KR102188567B1 - System for monitoring the road using 3 dimension laser scanner - Google Patents

Abstract

According to an embodiment of the present invention, provided is a road monitoring system comprising: a laser scanner which generates data by scanning road conditions; a control server which receives data; and a communication module which transmits data to the control server. The laser scanner is a long distance non-contact type three-dimensional laser scanner.

Description

System for monitoring the road using 3 dimension laser scanner

The present invention relates to a road monitoring system using a 3D laser scanner, and more particularly, to a road monitoring system that monitors road conditions using a 3D laser scanner, and enables immediate action when an event occurs. .

Although accidents occurring on the road are very dangerous accidents that directly lead to human accidents, the system for notifying and coping with accidents occurring on the road is inadequate.

With the development of image analysis technology and the growth of mobile communication technology, vehicle-to-vehicle networks and autonomous driving systems are becoming commonplace, technology for monitoring road traffic conditions must be a field that must grow together.

Until recently, applicable technologies such as CCTV and accident warning signs are being applied to monitor road traffic conditions, but measures are currently undertaken despite the need for immediate response to events on the road. It is a situation that cannot get out of the level.

According to the Korean Patent Registration No. 10-1338496 (2013.12.02.) as a road monitoring method, when there is a falling object on the road, a vehicle is stopped, or a traffic accident occurs, the situation is primarily detected through a radar detector. In addition, it is possible to quickly prevent damage from secondary accidents on the road through follow-up measures by on-site dispatch while extracting the location of the injured situation detected by the radar detector in connection with the GPS module, and more accurately confirming the location of the injured situation on the road. Is suggesting a way.

However, since the radar detector and GPS module are used, the reference coordinates of the detection area must be measured in order to match the map between the laser detection area and the GPS coordinates, and the point of occurrence of the absence situation is pre-measured by the radar detector and matched to the stored reference coordinates. In order to find the coordinates of the point of occurrence, data matching between the radar detection area and GPS information must be preceded, and if an error occurs in the data matching operation, there is no other alternative to find the point of occurrence of the situation. .

Korean Patent Registration No. 10-1338496 (2013.12.02.) Korean Patent Registration No. 10-1987401 (2019.06.03.)

An object of the present invention is to provide a system for monitoring an unexpected situation that may occur on a road and immediately transmitting it to a control center.

A road monitoring system according to an embodiment of the present invention includes a laser scanner for generating data by scanning road conditions, a control server for receiving the data, and a communication module for transmitting the data to the control server, wherein the laser scanner is It is a long distance non-contact 3D laser scanner.

Here, the control server is a data receiving unit that receives the data generated from the laser scanner, an object recognition unit that recognizes an object from the received data, an event determination unit that determines an event on the road from the received data, and the recognized object. It includes a position calculator that determines the position of.

In addition, the control server further includes a warning signal transmission unit for transmitting a warning message when an event occurs.

Further, the control server further includes a control unit for controlling the laser scanner and a data storage unit for storing time series data according to occurrence of an event.

Here, the control unit determines the scan period of the laser scanner using at least one information selected from the group consisting of the event occurrence time zone, weather, traffic volume, and season information stored in the data storage unit.

In addition, when the event determination unit determines that an event has occurred, the control unit controls the laser scanner to reduce the scan period.

A road monitoring method according to an embodiment of the present invention is a road monitoring method using a laser scanner performed by a control server, receiving data generated from a laser scanner, recognizing an object by specifying an object from the received data And determining whether an event has occurred from the data, calculating a location of an object where the event has occurred, and transmitting a warning signal including information on the type and location of the event.

In addition, the road monitoring method according to an embodiment of the present invention further includes the step of controlling to reduce the scan period of the laser scanner after the step of determining whether the event occurs.

According to the road monitoring system according to an embodiment of the present invention, it is possible to obtain event data that may occur on the road.

In addition, it is possible to accurately obtain and provide information on the risk source on the road.

In addition, a separate GPS module is not required, and information on an accurate location and distance can be received and provided.

1 is a conceptual diagram of a road monitoring system according to an embodiment of the present invention.
2 is a conceptual diagram illustrating a state in which a 3D laser scanner is installed on a road according to an embodiment of the present invention.
3 is a detailed functional block diagram of a control server according to an embodiment of the present invention.
4 is a graph showing an example of determining a scan period of a laser scanner according to an embodiment of the present invention.
5 is a flowchart of a road monitoring method according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed in the present specification are exemplified only for the purpose of describing the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention are It may be implemented in various forms and is not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention can apply various changes and have various forms, embodiments are illustrated in the drawings and will be described in detail in the present specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of the rights according to the concept of the present invention, the first component may be named as the second component and similarly the second component. The component may also be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it is directly connected to or may be connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle. Other expressions describing the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to" should be interpreted as well.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described herein, but one or more other features. It is to be understood that the possibility of addition or presence of elements or numbers, steps, actions, components, parts, or combinations thereof is not preliminarily excluded.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this specification. Does not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. The same reference numerals in each drawing indicate the same members.

1 is a conceptual diagram of a road monitoring system according to an embodiment of the present invention.

2 is a conceptual diagram illustrating a state in which a 3D laser scanner is installed on a road according to an embodiment of the present invention.

1 and 2, a road monitoring system according to an embodiment of the present invention includes a laser scanner 100 that generates data by scanning a road condition, a control server 200 that receives the data, and the data. Including a communication module 300 for transmitting to the control server 200, the laser scanner 100 is a long distance non-contact type 3D laser scanner.

The laser scanner 100 generates data by directly irradiating light onto a subject using a laser as a light source and photographing it. Here, data means captured image data, and in detail, it is 3D photographed image data.

General laser scanners can be largely classified into contact type and non-contact type. In the contact type, an encoding method using a touch probe is mainly used, and is mainly used for CMM (Coordinate Measuring Machines), multi-joint RM, and multi-joint robot scanner.

The laser scanner 100 according to the embodiment of the present invention is a non-contact 3D laser scanner, and may utilize a Time Of Flight (TOF) method, a Phase-Shift method, or an Online Waveform Analysis method, but preferably a TOF method. .

Phase-Shift type 3D laser scanner uses a method that calculates the distance difference between the two wavelengths emitted from the scanner and the return wavelengths reflected by the subject, and the Waveform type 3D laser scanner is based on the principle of optical trigonometry. It is a method of using a laser such as the Point Beam method and the Time of Flight method as the measurement method that has been placed.

The core technology of the TOF type scanner, which is a method of a 3D laser scanner according to an embodiment of the present invention, irradiates a light (mainly a laser) called a range finder or laser range finder on the surface of an object, and the light returns. It is a method of measuring the coming time and obtaining the distance between the object and the measurement origin.

In a non-contact laser scanner, the accuracy of the TOF method depends on how accurately time can be measured.With the current technology, it is possible to measure about 3.3 picoseconds (1 trillionth of a second), so this method can measure up to about 1 mm. Can be measured.

Since the range finder used in the TOF method can only obtain the distance in the direction of view of the measuring instrument, the TOF 3D scanner can be added with a device that precisely changes the direction of this laser.

In the TOF type non-contact 3D laser scanner 100 according to an embodiment of the present invention, there are a method of directly moving a source from which a laser is emitted using a motor and a method of using a rotating mirror, and the method of using a mirror is much lighter and more Most of them are adopting this method because they can be adjusted faster and more accurately, and most of them can measure at a rate of 10,000 to 100,000 point clouds per second.

Data acquired through the laser scanner 100 according to an embodiment of the present invention is digital data, which can be easily transmitted and processed.

As shown in FIG. 1, the control server 200 receives data generated by the laser scanner 100. The control server 200 actually operates the laser scanner 100 and prepares for an event that may occur according to the monitoring of the road by using the received data.

3 is a detailed functional block diagram of a control server according to an embodiment of the present invention.

As shown in FIG. 3, the control server 200 according to an embodiment of the present invention includes a data receiving unit 210 receiving data generated from the laser scanner 100, and an object recognition unit recognizing an object from the received data. (220), including an event determination unit 230 for determining an event occurring on the road from the received data and a location calculation unit 240 for determining the position of the recognized object, and transmitting a warning message when an event occurs. It includes a warning signal transmission unit 250.

In addition, the control server 200 includes a control unit 260 that controls the laser scanner 100 and a data storage unit 270 that stores time series data according to an event occurrence.

The data receiving unit 210 receives data generated from the laser scanner 100 in real time. The data is time series data, and the received data includes data indicating the date and time.

The data receiving unit 210 may be continuously connected to the communication module 300 connected to the laser scanner 100 to enable wireless communication, and may be connected to the laser scanner 100 by wire.

The object recognition unit 220 distinguishes a subject from the received data and recognizes which object the distinguished subject is. The object recognition unit 220 distinguishes whether the type of vehicle passing through the road is a car or a freight car, and distinguishes between a person, an animal, a bicycle, etc., using data learned through artificial intelligence deep learning.

In addition, in the case of a vehicle, it is also possible to identify a vehicle passing through the scanned area by recognizing the license plate.

The event determination unit 230 determines various event situations, such as an event occurring on the road, that is, a traffic accident, falling objects in the road, and a collapse of the road from the received data.

In particular, the event determination unit 230, like the object recognition unit 220, may infer the types of events that have occurred through artificial intelligence deep learning or predict expected human and physical damage.

For example, if the event determination unit 230 determines that a collision between vehicles has occurred, the event determination unit 230 simply considers the type of vehicle and the speed at the time of the collision as well as whether the collision has occurred. It is possible to predict personal damage of the occupants, determine whether or not the vehicle can be driven or not, as the degree of property damage, or determine the possibility of a vehicle fire after a collision, and then determine the transmission content necessary to transmit a warning message.

In general, in the case of an accident between vehicles on the road, if it is not reported by the person concerned or reported by the person involved in the accident, it is not clear which vehicle for relief or first aid should be dispatched, and whether personnel should be used. The event determination unit 230 according to an exemplary embodiment of the present invention predicts the degree of human and material damage, and automatically calls the equipment and personnel necessary for accident handling.

The location calculation unit 240 determines the location of the recognized object or the location of the event occurrence through a distance away from the location on the GPS where the laser scanner 100 is located. Since the laser scanner 100 according to the embodiment of the present invention uses the TOF method, distance data indicating the distance to the subject is included in the data generated through the 3D laser scanner, and the laser scanner 100 It is possible to measure the distance to the observed subject in real time.

Due to the location calculation unit 240, it is not necessary to estimate the exact location of the object by receiving a GPS signal for each object to be imaged or by installing a GPS on the road as in the related art.

For example, when a CCTV is installed on a road other than the 3D laser scanner 100 as in the present invention, in order to accurately find the location of the event in the image captured by the CCTV, the surrounding terrain features are used or installed on the road. If it is necessary to use a GPS sensor, and even this is difficult, it may be possible to find out the location through a report by the person involved in the accident or by a nearby witness.

In addition, as shown in FIG. 3, the control server 200 according to an embodiment of the present invention includes a warning signal transmission unit 250. When it is determined that an event has occurred, the warning signal transmission unit 250 informs the administrator of information on the type of event, the location of the event, and expected personal and material damage, which are warning signals according to the event, or government offices requiring mobilization ( In order to notify the police station, fire department, paramedic), towing vehicle, etc., and to ventilate the surroundings according to the occurrence of an event, a warning signal relay is transmitted through the vehicle-to-vehicle network, and the event occurrence is posted on a notification board installed nearby. You can take measures such as.

In addition, the control server 200 includes a control unit 260 that controls the laser scanner 100 and a data storage unit 270 that stores time series data different from the occurrence of an event.

The control unit 260 includes, for example, a central processing unit (CPU), a microcontroller unit (MCU), a microprocessor, an application processor (AP), and an electronic control unit. It may include a unit (ECU, Electronic Controlling Unit) and/or an arithmetic/control device capable of generating various arithmetic processing and control signals. In addition, one or more processors may be installed in only one information processing device, or may be installed in two or more information processing devices physically separated from each other.

In addition, the control unit 260 determines the scan period of the laser scanner 100 using at least one information selected from the group consisting of the event occurrence time zone, weather, traffic volume, and season information stored in the data storage unit 270. You can decide.

4 is a graph showing an example of determining a scan period of a laser scanner according to an embodiment of the present invention.

As shown in FIG. 4, the control unit 260 determines a scan period of the laser scanner 100 using information on a specific date and event occurrence time zone previously stored in the data storage unit 270.

For example, if it is recorded that the number of event occurrences slightly increased from 12 a.m. to 2 p.m., but the number of event occurrences increased significantly from 2 p.m. to 4 p.m. due to factors such as drowsy driving. The controller 260 controls the laser scanner 100 to reduce the scan period of the laser scanner 100 so that the monitoring section can be repeatedly monitored for a short time in real time.

In addition, when it is shown that the number of event occurrences decreases between 4 pm and 8 pm, power consumption due to scanning of the laser scanner 100 may be reduced by increasing the scan cycle of the laser scanner 100 again.

As such, the control unit 260 uses the data accumulated according to the occurrence of an existing event to determine the scan period of the laser scanner 100.

In addition, when the event determination unit 230 determines that an event has occurred, the control unit 260 may control to reduce the scan period of the laser scanner 100.

In addition, the controller 260 may fix the direction of the laser scanner to the area where the event occurs so that the area where the event occurs can be continuously monitored.

The control server 200 according to an embodiment of the present invention further includes a data storage unit 270. The data storage unit 270 collects and stores not only the time series data according to the occurrence of the aforementioned event, but also time series data generated by scanning in real time by a laser scanner.

In this way, the time series data stored in the data storage unit 270 can be used as data for recognizing an object in the data scanned by the object recognition unit 220, and the event determination unit 230 It can be used as data to predict the degree of human/material damage caused.

The data storage unit 270 may include, for example, at least one of a main memory device and an auxiliary memory device. The main memory device may be implemented using a semiconductor storage medium such as ROM and/or RAM. The ROM may include, for example, a conventional ROM, EPROM, EEPROM, and/or MASK-ROM. The RAM may include, for example, DRAM and/or SRAM. Auxiliary storage devices include flash memory devices, SD (Secure Digital) cards, solid state drives (SSDs, Solid State Drives), hard disk drives (HDDs, Hard Disc Drives), magnetic drums, compact disks (CDs), DVDs ) Or an optical media such as a laser disk, a magnetic tape, a magneto-optical disk, and/or a floppy disk, and at least one storage medium capable of permanently or semi-permanently storing data.

Referring back to FIGS. 1 and 2, a laser scanner according to an embodiment of the present invention includes a communication module 300. As shown in FIGS. 1 and 2, the communication module 300 is installed at a position where the laser scanner 100 is installed to perform communication with the control server 200.

The communication module 300 may perform mutual communication with the control server 200 through a communication network. Here, the communication network may include a wired communication network, a wireless communication network, or a communication network constructed by a combination thereof. The wired communication network may be constructed using a cable. The cable may include, for example, a pair cable, a coaxial cable, an optical fiber cable or an Ethernet cable. The wireless communication network may be implemented using at least one of a short-range communication network and a long-distance communication network.

Short-distance communication networks include, for example, Wi-Fi, zigbee, Bluetooth, Wi-Fi Direct, NFC (Near Field Communication), and low-power Bluetooth (Bluetooth Low). Energy) or CAN communication.

The telecommunication network may include a wireless communication network, for example, a communication network implemented based on a mobile communication standard such as 3GPP, 3GPP2, or WiMAX series. In addition, the communication unit may use a private network for information security, or may use a virtual private network (VPN).

Here, the network refers to a connection structure in which information exchange is possible between respective nodes such as a plurality of terminals and servers, and examples of such networks include RF, 3rd Generation Partnership Project (3GPP) network, and Long Term (LTE). Evolution) network, 5GPP (5rd Generation Partnership Project) network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network) , Personal Area Network (PAN), Bluetooth (Bluetooth) network, NFC network, satellite broadcasting network, analog broadcasting network, Digital Multimedia Broadcasting (DMB) network, and the like, but are not limited thereto.

As described above, a road monitoring system according to an embodiment of the present invention has been described. Hereinafter, a road monitoring method according to another aspect of the present invention will be described in detail through FIG. 5. Description of the configuration overlapping with the previous embodiment will be omitted.

5 is a flowchart of a road monitoring method according to an embodiment of the present invention.

As shown in Figure 5, the road monitoring method according to the embodiment of the present invention is a road monitoring method using a laser scanner performed by a control server, receiving data generated from a laser scanner (S100), received data Recognizing an object by specifying an object from (S200), determining whether an event has occurred from the data (S300), calculating the location of the object where the event has occurred (S400), and the type and location of the event And transmitting a warning signal including information (S500).

The step of receiving the data generated from the laser scanner (S100) means a step in which the control server receives the scanned data of the laser scanner installed on the road through the communication module. As described above, the scanned data is 3D digital data and is received by the control server through wired/wireless network communication.

In the step of recognizing an object by specifying an object from the received data (S200), an object included in the scanned data is specified, and what kind of object this object is actually recognized. In the step of recognizing the object (S200), the type of the object is distinguished by using variously accumulated data.

The step of determining whether an event has occurred from the data (S300) is a step of determining whether an abnormality has occurred on the road as an event by using the scanned data received in real time. For example, when the speed of the vehicle is less than the limit continuity degree, it may be determined that a breakdown or abnormality has occurred in the vehicle as a subject, and even when an accident occurs and a situation in which the subject collides, it is determined that an event has occurred.

When it is determined that the event has occurred, a step (S400) of calculating the location of the object where the event has occurred is performed as a next step.

Since the real-time image on the road is monitored using a laser scanner, it is possible to immediately check the location of the event if the exact location information where the laser scanner is installed is checked without the need to synthesize or receive a separate GPS signal.

Next, the step (S500) of transmitting a warning signal including information on the type and location of the event that has occurred is transmitted as a warning signal to a vehicle that follows to prevent a secondary accident according to the situation in which the actual event has occurred, You can notify that there is an event on the electronic board. In addition, it is possible to input various equipment and personnel to deal with human and material damage caused by the event.

In addition, after the step of determining whether an event has occurred (S300), a step of controlling to reduce the scan period of the laser scanner may be further included. As in the previous embodiment, in order to continuously monitor the condition of the event generation area, the scan period may be reduced, and further, the direction of the laser scanner may be limited to the event generation area.

As described above, according to a road monitoring system and a road monitoring method according to an embodiment of the present invention, a system and method for accurately identifying whether an event has occurred, calculating a location, and enabling quick response to an emergency situation are provided. Can be.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, and circuits described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the attached registration claims.

100 laser scanner
200 control server
210 data receiver
220 Object Recognition Unit
230 event judging unit
240 position calculation unit
250 warning signal transmitter
260 control unit
270 data storage
300 communication module

Claims (8)

As a road monitoring system,
A laser scanner that generates data by scanning road conditions;
A control server for receiving the data; And
Including a communication module for transmitting the data to the control server,
The laser scanner is a long distance non-contact 3D laser scanner,
The control server
A data receiving unit for receiving data generated from the laser scanner;
An object recognition unit for recognizing an object from the received data;
An event determination unit that determines an event occurring on the road from the received data;
A position calculator that determines a position of the recognized object;
A control unit for controlling the laser scanner; And
Including a data storage unit for storing time series data according to the occurrence of the event,
The control unit
The scan cycle of the laser scanner is determined by using at least one information selected from the group consisting of event occurrence time zone, weather, traffic volume, and season information stored in the data storage unit, and the accumulated data according to the occurrence of an existing event To determine the scan cycle of the laser scanner,
When the event determination unit determines that an event has occurred, the control unit controls to reduce the scan period of the laser scanner, and fixes the direction of the laser scanner to the area where the event has occurred. delete The method of claim 1,
The control server further comprises a warning signal transmission unit for transmitting a warning message when an event occurs. delete delete delete delete delete

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