KR102112531B1 - Dust Removing Machine Using Machine Vision - Google Patents

Abstract

The present invention relates to a dust removing apparatus using a machine vision, which recognizes a type of impurities of introduced sewage by using a machine vision algorithm from an image obtained from a camera, and operates a dust removing apparatus on the basis of the recognition in case that impurities exist. According to an aspect of the present invention, the dust removing apparatus using a machine vision comprises: a dust removing unit installed on a waterway to remove impurities floating downward on a water surface; a driving motor for rotating a screen installed in the dust removing unit; a control unit for controlling the driving motor; a camera for photographing the impurities on the water surface of the waterway; and an image analysis unit for receiving an image from the camera and applying a command for driving the driving motor to the control unit on the basis of the received image. The image analysis unit applies the command for driving the driving motor to the control unit when the total amount of the impurities on the water surface is equal to or greater than a reference value. According to the present invention, unnecessary power loss can be prevented to save maintenance costs.

Description

Dust removing machine using machine vision

The present invention relates to a vibration suppressor, and more specifically, uses a machine vision to recognize a type of sewage contaminants introduced using a machine vision algorithm using an image obtained from a camera, and to operate the vibration suppressor when a contaminant exists based on this. It is about a vibration damper.

A general vibration damper is installed in a drainage pumping station, a waterworks intake, a sewage treatment plant, irrigation canal, and dams to filter contaminants moving along with the flowing wastewater, and screens installed at regular intervals to prevent water from being blocked from contaminants. , It consists of a rake installed with a chain connected between each screen and a driving motor that always drives the chain on the top.

 In general, a vibration damper is a general type vibration damper that is always operated, and a timer type vibration damper configured to operate only at a specific time is known. In the case of a normal type vibration damper, frequent failure occurs due to overload of the drive motor as the drive motor is always driven, and the life of the drive motor is significantly reduced, and there is a problem of wasting power due to driving even in the absence of contaminants. As the type of vibration suppressor is driven only at a certain time, when the contaminants suddenly flow in and increase due to rainfall, there is an inconvenience of adjusting the driving time of the timer type vibration suppressor.

The present invention is a machine vision capable of reducing maintenance cost by preventing unnecessary power loss by recognizing contaminants flowing from a waterway in which a vibration suppressor is installed and operating the vibration suppressor only when the contaminants are recognized. It is an object to provide a vibration damper using a.

According to one aspect of the present invention to achieve the above object, a vibration isolator using a machine vision is provided, the vibration isolator is installed in the waterway to remove floating matter floating on the surface of the vibration damper: installed in the vibration damper A drive motor for rotating the screen; A control unit for controlling the drive motor; A camera configured to photograph contaminants on the water surface of the waterway; And an image analysis unit configured to receive an image from the camera and apply a command to drive a moving motor to the control unit based on the received image, wherein the image analysis unit drives the control motor when the total amount of contaminants on the water surface is greater than or equal to a reference value. It is configured to apply a command to drive the.

In the above-described aspect, the image analysis unit includes an image receiving module for receiving an image from a camera, a frame analysis module for extracting only stenosis by analyzing frames from the received image, and an edge for detecting an edge of a contaminant from the stenosis extracted image Detection module; A color detection module for detecting the color of the contaminants from the constriction extraction image; The total number of contaminants based on the detection results from the number detection module for detecting the number of contaminants, a reference line generator for generating a reference line for detecting contaminants, the edge detection module, the color detection module, and the number detection detection module. Contaminant calculation module for calculating the; And a driving signal generation determination module for determining the generation of the motor driving signal to the control unit based on the result from the contaminant calculation module.

In addition, in the above-described aspect, the control unit further includes an inverter circuit for adjusting the rotation of the drive motor.

In addition, in the above-described aspect, the frame analysis module functions to extract the confinement in the frame by subtracting the background frame without the constriction from the current frame in which the confinement is present.

In addition, in the above-described aspect, the reference line generation unit generating a reference line for detecting a constriction operates to generate at least two or more reference lines for detecting a constriction.

In addition, in the above-described aspect, the contaminant calculation module calculates the color distribution, the area of the constriction, and the number of constriction in each of the two or more reference lines, and the color distribution, the area of the constriction, and the number of constriction in each reference line. To obtain the averaged color distribution, the averaged stencil area, and the averaged stenosis number,

The total amount of contaminants is:

Total amount of contaminants = averaged color distribution * averaged area * averaged number.

In addition, in the above-described aspect, the averaged color distribution is given different addition values for each color.

In addition, in the above-described aspect, the image analysis unit transmits the speed at which the total amount of contaminants reaches the reference value, and the control unit operates to determine the speed of the driving motor through the inverter circuit according to the reference value arrival speed received from the image analysis unit.

According to the present invention, by using the machine vision that can reduce the maintenance cost by preventing unnecessary power loss by operating the vibration isolator only when the contaminants are recognized from the waterway where the vibration is installed and the contaminants are recognized and judged to be a certain quantity or more. A vibration damper can be provided.

1 is a view showing a schematic configuration of a vibration suppressor using a machine vision according to the present invention,
2 is a view showing a connection relationship between the drive motor and the vibration damping unit, the camera in the embodiment of FIG. 1,
Figure 3 is a functional block diagram schematically showing the internal configuration of the image analysis unit according to the present invention,
4 is an explanatory diagram for explaining a process of separating contaminants from the frame analysis module in the image analysis unit according to the present invention;
5 exemplarily shows a plurality of reference lines in the image analysis unit according to the present invention.
6 is a view showing an example of weighting according to color or color distribution in the image analysis unit according to the present invention.
7 is a view schematically showing an image analysis operation flow in the image analysis unit to drive the motor using the image analysis unit according to the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms.

In the present specification, this embodiment is provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art to which the present invention pertains. And the present invention is only defined by the scope of the claims. Thus, in some embodiments, well-known components, well-known operations, and well-known techniques are not specifically described to avoid obscuring the present invention.

The same reference numerals refer to the same components throughout the specification. In addition, the terms (mentioned) used in this specification are for describing the embodiments and are not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. In addition, components and actions recited as 'include (or have)' do not exclude the presence or addition of one or more other components and actions.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings commonly understood by those skilled in the art to which the present invention pertains. Also, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are defined. Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a view showing the basic configuration of a vibration damper 10 using a machine vision according to the present invention.

As shown in FIG. 1, the vibration isolator 10 using a machine vision is connected to a vibration damping part 500 installed in a waterway, a vibration removing part 500, and a driving motor 400 for rotating the vibration damping part 500, a driving motor It is connected to the 400 and includes a control unit 300 for controlling the operation of the inverter 450, the inverter 450 and the vibration damper 10 for changing the rotation speed of the drive motor 400, the control unit 300 An image analysis unit 350 is connected to one side of the input, and the image analysis unit 350 analyzes an image photographed from the camera 100 and causes the controller 300 to turn on / off and rotate the driving motor 400. It functions to help you decide.

In the illustrated drawing, the control unit 300 and the image analysis unit 350 are illustrated as separate components, but this is for more easily explaining the gist of the present invention, and the image analysis unit 350 and the control unit 300 are integrated. Can be formed.

In addition, although the inverter 450 and the driving motor 400 are also illustrated as separate components in the illustrated drawings, this is for more easily explaining the gist of the present invention, and the driving motor 400 includes an inverter circuit 450. It is apparent to those skilled in the art that a motor to be used can be used.

As shown, the vibration damping part 500 includes a rake 510 for filtering contaminants flowing into the waterway, and the length of the rake 510 is configured to have a protruding length of 500 mm or more, such as a refrigerator. It is configured to remove contaminants.

In addition, the vibration isolator 500 has a structure in which a conventional dislocation screen is removed as shown, and is configured to have a contaminant lifting height of 30 mm so that a small contaminant does not pass through the vibration isolator 500.

2 is an exemplary diagram for explaining the interconnection of the driving motor 400 and the vibration damping unit 500. As shown, the driving motor 400 is formed on the upper end of the vibration damping unit 500 to prevent the rotational driving force of the motor from being lost, and the rotation shaft of the driving motor 400 rotates on the rotation shaft of the vibration damping unit 500 ( 520) is connected.

In addition, an inverter 450 is provided for economical driving of the driving motor 400 in the present invention, and the inverter functions to control the rotational speed of the motor by changing the frequency of the power supplied to the driving motor 400. The inverter used in the present invention is not limited to this, and any one of a single-phase inverter, a three-phase inverter, a voltage-type inverter (PWM, PAM), and a current-type inverter may be used according to the intended use.

Referring back to FIG. 1, the control unit 300 is configured to control the motor 400 or the inverter 450 in response to a signal from the image analysis unit 350. The image analysis unit 350 analyzes the image from the camera 100 and provides different control signals to the control unit 300 according to the analyzed image. Hereinafter, the image analysis unit 350 will be described in more detail.

3 is a functional block diagram schematically showing the internal functions of the image analysis unit 350. As shown in FIG. 3, the image analysis unit 350 includes an image receiving module 351 that receives an image from the camera 100, a frame analysis module 352 for analyzing a frame from the received image, and an analysis frame. Used for detecting edges, colors, and counts in the detection units 353a and 353b for detecting the edges and colors of contaminants, the number detection module 353c for detecting the number of contaminants, and the detection units 353a, 353b and 353c. Results from the debris calculation module 355 and the debris calculation module 355 for calculating the total amount of contaminants based on the detection results from the reference line generation module 354 and the detection units 353a, 353b for generating a reference line Based on the control unit 300 includes a drive signal generation determination module 356 for determining the generation of the motor drive signal.

The camera 100 is not limited thereto, and a CCTV or infrared camera may be used. The input from the camera 100 is first received through the image receiving module 351 of the image analyzing unit 350 and the received image is transmitted to the frame analyzing module 352.

The frame analysis module 352 functions to find only floating objects or contaminants floating on the water surface from the received image. For this task, the frame analysis module 352 is performed by comparing the background frame without the contaminant and the current frame in which the contaminant exists.

4 is an explanatory diagram for showing the working principle in the frame analysis module 352. As shown in FIG. 4, the frame analysis module 352 subtracts (subtracts) the background frame from the current frame to separate the target from the current frame to generate a target-separated image, and the target-separated image illuminates for edge detection. A target image for edge detection is generated by further performing threshold processing (or binary processing).

The edge detection module 353a extracts a boundary from the target image for edge detection, which is binary processed, and functions to determine the size of the detected contaminants. This can be obtained from grasping the edges (boundaries or contours) of contaminants.

Edge in an image refers to a portion existing at a point where the brightness of the image changes from a low value to a high value or vice versa, and in the end, an edge refers to a boundary of a target in the image, based on the contrast of the image. It means the point where the contrast is large. Therefore, this contrast ratio can be obtained by detecting the slope. The method of edge detection is obvious to those skilled in the art, and detailed description thereof will be omitted.

The size of the contaminant (object) can be estimated by calculating the number of pixels located within the edge after the edge with respect to the target is detected.

The color detection module 353b may be obtained from a target separation image in which a target is separated from a current frame by subtracting (subtracting) a background frame from the current frame as described above. The color detection module 353 detects the color of the target contaminant from an image that is not processed with an illuminance threshold.

The color detection module 353b functions to receive RGB pixel information for a contaminant and detect contaminants based on the received RGB pixel information. The color of the contaminants in the present invention is detected because each contaminant has its own color.

For example, in the case of wood, the color is mostly brown, and in the case of a bush, the color is green. Therefore, the contaminants have a unique color, and the color characteristics of the contaminants can be used to estimate the type of contaminants.

Normally, in the case of contaminants, when brown, the weight of the wood is very heavy compared to green-green bushes. Therefore, in the present invention, the types of contaminants are estimated by distinguishing these colors, and the vibration damper is operated by applying different weights for each color. It is possible to control the finer.

The reference line generation module is used to generate a reference line BL used for detection in the edge detection module 353a and the color detection module 353b of the contaminants as described above. 5 is an explanatory diagram for explaining such a reference line BL.

As shown in FIG. 5, the vibration isolating part 500 of the vibration isolator 10 is formed on one side of the water channel and the camera 100 is installed at the upper end of the vibration isolator 500 to monitor contaminants entering the water channel. As described above, the image analysis unit 350 of the vibration damper 10 has the size (essence detection), type (color), and quantity of contaminants flowing through the water channel in order to turn driving motor 400 on or off. Must calculate

In order to count the number of contaminants in the number detection module 353c, the image analysis unit 350 according to the present invention generates a virtual reference line BL on the water channel and determines the number of contaminants passing through the reference line BL. It is configured to count.

The reference line may be one, but preferably, two or more reference lines are generated. The reason why two or more reference lines are generated is that when one reference line is generated and counts of contaminants passing through the reference line, the contaminants may not be recognized due to reasons such as water ripples or light reflection on the water surface.

Also, in the case of the reference line, depending on the location where the reference line is generated, the recognition rate of contaminants may sometimes be impossible to accurately recognize due to obstacles such as shadows.

Therefore, in the present invention, a plurality of reference lines are generated to count the correct number of contaminants, counting contaminants passing through each reference line, and summing the average number of contaminants counted in each reference line and configuring the average.

For example, in the drawing of FIG. 5, three reference lines (BL1, BL2, and BL3) are generated. Therefore, in the image analysis unit 350 according to the present invention, contaminants passing through the respective lines BL1, BL2, and BL3 are generated. It is used to calculate the edge, color, and quantity of and average them and generate a driving signal.

The contaminant calculation module 354 calculates the total amount of contaminants using the color distribution, area, and number detected and averaged in each line as described above. The total amount of contaminants is as follows.

Total amount of contaminants = color distribution * area (size) * number

The color values may be weighted for each color as described above. For example, a weight of 1 may be given to a green that a bush mainly has, while a weight that a wood mainly has may have a higher weight. In the present invention, the value of the weight is selected to be lower as it is closer to green, and is set to give a higher weight as it is closer to red.

6 is a view showing an example of weights assigned to color values in the present invention. As shown in FIG. 6, the closer to green, the lower the weight, while the closer to red, the higher the weight. On the other hand, in the case of blue, the weight is not given. Therefore, in the present invention, weights are given through distribution ratios of green and red, which are shown in Table 1 below.

[Table 1]

Next, as described above, the driving signal generation determination module determines whether the total amount of contaminants is greater than or equal to a predetermined reference value. When it is determined that the total amount of contaminants analyzed through the image analysis unit is greater than or equal to the reference value, the drive signal generation determination module 356 is operated to generate a motor drive signal, and if it is less than the reference value, the total amount of contaminants without generating a drive signal is a reference value You will wait to reach.

In addition, the image analysis unit 350 may calculate the increase speed of the contaminant from the time when it reaches the reference value for generating the drive signal through the reference lines, and the drive motor rotation speed signal that controls the rotation speed of the motor based on the increase speed Can generate more.

For example, the faster the time when the contaminant passes through the reference lines BL1, BL2, and BL3 to reach the reference value, the faster the controller 300 rotates the driving motor, while the slower the time to reach the reference value, the slower the control unit 300. Will rotate the drive motor slowly.

7 is a view showing a flow chart for executing the machine vision in the image analysis unit 350 as described above. As illustrated in FIG. 7, the method for determining whether the vibration suppressor is driven includes the following steps.

① Step of receiving video from camera

② Step to call a background frame without any contaminants

③ Step to call the current frame

④ Separating contaminants by subtracting the background frame from the current frame

⑤ detecting the edge of the contaminant and detecting the size of the contaminant

⑥ Detecting the color of contaminants

⑦ Counting the number of contaminants crossing the first reference line

⑧ Counting the number of contaminants crossing the second reference line

⑨ Counting the number of contaminants crossing the Nth reference line

⑩ calculating the color distribution of contaminants crossing the first to Nth reference lines

면적 calculating the area of the contaminant crossing the first to Nth reference lines

⑫ counting the number of contaminants crossing the first to Nth reference lines

⑬ Averaging the color shunts, areas, and numbers calculated in steps ⑩ to 단계 and determining whether the total amount of contaminants is greater than or equal to the reference value

⑭ If the total amount of contaminants calculated in step ⑬ is higher than the reference value, start the vibration suppressor.

In the above-described steps, the step of detecting the edge of the ⑤ contaminant may be performed through the illuminance threshold processing (binarization processing) on the image in which the contaminants are separated in the step ④.

In addition, the step of averaging the area and the number of color shunts calculated in steps ⑩ to ⑫ and determining whether the total amount of contaminants is greater than or equal to a reference value includes assigning different addition values according to colors.

The above-described embodiments are for illustration only, and those having ordinary knowledge in the technical field to which the above-described embodiments belong can easily be modified into other specific forms without changing the technical idea or essential features of the above-described embodiments. You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be capable of various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are for illustrative purposes, not for limiting the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments.

Therefore, the protection scope of the present invention should be interpreted by the following claims rather than limited by the above-described embodiments, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

10: vibration suppressor using machine vision 100: camera
300: control unit 350: image analysis unit
400: drive motor 450: inverter
500: damping section 510: rake
351: image receiving module 352: frame analysis module
353: detection unit 354: reference line generation unit
355: contaminant calculation module

Claims (8)

In the vibration suppressor using machine vision,
A vibration isolation unit installed on a waterway to remove contaminants floating on the water surface;
A drive motor for rotating the screen installed in the vibration control unit;
A control unit for controlling the drive motor;
A camera configured to photograph contaminants on the water surface of the waterway; And
And an image analysis unit configured to receive an image from the camera and apply a command to drive the moving motor to the control unit based on the received image, wherein the image analysis unit drives the control motor to the control unit when the total amount of contaminants on the water surface is greater than or equal to a reference value. It is configured to apply a command to drive,
The image analysis unit,
An image receiving module for receiving an image from the camera;
A frame analysis module for extracting only stenosis by analyzing a frame from the received image;
An edge detection module for detecting an edge of a contaminant from a constriction extraction image;
A color detection module for detecting the color of the contaminants from the constriction extraction image;
A number detection module for detecting the number of contaminants;
A reference line generating unit that generates a reference line for detecting a constriction;
A contaminant calculation module for calculating a total amount of contaminants based on the detection results from the edge detection module, the color detection module, and the number detection detection module; And
And a driving signal generation determination module for determining the generation of the motor driving signal to the control unit based on the result from the contaminant calculation module,
The reference line generation unit generating a reference line for detecting a constriction operates to generate at least two or more reference lines for detecting a constriction, and the contaminant calculation module comprises a color distribution of the constriction in each of the two or more reference lines, Calculate the area of the stenosis, the number of stenosis, average the color distribution, the area of the stenosis, and the number of stenosis calculated from each baseline to obtain the averaged color distribution, the averaged stenosis area, and the averaged stenosis, The total amount of contaminants is:
Total contaminants = averaged color distribution * averaged area * averaged number
Vibration suppressor using a machine vision, characterized in that obtained by.
delete According to claim 1,
The control unit further comprises an inverter circuit for adjusting the rotation of the drive motor
Vibration suppressor using machine vision.
According to claim 1,
The frame analysis module extracts a stenosis in a frame by subtracting a background frame without a stenosis from the current frame in which the stenosis exists.
Vibration suppressor using machine vision.
delete delete According to claim 1,
The averaged color distribution is a vibration suppressor using a machine vision that is assigned different values for each color.
According to claim 3,
The image analysis unit transmits the speed at which the total amount of contaminants reaches the reference value to the control unit, and the control unit uses a machine vision to operate to determine the speed of the driving motor through the inverter circuit according to the reference value arrival speed received from the image analysis unit.

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