KR101737537B1 - Method for recognizing pot-hole using 3d modeling - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a porthole recognition method using 3D modeling, and more particularly, to a porthole recognition method using a 3D sensor, The present invention relates to a porthole recognition method using modeling.
The present invention relates to a method for recognizing a porthole using measurement information of a sensor attached to a traveling vehicle provided with real-time position information, the method comprising the steps of: A displacement information recognizing step of recognizing the displacement information in a unit of a cell; A port hole detection step of detecting a port hole using the recognized displacement information of the road surface through the displacement information recognition step; A 3D modeling step of performing 3D modeling on the porthole detected through the porthole detection step using the displacement information of each cell recognized through the displacement information recognition step; And a data storing step of storing 3D modeling data of the porthole created through the 3D modeling step in association with the position information of the traveling vehicle.

Description

METHOD FOR RECOGNIZING POT-HOLE USING 3D MODELING [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a porthole recognition method using 3D modeling, and more particularly, to a porthole recognition method using a 3D sensor, The present invention relates to a porthole recognition method using modeling.

Pot holes are hollow holes or cracks on the road that are generated as micro cracks on the road surface are separated by repeated impacts. Such a port hole is known to be caused by poor quality of the road construction material, poor drainage structure, or calcium chloride or salt sprayed for snow removal in winter.

PORTHOLES may affect the safety of a car in operation, causing human and material damage, but systematic management system has not yet been established.

In order to systematically manage the porthole, a plan must be prepared so that the vehicle can be automatically detected using the vehicle in operation. Korean Patent Publication No. 10-2005-012384 entitled " Pallet Hall Measurement System and Method on Road Surface ", and Korean Patent Registration No. 10-1514368 (entitled " And an apparatus and method for detecting a porthole using image information).

However, the prior art described above is configured to detect the porthole using image information obtained using a camera or the like. In order to quickly process the acquired image information, a high-performance and high-quality system must be provided, There is a problem that the running speed of the vehicle must be maintained at a low speed in consideration of the time required for the processing.

Therefore, in the present invention, 3D modeling is performed using the porthole measurement information obtained by using a laser sensor or the like, so that it is possible to quickly recognize a porthole similar to an actual porthole even in a relatively low performance and low- I would like to propose a plan.

Korean Patent Laid-Open Publication No. 10-2005-012384 (Title: Porthole measurement system and method on road surface) Korean Patent Registration No. 10-1514368 (entitled "PORTHOLE DETECTING APPARATUS USING VIDEO INFORMATION"

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to provide a porthole recognition method using 3D modeling, in order to enable rapid and efficient recognition of a porthole by performing 3D modeling on a porthole on a road detected using a laser sensor or the like. And a method thereof.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to another aspect of the present invention, there is provided a method for recognizing a porthole using measurement information of a sensor attached to a traveling vehicle provided with real-time position information, the method comprising the steps of: A displacement information recognition step of recognizing a unit of cells of a predetermined size having rows and columns; A port hole detection step of detecting a port hole using the recognized displacement information of the road surface through the displacement information recognition step; A 3D modeling step of performing 3D modeling on the porthole detected through the porthole detection step using the displacement information of each cell recognized through the displacement information recognition step; And a data storing step of storing the 3D model data of the porthole created through the 3D modeling step in association with the position information of the traveling vehicle.

Here, the displacement information recognizing step includes the steps of: (a) detecting one line sensor module formed by a plurality of laser sensors for measuring the respective cell-based road surface displacement information, ; (b) recognizing road surface displacement information obtained by the sensor module on a line basis; And (c) recognizing road surface displacement information in the form of a matrix having a plurality of rows and columns constituted by the respective cells through connection of the line-by-line road surface displacement information; And the like.

The present invention may further comprise a correction step of correcting the displacement information of the missing cell by using the data interpolation method when missing information among the road surface displacement information per unit cell recognized by the displacement information recognition step exists have.

In the meantime, it is preferable that the podolear recognition method using the 3D modeling of the present invention as described above is configured to control the road surface displacement information measurement period of the sensor to correspond to the traveling speed of the traveling vehicle.

In this case, the 3D modeling step may be configured to concatenate the displacement information for each cell using a data interpolation method, and the 3D modeling step may be configured to process the displacement information of the road surface excluding the porthole information detected through the porthole detection step May be configured to be immediately or periodically deleted.

According to the present invention as described above, there is an advantage that a porthole on a road surface can be detected and recognized in a simple and accurate manner by using a laser sensor or the like provided in a running vehicle.

In other words, instead of acquiring the actual shape of the porthole through the processing of the image information photographed by using a camera or the like, the 3D modeling is performed using the measurement information by the laser sensor or the like to estimate the actual shape of the porthole, And the time and cost for the operation can be greatly reduced.

Accordingly, it is possible to perform real-time porthole detection using a vehicle traveling at a high speed higher than a normal speed, and thus it is advantageous that the present invention can be applied to porthole detection and its application fields in various ways.

1A is a conceptual diagram for explaining a porthole detection method using a traveling vehicle according to an embodiment of the present invention.
FIG. 1B is an exemplary view for explaining a 3D modeling process for a porthole detected through FIG. 1A.
FIG. 2 is an exemplary view for explaining a specific configuration of the sensor module applied to FIG. 1A.
3 is a flowchart illustrating a method of recognizing a porthole using 3D modeling according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

It is to be understood that the following specific structure or functional description is illustrative only for the purpose of describing an embodiment in accordance with the concepts of the present invention and that embodiments in accordance with the concepts of the present invention may be embodied in various forms, It should not be construed as limited to the embodiments.

The embodiments according to the concept of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all changes, equivalents and alternatives included in the spirit and scope of the present invention.

The terms first and / or second etc. may be used to describe various components, but the components are not limited to these terms. The terms may be named for the purpose of distinguishing one element from another, for example, without departing from the scope of the right according to the concept of the present invention, the first element being referred to as the second element, The second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when it is mentioned that an element is "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions for describing the relationship between components, such as "between" and "between" or "adjacent to" and "directly adjacent to" should also be interpreted.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It is to be understood that the terms such as " comprises "or" having "in this specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

FIG. 1A is a conceptual view for explaining a porthole detection method using a traveling vehicle according to an embodiment of the present invention, and FIG. 1B is an exemplary view for explaining a 3D modeling process for a porthole detected through FIG. 1A.

1A, the detection of a porthole using a traveling vehicle 110 according to an embodiment of the present invention includes a sensor module 120 fixed to a lower portion of the vehicle 110 through a frame or the like, (GPS) 130 such as DGPS (Differential GPS) provided for recognizing the measurement data or a camera 140 for generating shooting data for checking or supplementing measurement data by the sensor module 120 Can be confirmed.

In addition, it will be apparent to those skilled in the art that various processors and databases for processing and storing data input from the sensor module 120, the camera 140, and the like may be additionally provided.

That is, according to the present invention, displacement information of a real-time road surface is measured through a sensor module 120 composed of a plurality of laser sensors fixed to a frame or the like of a vehicle under the vehicle installed perpendicular to the running direction of the vehicle 110, Dimensional modeling of the porthole (P) data, thereby making it possible to quickly and easily recognize the porthole. Specific configuration examples of the sensor module 120 will be described later in detail with reference to separate drawings.

The sensor module 120, which can be provided in the lower part of the vehicle 110 in a one-letter form or the like, can acquire displacement measurement data for the entire road surface of the traveling road as the vehicle 110 progresses, It is possible to constitute a matrix form composed of rows and columns in units of cells having a predetermined size as shown in the figure.

Referring to the example of the drawing, in the case where the road surface is flat, the measured value by the sensor module 120 is displayed as 0, and when grooves or holes are formed on the road surface, the numbers 1 to 4 are displayed according to the depth .

Here, the port hole may be set to be recognized as a port hole only for a measurement value exceeding a predetermined reference value among measurements provided from the sensor module 120. At this time, the predetermined reference value may be determined by an input of a manager or the like.

That is, it is possible to set the reference value for the port hole using information such as the maximum depth, the maximum width and / or the volume, and then configure the port hole to be recognized only for the detection information satisfying such a reference condition.

FIG. 1B shows an example of 3D modeling of the porthole P on the road surface by using such numerical information.

In the case where there is a missing data among measured values provided from the sensor module 120, that is, an abnormality occurs in measurement values of some cells due to a malfunction of some sensors, foreign substances, etc., And may be configured to correct the data using an information processing apparatus such as a CPU. It goes without saying that any conventional method may be applied for such correction.

In addition, when there is abnormal data among the measurement values provided from the sensor module 120, a method of correcting or restoring the corresponding data using the image data provided from the camera 140 may be used. In this case, all the usual methods may be applicable for processing of video data and utilization thereof.

Referring to FIG. 1B, depth information of each cell is displayed according to a measured value representing the depth of the porthole P, and then the data between the cell and the cell is processed through a data interpolation method or the like. can confirm.

The generated porthole P data can be stored and managed in a separate database in cooperation with the current position data of the vehicle obtained using the GPS unit 130. [

In other words, the present invention can solve the problem of complicated algorithms required for photographing a road surface by using a video photographing device such as a camera, identifying a porthole through image processing on the road surface and then extracting the image data of the porthole, . Accordingly, the present invention performs real-time 3D modeling using road surface displacement measurement data measured through the laser sensor module 120, thereby making it possible to quickly and easily obtain data substantially similar to data acquired using the image photographing apparatus And so on.

Here, it is preferable that the sensor module 120, which is applied to the porthole detection method using the traveling vehicle according to the embodiment of the present invention, changes the measurement period to correspond to the traveling speed of the vehicle 110. [

That is, when the running speed of the vehicle 110 is increased, the measurement period of the sensor module 120 is rapidly changed, and when the running speed is decreased, the measurement period is also made longer, Sized cell-surface displacement data can be measured.

The camera 140 provides image data of the porthole detected by the sensor module 120. In the present invention, the photographing period of the camera 140 is also the same as the measuring period of the sensor module 120, It may be preferable to be configured to vary in correspondence with the running speed of the vehicle 110. [

However, it is needless to say that the present invention is not necessarily limited to such a configuration.

FIG. 2 is an exemplary view for explaining a specific configuration of the sensor module applied to FIG. 1A.

Referring to FIG. 2, a sensor module (120 in FIG. 1A) applied to a porthole detection system using a traveling vehicle according to an embodiment of the present invention includes frames 220 and 225 attached to a vehicle 210, And a plurality of laser sensors 230 and 235 fixed to the light sources 225 and 225.

The first frame 220 may be fixed to the lower portion of the vehicle 210 so as to be orthogonal to the running direction of the vehicle 210 and may include a plurality of members for measuring the displacement information of the road surface downwardly of the first frame 220 1 laser sensor 230 is attached and formed as shown in the figure.

That is, the first laser sensors 230 can be arranged in a one-letter shape so as to have uniform intervals along a single one-shaped frame 220. Here, the interval should be appropriately determined in relation to the arrangement height of the sensor 230 so that a measurement missing interval may not be generated. Therefore, the interval is determined in consideration of the measurement performance and specifications of the laser sensor 230 May be preferred.

The plurality of laser sensors 220 fixedly formed by the one-shaped frame 220 at the lower portion of the vehicle 210 measure the displacement of the road surface along the traveling direction of the vehicle 210, It is possible to obtain the road surface displacement information in the form of rows and columns without departing from the running section of the road surface.

2, the sensor module 120 of the present invention includes a second frame 225 disposed along the side surface of the vehicle 210 in an upward direction from the first frame 220, .

A plurality of second laser sensors 235 disposed laterally may be disposed in the second frame 225. In this case, the second laser sensor 235 may be provided with a predetermined inclination May be desirable. At this time, as shown in the drawing, the inclination degree of the laser sensor 235 gradually increases from the lower end of the side frame 225 toward the upper end.

This is a structure proposed to enable the completion of the porthole measurement only once for all the one lane of the road which is formed larger than the width of the vehicle 210 in general. However, the present invention is not necessarily limited to such a configuration.

3 is a flowchart illustrating a method of recognizing a porthole using 3D modeling according to an embodiment of the present invention.

Referring to FIG. 3, a method for recognizing a porthole using 3D modeling according to an exemplary embodiment of the present invention includes a step S310 of recognizing displacement information, a step S320 of correcting displacement, a step S330 of detecting a porthole, a step S340 of 3D modeling, And a data storage step (S350).

The displacement information recognition step (S310) is a process of recognizing the road surface displacement information by measuring the road surface using a laser sensor or the like.

The structure of the laser sensor module installed in the traveling vehicle and the information of the cell unit displacement of the road surface obtained through the above are described in detail in the separate drawings.

The correction step (S320) shows a process of forming the more complete type of displacement information by performing correction using the interpolation method or the like for the missing data among the displacement data on the road surface recognized through the displacement information recognition step (S310). The correction step S320 may be performed by using a separate processor or the like provided for this purpose, and the function may be performed through a conventional system information processing device such as a CPU.

The porthole detection step S330 is a step in which the information processing device such as the CPU selectively processes only the porthole data through the information processing on the road surface displacement data provided through the displacement information recognition step S310 or the correction step S320 . At this time, the reference value of the port-hole data selected by the information processing apparatus or the like can be configured to be determined by the input of the manager or the like. That is, it is possible to set a reference value for a porthole using information such as a maximum depth, a maximum width and / or a volume, and then recognize only the detected information satisfying the reference condition as a port hole.

The 3D modeling step S340 is a process of creating a 3D model of the port hole using the displacement data selected by the port hole through the port hole detecting step S330. In this process, it is natural that the data between the cells and the cells can be processed by using a normal interpolation method or the like in order to create a more complete type of porthole 3D model.

That is, as in the porthole detection method according to the conventional art, after securing the image data of the road surface including the porthole, the porthole is individually checked through the image processing process, and only the image data corresponding to the identified porthole is selectively In the case of the method of storing and managing not only a long time is required for image processing but also a system for implementing the system requires high performance and high quality.

However, when the displacement data of the road surface is easily obtained by using a laser sensor or the like and then the 3D modeling is performed only on the data recognized as a port hole to store and manage the data, the time required for data processing It is not only remarkably reduced, but also the specification of the system for this can be achieved at a relatively low cost.

Therefore, although the present invention can secure almost the same level of result data as that of the conventional method capable of confirming information such as the shape and size of a porthole, the speed of data processing and cost can be greatly reduced , And can be more usefully applied to various fields.

In addition, through such technical support, real-time porthole detection using a vehicle running at a high speed higher than a normal speed can be performed, thereby providing advantages such as being practically useful for porthole detection and its application fields .

The 3D model data of the porthole generated through the 3D modeling step S340 may be stored and managed in association with the position information of the porthole through the data storage step S350. It has been described above that the DGPS equipment and the like may be provided in the traveling vehicle in order to accurately grasp the positional information of the port hole.

The present invention is not limited to the above-described embodiments, and various changes, substitutions, and alterations can be made hereto without departing from the scope of the present invention. But the present invention is not limited thereto.

110, 210: vehicle 120: sensor module
130: GPS unit 140: camera
220, 225: frames 230, 235: laser sensor
P: Porthole

Claims (6)

A method for recognizing a porthole using measurement information of a plurality of sensors attached to a traveling vehicle provided with real-time position information,
A displacement information recognition step in which displacement information of the road surface measured through the sensor is recognized in units of cells of a predetermined size having rows and columns;
A port hole detection step of detecting a port hole using the recognized displacement information of the road surface through the displacement information recognition step;
A 3D modeling step of performing 3D modeling on the porthole detected through the porthole detection step using the displacement information of each cell recognized through the displacement information recognition step; And
And a data storing step of storing the 3D modeling data of the porthole created through the 3D modeling step in association with the position information of the traveling vehicle,
The measurement period of the sensor is
The traveling speed of the traveling vehicle becomes shorter as the traveling speed increases and becomes longer as the traveling speed of the traveling vehicle decreases,
The plurality of sensors attached to the traveling vehicle
A sensor attached to a first frame fixed to a lower portion of the traveling vehicle; And
And a sensor attached to a second frame fixed to a side surface of the traveling vehicle,
The sensor attached to the second frame
And the measurement angle is increased downward as the distance from the lower end of the second frame to the upper end is increased.
The method according to claim 1,
In the displacement information recognition step,
(a) providing a line sensor module formed to be orthogonal to a running direction of the vehicle, the sensor module being configured by a plurality of laser sensors for measuring respective cell-based road surface displacement information;
(b) recognizing road surface displacement information obtained by the sensor module on a line basis; And
(c) recognizing road surface displacement information in the form of a matrix having a plurality of rows and columns constituted by the respective cells through connection of the line-by-line road surface displacement information, PORTAL HALL RECOGNITION METHOD.
The method according to claim 1,
And correcting the displacement information of the missing cell using the data interpolation method when there is missing information among the road surface displacement information per unit cell recognized by the displacement information recognizing step. .
4. The method according to any one of claims 1 to 3,
Wherein the road surface displacement information measuring period of the sensor is controlled so as to correspond to the traveling speed of the traveling vehicle.
5. The method of claim 4,
Wherein the 3D modeling step concatenates the displacement information for each cell using a data interpolation method.
5. The method of claim 4,
Wherein the displacement information of the road surface excluding the porthole information detected through the porthole detection step is deleted immediately or periodically.

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