KR101957958B1 - Safety apparatus of a trash truck using a drone - Google Patents

Abstract

The present invention relates to a safety device that allows a driver to safely operate a vehicle by photographing a peripheral image of a garbage collection vehicle using a drone during a garbage collection operation so that a driver can recognize the position of a collection operator, a pedestrian, and an obstacle. The safety device comprises a vehicle marker installed outside the upper side of a garbage collection vehicle; a drone for photographing a surrounding image including the garbage collection vehicle above the garbage collection vehicle and transmitting the photographed image to the garbage collection vehicle; a calculation unit mounted in garbage collection vehicle for extracting a vehicle marker image from the photographed image transmitted from the drone, calculating an enlargement ratio and a rotation rate of the photographed image using the extracted vehicle marker image, correcting the photographed image with the enlargement ratio and the rotation rate, and display the same on the screen of the display unit. The calculation unit stores a reference vehicle marker image corresponding to the extracted vehicle marker image, and the enlargement ratio and the rotation rate are calculated values for matching the extracted vehicle marker image with the reference vehicle marker image.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a garbage truck,

The present invention relates to a safety device for a garbage collection vehicle using a drones, and more particularly, a garbage collection device using a dron to capture a surrounding image of a garbage collection vehicle to recognize a position of a collection operator, a pedestrian, To a safety device that enables a driver to perform safe driving.

Vehicles collecting household garbage include amol trucks, crushing trucks, compact trucks, and garbage trucks. These collection vehicles depend on the type of household garbage collected, and are used to collect large quantities of household garbage by type and transport them to a treatment facility. It is difficult for the driver of the driver's seat to accurately recognize the rear position of the vehicle because the garbage collection vehicle is larger than the general vehicle and the collection operator performs the collection operation while moving around the vehicle. As a result, during the cleaning of the loader, the driver closes the loader lid shutter, causing the collection operator to fall between the shutters, or the safety accident such as collision with the collecting worker, obstacle, do.

To prevent accidents, a garbage truck has a large number of sensors and a rear camera. However, since the rear camera of the vehicle is mounted on the loading lid, there is a problem that the rear of the vehicle can not be photographed while the lid is opened and the collecting operation is performed. In addition, since a plurality of sensors must be mounted to detect various positions and work conditions of collection workers, the manufacturing cost is increased, the risk of failure of the sensors is increased, and the sensors are not able to operate normally due to contamination or failure due to dirt There is a problem that can cause a greater risk.

Korean Patent No. 1715300 is known as a safety technology for getting on and off using a drones. This prior art discloses a technique in which a dron flew over a van and photographed the periphery of the van, the van interpreted the photographed image, judged whether a person was located in the dangerous area, and warned the driver. In this prior patent, the dron is operated to open the door of the vans to take a picture of the vicinity of the vans, and to return the drones when the doors are closed.

These prior patents have the following problems. First, since the acquired images are inconsistent when the drone is flying at different heights at each shooting, the prior patent controls the drones to shoot while still flying at predetermined heights and positions. As a result, the prior art has a problem that the height and position of the drone at the time of photographing must be precisely controlled to be constant at all times. In addition, in many cases, the entrance and exit positions of a kindergarten or vocational vans are not only outdoor but also an atmospheric space in a parking lot or a canopy. In such a case, the drone may not be raised to a predetermined height.

Also, in the process of the drones rising to a predetermined height for taking a picture or descending to the charging position, there is a risk that a failure occurs due to being caught by an electric wire.

U.S. Patent No. 8,630,773 Korean Patent No. 1715300

The object of the present invention is to provide a safety device that allows a driver to safely operate a vehicle by shooting a peripheral image of a garbage collection vehicle using a dron to recognize a position of a collection operator, a pedestrian, and an obstacle.

In addition, even when the shooting height or position of the drone is changed, the distance between the collection vehicle and the surrounding obstacle is calculated and displayed so that the driver can recognize the distance, and a safety device for preventing collision with the electric wire The purpose is to provide.

According to another aspect of the present invention, there is provided a safety device for a garbage truck using a dron, comprising a vehicle marker installed outside the garbage truck,

A dron for photographing a surrounding image including the garbage collection vehicle on the garbage collection vehicle and transmitting the captured image to the garbage collection vehicle,

A vehicle marker image is extracted from the photographed image embedded in the garbage collection vehicle, the extracted marker marker image is used to calculate an enlargement ratio and a rotation rate of the photographed image, and the photographed image is corrected with the enlargement ratio and the rotation rate On the screen of the rear display section,

Wherein the operation unit stores a reference vehicle marker image corresponding to the extracted vehicle marker image and the enlargement ratio and the rotation rate are calculated values for matching the extracted vehicle marker image with the reference vehicle marker image.

According to the present invention, there is an advantage that a driver can safely operate the vehicle by recognizing the position of a collecting worker, a pedestrian, and an obstacle by using a peripheral image of a garbage truck using a dron.

In addition, since the position of the obstacle is displayed on the basis of the time when the collection vehicle is photographed in the reference altitude and the reference direction regardless of the shooting height of the drones or the shooting direction, the driver can recognize the position .

Also, there is an advantage that the dron can safely ascend and descend without colliding with the wire in the course of ascending and descending of the altitude.

1 is a block diagram of a safety device for a garbage collector using a drones according to the present invention.
2 is a view showing an embodiment of a vehicle marker according to the present invention.
3 is a block diagram of the construction of the drones according to the present invention.
4 is a control flowchart of the garbage collection difference calculator according to the present invention.
5 is a control flowchart of the drone control unit according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the terms described below are defined in consideration of the functions of the present invention, and this may vary depending on the intention of the user, the operator, or the custom. Therefore, the definition should be based on the contents throughout this specification.

1 is a block diagram showing a safety device for a garbage truck using a drones according to the present invention.

The present invention is applied to a general garbage collector (100). The garbage collector comprises a cabin 110 located in front of the vehicle and a loading box 120 located in the rear of the vehicle. The cabin 110 is provided with a driver's seat and the driver's seat is provided with devices for controlling the running of the vehicle and devices for controlling the operation of various devices of the garbage collector.

A conventional drones station 111 on which the drones 150 are mounted is mounted on the upper side of the cabin 110. The drones station 111 may include a charging device for charging the battery (not shown) of the drones 150. Alternatively, the drones station 111 may include a device for wired connection to the drones 150 to supply power, or a device for pulling the drones 150 to the drones 111.

A loading cover 130 is hingedly coupled to the loading unit 120 at the rear of the loading unit 120. A loading member 130 for loading the loading unit 120 into the loading unit 120 131 and a press-in member 132 are provided.

The safety device for the garbage collector according to the present invention includes a vehicle marker 140 installed on the outside of the garbage collection vehicle 100 and a vehicle marker 140 installed on the outside of the garbage collection vehicle 100 including the garbage collection vehicle 100 A communication unit 160 installed in the garbage collection vehicle 100 and receiving a photographed image from the garbage collection vehicle 100. The communication unit 160 transmits the photographed image to the garbage collector 100, A vehicle marker image is extracted from the received photographed image, an enlargement ratio and a rotation rate of the photographed image are calculated from the extracted vehicle marker image, the photographed image is corrected with the enlargement ratio and the rotation rate, and then displayed on the screen of the display unit 180 And an operation unit 170.

The operation unit 170 stores a reference vehicle marker image corresponding to the extracted vehicle marker image, and the enlargement ratio and the rotation rate of the captured image are calculated values for matching the extracted vehicle marker image with the reference vehicle marker image.

The arithmetic unit 170 extracts the outline information of the garbage collection truck from the corrected photographed image, and displays the corrected photographed image so that the outline of the garbage truck is placed at a predetermined position of the screen. The operation unit 170 may extract the position of the collection operator from the corrected photographed image and further display the collection operator position information on the screen in a simplified symbol. For this purpose, it is desirable to attach a separate worker marker to collection workers.

The reference vehicle marker image is preferably a vehicle marker image obtained from an image photographed by the drones in a reference altitude and a reference direction (the front of the drones and the front of the garbage collector).

According to the present invention, even when the drones are not photographed in the reference altitude and the reference direction when shooting the garbage truck and surrounding images, the drones are signal-processed (zoomed in and out) and displayed on the screen as if they were photographed in the reference altitude and reference directions The driver can accurately grasp the position of the collection operator and surrounding obstacles.

The operation unit 170 is configured to store a reference vehicle marker image, a process of deriving an enlargement ratio and a turnover rate, a process of correcting a shot image based on the extracted image and a process of displaying the image on a screen, and executing the process.

2 (A), the vehicle marker 140 may be a single long rectangular marker in the front-rear direction or the left-right direction of the vehicle, and may be formed in a shape different from the front and rear of the vehicle as shown in FIG. 2 (B) It may be composed of two or more markers. In the latter case, the magnification and rotation rate can be calculated based on the distance and position between the two markers. The shape of the marker is not limited thereto, and it may be any shape as long as it can recognize a change in length or size according to the photographing direction of the vehicle and the photographing altitude.

3, the dron according to the present invention includes driving means 151 for moving the flying body in the vertical or horizontal direction, and mounting means for placing the flying body in the dragon station 111 of the garbage collector 100 A communication unit 154 mounted on the flying body and communicating with the communication unit 160 of the garbage collector; and a control unit 160 installed in the flying body, A speed sensing unit 156 mounted on the flying body and sensing a moving speed of the flying body, and a speed sensing unit 156 mounted on the flying body to capture an image at night, A driving unit 151, a seating unit 152, a camera 153, and a driving unit 153. The driving unit 151, the mounting unit 152, and the camera 153 are mounted on the main body of the vehicle, The communication unit 154 and the high-sensitivity detection unit 155 A speed sensing unit 156, an infrared camera 157, and a magnetic field sensing unit 158 to control the flight and various operations of the drones.

The drones 150 may be connected to the garbage collector 100 to supply power to the garbage collector 100 or may be used as a driving power source by charging the built-in battery. The dron 150 is a seating mode in which the garbage collector 100 is seated in the drones 111 of the garbage collector 100, a low-altitude flying mode in which the garbage collector 100 is driven at a low altitude (flight altitude) (Photographing altitude) higher than a predetermined height from a predetermined height to capture a garbage collection vehicle and its surrounding images, a rising mode for raising the altitude of the flying body, and a lowering mode for lowering the altitude of the flying body.

In general, each garbage collection vehicle 100 is assigned a garbage collection area. The garbage collection area is moved at a high speed up to the allocated area. In the assigned area, the garbage collection vehicle 100 runs at a low speed until the next garbage can, Perform collection operation.

In the present invention, the drones are operated in the seating mode while the garbage truck is traveling at a high speed, and in the low-altitude flight mode while the garbage truck is traveling at low speed in the assigned area. When the garbage truck is stopped and the garbage is collected, . The elevation mode is performed when the low-altitude flight mode is switched to the photographing mode, and the descent mode is performed when the photographing mode is switched to the low-altitude flight mode.

The operation of each mode will be described.

The seating mode will be described. The control unit 159 sets a seat mode when a seating mode setting signal is inputted from a garbage collection vehicle or a moving speed of a garbage collection vehicle exceeds a reference speed while flying while tracking a garbage collection vehicle. At this time, the control unit 159 controls the driving unit 151 to move the flying body to the drones 111 of the garbage collector, and the seating unit 152 is driven so that the flying body is seated on the drones 111 .

Next, the low-altitude flight mode will be described. The control unit 159 sets the low-altitude flight mode when the seating mode release signal is input from the garbage collection truck or when the garbage collection truck enters the allocation area and the moving speed of the garbage collection truck becomes less than the reference speed. At this time, the control unit 159 controls the driving unit 151 and the high-sensitivity sensing unit 155 so that the flying body traces the garbage collection truck at a predetermined altitude or less. The speed sensing unit 156 senses the traveling speed of the flying body and provides it to the control unit 159.

Next, the rise mode will be described. The control unit 159 performs the ascending mode when the garbage collection vehicle stops while the low altitude flight mode is being performed (i.e., the traveling speed detected by the speed sensing unit 156 is zero). The control unit 159 drives the driving unit 151, the high-sensitivity sensing unit 155, and the magnetic field sensing unit 158 to safely raise the flying body to the shooting height. That is, the height of the flying body rises so as to be higher than the photographing height, but is avoided so as not to collide with the peripheral wires using the magnetic field sensing unit 158.

Next, the shooting mode will be described. The control unit 159 performs the photographing mode when the flying body is raised to the photographing altitude. The control unit 159 controls the camera 153 to photograph the garbage collector and the surrounding images thereof and transmits the collected images to the communication unit 160 of the garbage collector through the communication unit 154 And if the illuminance detected by the illuminance sensor is lower than the reference value, the infrared camera 157 is controlled to photograph the garbage collector and its peripheral image and transmit the taken image to the communication unit 160 of the garbage collector through the communication unit 154 . The communication unit 154 of the drones and the communication unit 160 of the garbage collector may transmit and receive signals through wired communication and may transmit and receive by wireless communication.

When the drone 150 operates in the shooting mode, as described above, the arithmetic unit 170 of the garbage collection truck extracts the enlargement ratio and the turnover rate of the photographed image to correct the photographed image, Adjusts to the preset screen position, and displays it on the screen.

Next, the descent mode will be described. The control unit 159 performs a falling mode when the garbage collection truck moves while performing the photographing mode. The control unit 159 drives the driving unit 151, the high-sensitivity sensing unit 155, and the magnetic field sensing unit 158 to safely lower the flying body to the altitude of the low-altitude flying mode. That is, the flying body is lowered so that the altitude of the flying body is low even when the flight mode is at an altitude, and the magnetic field sensing unit 158 is used to avoid the collision with the peripheral wires.

The control unit 159 performs the low altitude flight mode after the end of the descent mode. While the garbage truck is moving through the allocation area, the controller repeats the low-altitude flight mode, the ascending mode, the shooting mode, the descent mode, and then the low-altitude flight mode.

When all of the collection tasks are completed in the arbitrary allocation area and move to the next allocation area or move to the processing facility, the garbage collection vehicle travels at a high speed. At this time, the controller 159 performs the seating mode as described above.

4 is a control flowchart of the garbage collection difference calculator according to the present invention.

The operation unit 170 of the garbage collection vehicle 100 stores the reference vehicle marker image (S41). This reference vehicle marker image is preferably an image of the vehicle marker mounted on the garbage collector in the reference altitude and the reference direction (for example, the front of the photographing camera and the front of the garbage collection truck match) Do.

The operation unit 170 receives the photographed image from the drones (S42), and extracts the vehicle marker image from the received photographed image (S43). Next, the operation unit 170 compares the extracted vehicle marker image with the previously stored reference vehicle marker image, and calculates an enlargement ratio and a turn ratio for matching the extracted vehicle marker image with the reference vehicle marker image (S44). The operation unit 170 applies the enlargement ratio and the rotation rate calculated in step S44 to the photographed image received in step S42 (S45).

The calculation unit 170 extracts the outline information of the garbage collection car from the photographed image corrected at step S45 (S46), adjusts the outline of the extracted garbage collection car to be positioned at a predetermined position on the screen, The image is displayed on the screen (S47). At this time, the operation unit 170 may further display the position of the collection operator in a simplified symbol in the corrected photographed image.

5 is a control flowchart of the drone control unit according to the present invention.

The drone moves to the collection assignment area in the seating mode in which the flying body is seated on the drones of the garbage truck (S51).

The control unit 159 senses the moving speed of the garbage collection vehicle (S52). If the traveling speed of the garbage truck is equal to or higher than the reference speed (S53), the flying body is moved to a state where the flying body is seated on the drones station (S54). If the moving speed of the garbage collection vehicle is less than the reference speed (S53), the low-altitude flying mode is performed so that the flying body traces the garbage collection truck at a predetermined altitude or less (S60). If the traveling speed of the garbage collection vehicle is stopped (S53), the flying mode is performed so that the flying body avoids the electric wires and increases to the shooting height (S55).

After the main body of the flying body rises to the photographing height, the control unit 159 drives the camera or the infrared camera according to the external illuminance to photograph the garbage collection vehicle and its surrounding images, and transmits the photographed image to the garbage collection vehicle (S56). With respect to the photographed image, the calculation unit of the garbage collector is processed through a process as shown in Fig. 4 and displayed on the screen.

The control unit 159 senses the moving speed of the refuse collection vehicle (S57). If the moving speed of the refuse collection vehicle is less than the reference speed (S58), the control unit 159 performs the descending mode to avoid the electric wires, (S59). When the descent is completed, a low altitude flight mode is performed to track the garbage collection vehicle at a flight altitude below the flight altitude (S60).

100: Garbage collector 110: Cabin
120: Carrier 130: Carrier cover
140: vehicle marker 150: drones
160: communication unit 170:
180: display unit 151: driving means
152: mounting means 153: camera
154: communication unit 155:
156: Speed sensing section 157: Infrared camera
158: magnetic field sensing unit 159:

Claims (7)

A vehicle marker installed outside the upper side of the garbage collector,
A dron for photographing a surrounding image including the garbage collection vehicle on the garbage collection vehicle and transmitting the captured image to the garbage collection vehicle,
A vehicle marker image is extracted from the photographed image embedded in the garbage collection vehicle, the extracted marker marker image is used to calculate an enlargement ratio and a rotation rate of the photographed image, and the photographed image is corrected with the enlargement ratio and the rotation rate And an arithmetic unit for displaying on the screen of the rear display unit;
Wherein the operation unit stores a reference vehicle marker image corresponding to the extracted vehicle marker image and obtainable from the reference altitude and reference direction photographing images, and the enlargement ratio and the turnover rate correspond to the extracted vehicle marker image to match the reference vehicle marker image ≪ / RTI >
Wherein the calculation unit extracts the outline information of the garbage collection truck from the photographed image corrected by the enlargement ratio and the rotation rate, displays the corrected photographed image while locating the outline of the garbage truck on a predetermined position of the screen, And the position information of the collection worker is additionally displayed on the screen on which the photographed image is displayed. delete delete 2. The apparatus of claim 1,
Driving means for moving the flying body in a vertical or horizontal direction,
A mounting means for mounting the flying body to the drones of the garbage truck;
A camera mounted on the flying body for capturing an image,
A high-sensitivity sensing unit mounted on the flying body to sense an altitude of the flying body,
A speed sensing unit mounted on the flying body to sense a moving speed of the flying body,
And a control unit mounted on the flying body to control the driving unit, the seating unit, the camera, the high-sensitivity sensing unit, and the speed sensing unit to control the flying and various operations of the drones. Safety device of the car. 5. The apparatus according to claim 4,
And a magnetic field sensing unit mounted on the flying body to sense electric wires. 5. The apparatus according to claim 4,
A low-altitude flight mode for tracing the garbage collection truck and flying at a low altitude, and an elevation shooting height above a certain height from the garbage collection truck, And a lowering mode for lowering the altitude of the flying body from the photographing altitude to the lower altitude. The apparatus according to claim 1, Safety device of garbage collector used. The garbage collector safe device according to claim 6, wherein the drones avoid electric wires in the ascending mode and the descending mode.

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