capturing unit provided in a traveling device and inputs and controls a traveling route while confirming an image acquired through wireless communication with a driving control terminal .

It is another object of the present invention to provide a streaming server capable of capturing, encoding and transmitting a captured image in packets in order to transmit a captured image to a driving control terminal, And to provide a device control system.

The present invention relates to a driving apparatus for a vehicle, which comprises a running section which can be moved by the force of an engine or a motor, an image photographing section for photographing a front / rear / left / right image while moving together with the traveling section, And a data communication control unit for transmitting the corrected images through wireless communication, and a data communication control unit for transmitting the adjusted images to the omnidirectional monitoring omnidirectional monitoring apparatus. A driving control terminal capable of transmitting a control command to the monitoring driving device, and a controller for receiving the combined omnidirectional image captured by the omnidirectional monitoring driving device through wireless communication, transmitting the received omnidirectional image to the driving control terminal, And transmits the traveling control signal input through the terminal to the omnidirectional monitoring traveling device The data communication control unit includes a first SBC (Single Board Microcomputer) for correcting and matching the distortion of the image photographed by the image photographing unit, and a second SBC And a second SBC (Single Board Microcomputer) for receiving the signal through the server and converting the received signal into a signal recognizable by the driving unit, and the driving control terminal is connected to the odometer monitoring traveling device And a function of controlling the traveling of the omnidirectional monitoring travel apparatus by inputting a movement route through a drag control algorithm, wherein the drag control unit includes a display for receiving and displaying an image, The algorithm includes the And calculating a progress type of the omnidirectional monitoring travel apparatus using the current position and the pre / post position of the current position.

The display shows a driving route inputted using the drag control algorithm. The current position and the moving route of the omnidirectional monitoring traveling device are fed back through the server, and the traveling completed route on the traveling route is cleared and only the remaining route is shown .

The drag control algorithm may further include calculating a correlation between a current position and a next position in accordance with a progress type of the omnidirectional monitoring travel apparatus and calculating a speed and a time of the traveling wheel constituting the travel unit .

In the drag control algorithm, if three points representing a current position and a forward / backward position of the omnidirectional monitoring travel apparatus are on a straight line, the distance between the current position and the next position is divided into a straight line, The center and the center of the circle passing through the three points are calculated to calculate the central angle of the current position and the next position, and the speed and time of the left and right wheels are calculated using the center angle.

According to another aspect of the present invention, there is provided an image processing apparatus including a traveling unit for traveling, an image photographing unit for photographing a surrounding image while moving together with the traveling unit, and a controller for correcting the image data photographed by the image photographing unit, And a second SBC (Single Board Microcomputer) for receiving the driving control signal inputted by the user and driving the driving unit, And a display unit for displaying image data provided through the SBC, wherein the control unit checks the image data displayed on the display and displays the image data on the display unit, based on a driving control function including a driving path input function by a drag control algorithm and a real- Wherein the terminal and the drag control algorithm are arranged such that drag coordinates And removing the coordinates of the same point when the coordinates are input.
Determining a progress type of the omnidirectional monitoring travel apparatus by using a current position, a position to be moved, and a previous position coordinate in the drag control algorithm; and determining a traveling speed of the omnidirectional monitoring traveling apparatus according to a traveling type of the omni- And a step of calculating the time.
The omnidirectional monitoring travel device and the odometry control terminal are capable of wireless communication through a server, and the server recognizes the actual travel position of the omnidirectional monitoring travel device based on the location information received through the travel control terminal, And the current position of the omnidirectional monitoring travel device can be grasped while erasing the dragged position point on the display of the travel control terminal by feeding back the actual travel position to the travel control terminal.

According to the present invention, the user transmits the omnidirectional image photographed by the traveling device to the server through wireless communication and provides the omnidirectional image to the driving control terminal in the server, so that the omnidirectional image around the traveling device can be easily checked And the navigation path can be inputted by directly touching the display of the driving control terminal with the confirmed omnidirectional image. Therefore, there is an advantage that the traveling device can be more easily controlled.

According to the present invention, in the traveling apparatus, a calibration program is provided in the image capturing unit in order to correct the distortion of the image captured through the image capturing unit. Therefore, the user can confirm the omnidirectional image of the traveling device from above the traveling device through the traveling control terminal without distortion, and has the advantage that the traveling control can be performed more easily.

Also, according to the present invention, a plurality of conversion processes are performed while an image photographed by the travel control device is transmitted to the driving control terminal through the server, and finally converted into a swf packet and transmitted through the data stream server.

Accordingly, it is possible to transmit the data of the real-time shot image in a shorter time, thereby reducing the delay time.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an embodiment of a omnidirectional monitoring travel apparatus which is a main constituent of the present invention.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an omnidirectional monitoring traveling device,
3 is a schematic view showing a data communication process of the omnidirectional monitoring travel device control system according to the present invention.
4 is a view showing an embodiment of a camera module as a main component of the omnidirectional monitoring travel apparatus according to the present invention.
5 is a view showing a detailed configuration of a jig for mounting the camera module shown in Fig.
6 is a flowchart illustrating a process of correcting a captured image in the omnidirectional monitoring travel apparatus according to the present invention.
FIG. 7 is a diagram illustrating a process of correcting image distortion in the order shown in FIG. 6; FIG.
8 is a view showing an example of the use of a calibration program which is a main constituent of the omnidirectional monitoring travel device control system according to the present invention.
FIG. 9 is a diagram illustrating a process of transmitting a photographed image using a stream server of the omnidirectional monitoring traveling device control system according to the present invention.
10 is a diagram illustrating an algorithm in which drag control is performed using a driving control terminal in an omnidirectional monitor driving device control system according to the present invention.
11 is a diagram illustrating a process in which drag control is performed according to the algorithm shown in FIG.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. It is to be understood, however, that the spirit of the invention is not limited to the embodiments shown and that those skilled in the art, upon reading and understanding the spirit of the invention, may easily suggest other embodiments within the scope of the same concept.

FIG. 1 is a view showing an embodiment of an omnidirectional monitoring travel apparatus which is a main constituent of the present invention, and FIG. 2 is a view showing an embodiment of a travel control terminal for controlling a omnidirectional monitoring travel apparatus according to the present invention And FIG. 3 is a schematic view showing a data communication process of the omnidirectional monitoring and traveling device control system according to the present invention.

Referring to these drawings, the omnidirectional monitoring travel device control system according to the present invention includes a omnidirectional monitoring travel device 10 that travels by a control command to acquire a surrounding image through the image pickup means 120, A driving control terminal 20 for receiving and confirming an image photographed by the odometry monitoring device 10 and inputting a control command directly to the identified image to control the odometer monitoring and driving device 10, And a server (not shown) for transmitting control commands and data transmitted and received by the omnidirectional monitoring and driving apparatus 10.

In detail, the omnidirectional monitoring travel apparatus 10 includes a traveling unit 300 for traveling, a video image pickup unit 100 for taking a surrounding image while moving by the traveling unit 300, And a data communication control unit 200 for transferring control commands transmitted to the image capturing unit 100 and image data captured through the image capturing unit 100.

The driving unit 300, the data communication control unit 200, and the image capturing unit 100 are detachably coupled to each other in a stacked state.

Inside the outer case forming the traveling unit 300, an engine or a motor for traveling and a plurality of traveling wheels rotated by the engine or the motor are included.

The driving unit 300 moves while adjusting the steering direction and the steering angle of the traveling wheels according to a control command transmitted through the data communication control unit 200. In addition, a guide roller 320 may be provided at one side of the outer case of the traveling unit 300 to reduce the amount of impact upon collision with an obstacle during movement and to avoid an obstacle easily.

The image capturing unit 100 is provided on the upper side of the driving unit 300 and is capable of capturing all of the front / back / left / right directions. Four image capturing means 120 are provided.

In addition, a protective cap 110 may be further provided on the outer side of the image capturing unit 120 to prevent damage when colliding with an obstacle. Each of the image capturing units 120 acquires captured images in each direction And transmits the acquired image to the server through the data communication control unit 200.

The data communication control unit 200 is provided between the driving unit 300 and the image capturing unit 100 and is adapted to transmit images captured through the image capturing unit 120 to the server, (Single Board Microcomputer).

That is, the data communication control unit 200 receives the photographed images of the respective directions photographed by the four image photographing means 120 and converts them into data for wireless communication.

When the user control command is inputted through the driving control terminal 20, the driving control command is transmitted to the server through the wireless communication To the omnidirectional monitoring and driving apparatus (10).

Accordingly, in order to perform the respective functions, the data communication control unit 200 uses two SBCs, and in the case of the first SBC 220 for image matching and transmission, many calculations are processed. Therefore, a relatively high- And the second SBC 240, which is responsible for communication between the travel control terminal 20 and the traveling unit 300, is mounted with a relatively low CPU.

Also, the second SBC 240 for communication between the travel control terminal 20 and the traveling unit 300 may use a TCP / IP API (Application Programming Interface) method using an Ethernet cable. In this embodiment, The MCUs of the data communication control unit 200 and the driving unit 300 are connected to each other via a LAN so that a control signal can be transmitted.

The first SBC 220 connected to the image capturing unit 100 for forming and transmitting a matching image includes the four image capturing means 120 and a universal serial bus (USB) port And receives the photographed image.

The first SBC 220 performs calibration for correcting the distortion caused by the lens in the received image and homography for constructing a screen viewed from the upper surface of the traveling apparatus, -Around View (WAV) program to process the image to be transmitted.

In addition, the image processed as described above may be transmitted to a dedicated stream server and wirelessly transmitted to the driving control terminal 20.

Meanwhile, the travel control terminal 20 is configured by installing a program for controlling the omnidirectional monitoring travel device 10 in a portable terminal capable of receiving data through a wireless communication network such as 3G or LTE.

The program for controlling the omnidirectional monitoring travel apparatus 10 may be provided in an application form and includes a plurality of function buttons and a display 600 for displaying omni-directional images transmitted through the server.

In detail, a program for controlling the omnidirectional monitoring travel device 10 can be operated on the screen of the travel control terminal 20 in a touch input manner.

The plurality of function buttons include a power button 740 for turning the program on and off, a travel direction control button 770 for controlling the travel direction, a stop button 760 for stopping the vehicle during travel, And a line recognition input function for allowing a user to directly input a traveling route on the display 600. The setting button 720 is provided for adjusting the addition setting of the display screen.

4 is a view showing an embodiment of a camera module which is a main component of the omnidirectional monitoring travel apparatus according to the present invention. FIG. 5 shows a detailed configuration of a jig for mounting the camera module shown in FIG. Shown in Fig.

Referring to these figures, the image capturing unit 120 includes a camera 124 for separating a lens barrel and a lens from the image capturing PCB 121, a USB communication module (not shown) connected to the first SBC 220 And an imaging control unit 122 for processing the photographed image.

The camera 124 is configured to include 165 °, 140 °, and 120 ° lenses that can be coupled to the image sensor module in a state where the barrel is coupled with the barrel. In addition, since the interface for controlling the image sensor supports both I 2 C (Inter-Integrated Circuit) communication and SCCB (Serial Camera Control Bus) communication, it can be replaced with a sensor suitable for the system.

The USB communication module 128 can transmit the photographed grayscale image and the color image to the data communication control unit 200 at a maximum rate of 50 Fps per second (frames per second) 220) to be used immediately.

On the other hand, the image capturing unit 120 having the above functions is fixedly mounted on a jig for adjusting the angle of the camera.

In detail, the jig is provided with a tilting frame 150 coupled to a base 130 of a flat plate shape by a fastening member 190 so as to be adjustable in left and right angles.

The tilting frame 150 has a lower center portion protruding downward and formed in a substantially T shape and has a shaft receiving portion 152 ).

The rotation shaft 170 received in the shaft receiving portion 152 is fixedly supported by the bushes 154 at both ends so that the tilting frame 150 can be rotated right and left by a predetermined angle.

 On the upper surface of the tilting frame 150, a mount 140 for adjusting the vertical angle of the image pickup means 120 is mounted.

One side of the mount 140 corresponding to the bottom surface of the image pickup means 120 is formed to have a downward slope and a rotation protrusion 142 is provided on both sides of the mount 140.

The mount 140 formed as described above is coupled to the side frame 160 fixed to the tinging frame 150 with the rotation protrusion 142. For this purpose, A projection accommodating groove 162 corresponding to the projection 142 is provided.

Therefore, when the image pickup means 120 is mounted on the jig including the tilting frame 150 and the mount 140 as described above, the camera 124 can be adjusted up / down / left / right.

FIG. 6 is a flowchart illustrating a process of correcting a photographed image in the omnidirectional monitoring travel apparatus according to the present invention. FIG. 7 illustrates a process of correcting image distortion in the order shown in FIG. And FIG. 8 is a view showing an example of the use of the calibration program, which is a main constituent of the omnidirectional monitoring travel device control system according to the present invention.

Referring to these drawings, in the omnidirectional travel device control system according to the present invention, images in respective directions photographed through the four video image pickup means 120 are matched by applying an image processing algorithm in the first SBC 220 And transmitted to the script server.

In detail, the image processing algorithm first carries out a calibration program to correct the distortion of the lens mounted on the camera 124. The calibration program calculates the calibration parameters, the surface of the surface, and the homography matrix of the camera.

That is, the calibration program determines the conversion formula of the absolute coordinate system of the real world to the coordinates on the input image by associating the coordinate of the real world system with the pixel position of the input image, I.e., determining the outer and inner elements.

In this embodiment, the radial distortion caused by the spherical aberration of the lens is expressed by the following equation.

는 영상 평면의 원점으로부터의 방사거리이고

는 방사왜곡(radial distortion) 계수이다. here

Is the emission distance from the origin of the image plane

Is a radial distortion coefficient.

는 카메라 중심이고

는 이미지의 실제 중심과 획득된 중심의 차이다.

는 왜곡된 이미지 좌표이고

는 보정된 좌표이다. 방사왜곡은 아래와 같은 모델로 왜곡을 보정한다.
And,

Is camera-centric

Is the difference between the actual center of the image and the acquired center.

Is the distorted image coordinate

Is the corrected coordinate. The radial distortion corrects the distortion by the following model.

는 실제 3차원 좌표라 한다. To compensate for the rotational distortion, the camera model assumes pinhole modulation

Are referred to as actual three-dimensional coordinates.

는 영상내 좌표이며

는 카메라의 포커스 길이로 둔다. 광원의 중심은

,

축은 광원의 축으로 두고 카메라 행렬은

로 둔다. 실좌표계와 영상내 좌표의 관계는 아래의 수식과 같다.

Is the in-image coordinates

Is set to the focus length of the camera. The center of the light source

,

The axis is the axis of the light source and the camera matrix is

. The relationship between the real coordinate system and the in-image coordinate system is shown in the following equation.

라 하면 회전변환 행렬

이므로 회전 보정한 좌표

는 아래 수식과 같다.Then,

The rotation transformation matrix

Therefore,

Is the following equation.

그리고

은 아래 수식과 같이 정의된다.here,

And

Is defined as follows.

Meanwhile, the calibration program 400 according to the present invention provides an execution screen divided into a display unit 420 and an operation part 440. In the execution screen as described above, the intersection points are extracted from the pre-correction screen by using the correction plate as shown in FIG. 8A, and a transformation matrix such as the above-described equation is constructed, and the image is wrapped using the transformation matrix Thereby generating a corrected image as shown in FIG. 8 (b).

Homography is then performed to construct a view as viewed from the top of the omnidirectional monitoring and driving apparatus 10 as described above.

In the homography, the homography transform matrix is constructed by using the upper left point, the lower left point, the upper right point, and the lower right point of the grid point in the image obtained by placing the correction plate on the floor, and the view is reconstructed through image wrapping.

The omnidirectional monitoring screen is generated by cutting out the reconstructed images from the respective image acquiring means 120 in a single image so as not to overlap each position.

FIG. 9 is a diagram illustrating a process of transmitting a photographed image using a stream server, which is a main component of the omnidirectional monitoring and traveling device control system according to the present invention.

Referring to FIG. 5, in order to transmit the matching image to the driving control terminal 20, the matching image is first captured, and the FLV image codec is converted into a swf packet using the FLV video codec using FFMPEG.

The matching image converted into the swf packet is transmitted to the public network (3G or LTE) through the apache server or the stream sever.

Since the stream server can transmit a vga-class image at 30 frames per second, the video transmission delay is less than 0.1 second. Therefore, the stream server is suitable for real-time control, so that the matching image is transmitted through the stream sever in this embodiment.

Meanwhile, the matching image transmitted through the wireless communication through the stream server is confirmed through the display 600 of the driving control terminal 20 as described above.

The user can directly control the omnidirectional monitoring travel device 10 by checking the omnidirectional image displayed on the display 600. [

FIG. 10 is a diagram illustrating an algorithm for performing drag control using the driving control terminal in the omnidirectional monitor driving device control system according to the present invention. In FIG. 11, FIG. 2 is a view showing a process performed by the user.

As shown in these drawings, the driving control terminal 20 according to the present invention can input a control command in a touch input manner, and the traveling path of the omnidirectional monitoring traveling device 10 is displayed on the display 600 in a line form. As shown in FIG.

In detail, in order to remotely control the omnidirectional monitoring travel device 10, the user converts the command inputted by the user into the omnidirectional monitoring device 10 in accordance with a motion protocol available in the omnidirection monitoring travel device 10, Should be done.

Accordingly, the control algorithm of the omnidirectional monitoring travel apparatus 10 is built in the second SBC 240 of the data communication control unit 200, and the terminal protocol according to user input is defined in the travel control terminal 20 .

In detail, the terminal protocol is divided into two types: a transmission from the driving control terminal 20 to the second SBC 240 and a transmission from the second SBC 240 to the driving control terminal 20.

In detail, the format of the terminal protocol includes preamble 2 bytes 0x7F, 0x7F, length 2 bytes, and command.

The command format consists of type 1 byte and data.

The data structure is used to transmit a path through which the omnidirectional monitoring apparatus 10 moves by dragging, and the total number of the coordinate points to be dragged and the x, y coordinate values are alternately transmitted in sequence.

Total number of transfer coordinates
x
y
x
y
x
y
......
x
y

The protocols defined are shown in the table below.

send Item value Type Remarks
Driving control terminal
-> 2nd SBC Advance 1 (0x01) int Forward monitoring apse 2 (0x02) int Omnidirectional monitoring driving device backward Left DOWN 3 (0x03) int Turn left while the left button is held down Left UP 4 (0x04) int When left button-up, left-stop Right DOWN 5 (0x05) int Turn right while the right button is held down Right UP 6 (0x06) int Right turn up when right button up stop 7 (0x07) int Stopping omni-directional monitoring unit Drag coordinates 8 (0x08) int Omni-directional monitoring device sends route information to be moved setting
(Scale) 9 (0x09) int Set the actual distance of one pixel setting
(speed) 10 (0x10) int Set the speed of the odometer monitoring traveling device The second SBC
-> Driving control terminal Done 101 (0x65) int Send the result of the command Emergency stop 102 (0x66) int Emergency stop button sends result when pressed Communication lost 103 (0x67) int Transmission when communication between communication SBC and mobile omnidirection monitoring device is disconnected

Meanwhile, the driving control terminal 20 is provided with a manual control method in which the user continuously inputs the driving direction and the moving time by using the driving direction control button 770 and the stop button 760, The user can directly touch and drag the omnidirectional image to input the traveling route.

11, when a user draws a continuous line by using a finger gesture on a peripheral image shown on the display 600, the touch control method displays, on the display 600, A traveling line is shown.

When the control command for the line-input type is input to the travel control terminal 20, the drag control algorithm as shown in FIG. 10 is executed so that the omnidirectional monitoring travel device 10 can recognize the control command. .

In detail, the drag control algorithm performs a redundant coordinate elimination process for eliminating the coordinates of the same point in order to prevent the situation that the coordinates of the same point are inputted twice while the drag coordinates are input.

Also, when the user inputs the drag coordinates, the distance sampled is different according to the speed at which the user's finger moves. Therefore, the user performs monotone cubic interpolation to convert the coordinates into a set of equidistant points.

The rotation angle of the omnidirectional monitoring travel device 10 is calculated using the current position and the position to be moved of the omnidirectional monitoring travel device 10, The traveling direction of the traveling device 10 is calculated. If the three points representing the current position and the front / rear position are on a straight line, the traveling direction is linear. Otherwise, the traveling direction is divided into a curved line.

On the other hand, in the case of a straight line, the distance between the current position and the next position is calculated, and the time is calculated and stored at the speed transmitted from the travel control terminal 20.

)를 계산하며, 이를 이용하여 좌우 주행바퀴의 속도(

)와 시간(

)을 계산한다. In the case of a curved shape, the radius (r) and center of the circle passing through the three points are calculated, and the center position of the current position and the next position

), And calculates the speed of the left and right traveling wheels (

) And time (

).

)는 상기 수식으로 계산된다.Here, (v) is the speed of the omnidirectional monitoring travel device 10 transmitted from the smart pad and the time at which the omnidirection monitoring travel device 10 is moved

) Is calculated by the above equation.

)는 아래 수식으로 계산된다.And angular velocity (

) Is calculated by the following formula.

)는 아래 수식으로 구할 수 있다.Further, the speed of the left and right traveling wheels (

) Can be obtained by the following formula.

Meanwhile, the speed of the traveling wheel calculated by the above equation is transmitted to the traveling unit 300 through the second SBC 240, so that the omnidirectional monitoring and driving apparatus 10 can calculate the traveling speed of the traveling wheels, So that the direction is changed and the movement is performed.

Also, the server recognizes the actual travel position of the omnidirectional monitoring travel device 10 based on the position information received through the travel control terminal 20, and transmits the detected actual travel position to the travel control terminal 20, So that the current location of the omnidirectional monitoring and driving unit 10 can be grasped while erasing the position of the dragged position on the display 600 of the driving control terminal.

11, when a user inputs a driving route through the drag control on the display 100, a drag input path is shown in coordinates, and a driving wheel (not shown) corresponding to the movement of the omnidirectional monitoring travel device 10 It is possible to confirm the current position of the omnidirectional monitoring and driving apparatus 10 in the server.

The server feeds back the current position and the movement route of the omnidirectional monitoring and driving apparatus 10 thus confirmed to the driving control terminal 20 so that the completed route on the movement route is not displayed on the screen, So that the degree to which the monitoring and travel apparatus 10 has moved can be confirmed.

10 ..... All-round monitoring driving device 20 ..... Driving control terminal
100 ..... image capturing unit 120 ..... image capturing means
200 ..... Data communication controller 220 ..... First SBC
240 ..... Second SBC 300 ..... Driving section
400 ..... Calibration program 600 ..... Display

Claims (7)

An image capturing unit for capturing a front / back / left / right image while moving together with the traveling unit; and a control unit for correcting distortion of the image captured by the image capturing unit An omnidirectional monitoring traveling device including a data communication control unit for transmitting the corrected images by wireless communication;
A driving control terminal that displays a surrounding image photographed by the omnidirectional monitoring traveling device and can transmit a control command to the omnidirectional monitoring traveling device while checking the surrounding image shown; And
The control unit receives the omnidirectional image captured by the omnidirectional monitoring travel apparatus through wireless communication, transmits the received omnidirectional image to the driving control terminal, and transmits the driving control signal input through the omni- And a control unit for transmitting the control information to the server,
The data communication control unit includes a first SBC (Single Board Microcomputer) for correcting and matching distortion of the image photographed by the image photographing unit, and a control unit for receiving the driving control signal input from the driving control terminal through the server, And a second SBC (Single Board Microcomputer) for converting the signal into a recognizable signal,
The driving control terminal includes a display for receiving and displaying an image photographed by the omnidirection monitoring traveling device through the server. The user confirms an image displayed on the display, inputs a moving path through a drag control algorithm, And a function of controlling the running of the omnidirectional monitoring traveling device,
In the drag control algorithm,
And calculating a progress type of the omnidirectional monitoring traveling device using the current position and the current position of the omnidirectional monitoring traveling device.
The display according to claim 1, wherein the display
The current position and the movement route of the omnidirectional monitoring travel apparatus are fed back through the server to display the remaining travel route and the remaining travel route is displayed on the omnidirectional monitoring travel apparatus Of the control system.
The method of claim 1, wherein the drag control algorithm includes:
Further comprising the step of calculating a correlation between a current position and a next position in accordance with a progress type of the omnidirectional monitoring travel apparatus and calculating a speed and a time of a traveling wheel constituting the travel unit.
4. The method of claim 3, wherein the drag control algorithm
If the three points representing the current position and the forward / backward position of the omnidirectional monitoring traveling device are on a straight line, the distance between the current position and the next position is calculated by dividing the current position,
If the three points are not located on a straight line, the radius and center of the circle passing through the three points are calculated to calculate the center angle of the current position and the next position, and the omnidirectional monitoring Control system of traveling device.
An image capturing unit for capturing a surrounding image while moving together with the travel unit, a controller for correcting the image data photographed by the image capturing unit, matching the corrected image data, and transmitting the adjusted image data to the user 1 SBC (Single Board Microcomputer), and a second SBC (Single Board Microcomputer) for receiving a driving control signal input by a user and driving the driving unit;
And a display for displaying image data provided through the first SBC, wherein the user checks the image data displayed on the display to include a driving path input function by a drag control algorithm and a real time control function of the driving unit A driving control terminal for driving the vehicle; And
Wherein the drag control algorithm includes a redundant coordinate elimination process for eliminating coordinates at the same point when drag coordinates are input to the display.
6. The method of claim 5, wherein in the drag control algorithm,
Determining a progress type of the omnidirectional monitoring travel apparatus by using a current position, a movement position, and a previous position coordinate;
Further comprising the step of calculating a speed and a time of a traveling wheel constituting the traveling part according to a traveling type of the omnidirectional monitoring traveling device.
6. The method of claim 5,
Wherein the omnidirectional monitoring traveling device and the driving control terminal are capable of wireless communication through a server,
The server comprises:
The actual driving position of the omnidirectional monitoring traveling device is detected based on the position information received through the driving control terminal and the detected actual traveling position is fed back to the driving control terminal, So as to grasp the current position of the omnidirectional monitoring travel device.

Images