KR102321896B1 - Safe alarm system for transport vehicle and method for safe alarm using the same - Google Patents

Abstract

The present invention relates to a safety warning system for a transport vehicle and a safety warning method using the same. In the safety warning system for the transport vehicle and the safety warning method using the same, the safety warning system is mounted on the transport vehicle, and comprises a database, a route image processing unit, and a warning unit. A travel route image is stored in the database. The route image processing unit divides the travel route image obtained from the database into a plurality of areas in consideration of a travel route of the transport vehicle. The warning unit recognizes an obstacle located on the travel route, determines whether the obstacle is a human body, and generates a warning when the obstacle is located in an area close to the transport vehicle. An objective of the present invention is to provide the safety warning system for a transport vehicle which can prevent and warn an accident such as a collision in advance.

Description

Safety warning system for transport vehicle and safety warning method using the same

The present invention relates to a safety warning system for a transport vehicle and a safety warning method using the same, and more particularly, to prevent and warn of safety accidents such as collisions when a transport vehicle performing logistics transport in a logistics warehouse or a manufacturing site is operated. It relates to a safety warning system for a transport vehicle capable of being transported and a safety warning method using the same.

Logistics transport is performed with a vehicle such as a forklift in a logistics warehouse or manufacturing site. There is always the risk of an accident.

In particular, up to now, in the case of the above-mentioned logistics transport vehicle, it is moved through subjective judgment by the driver's forward or backward gaze, and if the driver's skill level is insufficient or a complicated situation occurs, safety accidents may occur due to the driver's mistake in judgment, etc. occurs frequently.

In order to solve such a safety accident problem, as disclosed in Korean Patent Registration No. 10-0824019, a technology for detecting the rear of a vehicle by mounting a rear detection device is being developed.

However, the driving assistance device or vehicle safety accident prevention system developed so far is only very rudimentary, so even if it is installed in a vehicle used in a warehouse or manufacturing site in a complex situation, the prevention effect of safety accidents is not high. am.

Republic of Korea Patent Registration No. 10-0824019

Accordingly, the technical problem of the present invention was conceived in this regard, and an object of the present invention is to prevent and warn of safety accidents such as collisions in advance when a transport vehicle that performs logistics transport in a logistics warehouse or a manufacturing site is operated. To provide a vehicle safety warning system.

Another object of the present invention is to provide a safety warning method using the safety warning system.

A safety warning system according to an embodiment for realizing the object of the present invention is mounted on a transport vehicle, and includes a database, a route image processing unit, and a warning unit. A driving route image is stored in the database. The route image processing unit divides the driving route image obtained from the database into a plurality of regions in consideration of the driving route of the transport vehicle. The warning unit recognizes an obstacle located on the travel path, determines whether the obstacle is a human body, and generates a warning when the obstacle is located in an area close to the transport vehicle.

In an embodiment, the warning unit includes an imaging unit mounted on the transport vehicle to capture an image of an obstacle positioned on the driving path, and an obstacle mounted on the transport vehicle to acquire location data of the obstacle positioned on the driving path. It may include a sensor unit.

In an embodiment, the imaging unit may be a camera, and the sensor unit may be a LIDAR sensor.

In an embodiment, the warning unit is an image analysis unit that receives images for each area divided into the plurality of areas from the path image processing unit, and through learning, determines whether the obstacle captured by the imaging unit is a human body a learning unit, a matching unit that identifies which area the position of the obstacle belongs to among the divided areas based on the position data of the obstacle obtained through the sensor unit, and the area to which the obstacle belongs is the transport vehicle It may include an alarm unit for generating a warning to the outside based on whether or not close to the.

A safety warning method according to an embodiment for realizing another object of the present invention uses a safety warning system mounted on a transport vehicle, considers the driving route of the transport vehicle, and uses a driving route image obtained from a database. divided into multiple areas. The divided images for each region are loaded into the image analysis unit. It recognizes an obstacle located on the driving path, determines whether the obstacle is a human body, and generates a warning when the obstacle is located in an area close to the transport vehicle.

In an embodiment, the generating of the warning may include imaging an obstacle located on the driving path, determining whether the imaged obstacle is a human body through learning, and an obstacle located on the driving path based on whether the location data of the obtained obstacle belongs to which area among the divided areas, and whether the area to which the obstacle belongs is close to the transport vehicle, It may include generating an alert.

In one embodiment, in the step of generating the warning, when the obstacle is located in the area closest to the transport vehicle, issuing an emergency warning, and when the obstacle is located other than the closest area, a caution warning may include the step of

According to the embodiments of the present invention, an image in which an obstacle recognized as a human body is located is determined from among images of the corresponding driving path in consideration of the driving path of the driving vehicle, and the path to which the image belongs is located closest to the vehicle. It is possible to minimize personnel accidents around the transport vehicle by providing a warning to the outside by judging whether there is an error.

In particular, the transport vehicle is equipped with an imaging unit and a sensor unit, and based on front obstacle information captured by the imaging unit and front obstacle position information sensed by the sensor unit, among the divided areas for the driving path, the human body It is to determine the area where the obstacle recognized by It can be determined whether or not

In this case, it is possible to immediately determine whether or not the human body is close based on only the two-dimensional driving route image, the captured image, and the location information, so it is possible to detect a danger very quickly in the process of driving the vehicle and provide a notification to the outside. The effectiveness of warnings can be improved.

1 is a block diagram illustrating a safety warning system for a transport vehicle according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a safety warning method using the safety warning system of FIG. 1 .

Since the present invention may have various changes and may have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms.

The above terms are used only for the purpose of distinguishing one component from another. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "consisting of" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a block diagram illustrating a safety warning system for a transport vehicle according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a safety warning method using the safety warning system of FIG. 1 .

Hereinafter, a safety warning system 10 for a transport vehicle and a safety warning method for a transport vehicle using the same according to an embodiment of the present invention will be simultaneously described with reference to FIGS. 1 and 2 .

First, the safety warning system 10 for a transport vehicle includes a warning unit 200 mounted on the transport vehicle 100 , a database 300 , and a route image processing unit 310 , and the warning unit 200 performs image analysis It includes a unit 210 , an imaging unit 220 , a learning unit 230 , a sensor unit 240 , a matching unit 250 , and an alarm unit 260 .

In this case, the imaging unit 220 may be a camera that is provided in the front, side or rear of the transport vehicle 100 to photograph the front, side or rear, and the sensor unit 240 is LIDAR. ) may be a sensor.

In this safety warning method using the safety warning system 10 , first, in the route image processing unit 310 , based on the travel route data that the transport vehicle 100 intends to move, the route is pre-stored for the route. The image is divided into a plurality of regions (step S10).

In this case, the images for each driving route may be pre-stored in the database 300 . In addition, the image for each driving path is not necessarily limited to an image of the front of the path on which the transport vehicle 100 moves, and may include a rear image or a side image on the driving path in addition to the forward image on the driving path. However, hereinafter, for convenience of explanation, the image of the front of the driving route will be mainly described.

In general, since the transport vehicle 100 moves limitedly only in a specific space, for example, a warehouse or a transport area of a predetermined range connected to a warehouse that performs operations such as movement of cargo, the transport vehicle 100 The range of images for each travel route that can be moved is not vast.

Therefore, it is possible to sufficiently pre-store the image for the driving route in the specific range in the database 300, and from among these previously stored images of various driving routes, the driving route the transport vehicle 100 intends to drive in the corresponding driving. Images corresponding to can be selectively extracted.

Meanwhile, the image corresponding to the stored navigation route may be stored, for example, in a form in which two-dimensional images are continuously accumulated, that is, according to the route.

Thus, the route image processing unit 310 continuously receives two-dimensional images on the navigation route based on the navigation route, and processes the image.

In this case, each step performed through the path image processing unit 310 as well as the following safety warning method will be described only with respect to the step performed based on one two-dimensional image. That is, after each step is performed on one two-dimensional image as described above, it is sufficient if each step is repeatedly performed on the two-dimensional image at every moving position on the progress path. Only the steps will be described, and redundant descriptions of steps performed at each progress position will be omitted.

Thus, the route image processing unit 310 receives a navigation route image at the first point on the route from the database 300 based on the route of the transport vehicle 100 , and generates a plurality of corresponding route images. divided into areas of

That is, since the provided driving route image corresponds to a two-dimensional plane image, the image analysis unit 210 of the warning unit 200 divides the two-dimensional plane images into a plurality of regions, and analyzes each divided image information. provided or loaded as (step S20).

Thus, the image analysis unit 210 receives information in which the image of the driving route is divided into a plurality of regions, and loads it onto the warning unit 200 .

In this embodiment, the image analysis unit 210 as well as the learning unit 230 , the matching unit 250 and the alarm unit 260 are modularized into the warning unit 200 as one module. In addition, it may be manufactured in the form of being mounted or coupled to the imaging unit 220 or the sensor unit 240 .

Thereafter, the imaging unit 220 captures an obstacle located in the travel path on which the transport vehicle 100 moves (step S30 ). As described above, the imaging unit 220 may be a camera, and thus, performs imaging of the front, rear, or side on a preset driving route on which the transport vehicle 100 moves.

Thus, when an obstacle is captured on a path along which the transport vehicle 100 moves through the imaging unit 220 , the captured image of the obstacle is provided to the learning unit 230 .

Thereafter, the learning unit 230 determines whether the captured image of the obstacle is a human body (step S40). In this case, the learning unit 230 may perform learning to determine whether the captured image of the obstacle is a human body.

On the other hand, apart from capturing the image of the obstacle on the driving path by the imaging unit 220 , the sensor unit 240 acquires location data of obstacles located on the driving path on which the transport vehicle 100 moves. do (step S50).

That is, as described above, the sensor unit 240 may be a LIDAR sensor, and accordingly, obstacles located in the front, rear, or side on a preset driving path on which the transport vehicle 100 moves. distance information can be obtained.

Thus, when the location information on the obstacle on the path on which the transport vehicle 100 moves is obtained through the sensor unit 240 , the obtained location information on the obstacle is provided to the matching unit 250 . .

Thereafter, the matching unit 250 receives the result of determining whether the obstacle is a human body as a result of learning in the learning unit 230 as well as location information on the obstacle, and determines whether the obstacle is a human body. It is identified which area the obstacle belongs to among the previously divided areas (step S60).

That is, the matching unit 250 may perform the identification when the learning unit 230 determines that the obstacle is a human body, and may not perform separate identification if the obstacle is not determined as a human body.

In contrast, even when the learning unit 230 does not determine that the obstacle is a human body, since the obstacle is located on the driving path, the matching unit 250 identifies which area the obstacle belongs to. and (step S60 ), the identified information may be notified to the driver of the transport vehicle 100 .

The matching unit 250 identifies the obstacle determined as the human body as belonging to a specific area among the plurality of divided areas. At this time, it is possible to extract a region corresponding to a position closest to the current location of the transport vehicle 100 from among a plurality of regions of the driving route image divided into the plurality of regions.

Thus, when it is determined that the obstacle determined to be a human body is located in an area corresponding to a position closest to the transport vehicle 100 among the plurality of areas, an emergency is sent to the outside through the alarm unit 260 . A warning is issued (step S70).

On the other hand, if it is determined that the obstacle determined as a human body is located in a region corresponding to a position other than the position closest to the transport vehicle 100 among the plurality of regions, the alarm unit 260 is activated. Through this, it is possible to alarm a caution warning to the outside (step S80).

Thus, not only the driver but also people located outside can check the information on the approach of the moving transport vehicle 100 based on the warning, thereby preventing a safety accident.

In particular, as in this embodiment, in a state in which the driving route image is divided into a plurality of regions, the region where the obstacle determined as a human body is located is identified, and the region is separated from the transport vehicle 100 in consideration of the driving route. By judging whether it is the closest area and providing the necessary alarm to the outside, it is possible to extract accurate information while composing relatively simple image processing, obstacle identification, and a series of data processing processes that match obstacles on the image. Therefore, it can be implemented as an effective warning system in a transport vehicle moving in real time.

According to the embodiments of the present invention, an image in which an obstacle recognized as a human body is located is determined from among images of the corresponding driving path in consideration of the driving path of the driving vehicle, and the path to which the image belongs is located closest to the vehicle. It is possible to minimize personnel accidents around the transport vehicle by providing a warning to the outside by judging whether there is an error.

In particular, the transport vehicle is equipped with an imaging unit and a sensor unit, and based on the information on the front obstacle captured by the imaging unit and the position information of the obstacle in the front sensed by the sensor unit, among the divided areas for the driving path, the human body It is to determine the area where the obstacle recognized by It can be determined whether or not

In this case, it is possible to immediately determine whether or not the human body is close based on only the two-dimensional driving route image, the captured image, and the location information, so it is possible to detect a danger very quickly in the process of driving the vehicle and provide a notification to the outside. The effectiveness of warnings can be improved.

Although the above has been described with reference to the preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the following claims. You will understand that you can.

10: safety warning system 100: transport vehicle
200: warning unit 210: image analysis unit
220: imaging unit 230: learning unit
240: sensor unit 250: matching unit
260: alarm unit 300: database
310: path image processing unit

Claims (7)

In the safety warning system mounted on the transport vehicle,
a database in which the driving route image is stored;
a route image processing unit for dividing the navigation route image obtained from the database into a plurality of regions in consideration of the route of the transport vehicle; and
and a warning unit for recognizing an obstacle located on the travel path, determining whether the obstacle is a human body, and generating a warning when the obstacle is located in an area close to the transport vehicle,
The warning unit is
an imaging unit mounted on the transport vehicle to image an obstacle located in the travel path;
a sensor unit mounted on the transport vehicle to acquire location data of obstacles positioned on the travel route;
an image analysis unit receiving an image for each area divided into the plurality of areas from the path image processing unit;
a learning unit configured to determine whether the obstacle captured by the imaging unit is a human body through learning;
a matching unit for identifying which area the location of the obstacle belongs to among the divided areas based on the location data of the obstacle obtained through the sensor unit; and
and an alarm unit for generating a warning to the outside based on whether the area to which the obstacle belongs is close to the transport vehicle. delete According to claim 1,
The imaging unit is a camera, and the sensor unit is a lidar (LIDAR) sensor, characterized in that the safety warning system for a transport vehicle. delete In a safety warning method using a safety warning system mounted on a transport vehicle,
dividing the driving route image obtained from the database into a plurality of regions in consideration of the driving route of the transport vehicle;
loading the divided images for each region into an image analysis unit; and
Recognizing an obstacle located on the travel path, determining whether the obstacle is a human body, and generating a warning when the obstacle is located in an area close to the transport vehicle;
The step of generating the warning is:
capturing an obstacle located in the driving path;
determining whether the captured obstacle is a human body through learning;
acquiring location data of obstacles located on the driving route;
identifying which area of the divided areas the position of the obtained obstacle belongs to; and
and generating a warning to the outside based on whether the area to which the obstacle belongs is close to the transport vehicle. delete The method of claim 5, wherein in generating the warning,
issuing an emergency warning when the obstacle is located in an area closest to the transport vehicle; and
and issuing a caution warning when the obstacle is located other than the closest area.

Images