KR101634282B1 - The apparatus of smart measuring a moving object by 3d modeling of hexahedron and measuring control - Google Patents

The apparatus of smart measuring a moving object by 3d modeling of hexahedron and measuring control Download PDF

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KR101634282B1
KR101634282B1 KR1020150181441A KR20150181441A KR101634282B1 KR 101634282 B1 KR101634282 B1 KR 101634282B1 KR 1020150181441 A KR1020150181441 A KR 1020150181441A KR 20150181441 A KR20150181441 A KR 20150181441A KR 101634282 B1 KR101634282 B1 KR 101634282B1
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South Korea
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moving object
unit
data
image
model
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KR1020150181441A
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Korean (ko)
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박영기
김원길
김대용
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주식회사 싸인텔레콤
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • H04N13/0003—
    • H04N13/02—

Abstract

A hybrid smart moving object field measuring apparatus of the present invention comprises: a main body (100); a smart camera sensing unit (200); a hexahedral three-dimensional (3D) model generating module (300); a 3D imaging unit (400); and a smart moving object field measuring control unit (500). Therefore, the compatibility is excellent since the hybrid smart moving object field measuring apparatus can be coupled by being detachably modularized to a camera installed on the existing tunnels and roads.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid type smart moving object field measurement device comprising a hexahedral 3D model generation and a field measurement control for a moving object.

In the present invention, the moving distance and the speed of the moving object are calculated on the basis of the start point 3D image data of the image capturing range photographed by the 3D image capturing section and the end point 3D image data of the image capturing range, And a three-dimensional posture measurement for a moving object, wherein the moving distance data and the velocity data of the calculated moving object are transmitted to the central management server of the remote location .

Generally, a camera installed on a tunnel and a road performs camera calibration in various ways in order to measure the size and moving speed of a moving object (vehicle, motorcycle) in a camera image, The horizontal distance and the vertical size, and the moving distance and the moving speed based on the positional change with respect to the previous frame.

However, there is a problem that it is difficult to accurately measure the height and moving distance of a moving object having a height according to installation height and angle of view of a camera, position of a moving object, and the like.

In addition, it is difficult to distinguish shadows and two or more overlapping objects due to changes in light quantity efficiently, and it is difficult to obtain accurate image data. In particular, when an accident occurs in a tunnel, a long time remote analysis Therefore, it takes a long time to analyze the accident, and the ability to cope with the initial accident is insufficient, which causes the second and third major accidents on tunnels and roads.

Korean Patent Registration No. 10-0890625

In order to solve the above problems, according to the present invention, the size, the moving distance, and the moving speed of the moving object can be calculated directly on the basis of the moving object and the hexahedral 3D model which are photographed on the camera image, It can be detected immediately in the field and it can inform dangerous signal directly to the moving object in the field. It can be modularly combined with the camera installed on the existing tunnel and the road, and can be combined with the moving object overlapping with the hexahedral 3D model After continuous shooting within the image capturing range, it is possible to divide the overlapping moving object based on the hexahedral 3D model, and the moving distance data and the speed data of the moving object can be transmitted to the central management server at the remote place through the WiFi wireless communication network , A hexahedral object tracking for moving objects that can quickly and precisely grasp the situation of the site in the remote place, To provide a hybrid smart move object field measurement device consisting of a 3-D object for the position measurement it is an object.

In order to accomplish the above object, a hybrid type smart moving object field measurement device comprising a hexahedral 3D model generation and a field measurement control for a moving object according to the present invention,

A main body 100 which is formed in an "a" shape and which is located at one side of the wall and one side of the stationary frame to protect and support each device from external pressure;

A reference position area is formed on the same line as the lower end direction of the main body and then the image of the moving object passing through the reference position area is sensed and a small hexahedron matching the moving object based on the acquired image sensing data A smart camera sensing unit 200 for selecting any one of the model data, the medium hexahedron model data, and the large hexahedron model data to transmit to the hexahedral 3D model generation module,

A 1: 1 customized hexahedral 3D model is generated in accordance with the small-sized hexahedron model data, the medium hexahedron model data, and the large-sized hexahedron model data transmitted to the smart camera sensing unit at the upper side of the smart camera sensing unit, A cubic 3D model generation module 300 for superimposing a moving object and a hexahedral 3D model on a positioned object,

A 3D object which is positioned on one side of the main body looking at the direction in which the moving object passes and which continuously captures moving objects overlapping the hexahedral 3D model while Pan, Tilt, Zoom, An image capturing unit 400,

A smart camera sensing unit, a hexahedral 3D model generating module, and a 3D image capturing unit, and controls the overall operation of each device, and controls the start point 3D image data of the image capturing range photographed by the 3D image capturing unit, The moving distance and speed of the moving object are calculated based on the end point 3D image data of the moving object, and then the moving distance data and the speed data of the moving object are transmitted to the central management server of the remote location And a control unit 500.

As described above, in the present invention,

First, the size, the moving distance, and the moving speed of the moving object can be directly calculated on the basis of the moving object and the hexahedral 3D model, which are superimposed on the camera image, so that the unexpected situation can be immediately detected on the spot, By informing the moving object immediately of the danger signal immediately in the field, the ability to cope with sudden movements according to the unexpected situation can be improved by 70%.

Second, it can be modularized and coupled with existing tunnels and cameras mounted on roads, making it excellent in compatibility.

Third, it is possible to divide a moving object overlapping with a hexahedral 3D model into a plurality of moving objects within the imaging range, and then divide the moving object based on the hexahedral 3D model in the overlapping moving object. Even if there are two or more moving objects within the imaging range, The object selection rate can be improved by 80%.

Fourth, moving distance data and speed data of the moving object can be transmitted to the central management server at the remote place through the WiFi wireless communication network, so that it is possible to quickly and accurately grasp the situation of the site at the remote place. , Which can reduce the second and third major accidents on tunnels and roads by 80%.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing components of a hybrid type smart moving object field measurement apparatus 1 including a hexahedral 3D model generation and a field measurement control for a moving object according to the present invention;
FIG. 2 is a perspective view showing components of a hybrid type smart moving object field measurement device 1 including a hexahedral 3D model generation and a field measurement control for a moving object according to the present invention.
3 is a block diagram illustrating components of a smart camera sensing unit according to the present invention,
4 is a block diagram illustrating the components of a hexahedral 3D model generation module according to the present invention;
FIG. 5 is a diagram illustrating an example of superimposing a hexahedral 3D model generated through the first, second and third hexahedral 3D model generating units according to the present invention on a moving object positioned on a camera image,
6 is a block diagram showing the components of the 3D image pickup unit according to the present invention,
FIG. 7 is a block diagram showing the components of the smart moving object field measurement control unit according to the present invention;
8 is a block diagram showing the components of the microcomputer according to the present invention.
FIG. 9 is a block diagram showing the components of the short range wireless communication control unit according to the present invention;
FIG. 10 is a diagram illustrating a method of sensing an image of a moving object passing through a reference position area after forming a reference position area on the same line in the lower direction through the smart camera sensing unit according to the present invention.
11 is a diagram illustrating an example of correcting image distortion by receiving a moving object image taken by a sensing camera unit through a distortion correction unit according to the present invention.
FIG. 12 is a graph showing the result of comparison and analysis of a reference image for discriminating a moving object from a moving object image that has been distorted and corrected through a distortion correction unit in a cube model object generating unit according to the present invention, One embodiment showing that any one of the hexahedron model data, the medium hexahedron model data, and the large hexahedron model data is selected and generated is also an example,
FIG. 13 illustrates an embodiment of the present invention, in which the movement speed of a moving object passing through the image capturing range is calculated through the movement speed calculation control unit 524 according to the present invention, and the image is displayed on the camera image.

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

1 is a block diagram illustrating components of a hybrid type smart moving object field measurement device 1 including a hexahedral 3D model generation and a field measurement control for a moving object according to the present invention. A smart camera sensing unit 200, a hexahedral 3D model generation module 300, a 3D image sensing unit 400, and a smart moving object field measurement control unit 500.

First, the main body 100 according to the present invention will be described.

The main body 100 has an "a" shape and is positioned at one side of the wall and one side of the stationary frame to protect and support each device from external pressure.

As shown in FIG. 2, a smart camera sensing unit is formed on a lower end surface, a smart camera sensing unit is formed on an upper end of the smart camera sensing unit, a 3D image sensing unit is formed on a side surface of the moving object, A smart moving object field measurement control unit is formed on one side of the space.

Further, the main body according to the present invention is formed with a beacon light or an LED illumination light on one side.

Here, the beacon light or the LED beacon is driven according to the control signal of the smart moving object field measurement control unit, and when an unexpected situation occurs on the tunnel and the road, the danger signal is directly transmitted to the moving object through the beacon signal or LED flickering .

Next, the smart camera sensing unit 200 according to the present invention will be described.

The smart camera sensing unit 200 is positioned on the lower end face of the main body and forms a reference position area on the same line in the lower end direction. Then, the smart camera sensing unit 200 senses a moving object passing through the reference position area, And selects one of small-sized hexahedron model data, medium-sized hexahedron model data, and large-sized hexahedron model data to be matched to the moving object on the basis of the received data, and transmits the same to the hexahedral 3D model generation module.

3, the sensing body 210, the sensing camera 220, the reference position target setting unit 230, the distortion correction unit 240, and the hexahedron model object generation unit 250 are configured as shown in FIG.

The sensing body 210 has a cylindrical shape and protects each device from the outside while positioning the sensing camera portion of the lower end portion in a vertically upright structure so as to position the moving object so as to face the moving object.

A sensing camera unit is formed on the lower head part, and a reference position target setting unit, a distortion correcting unit, and a cube model object generating unit are formed on a PCB substrate on one side of the inner space.

The sensing camera unit 220 is positioned at one side of the lower end of the sensing body and photographs a moving object located in a reference position area having a target shape with respect to the center hole.

It consists of a 640 * 480 (VGA) resolution, a working distance (WD) of 1.5m to 7m and consists of three 44mm engine lug socket mounts and an F mount lens with a 46.5mm focal length flange. / 100 Mbps Ethernet network interface is configured and 10/100 Mbps Ethernet serial communication is configured.

Third, the reference position target setting unit 230 according to the present invention will be described.

The reference position target setting unit 230 sets a reference position area having an infrared target shape on the lens of the sensing camera unit.

Here, the reference position area having an infrared target shape is configured such that the position is variable in the X and Y axes according to the setting of the user.

In the present invention, since the reference position area having the target shape of the infrared ray is set, the position of the moving object located in the reference position area of the target shape can be accurately detected based on the center hole.

As shown in FIG. 11, the distortion correction unit 240 receives the moving object image taken by the sensing camera unit and corrects the distortion of the image.

As shown in FIG. 12, the hexahedral model object generation unit 250 compares and analyzes a preset reference image for discriminating a moving object, on a distortion-corrected moving object image through a distortion correction unit, : 1 Selects one of matching small-sized hexahedron model data, medium-sized hexahedron model data, and large-sized hexahedron model data to generate it.

It is a three-dimensional rectangular parallelepiped with six faces.

The reason for this is to calculate the moving speed of the moving object by using the number of image frames and the moving distance based on a rectangular parallelepiped having a predetermined length, width, height, and height.

That is, based on the hexahedron model data of the start point 3D image data and the hexahedron model data of the end point 3D image data, the moving distance of the moving object is calculated by calculating the difference in height, height, and height.

Then, the time of the moving object reaching the reference distance of the image capturing range is measured, and then the speed of the moving object is calculated through the measured time and the moving distance of the moving object.

(2 mm x 3 mm x 1 mm) of the small-sized cube model data 1: 1 matched on the camera image according to the case where the size of the moving object is a small car (Tico, Morning, Matiz) (3 mm x 5 mm x 2 mm) of the size of the medium hexahedron model data matching 1: 1 on the camera image according to the case where the object size is medium-sized (Sonata, K5, Grandeur, Equus, Santa Fe, Sorento) , And the size of the medium hexahedral model data matching 1: 1 on the camera image is set to the size of the width × height × height (5 mm × 8 mm × 3 mm) according to the case where the size of the moving object is a large vehicle (truck, .

That is, when the distortion-compensated moving object image is in the morning, the pre-set morning reference image, which is the reference image for discriminating the moving object, is compared and analyzed. Then, the small- (2 mm x 3 mm x 1 mm).

In addition, when the distortion-compensated moving object image is a grander, the comparator analyzes and analyzes a preset reference image, which is a reference image for discriminating a moving object, and then calculates a 1: 1 matched hexahedron model data (3 mm x 5 mm x 2 mm).

When the distortion compensated moving object image is a track, the track reference image, which is a preset reference image for discriminating a moving object, is compared and analyzed. Then, a large-size hexahedron model data (5 mm x 8 mm x 3 mm).

Next, the hexahedral 3D model generation module 300 according to the present invention will be described.

The hexahedral 3D model generation module 300 is located on the upper side of the smart camera sensing unit and is provided with a 1: 1 customized hexahedron based on small-sized hexahedron model data, medium hexahedron model data, and large- After creating the 3D model, it plays the role of displaying the moving object located on the camera image and the hexahedral 3D model in a superimposed manner.

4, the first hexahedral type 3D model generation unit 310, the second hexahedral type 3D model generation unit 320, and the third hexahedral type 3D model generation unit 330 are configured as shown in FIG.

As shown in FIG. 5, the first hexahedral type 3D model generation unit 310 generates a hexahedral 3D model having horizontal, vertical, and height in a 1: 1 customized manner according to the small hexahedron model data transmitted to the smart camera sensing unit. And then displays the generated hexahedral 3D model over the moving object located on the camera image.

As shown in FIG. 5, the second hexahedral 3D model generating unit 320 may include a hexahedral 3D model having horizontal, vertical, and height of 1: 1 customized according to the medium hexahedron model data transmitted to the smart camera sensing unit. And then displays the generated hexahedral 3D model over the moving object located on the camera image.

As shown in FIG. 5, the third hexahedral type 3D model generation unit 330 may include a hexahedral 3D model having horizontal, vertical, and height in a 1: 1 customized manner according to the large hexahedron model data transmitted to the smart camera sensing unit. And then displays the generated hexahedral 3D model over the moving object located on the camera image.

The hexahedral 3D model generation module 300 according to the present invention includes a first hexahedral 3D model generation unit 310, a second hexahedral 3D model generation unit 320, a third hexahedral 3D model generation unit 330 A time matching algorithm engine unit 340 is included so as to display the hexahedral 3D model over a moving object located on the camera image without a time gap through the time matching algorithm engine unit 340. [

That is, the time matching algorithm engine unit 340 matches the display time of the hexahedral 3D model with the shooting time of the moving object at a ratio of 1: 1.

Next, the 3D image taking unit 400 according to the present invention will be described.

The 3D image radiographing unit 400 is located on one side of the main body that looks at the direction in which the moving object passes, and displays the moving object overlapped with the hexahedral 3D model while zooming (Pan, Tilt, It takes a continuous shooting within the image shooting range.

6, the camera body 410, the ultra-wide angle lens unit 420, the pan tilt driving unit 430, the pan tilt driving driver unit 440, and the micom unit 450 are configured.

The camera body 410 is formed of a rectangular box, and protects and supports each device from external pressure.

The ultra-wide angle lens unit 420 is positioned at the head end of the camera body and has a view angle of 120 to 170 degrees, and photographs a vehicle passing through the tunnel and the road.

The pan / tilt driver 430 is located at a rear end of the ultra-wide angle lens unit. The pan / tilt driver 430 moves the ultra-wide angle lens unit on the inner space of the camera body according to a control signal of the pan / It also plays a role of driving.

The pan tilt driving driver unit 440 drives the pan tilt driving unit according to a control signal of the microcomputer.

The microcomputer unit 450 is connected to the super wide-angle lens unit, the pan tilt driving unit, and the PTZ driving driver unit, and controls the overall operation of each device. The microcomputer unit 450 generates small-sized hexahedron model data, And control the movement of the moving object overlapped with the hexahedral 3D model continuously within the image capturing range while controlling Pan, Tilt and Zoom according to the data and the data of the large hexahedron model.

Next, the smart moving object field measurement control unit 500 according to the present invention will be described.

The smart moving object field measurement control unit 500 is connected to a smart camera sensing unit, a hexahedral 3D model generating module, and a 3D image sensing unit, and controls the overall operation of each device, The movement distance and speed of the moving object are calculated based on the start point 3D image data of the moving object and the end point 3D image data of the image capturing range, As shown in FIG.

7, the data receiving unit 510, the microcomputer 520, the short range wireless communication controller 530, and the WiFi wireless communication controller 540 are shown in FIG.

First, a data receiving unit 510 according to the present invention will be described.

The data receiving unit 510 receives the image sensing data obtained by the smart camera sensing unit, the small-sized hexahedron model data, the large-size hexahedron model data, and the large-sized hexahedron model data generated by the hexahedron- And transmits the 3D image data to the microcomputer.

Second, the microcomputer 520 according to the present invention will be described.

Based on the start point 3D image data of the image capturing range photographed by the 3D image capturing unit received from the data receiving unit and the end point 3D image data of the image capturing range, the microcomputer 520 calculates the moving distance and speed The 3D image data, the moving distance calculation data of the moving object, and the speed calculation data of the moving object are transmitted in real time to the smart device located in the vicinity, and the 3D image data and the movement of the moving object are controlled through the WiFi wireless communication network The distance calculation data, and the speed calculation data of the moving object to the central management server at the remote site.

8, the image processing unit 521, the horizontal and vertical height center point extraction unit 522, the movement distance calculation control unit 523, and the movement speed calculation control unit 524.

The image processing unit 521 performs a binarization process for extracting a hexahedral 3D model included in 3D image data through a threshold decision method of 3D image data of a moving object photographed by the 3D image capturing unit .

This generates impulse noise in the background image in the binary image, and impulse noise is also generated in the hexahedral 3D model image of the moving object and at the boundary of the background image.

At this time, in the present invention, a filtering process is performed through morphology operation (Open / Close) and median filtering to remove impulse noise.

The horizontal and vertical height center point extractor 522 classifies the outline of the hexahedral 3D model from which the impulse noise has been removed, and then extracts the vertical and horizontal center points of the hexahedral 3D model.

The outline of each hexahedron 3D model is classified by using the algorithm that combines the boundary line tracking algorithm and the labeling algorithm on the outline of the hexahedron 3D model by numbering the outline of the hexahedron 3D model.

Then, the horizontal and vertical height center points of the hexahedral 3D models are extracted through the K-means clustering algorithm (Clustering Algorithm) using the coordinate values of the outline (x, y) of each hexahedral 3D model having the value of the unique number .

The movement distance arithmetic control unit 523 calculates the horizontal, vertical, and height difference based on the horizontal and vertical height center points of the hexahedral 3D model located at the start point and the horizontal and vertical height center points of the hexahedral 3D model located at the end point Thereby calculating the moving distance of the moving object.

Since the actual image capturing range of the 3D image capturing unit must be known, three parameters, i.e., the actual length of the ultra-wide-angle lens unit, the distance between the moving object and the ultra-wide-angle lens unit, and the focal length of the ultra- The horizontal or vertical length X of the actual image capturing range of the 3D image capturing unit can be obtained by substituting it into the same focal length formula.

Figure 112015124207758-pat00001

Here, d represents the vertical distance between the ultra-wide-angle lens unit and the moving object, m represents the maximum length of the ultra-wide angle lens unit, and 1 represents the focal length of the ultra-wide angle lens unit.

For example, the image size of the 3D image pickup unit is 640 * 480, the length of the internal square pixels of the ultra-wide angle lens unit is 9.9 mu m, the focal length of the ultra-wide angle lens unit is 17 mm, , And the maximum length in the horizontal or vertical direction of the ultra-wide angle lens unit is 9.9 mu m * 640 = 6.336 mm.

At this time, the maximum length X of the width that can be photographed through the 3D image photographing unit is X = 400 cm * 6.336 mm / 17 mm = 149 cm.

Therefore, when the horizontal image size of the 3D image photographing unit is L (L: 640 * 480 size, 640 pixels), the vertical center height of the hexahedral 3D model including the moving object located at the start point of the image capturing range, A distance M between the centers of the height and height of the hexahedral 3D model including the moving object positioned at the end point of the image capturing range is a, and the distance M that the actual moving object moved within the image capturing range is expressed by the following equation .

Figure 112015124207758-pat00002

Here, X represents the length of the actual image capturing range of the 3D image capturing unit, a represents the vertical center height of the hexahedral 3D model including the moving object located at the start point of the image capturing range, And L represents the horizontal image size of the 3D image capturing unit. The horizontal 3D image of FIG.

The movement speed calculation control unit 524 calculates the movement speed of the moving object passing within the image capturing range.

This is calculated by the following equation (3).

Figure 112015124207758-pat00003

Here, M represents the distance that the actual moving object has moved within the image capturing range, and S represents the time of the moving object that reaches the reference distance of the image capturing range.

Third, the short range wireless communication control unit 530 according to the present invention will be described.

The short range wireless communication controller 530 is driven according to a control signal of the microcomputer to form a short range wireless communication network with the 3D image data, the moving distance calculation data of the moving object, and the speed calculation data of the moving object, To the device.

9, either the Bluetooth communication unit 531 or the Zigbee communication unit 532 is selected and configured.

The Bluetooth communication unit 531 performs low power wireless connection at a very short distance within 10 meters to exchange information.

It uses the Industrial Scientific and Medical (ISM) frequency band of 2400 to 2483.5 MHz. In order to prevent the interference of other systems that use the upper and lower frequencies, we use a total of 79 channels, ranging from 2400MHz to 2MHz and 2483.5MHz to 3.5MHz, except 2402 ~ 2480MHz.

In addition, in order to eliminate interference between systems, a frequency hopping scheme is used.

Frequency hopping is a technique for rapidly moving a large number of channels according to a specific pattern and transmitting packets (data) little by little. In the present invention, 79 channels are configured to hop 1600 times per second.

The Zigbee communication unit 532 serves to provide a data rate of 250 kbps toward a smart device located near (10 m to 75 m) using a frequency band of 2.4 GHz.

Fourth, the WiFi wireless communication control unit 540 according to the present invention will be described.

The WiFi wireless communication control unit 540 is driven in accordance with a control signal of the microcomputer to form a WiFi wireless communication network for 3D image data, moving distance calculation data of moving objects, and speed calculation data of moving objects, As shown in FIG.

It combines wireless technology with Hi-Fi (High Fidelity) and consists of wireless LAN technology that enables high-performance wireless communication.

The wireless LAN uses a frequency band of 2.4 GHz, which is a method of building a network using radio wave or light without using a wire when constructing a network.

Hereinafter, a specific operation process of the hybrid type smart moving object field measurement device including the generation of a hexahedral 3D model and the field measurement control for a moving object according to the present invention will be described.

First, as shown in FIG. 10, a reference position area is formed on the same line in the lower direction through the smart camera sensing part 200, and then a moving object passing through the reference position area is imaged.

Next, based on the image sensing data obtained by the smart camera sensing unit 200, one of the small-sized hexahedron model data, the medium-sized hexahedron model data, and the large-sized hexahedron model data matched to the moving object is selected, .

Next, a 1: 1 customized hexahedral 3D model is generated according to the small-sized hexahedron model data, the medium hexahedron model data, and the large-sized hexahedron model data transmitted to the smart camera sensing unit through the hexahedral 3D model generation module 300, The moving object located on the camera image and the hexahedral 3D model are overlaid and displayed.

Next, in accordance with the small-sized hexahedron model data, the medium-sized hexahedron model data, and the large-sized hexahedron model data transmitted to the smart camera sensing unit in the 3D image radiographing unit 400, the camera body is moved to a pan, a tilt, ).

Next, the 3D image capturing unit 400 sequentially captures the moving object overlapped with the hexahedral 3D model within the image capturing range.

Next, based on the start point 3D image data of the image capturing range photographed by the 3D image capturing unit and the end point 3D image data of the image capturing range through the smart moving object field measurement control unit, the moving distance and speed of the moving object .

FIG. 13 is a diagram illustrating an example in which a moving speed of a moving object passing through an image capturing range is calculated through a moving speed calculation control unit 524 according to the present invention, and the moving speed is displayed on a camera image.

Finally, the moving distance data and the speed data of the moving object calculated by the smart moving object field measurement control unit are transmitted to the central management server of the smart device or the remote location located nearby.

1: Hybrid Smart Moving Object Field Measurement Device
100: main body 200: smart camera sensing unit
300: hexahedral 3D model generation module 400: 3D image capturing part
500: Smart moving object field measurement control unit

Claims (6)

A main body 100 which is formed in an "a" shape and which is located at one side of the wall and one side of the stationary frame to protect and support each device from external pressure;
A reference position area is formed on the lower end of the main body so as to form a reference position area, and then a moving object passing through the reference position area is sensed by the image sensing device. Then, based on the acquired image sensing data, A small hexahedron model data of length x height (2 mm x 3 mm x 1 mm), medium hexahedron model data of width x length x height (3 mm x 5 mm x 2 mm), a large hexahedron model of width x length x height (5 mm x 8 mm x 3 mm) A smart camera sensing unit 200 for selecting one of the data and transmitting the selected data to the hexahedral 3D model generation module,
(2 mm x 3 mm x 1 mm) small-size hexahedron model data, which is placed on the upper side of the upper part of the smart camera sensing unit and transmitted to the smart camera sensing unit, A 1: 1 custom hexahedral 3D model is created according to the model data, the size of the large-sized hexahedron of the width × height × height (5 mm × 8 mm × 3 mm), and the moving object located on the camera image and the hexahedron 3D model are superimposed A 3D model generation module 300,
A 3D object which is positioned on one side of the main body looking at the direction in which the moving object passes and which continuously captures moving objects overlapping the hexahedral 3D model while Pan, Tilt, Zoom, An image capturing unit 400,
A smart camera sensing unit, a hexahedral 3D model generating module, and a 3D image capturing unit, and controls the overall operation of each device, and controls the start point 3D image data of the image capturing range photographed by the 3D image capturing unit, The moving distance and speed of the moving object are calculated based on the end point 3D image data of the moving object, and then the moving distance data and the speed data of the moving object are transmitted to the central management server of the remote location And a control unit 500,
The smart moving object field measurement control unit 500
(2 mm x 3 mm x 1 mm) small-sized hexahedron model data generated by the hexahedral 3D model generation module, the width x height x height (3 mm x 5 mm x 2 mm (5 mm x 8 mm x 3 mm), 3D image data photographed by the 3D image photographing unit, and transmitting the received data to the microcomputer;
The moving distance and speed of the moving object are calculated based on the start point 3D image data of the image capturing range captured by the 3D image capturing unit received from the data receiving unit and the end point 3D image data of the image capturing range, 3D image data, moving distance calculation data of the moving object and speed calculation data of the moving object are controlled to be transmitted in real time to the smart device located in the vicinity of the smart device, and 3D image data, moving distance calculation data of the moving object, A microcomputer 520 for controlling the speed calculation data to be transmitted to the central management server of the remote site,
A short range wireless communication control unit for driving the 3D image data, the moving distance calculation data of the moving object, and the speed calculation data of the moving object by driving the microcomputer in response to the control signal of the microcomputer unit, 530,
A WiFi wireless communication control unit driven by the control signal of the microcomputer unit to form the WiFi wireless communication network and transmit the 3D image data, the moving distance calculation data of the moving object and the speed calculation data of the moving object to the central management server for a long distance 540) and a field measurement control for a moving object, the hybrid type smart moving object field measurement device comprising:
The microcomputer unit 520
An image processing unit 521 for performing a binarization process for extracting a hexahedral 3D model included in 3D image data through a threshold decision method on 3D image data of a moving object photographed by the 3D image capturing unit,
Vertical and vertical center point extracting unit 522 for extracting impression noise-removed cubic 3D model outlines, and then extracting vertical and horizontal height center points of the hexahedral 3D model,
The moving distance of the moving object is calculated by calculating the difference in height, height, and height based on the center-height height point of the hexahedral 3D model located at the start point and the center-height height point of the hexahedral 3D model located at the end point A movement distance calculation control section 523,
And a movement speed calculation control unit (524) for calculating a movement speed of the moving object passing within the image capturing range. The hybrid type smart moving object comprising the tracking of the hexahedron object for the moving object and the measurement of the three- Measuring device.
The apparatus of claim 1, wherein the smart camera sensing unit (200)
A sensing body 210 which is formed in a cylindrical shape and protects each device from the outside while positioning the sensing camera portion of the lower end portion in a vertical upright structure so as to face the moving object,
A sensing camera unit 220 located at one side of a lower end of the sensing body and photographing a moving object located in a reference position area of a target shape with respect to a center hole,
A reference position target setting unit 230 for setting a reference position area having an infrared target shape on the lens of the sensing camera unit,
A distortion correction unit 240 for receiving a moving object image photographed by a sensing camera unit and correcting distortion of the image,
(2 mm x 3 mm x 1 mm) matching 1: 1 according to the size of the moving object, and then compared with the reference image for discriminating the moving object on the basis of the moving object image subjected to the distortion correction by the distortion correction unit. A hexahedron model data for selecting one of medium hexahedron model data of width x length x height (3 mm x 5 mm x 2 mm) and large cube model data of width x length x height (5 mm x 8 mm x 3 mm) And a generation unit (250). The hybrid type smart moving object field measurement apparatus comprises a hexahedron object tracking for a moving object and a three-dimensional attitude measurement for a moving object. delete delete delete delete
KR1020150181441A 2015-12-18 2015-12-18 The apparatus of smart measuring a moving object by 3d modeling of hexahedron and measuring control KR101634282B1 (en)

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