KR101524154B1 - Location measurement apparatus of a ship using numerous cameras - Google Patents

Abstract

The present invention discloses an apparatus for measuring the position of a ship using a plurality of cameras. The apparatus for measuring the position of a ship using a plurality of cameras according to the present invention includes a plurality of cameras (for example, CCTV) located near the sea and collecting images of the ship, and based on the image analysis results on the collected images, Is determined. Accordingly, the present invention can provide a vessel position recognition system of a different type from that of the related art, while satisfying the related legal provisions for receiving position information from three or more different types of position recognition systems.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a position measuring apparatus for a ship using a plurality of cameras,

The present invention relates to an apparatus for measuring the position of a ship using a plurality of cameras. More particularly, the present invention relates to an apparatus for measuring a position of a ship using a plurality of cameras (for example, CCTV) And an apparatus for measuring the position of a ship using a plurality of cameras for determining the position of the ship based on the analysis results.

Conventionally, at sea, a position recognition system called DP (Dynamic Positioning) is used to control the position and direction of a ship or a floating platform.

Such a position recognition system should be provided with position information from three or more different types of position recognition systems according to relevant laws. Accordingly, the currently used position control system basically includes GPS, and a laser-based recognition system and an underwater acoustic recognition system are used.

Such a conventional position recognition system performs an operation based on a physical law, and most of the position recognition systems are supplied exclusively by foreign companies.

Therefore, there is a need to develop a system capable of recognizing the position of a ship independently while meeting the related laws and regulations requiring location information from three or more different types of location recognition systems.

Korean Patent Publication No. 10-2012-25027 (Mar. 15, 2012)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a video surveillance system for a video surveillance system, And an apparatus for measuring the position of a ship using a plurality of cameras for determining the position of the ship based on the result of image analysis.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, according to a first aspect of the present invention, there is provided an apparatus for measuring a position of a vessel using a plurality of cameras, including a first platform having a target point, a second platform having a plurality of cameras for capturing the target point, And a controller for receiving the respective shot images from the plurality of cameras, performing image analysis for each shot image, and determining the position of the first platform based on the result of the image analysis.

Preferably, the first platform is a ship.

Preferably, the controller calculates a photographing angle of each of the plurality of cameras to the target point through the following equation (1).

[Equation 1]

(X ₁ : distance from the center of the image to the target point, X _max : distance from the center of the image to the horizontal end, θ _max : maximum angle of view, θ ₁ :

Preferably, the target point is a reference light source, or a shape having at least one of a specific color and a specific shape.

Preferably, the controller calculates the relative position of the target point with respect to the second platform via: < EMI ID = 2.0 >

[Equation 2]

(Where X: relative position of the target point to the second platform,? ₂ : photographing angle of the second camera,? ₁ : photographing angle of the first camera)

Preferably, when the plurality of cameras are provided in three or more cameras, the controller repeatedly performs the calculation based on the formula (2) as many as the number of contrasts between the two cameras, 2 < / RTI > platform.

In order to achieve the above object, according to a second aspect of the present invention, there is provided an apparatus for measuring a position of a ship using a plurality of cameras, comprising: a first platform having a plurality of target points; A second platform on which a plurality of target points are located, and a plurality of cameras, each of which is subjected to image analysis on each shot image, and on the basis of a result of the image analysis, And determining a position of the first platform based on a specific arbitrary target point.

Preferably, the controller specifies any target point closest to the plurality of cameras as a feature point for performing an operation when the plurality of target points are captured in the captured image.

Preferably, when the multiple target points are captured in the captured image, the controller specifies an arbitrary target point based on the sea level in the captured image as a feature point for performing an operation.

Preferably, when the arbitrary target point is equal to or greater than 2, the controller specifies an intermediate point of at least two arbitrary target points as virtual feature points for performing an operation.

Therefore, according to the present invention, by capturing images of a ship using a plurality of cameras (e.g., CCTV) located near the sea and determining the position of the ship based on the result of the image analysis on the collected images, There is an advantage in that it is possible to provide a ship position recognition system of a different type from that of the related art while satisfying the related law provision requiring the position information to be provided from the position recognition system according to the present invention.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view illustrating an apparatus for measuring the position of a ship using a plurality of cameras according to an embodiment of the present invention.
FIG. 2 is a view showing an image capturing by a plurality of cameras shown in FIG. 1. FIG.
FIG. 3 is a diagram illustrating a method of measuring a distance between the platform A and the platform B shown in FIG. 1 according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an operation of the position measuring apparatus shown in FIG. 1 according to an embodiment of the present invention.
5 is a view illustrating an apparatus for measuring the position of a ship using multiple cameras according to another embodiment of the present invention.
6 is a diagram illustrating an operation of the position measuring apparatus shown in FIG. 5 according to an embodiment of the present invention.

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

1 is a view illustrating an apparatus for measuring the position of a ship using a plurality of cameras 200, 210 and 220 according to an embodiment of the present invention.

As shown in FIG. 1, a vessel position measuring apparatus using a plurality of cameras 200, 210 and 220 includes a plurality of cameras 200, 210 and 220 (for example, CCTV) Collects the images, and determines the position of the ship based on the result of the image analysis of the collected images.

To this end, the position measuring apparatus includes an A platform (hereinafter referred to as a 'first platform') equipped with a target point 100 for representing a ship, a plurality of cameras 200 for capturing an image including a target point 100 210, and 220 and a plurality of cameras 200, 210, and 220 that are provided in the B platform (hereinafter referred to as a second platform) And a controller 300 for determining the position of the ship based on the result of the image analysis.

Here, the position measuring apparatus of the present invention specifies that the position of the ship is measured. However, the above-described ship is defined as not referring to a float having a "boat" shape but to all floating floats that can float on the sea.

The first platform is a ship, and the second platform is, for example, a marina where the ship is traveling.

Although the number of cameras 200, 210 and 220 is three in FIG. 1, it may be two or four or more.

FIG. 2 is a view showing an image capturing by the plurality of cameras 200, 210, and 220 shown in FIG.

As shown in FIG. 2, when images are captured by the plurality of cameras 200, 210, and 220, the positions of the plurality of cameras 200, 210, and 220 located on the second platform are all different.

That is, the photographing angle and the photographing distance of each of the cameras 200, 210 and 220 toward the target point 100 are different from those of the other cameras 200, 210 and 220.

It is possible to precisely specify the position of the target point 100 by exploiting this difference. Hereinafter, it will be described in detail.

FIG. 3 is a diagram illustrating a method of measuring a distance between the first platform and the second platform shown in FIG. 1, according to an embodiment of the present invention.

The controller 300 receives photographed images from the cameras 200, 210, and 220. Each captured image has a maximum angle of view in the vertical and horizontal directions. That is, the distance from the center of the image to the target point 100 displayed on the image can be used to calculate the angle of the camera 200, 210, 220 and the target point 100.

That is, the photographing angle can be calculated through the following equation (1).

[Equation 1]

(Where, X _1: distance, θ _max in the horizontal direction ends at the center of the image: the maximum angle of view, θ _1: Angle distance, X _max of the image center to the target point 100)

Further, the above-described target point 100 can be made by attaching a predetermined reference light source to the first platform, or attaching a shape having at least one of a specific color and a specific shape to the first platform.

Since the distance information (i.e., D) between the cameras 200, 210, and 220 can be checked using the position information set by the cameras 200, 210, and 220, The relative position of the point 100 can be calculated.

[Equation 2]

(Where X is the relative position of the target point 100 to the second platform,? ₂ is the shooting angle of the second camera 210,? ₁ is the shooting angle of the first camera 200)

The calculation described above calculates the relative position of the target point 100 with respect to the second platform 200 using the first camera 200 and the second camera 210.

It is also possible to calculate the relative position of the target point 100 to the second platform 200 using the first camera 200 and the third camera 220 or to use the second camera 210 and the third camera 220 It is possible to calculate the relative position of the target point 100 to the second platform.

Furthermore, all of the first camera 200 to the third camera 220 can be used by taking all the calculations described above. In this case, it is possible to calculate the relative position of the target point 100 to the second platform more precisely than to calculate the relative position of the target point 100 to the second platform via the two cameras.

FIG. 4 is a diagram illustrating an operation of the position measuring apparatus shown in FIG. 1 according to an embodiment of the present invention.

As shown in FIG. 4, the position measuring method of the present invention proceeds to image the target point 100 of the first platform by each of the cameras 200, 210, and 220 of the second platform (S100).

In step S100, the shooting times of the cameras 200, 210 and 220 may be different from each other. Hereinafter, compensation for differences at the shooting time is performed prior to the image analysis, and then image analysis is performed through the compensated images .

After step S100, the controller 300 acquires the photographed image from each of the cameras 200, 210, and 220 and performs image analysis on the acquired images (S102 and S104).

Based on the image analysis result of step S104, the target point 100 in each image is specified (S106).

In step S106, the relative position of the target point 100 to the second platform is calculated using the distance information between the target point 100 and the cameras 200, 210, and 220 (S108).

Thereafter, the position of the ship is determined through the relative position of the target point 100 to the second platform calculated in step S108 (S110).

If it is desired to continue the position measurement, the above-described steps are repeated (S112).

5 is a view illustrating an apparatus for measuring the position of a ship using a plurality of cameras 500, 510 and 520 according to another embodiment of the present invention.

The target point is attachable to the first platform via a reference light source or the like.

However, in the above-described embodiment, when the target point of the first platform is located opposite to the camera 500, 510, 520, the first platform is completely identified Can not.

To solve this problem, a plurality of target points 400, 410, 420, and 430 may be formed on the first platform.

Preferably, the target points may be formed in the left and right directions of the first platform, respectively, as shown in Fig.

In addition, each camera 500, 510, 520 located on the second platform captures an image, and each image is transmitted to the controller 600.

When image analysis is performed on each image collected by the controller 600, it is necessary to be able to identify which target point to specify the first platform even when a large number of target points are captured in the image.

For example, when a plurality of target points are captured in the image, the controller 600 may specify any target point closest to the camera 500, 510, or 520 as a feature point for performing an operation, It is possible to specify a certain target point (for example, when the sea level is below the first target point 400 is specified) as a feature point for performing an operation.

Here, when any of the above-mentioned target points is found to be two or more, an intermediate point of two or more target points may be specified as a virtual feature point for performing an operation.

6 is a diagram illustrating an operation of the position measuring apparatus shown in FIG. 5 according to an embodiment of the present invention.

As shown in FIG. 6, the position measurement method of the present invention proceeds to image the target point of the first platform by the cameras 500, 510, and 520 of the second platform (S200).

In step S200, the shooting times of the cameras 500, 510, and 520 may be different from each other. Hereinafter, compensation for differences at the shooting time is performed prior to performing the image analysis, .

After step S200, the controller 600 acquires the photographed image from each of the cameras 500, 510, and 520 and performs image analysis on the acquired images (S202 and S204).

If it is determined that the number of target points in each image is two or more based on the image analysis result in step S204, the target point is selected based on predetermined predetermined criteria (S206 and S208).

In step S208, the relative position of the target point with respect to the second platform is calculated using the distance information between the specific target point and the cameras 500, 510, and 520 (S210).

Thereafter, the position of the ship is determined through the relative position of the target point with respect to the second platform calculated in step S108 (S212).

If the position measurement is to be continued, the above-described steps are repeated (S214).

If it is determined in step S206 that the target point in the image is a single target point, the target point is determined as a minutia for performing the operation (S216).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

Further, according to the present invention, images taken by a plurality of cameras (for example, CCTV) located near the sea are collected and the position of the ship is determined based on the image analysis results of the collected images, It is an invention that is industrially usable because it is not only possible to market or operate, but can be practically and practically done.

100, 400, 410, 420, 430: target point
200, 210, 220, 500, 510, 520: camera
300, 600: a controller

Claims (10)

A first platform having a target point;
A second platform on which a plurality of cameras for capturing the target point are located; And
And a controller that receives each of the photographed images from the plurality of cameras and performs image analysis on each photographed image and determines a position of the first platform based on a result of performing the image analysis,
Wherein the controller calculates a photographing angle of each of the plurality of cameras to the target point through the following equation (1).
[Equation 1]

(X ₁ : distance from the center of the image to the target point, X _max : distance from the center of the image to the horizontal end, θ _max : maximum angle of view, θ ₁ : The method according to claim 1,
Wherein the first platform is a ship. delete The method according to claim 1,
Wherein the target point is a reference light source or a shape having at least one of a specific color and a specific shape. The method according to claim 1,
Wherein the controller calculates a relative position of the target point with respect to the second platform through Equation (2).
[Equation 2]

(Where X: relative position of the target point to the second platform,? ₂ : photographing angle of the second camera,? ₁ : photographing angle of the first camera) 6. The method of claim 5,
The controller repeatedly executes the calculation based on the formula (2) as many as the number of contrasts between the two cameras when the camera has three or more cameras, Wherein the relative position of the target point is finally determined. A first platform having multiple target points;
A second platform on which a number of cameras for capturing at least one of the multiple target points are located; And
The image processing method according to claim 1, further comprising the steps of: receiving each photographed image from the plurality of cameras, performing image analysis on each photographed image, specifying an arbitrary target point among the multiple target points based on a result of executing the image analysis, And a controller for determining a position of the first platform with reference to the first platform,
Wherein the controller calculates a photographing angle of each of the plurality of cameras to the target point through the following equation (1).
[Equation 1]

(X ₁ : distance from the center of the image to the target point, X _max : distance from the center of the image to the horizontal end, θ _max : maximum angle of view, θ ₁ : 8. The method of claim 7,
Wherein the controller specifies, as feature points for performing an operation, an arbitrary target point closest to the plurality of cameras when the multiple target points are captured in the captured image. 8. The method of claim 7,
Wherein the controller identifies an arbitrary target point as a feature point for performing an operation on the basis of the sea level in the captured image when the multiple target points are captured in the captured image. 10. The method according to claim 8 or 9,
Wherein when the arbitrary target point is two or more, the controller specifies an intermediate point of at least two arbitrary target points as virtual feature points for performing an operation.

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