KR102517660B1 - Collision avoidance system for transport equipment - Google Patents

Abstract

The present invention relates to a collision avoidance system for transport equipment.
Specifically, a camera is installed on one side of the transport equipment to determine the existence of obstacles (people, loads, etc.) around it based on the image information captured by the camera, and when there is an obstacle, a warning light is notified along with a warning light. The present invention relates to a collision avoidance system for transportation equipment configured to output a red beam indicating danger and a blue beam in normal times.

Description

Collision avoidance system for transport equipment}

The present invention relates to a collision avoidance system for transport equipment.

Specifically, a camera is installed on one side of the transport equipment to determine the existence of obstacles (people, loads, etc.) around it based on the image information captured by the camera, and when there is an obstacle, a warning light is notified along with The present invention relates to a collision avoidance system for transportation equipment configured to output a red beam indicating danger and a blue beam in normal times.

In general, when a heavy equipment such as a forklift is reversed, a driver must look in a rearview mirror or directly look back to recognize an obstacle at the rear of the forklift while recognizing the distance between the forklift and the obstacle.

However, detecting the distance to the object through the rearview mirror of the forklift does not accurately measure the distance between the rear of the forklift and the obstacle, so accidents in which the rear of the forklift comes into contact with the obstacle frequently occur, and the garage of heavy equipment such as the forklift Since is relatively high, when a low-height obstacle is located close to the rear of the forklift, it is difficult for the driver to recognize the obstacle because it is covered by the rear of the forklift, resulting in a contact accident.

Therefore, the conventional forklift notifies that it is moving in reverse through a warning sound when reversing, and such a reverse notification device is for giving a warning to moving people, but in the case of a stationary obstacle, the reverse notification device is meaningless.

Therefore, the rear part of the forklift is often scratched or damaged on the wall, and if there is an obstacle while the forklift is moving backward, the driver may be notified through a warning sound. The situation is.

Therefore, it is necessary to be able to prevent collisions in transportation equipment such as forklifts, and to alert drivers and other people around them.

As a related technology, Patent Publication No. 10-2007-0058242 describes a rear obstacle sensing control device for a forklift.

The above technology relates to a rear obstacle detection and control device of a forklift, which includes a plurality of rear obstacle detection and control devices installed on the rear frame of the forklift at regular intervals to detect a distance to an obstacle at the rear of the forklift; It is a structure including a reverse deceleration control device that reduces the reverse speed of the forklift as the distance between the rear of the forklift and the obstacle gets closer according to the size of the detection signal value of the rear sensor. It is configured to further include a detection sensor ON/OFF switch electrically connected to the reverse deceleration control device to select whether or not to use the reverse deceleration control device.

Therefore, the forklift can be protected from dangerous objects or dangerous environments through the forklift rear-sensing deceleration device having the above configuration, and safety accidents that can occur when the forklift is reversing can be prevented in advance, and the driver of the forklift can work On the way, it is possible to accurately recognize obstacles in the rear, so work efficiency can be improved.

In addition, in Laid-open Patent Publication No. 10-2000-0015286, an obstacle detection device and method for an unmanned forklift are described.

The above technology, the obstacle detection device and method of the unmanned forklift detects the number of revolutions of the traveling motor when an abnormality occurs in one of the obstacle detection sensors mounted on the left and right ends of the fork during transportation and unloading of the unmanned forklift After tilting the fork by a preset moving distance according to the detected number of rotations, it is possible to repair the machine by stopping it, and to ensure the safety of the system and the accuracy of obstacle detection through two-step obstacle detection.

In addition, Patent Publication No. 10-2022-0167648 discloses an obstacle detecting device and an obstacle detecting system for detecting an obstacle in front of a fork of a forklift.

The above technology discloses an obstacle detection device for detecting an obstacle located in front of a fork of a forklift. The obstacle sensing device receives a front image representing the front of the forklift from a camera installed on the forklift, the obstacle sensing device includes a processor and a memory including a plurality of instructions, and the processor, according to execution of the plurality of instructions, outputs a forward image from the front image. The laser image displayed on the obstacle is recognized by the beam output from the laser output unit installed on the fork of the forklift, and the obstacle located in front of the fork of the forklift is detected according to the recognition result of the laser image.

In addition, Patent Registration No. 10-2078150 discloses a forklift having a rear sensor.

The foregoing technology discloses a forklift having a rear sensor. The forklift having the rear sensor includes a plurality of rear sensor installed on the rear frame of the forklift vehicle body; a buzzer installed on one side of the vehicle body; and a control device electrically connected to the rear sensor, determining whether obstacle sensing is activated from the rear sensor, and operating the buzzer when obstacle sensing is activated.

Publication No. 10-2007-0058242 (2007.06.08.) Publication No. 10-2000-0015286 (2000.03.15.) Publication No. 10-2022-0167648 (2022.12.21.) Registered Patent Publication No. 10-2078150 (2020.02.17. Notice)

An object of the present invention is to install a camera on one side of the transport equipment, determine the presence of obstacles (people, loads, etc.) around them based on image information captured through the camera, and notify a warning light when the obstacle exists. In addition, it is to provide a collision avoidance system for transportation equipment configured to output a red beam indicating danger and output a blue beam in normal times.

Devised to achieve the above object, a collision avoidance system for transport equipment according to the present invention includes four cameras installed on one side of the transport equipment; a control unit for receiving image information from a camera and performing judgment and control; A warning light for controlling an alarm under the control of a controller; A beam device that controls the color of the beam differently according to the control of the controller; a database that performs a storage function; In the anti-collision system of a transportation equipment comprising a display controlled by a control unit to output image information received from a camera,

The control unit,

an obstacle determination module for determining whether an obstacle exists on the image information received from the camera; a warning light control module for controlling a warning light when it is determined that an obstacle exists on the image information by the obstacle determination module; a beam control module for controlling output of a red beam when it is determined that an obstacle exists on the image information by the obstacle determination module, and outputting a beam of a color other than red when it is determined that an obstacle does not exist; an image output control module for controlling the image information received from the camera to be output through a display; It is characterized in that it includes; a color assigning module that assigns a color to the image information output from the display in conjunction with the image output control module.

At this time, it further includes the debugging button,

The control unit further includes a debugging determination module for recognizing an operation of the debugging button,

After being recognized as an obstacle as a result of the obstacle determination module, when a debugging button is operated, the obstacle determination module may determine that the debugging-determined information after being recognized as an obstacle is not an obstacle in the next determination.

In addition, the obstacle determination module,

The image information received from the camera is divided into square-shaped partitions based on the resolution,

It is characterized in that it is divided into left, right, and center regions, and the progress of obstacle determination for each divided region is calculated as a union.

According to the anti-collision system for transportation equipment according to the present invention, a camera is installed on one side of the transportation equipment, and based on image information captured by the camera, the presence of obstacles (people, loads, etc.) is determined, and the obstacle When there exists, a red beam notifying danger along with warning lights can be output, and a blue beam can be output normally, so that the driver operating the transportation equipment can use the transportation equipment safely and prevent collisions. People around the transport equipment have an advantage in recognizing their own danger.

1 shows a collision avoidance system for transport equipment according to the present invention.

The terms or words used in this specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors can properly define the concept of terms in order to best explain their invention. Based on the principle, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

Therefore, since the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical spirit of the present invention, various equivalents that can replace them at the time of the present application It should be understood that there may be variations and examples.

Hereinafter, prior to description with reference to the drawings, matters that are not necessary to reveal the subject matter of the present invention, that is, known configurations that can be added obviously by those skilled in the art, are not shown or specifically described. reveal the sound

The present invention relates to a collision avoidance system for transport equipment.

Specifically, a camera is installed on one side of the transport equipment to determine the existence of obstacles (people, loads, etc.) around it based on the image information captured by the camera, and when there is an obstacle, a warning light is notified along with The present invention relates to a collision avoidance system for transportation equipment configured to output a red beam indicating danger and a blue beam in normal times.

1 shows a collision avoidance system for transport equipment according to the present invention.

According to Figure 1 of the accompanying drawings, four cameras installed on one side of the transport equipment; a control unit for receiving image information from a camera and performing judgment and control; A warning light for controlling an alarm under the control of a controller; A beam device that controls the color of the beam differently according to the control of the controller; a database that performs a storage function; a display controlled by a controller to output image information received from a camera; It includes; a power supply unit for supplying power to each component.

At this time, four cameras are two in front of the transport equipment; And it may be preferable to have two at the rear.

In addition, the control unit includes an obstacle determination module for determining whether an obstacle exists on the image information received from the camera; a warning light control module for controlling a warning light when it is determined that an obstacle exists on the image information by the obstacle determination module; a beam control module for controlling output of a red beam when it is determined that an obstacle exists on the image information by the obstacle determination module, and outputting a beam of a color other than red when it is determined that an obstacle does not exist; an image output control module for controlling the image information received from the camera to be output through a display; and a color assigning module for assigning color to image information output from a display in conjunction with the image output control module.

Meanwhile, a debugging button may be included on one side of the transport equipment, and the control unit may further include a debugging determination module recognizing an operation of the debugging button.

That is, after it is recognized as an obstacle as a result of the obstacle determination module and there is an operation of the debugging button, pixel information is analyzed on the corresponding image information, and the information is stored in the database so that the obstacle determination module determines the corresponding information in the next determination. Obstacles corresponding to are judged to be non-obstacles.

At this time, the color-applying module means that when image information is output to the display by the image output control module and it is determined that an obstacle exists by the obstacle determination module, a color is given to the corresponding image as shown in [Table 1] below. is to do

At this time, as described above, two cameras take pictures of the front of the transportation equipment and the other two cameras take pictures of the rear of the transportation equipment, but each image information can be divided into 4 parts and output on the display.

Forward Obstacle Recognition rear obstacle recognition

In addition, an example of controlling the light control module and the beam control module based on the obstacle determination module is shown in [Table 2] below.

When there is an obstacle When there is no obstacle

Meanwhile, the obstacle determination module of the control unit may use the image information as follows to improve the recognition rate of the image information received from the camera.

For example, when image information received from a camera has a resolution of 1280*720, the corresponding image information is divided into square shapes. For example, a resolution of 1280*720 is subjected to primary NPU processing with a resolution of 720*720, and a resolution of 720*720 is subjected to secondary NPU processing. After that, the 720*720 resolution for the middle area is subjected to 3rd NPU processing.

That is, the image information is divided into left, right, and center regions, and the sum of the calculation results for each region is calculated and used as the calculation result of the entire image.

On the other hand, depending on the design conditions, a separate button may be provided for each obstacle on one side of the transport equipment. For example, divide by person, load, and animal, and put each button separately.

In addition, the control unit further includes a judgment object discrimination module, and discriminates the type of obstacle recognized according to button operation. is judged as an obstacle by linking

For example, when a button for a person is operated and the person is determined as an obstacle, the comparison target image stored in the database is pixel information having a human shape. The obstacle is determined by comparing the pixel information on the image information.

In addition, the above-described division button may be designed in various ways. For example, it may be configured in the form of a switch and may further have a separate division area in addition to On/Off.

For example, the switch is composed of four stages, stage 1 is on, stage 4 is off, stage 2 is a long distance (a predetermined distance, for example, 10 m), and stage 3 is a short distance (shorter than the long distance). It is divided into a distance longer than the on state, for example, 5 m).

Further, the control unit further includes an individual judgment distance discrimination module to recognize the obstacle as an obstacle according to the distance for determining the corresponding obstacle based on the operation of the classification button.

For example, if the classification button for people is 2 steps and the classification button for loads is 3 steps, if the obstacle determined from the video information is a person and is located within 10m, it is judged as an obstacle, and if the load is located within 5m It is judged by the presence of obstacles.

To this end, the control unit may further include a distance determination module for determining the distance to the obstacle on image information, or may be designed to determine the distance in the obstacle determination module.

Depending on other design conditions, a lower plate that is rotated using a hinge and a pin on one side of the driving device is configured on the lower side of the beam device of the conveying equipment, and an upper plate configured to be fixed to one side of the driving device can be configured on the upper side of the beam device. .

The upper and lower plates are configured in a horizontal direction. In addition, by connecting a motor and a gear to one side of a pin serving as a reference axis of the lower plate, the lower plate may be controlled to rotate under the control of the motor.

In addition, two facing surfaces of the upper and lower plates may be coated to have a material capable of reflecting light, or the upper and lower plates may be formed of a material capable of reflecting light.

In addition, the control unit may include a motor control module for controlling the motor.

This motor control module is composed of a button type or a control panel so that the operator of the transportation equipment can operate it manually, or it can be automatically controlled in conjunction with the above-described judgment object discrimination module and individual judgment distance discrimination module.

For example, when the angle of the lower plate rises or falls, the light reflection of the beam device can be made so that the irradiation range can be increased or decreased.

According to the anti-collision system for transport equipment according to the present invention configured as described above, a camera is installed on one side of the transport equipment, and based on image information captured through the camera, the presence of obstacles (people, loads, etc.) and outputs a red beam to notify danger along with a warning light when an obstacle exists, and outputs a blue beam in normal times, so that the driver operating the transportation equipment can use the transportation equipment safely, Impulse can be prevented, and people around the transportation equipment have an advantage in recognizing their own danger.

What has been described using the drawings above is only the main points of the present invention, and it is obvious that the present invention is not limited to the configuration of the drawings as various designs are possible within the technical scope.

Claims (3)

4 cameras installed on one side of the transport equipment; a control unit for receiving image information from a camera and performing judgment and control; A warning light for controlling an alarm under the control of a controller; A beam device that controls the color of the beam differently according to the control of the controller; a database that performs a storage function; a display controlled by a controller to output image information received from a camera; In the anti-collision system of the transportation equipment including a classification button configured on one side of the transportation equipment and separated by obstacles,
The control unit,
an obstacle determination module for determining whether an obstacle exists on the image information received from the camera; a warning light control module for controlling a warning light when it is determined that an obstacle exists on the image information by the obstacle determination module; a beam control module for controlling output of a red beam when it is determined that an obstacle exists on the image information by the obstacle determination module, and outputting a beam of a color other than red when it is determined that an obstacle does not exist; an image output control module for controlling the image information received from the camera to be output through a display; a color imparting module for assigning color to image information output from a display in conjunction with the image output control module; Based on the comparison target image information pre-stored in the database, a judgment object classification module for discriminating the type of obstacle recognized according to the operation of the classification button; characterized in that it comprises a collision prevention system for transport equipment.
The method of claim 1,
Including more debugging buttons,
The control unit further includes a debugging determination module for recognizing an operation of a debugging button,
After being recognized as an obstacle as a result of the obstacle determination module, when there is an operation of the debugging button, the obstacle determination module determines that the information determined by debugging after being recognized as an obstacle is not an obstacle in the next determination Characterized in that, Anti-collision system for conveying equipment.
The method of claim 1,
The obstacle determination module,
The image information received from the camera is divided into square-shaped partitions based on the resolution,
An anti-collision system for transport equipment, characterized in that it is divided into left, right, and center regions, and the progress of obstacle determination for each divided region is calculated as a union.

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