KR102301425B1 - heavy equipment control system through selective sensing of objects - Google Patents

Abstract

The present invention relates to a heavy equipment control system through selective sensing of an object. According to the present invention, the heavy equipment control system through selective sensing of an object comprises: a scanning unit which is provided to heavy equipment provided at a work site to selectively acquire information on the work site; a sensing unit which selectively detects an object from the information on the work site obtained from the scanning unit; an analyzing unit which analyzes the object detected by the sensing unit and calculates an action pattern of the object; and a directing unit which controls the heavy equipment on the work site based on the action pattern of the object calculated from the analyzing unit.

Description

Heavy equipment control system through selective sensing of objects

The present invention relates to a heavy equipment control system through selective sensing of an object. In more detail, it is mounted on heavy equipment for safety management at the work site, scans the work site, selectively senses objects in the work site, and controls the heavy equipment at the work site according to the action pattern of the object. It is a technical field related to systems that prevent accidents that may occur in advance.

According to the Ministry of Land, Infrastructure and Transport, the total number of industrial accidents in 2018 was 102,305, of which the construction industry ranked first with 27,686 cases. Similarly, 428 of the 855 deaths in industrial accidents last year were workers in the construction industry. There are various types of accidents in the construction industry, such as falling, falling, bumping, being hit by an object, being caught, and amputated. Recently, due to continuous safety accidents at construction sites such as 38 deaths due to a fire at the logistics warehouse in Icheon, Gyeonggi-do, there is a need to implement various measures such as mandatory safety management systems at construction sites.

In response to this demand, the Ministry of Land, Infrastructure and Transport implemented the Enforcement Decree of the 'Construction Technology Promotion Act', which required the introduction of safety equipment using smart IT technology at the construction site. , and operation costs have been added, providing a basis for the client to introduce smart safety equipment using the Internet of Things (IoT) and big data at the construction site.

As an example of a related prior patent document, "Danger warning system and device for heavy construction equipment (Registration No. 20-0478491, hereinafter referred to as Patent Document 1)" exists.

In the case of the invention according to Patent Document 1, it relates to a construction site hazard warning system and device, comprising: a light generating device installed on a heavy equipment body and generating light; A warning voice output device having various danger warning messages built-in according to the moving situation of heavy equipment and outputting the danger warning messages by voice; and a danger warning device for controlling the operation of the light generating device and the warning sound output device in response to the forward/backward operation of the heavy equipment.

As another example of the patent document, "Heavy Equipment Work Safety Device (Registration No. 10-2104648, hereinafter referred to as Patent Document 2)" exists.

In the case of the invention according to Patent Document 2, it relates to a work safety device for heavy equipment. When the heavy equipment is operated, a laser is irradiated around the heavy equipment to visually express the work area, and a detection target approaching the work area is detected. It includes a sensing unit for controlling the operation, a warning unit for outputting a warning signal to a driver of heavy equipment, and a control unit for controlling the operation of the warning unit by a detection signal output from the sensing unit when a sensing target is sensed through the sensing unit.

As another example of a patent document, "Construction site safety management device (Registration No. 10-1872768, hereinafter referred to as Patent Document 3)" exists.

In the case of the invention according to Patent Document 3, the construction site safety management device is disposed at the construction site, detects the state information of the construction site, one or more access points for transmitting the state information (Access Point, AP); It is capable of receiving status information from the access point, determining whether a dangerous situation has occurred based on the status information, generating notification information when a dangerous situation occurs, and transmitting one or more of the status information and notification information. terminal; and a management server capable of communicating with at least one of the access point and the terminal, and receiving status information and notification information from at least one of the terminal and the access point.

As another example of the patent document, "a device for providing safety management information at a road construction site and a driving method of the device (Publication No. 10-2019-0013237, hereinafter referred to as Patent Document 4)" exists.

In the case of the invention according to Patent Document 4, the safety management information providing device at the road construction site according to the embodiment of Patent Document 4 is installed at the work site to receive detection information of the vehicle from a plurality of vehicle detection devices that detect the vehicle. Based on the detection information provided from the communication interface unit and at least one vehicle detection device located in the latter part of the vehicle traveling direction among the plurality of vehicle detection devices, it is determined that an accident-probable event of the vehicle is determined, and the result of the determination is applied to the work site. It may include a control unit for controlling the communication interface to notify the.

In the existing prior literature, although the technical features of detecting and warning the state of the work site are disclosed, it is necessary to improve the technical elements that can preemptively prevent accidents at the work site of heavy equipment.

Registration No. 20-0478491 Registration No. 10-2104648 Registration No. 10-1872768 Publication No. 10-2019-0013237

The heavy equipment control system through the selective sensing of an object according to the present invention has been devised to solve the conventional problems as described above, and presents the following problems to be solved.

First, by scanning the work site, we want to obtain information about the work site.

Second, we want to selectively sense objects that exist in the work site.

Third, we want to control heavy equipment in real time by analyzing the action patterns of objects existing on the job site.

The problems to be solved of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The heavy equipment control system through selective sensing of an object according to the present invention has the following problem solving means for the above problem to be solved.

A heavy equipment control system through selective sensing of an object according to the present invention is provided to a heavy equipment provided at a work site, comprising: a scan unit for selectively acquiring information on the work site; a sensing unit for selectively detecting an object from the information on the work site obtained from the scanning unit; an analyzing unit that analyzes the object detected by the sensing unit and calculates an action pattern of the object; and a directing unit for controlling the heavy equipment at the work site based on the action pattern of the object calculated from the analyzing unit.

The scanning unit of the heavy equipment control system through selective sensing of an object according to the present invention includes: a photographing unit selectively acquiring an image of the work site; a radar unit that radiates a predetermined radio wave from the heavy equipment to scan the work site; And by irradiating a predetermined light from the heavy equipment, it may be characterized in that it comprises a writing unit for scanning the work site.

The sensing unit of the heavy equipment control system through selective sensing of an object according to the present invention includes an object sensing unit for detecting a plurality of objects existing in the work site from the work site information obtained from the scan unit; a variation sensing unit configured to sense a change rate of the plurality of objects detected by the object sensing unit during a unit time; and a shape sensing unit configured to select at least one of a worker or a vehicle among the plurality of objects detected by the object sensing unit.

The variation sensing unit of the heavy equipment control system through selective sensing of an object according to the present invention includes: a frequency unit for detecting a rate of change of a reflected frequency for a unit time with respect to the predetermined radio waves emitted to the plurality of objects; a timing unit for detecting a time change rate of a reflected pulse signal returning for a unit time with respect to the predetermined light emitted to the plurality of objects; and a dimension unit for detecting a change rate of the volume of the plurality of objects for a unit time from the image of the work site.

The shape sensing unit of the heavy equipment control system through selective sensing of an object according to the present invention detects at least one shape of a worker's head, neck, torso, arm, hand, leg, foot, work clothes or hard hat, and the plurality of a first shape unit for selecting a worker from among the objects; and a second shape part for selecting a vehicle from among the plurality of objects by detecting the shape of at least one of a vehicle body, a bumper, a trunk, a door, a bonnet, a roof, and a wheel.

The sensing unit of the heavy equipment control system through selective sensing of an object according to the present invention includes: an object selecting unit for selectively selecting the plurality of objects according to a preset priority; and an object filtering unit excluding the plurality of objects whose rate of change detected by the variation sensing unit converges to zero.

The analyzing unit of the heavy equipment control system through selective sensing of an object according to the present invention comprises: a position unit for analyzing the position information of the plurality of objects from the change rate sensed by the variation sensing unit; a timeline unit for arranging the plurality of objects selected by the sensing unit according to time; and a yield unit for calculating an action pattern of the plurality of objects aligned from the timeline unit.

The position unit of the heavy equipment control system through selective sensing of an object according to the present invention, using the plurality of object position information analyzed from the position unit, automatically calculates the distances of the plurality of objects from the heavy equipment can be done with

The directing unit of the heavy equipment control system through selective sensing of an object according to the present invention includes a signal unit that provides a warning signal when the distance of the plurality of objects from the heavy equipment calculated from the position unit becomes a preset distance can be characterized.

The directing unit of the heavy equipment control system through selective sensing of an object according to the present invention may further include a control unit for controlling the working radius of the heavy equipment from the action pattern of the plurality of objects.

The heavy equipment control system through selective sensing of an object according to the present invention configured as described above provides the following effects.

First, it is possible to selectively acquire information on objects existing in the work site.

Second, it is possible to select the operator and the vehicle by detecting the shape of the object existing at the work site.

Third, it is possible to control heavy equipment in real time by analyzing action patterns and location information according to time of workers and vehicles present at the work site.

Effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram illustrating an operation relationship of each component of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
2 is a block diagram illustrating each configuration of a scan unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
3 is a conceptual diagram of a scan unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
4 is a block diagram illustrating each configuration of a sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
5 is a block diagram illustrating each configuration of a variation sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
6 is a block diagram illustrating each configuration of a shape sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
7 is a conceptual diagram illustrating a function of a first shape unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
8 is a conceptual diagram illustrating a function of a second shape unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
9 is a conceptual diagram illustrating a function of a shape amplifying unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
10 is a block diagram illustrating each configuration of an analyzing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
11 is a conceptual diagram illustrating a function of a position unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
12 is a conceptual diagram illustrating a function of a timeline unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.
13 is a block diagram illustrating each configuration of a directing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.

The heavy equipment control system through selective sensing of an object according to the present invention can apply various changes and can have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

1 is a conceptual diagram illustrating an operation relationship of each component of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 2 is a block diagram illustrating each configuration of a scan unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 3 is a conceptual diagram of a scan unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 4 is a block diagram illustrating each configuration of a sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 5 is a block diagram illustrating each configuration of a variation sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 6 is a block diagram illustrating each configuration of a shape sensing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 7 is a conceptual diagram illustrating a function of a first shape unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 8 is a conceptual diagram illustrating a function of a second shape unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 9 is a conceptual diagram illustrating a function of a shape amplifying unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 10 is a block diagram illustrating each configuration of an analyzing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 11 is a conceptual diagram illustrating a function of a position unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 12 is a conceptual diagram illustrating a function of a timeline unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention. 13 is a block diagram illustrating each configuration of a directing unit of a heavy equipment control system through selective sensing of an object according to an embodiment of the present invention.

In the case of a heavy equipment control system through selective sensing of an object according to the present invention, as shown in FIG. 1 , in the system for controlling the heavy equipment 1 for safety management of the work site, it is mounted on the heavy equipment 1 and works By scanning the site, selectively sensing objects existing at the work site, and controlling the heavy equipment 1 at the work site according to the action pattern of the object, accidents that may occur at the work site are preempted. It is about a system that prevents

In the case of a heavy equipment control system through selective sensing of an object according to the present invention, a scan unit 100, a sensing unit 200, an analyzing unit 300 and a directing unit, 400) will be included.

First, in the case of the scan unit 100, it is provided to the heavy equipment 1 provided at the work site, and is configured to selectively acquire information on the work site.

The heavy equipment 1 provided to the job site in the scan unit 100 is various construction machines used in construction work, for example, a scraper, a road roller, a motor grader, a power shovel. ), excavators, and ready-mixed concrete, etc., are mounted on any one of these heavy equipment (1) to obtain information on the job site.

Also, as shown in FIG. 3 , the information on the work site obtained by scanning by the scan unit 100 may be mainly information about the type, shape, size, and position of an object existing in the work site.

In the case of the scan unit 100 of the heavy equipment control system through selective sensing of an object according to the present invention, as shown in FIG. 2 , to include a photographing unit 110 , a radar unit 120 and a lighting unit 130 . do.

In the case of the photographing unit 110, it is configured to selectively acquire an image of a work site.

The photographing unit 110 is a configuration that can capture the situation of the work site in real time, and equipment, a camera, or CCTV (closed circuit television) that can take an image is provided to the heavy equipment 1, and through this, the The situation can be acquired in real time.

In addition, the image acquired from the photographing unit 110 selectively senses an object through an NVR (Network Video Recorder) equipped with a deep learning-based image analysis technology, and it is possible to analyze the work site.

In the case of the radar unit 120, a predetermined radio wave is emitted from the heavy equipment 1 to scan the work site.

The radar unit 120 is provided to the heavy equipment 1 to perform radio detecting and ranging, and radiates microwaves (10 to 100 cm wavelength) to the work site, and at least one or more existing in the work site. By receiving the radio wave reflected from the object, it is possible to obtain distance, direction, and angle information of the object existing in the work site.

In the case of the writing unit 130 , it is configured to scan the work site by irradiating a predetermined light from the heavy equipment 1 .

The writing unit 130 irradiates a predetermined light, for example, a laser pulse to the work site, measures the time of the laser pulse that is reflected from at least one or more objects existing in the work site, and returns the time of the object existing in the work site. Distance, speed, direction, temperature, and even 3D information can be acquired.

In addition, the writing unit 130 generally utilizes light of a wavelength of 600-1000 nm, but in some cases, it is preferable to use light of a longer wavelength band.

The work site may be scanned from at least one of the photographing unit 110 , the radar unit 120 , and the lighting unit 130 , and through this, at least one or more objects existing in the work site may be sensed.

The sensing unit 200 is a configuration capable of selectively detecting an object from the information on the work site obtained from the scan unit 100 .

In the case of the sensing unit 200 of a heavy equipment control system through selective sensing of an object according to the present invention, as shown in FIG. 4 , an object sensing unit 210 and a variation sensing unit 220 ), a shape sensing unit 230 , an object selecting unit 240 , and an object filtering unit 250 .

First, the object sensing unit 210 is configured to detect a plurality of objects existing in the work site from the work site information obtained from the scan unit 100 .

The object detected by the object sensing unit 210 may be, for example, all objects constituting the work site, and the worker 10 or manager existing in the work site may also be included in the object.

The variation sensing unit 220 is configured to detect a change rate of a plurality of objects detected by the object sensing unit 210 for a unit time.

As shown in FIG. 5, the variation sensing unit 220 of the heavy equipment control system through selective sensing of an object according to the present invention includes a frequency unit 221, a timing unit 222, and a dimension. ) part 223 is included.

을 감지하게 된다.First, in the case of the frequency unit 221, the rate of change (

will detect

The frequency unit 221 emits a predetermined radio wave generated from the radar unit 120 toward a plurality of objects existing in the work site, and the predetermined radio wave reaching the plurality of objects is reflected back as it is, at this time A change in the reflection frequency per unit time is sensed.

을 감지하게 된다.In the case of the timing unit 222, the time change rate (

will detect

The timing unit 222 irradiates a predetermined light generated from the lighting unit 130 toward a plurality of objects existing in the work site, and from the reflected light when the predetermined light reaching the plurality of objects is reflected, pulses Power, pulse width, phase shift, and round trip time can be extracted, and through this, a change in reflected pulse time per unit time is detected.

을 감지하는 구성이다.The dimension unit 223 is a volume change rate of a plurality of objects for a unit time from the image of the work site.

It is a configuration that detects

The dimension unit 223 detects changes in volume, area, and size of a plurality of objects per unit time in the image obtained from the photographing unit 110 .

The shape sensing unit 230 is configured to select at least one of the worker 10 and the vehicle 20 from among a plurality of objects detected by the object sensing unit 210 .

The shape sensing unit 230 may detect the shapes of a plurality of objects to select the operator 10 and the person.

The shape sensing unit 230 of the heavy equipment control system through selective sensing of an object according to the present invention, as shown in FIG. 6, includes a first shape unit 231, a second shape unit 232, and a shape amplification unit ( 233) will be included.

In the case of the first shape part 231, at least one shape of the head, neck, torso, arms, hands, legs, feet, upper body, lower body, work clothes, or hard hat of the operator 10 is detected as shown in FIG. Thus, it is a configuration for selecting the operator 10 from among a plurality of objects.

The first shape unit 231 may select only the operator 10 from among the plurality of objects by matching the shape of the body part of the person, the operator 10 information, the work clothes, and the helmet stored in advance in the server.

In the case of the second shape part 232, as shown in FIG. 8, by detecting the shape of at least one of a body, a bumper, a trunk, a door, a bonnet, a roof, and a wheel of the vehicle 20, a vehicle among a plurality of objects (20) is the configuration to select.

The second shape unit 232 matches the vehicle 20 information stored in the server in advance, the components of the vehicle 20, and the shape of the vehicle 20 registered at the work site, so that the vehicle 20 among the plurality of objects. can only be selected.

In the case of the shape amplifying unit 233 , the shape of a specific part of the operator 10 or the vehicle 20 is enlarged and amplified.

The shape amplifying unit 233 randomly determines the shape of at least one of a head, neck, torso, arms, hands, legs, feet, upper body, lower body, work clothes, or hard hat, in the case of the operator 10 , and the vehicle 20 ), the shape of at least one of a vehicle body, a bumper, a trunk, a door, a bonnet, a roof, and a wheel may be randomly determined. The shape amplifying unit 233 enlarges and amplifies the determined shape to analyze the pattern for the determined specific element.

For example, as shown in FIG. 9 , when the upper body of the operator 10 is determined as the shape of a specific part, the upper body is enlarged and amplified, and the horizontal, vertical or angle of the part constituting the upper body of the operator 10 is applied. By analyzing the ratio, it is possible to analyze the pattern for the worker 10 accordingly.

A plurality of objects can be selected by detecting a change rate or a shape of the plurality of objects for a unit time.

The object selector 240 is configured to selectively select a plurality of objects according to a preset priority.

In the preset priority of the object selecting unit 240 , it is preferable to place an object having movement or operability among a plurality of objects, for example, the operator 10 and the vehicle 20 , above the priority.

When an object with motion or motion is selected from the object selecting unit 240, detected and analyzed, a collision accident between the heavy equipment 1 and an object with motion or motion is preempted without a separate action within the work site. can be preventatively preventable.

The object filtering unit 250 is configured to exclude a plurality of objects whose rate of change detected by the variation sensing unit 220 converges to zero.

A plurality of objects whose rate of change converges to 0 may be determined as an object having no movement or motion, and if these objects are filtered, the object can be sensed and analyzed more efficiently and quickly.

By analyzing a plurality of objects detected and selected by the sensing unit 200 , information of the object may be obtained.

In the case of the analyzing unit 300 , an object detected by the sensing unit 200 is analyzed and an action pattern of the object can be calculated.

In the case of an analyzing unit 300 of a heavy equipment control system through selective sensing of an object according to the present invention, as shown in FIG. 10, a position unit 310, a timeline unit 320 and It includes a yield unit 330 .

First, in the case of the position unit 310 , the position information of a plurality of objects is analyzed from the rate of change detected by the variation sensing unit 220 .

It is preferable that the position information of the object analyzed by the position unit 310 be expressed as three-dimensional coordinates.

, 오브젝트의

일 경우에, 중장비(1)로부터 오브젝트의 거리는

로서 산출할 수 있게 된다.In addition, as shown in FIG. 11 , the position unit 310 can automatically calculate distances of a plurality of objects from the heavy equipment 1 by using a plurality of location information. For example, the location of the heavy equipment 1

, of the object

In one case, the distance of the object from the heavy equipment 1

can be calculated as

In the case of the timeline unit 320 , a plurality of objects selected by the sensing unit 200 are arranged according to time.

As shown in FIG. 12 , the timeline unit 320 aligns a plurality of objects sensed for 0 to 24 hours according to time to calculate statistical values. In the timeline unit 320, it is preferable that the operator 10 and the vehicle 20 can be selectively statistic. From the statistical result of the operator 10, it is possible to grasp the time zone in which the operator 10 is close to the heavy equipment 1, and as shown in FIG. 12, when the operator 10 is crowded at 10 am, the heavy equipment (1) It is possible to take measures to strengthen stability management during work. In addition, the collision accident between the heavy equipment 1 and the vehicle 20 can be prevented in advance from the vehicle 20 detection statistical result, and the statistical result for the unsafe driving vehicle 20 can also be obtained, so that the cause of the accident when an accident occurs Of course, it can be accurately identified.

In the case of the yield unit 330 , the action pattern of a plurality of objects aligned from the timeline unit 320 is calculated.

The directing unit 400 can control the heavy equipment 1 of the work site based on the action pattern of the object calculated from the analyzing unit 300 .

The analyzing unit 300 of the heavy equipment control system through selective sensing of an object according to the present invention includes a signal unit 410 and a control unit 420 as shown in FIG. 13 . do.

In the case of the signal unit 410, when the distance of the plurality of objects from the heavy equipment 1 calculated from the position unit 310 becomes a preset distance, a warning signal is provided.

The preset distance referred to herein may be defined as a distance when a plurality of objects are located within the working radius of the heavy equipment 1 . When an object approaches within the working radius of the heavy equipment 1, an accident can be prevented by providing a warning signal.

The control unit 420 is configured to control the working radius of the heavy equipment 1 from the action patterns of a plurality of objects.

In the case of the control unit 420, as the action pattern of a plurality of objects is learned, even if the operator 10 or the vehicle 20 does not take a separate action, it automatically controls the operation and the working radius of the heavy equipment 1 , accidents can be prevented in advance.

The scope of the present invention is determined by the matters described in the claims, and parentheses used in the claims are not described for selective limitation, but are used for clear components, and descriptions in parentheses are also interpreted as essential components. should be

1: heavy machinery 10: workers
20: vehicle 100: scan unit
110: photographing unit 120: radar unit
130: lighting unit 200: sensing unit
210: object sensing unit 220: variation sensing unit
221: frequency unit 222: timing unit
223: dimension unit 230: shape sensing unit
231: first shape portion 232: second shape portion
233: shape amplifying unit 240: object selecting unit
250: object filtering unit 300: analyzing unit
310: position portion 320: timeline portion
330: yield unit 400: directing unit
410: signal unit 420: control unit

Claims (10)

a scan unit provided to heavy equipment provided at the work site to selectively acquire information on the work site;
a sensing unit for selectively detecting an object from the information on the work site obtained from the scanning unit;
an analyzing unit that analyzes the object detected by the sensing unit and calculates an action pattern of the object; and
Comprising a directing unit (directing unit) for controlling the heavy equipment of the work site based on the action pattern of the object calculated from the analyzing unit,
The scan unit is
a photographing unit selectively acquiring an image of the work site;
a radar unit that radiates a predetermined radio wave from the heavy equipment to scan the work site; and
By irradiating a predetermined light from the heavy equipment, comprising a lighting unit for scanning the work site,
The sensing unit is
an object sensing unit configured to detect a plurality of objects existing in the work site from the work site information obtained from the scan unit;
a variation sensing unit configured to sense a change rate of the plurality of objects detected by the object sensing unit during a unit time; and
and a shape sensing unit that selects at least one of a worker or a vehicle among the plurality of objects detected by the object sensing unit,
The variation sensing unit,
a frequency unit detecting a rate of change of a reflected frequency for a unit time with respect to the predetermined radio waves emitted to the plurality of objects;
a timing unit for detecting a time change rate of a reflected pulse signal returning for a unit time with respect to the predetermined light emitted to the plurality of objects; and
Heavy equipment control system through selective sensing of an object, characterized in that it comprises a dimension unit for detecting a change rate of the volume of the plurality of objects for a unit time from the image of the work site.
delete delete delete According to claim 1, wherein the shape sensing unit,
a first shape unit for selecting an operator from among the plurality of objects by detecting at least one shape of a worker's head, neck, torso, arm, hand, leg, foot, work clothes, or hard hat; and
Selective sensing of an object, characterized in that it comprises a second shape part for selecting a vehicle from among the plurality of objects by detecting the shape of at least one of a vehicle body, a bumper, a trunk, a door, a bonnet, a roof, and a wheel. heavy machinery control system.
The method of claim 5, wherein the sensing unit,
an object selector for selectively selecting the plurality of objects according to a preset priority; and
Heavy equipment control system through selective sensing of an object, characterized in that it further comprises an object filtering unit for excluding the plurality of objects for which the rate of change detected by the variation sensing unit converges to zero.
The method of claim 6, wherein the analyzing unit,
a position unit analyzing the position information of the plurality of objects from the change rate sensed by the variation sensing unit;
a timeline unit for arranging the plurality of objects selected by the sensing unit according to time; and
Heavy equipment control system through selective sensing of an object, characterized in that it comprises a yield unit for calculating the action pattern of the plurality of objects aligned from the timeline unit.
According to claim 7, wherein the position portion,
A heavy equipment control system through selective sensing of an object, characterized in that automatically calculating the distances of the plurality of objects from the heavy equipment by using the plurality of object position information analyzed from the position unit.
The method of claim 8, wherein the directing unit,
and a signal unit providing a warning signal when the distances of the plurality of objects from the heavy equipment calculated from the position unit reach a preset distance.
The method of claim 8, wherein the directing unit,
Heavy equipment control system through selective sensing of objects, characterized in that it further comprises a control unit for controlling the operation or working radius of the heavy equipment from the action pattern of the plurality of objects.

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