KR20100002896A - System for embodying shape of three dimension excavation ground using rotary type multiple ratio lens and method for computing pit excuvation volume using the same - Google Patents

Abstract

PURPOSE: A 3D-based pit shape image implementing system using rotary multi-magnification lens and an earth-volume method of calculation using the same are provided to recognize a ground shape by using a stereo vision of the rotating gage length corrector mode. CONSTITUTION: A stereo vision system includes a stereo vision camera performing 3D(Dimensional) modeling. The gage length corrector comprises the rotary type body in which it is possible to rotate by supporting a plurality of lens units. The lens units obtain the distance step video signal of the excavation objects. An image detector receives the video signal corrected in the gage length corrector. The controller analyzes the video signal. The driving shaft of the drive motor unit is rotated as the rotation angle of the gage length corrector.

Description

System for embodying shape of three dimension excavation ground using rotary type multiple ratio lens and method for computing pit excuvation volume using the same}

In the present invention, in the periodic mapping of the changing atypical ground, the ground shape is recognized using a corresponding magnification lens for each excavation distance and modeled as a three-dimensional shape, and the three-dimensional ground is calculated by comparing and reviewing the changed ground shape. A shape image implementation system.

In general, in the earthworks of construction works, the volume distribution and transportation plan is generally established by the designer's empirical judgment, and the equipment operator performs the earthwork based on this plan.

In addition, the existing earthwork method, which relies only on the existing manpower, does not take into account the intelligent functions such as the movement of the equipment or the optimal path, and performs the work arbitrarily by the driver's intuitive judgment. And quick response is insufficient.

This acts as a factor that hinders the productivity of earthworks, ultimately reducing the efficiency of the work.

Here, the construction equipment such as excavators and graders required for earthwork has been continuously developed in terms of hardware, such as the function and size of the parts and the embankment capacity, but the software aspects such as the terrain level surveying and earthwork calculation related to the earthwork work Esau's technological development is far from complete.

Existing earthworks work requires additional work such as surveyor installing survey piles at each point for equipment operator's work, and it requires much time and effort by relying on subjective judgment of equipment operator. It is classified as a labor intensive work.

The earthwork calculation of the existing earthworks is currently using an arithmetic calculation method by simply multiplying the truck's capacity by the number of daily transport of the soil transport truck. However, the amount of soil on the truck is not always constant, and due to the problem that the amount can vary depending on the work experience of the excavator driver, the accuracy and reliability of the existing soil volume calculation method should be examined.

As mentioned above, in order to reconsider the fundamental work efficiency of the existing earthworks, it is necessary to acquire a ground shape that changes in real time, model a three-dimensional shape, and introduce a new technology capable of accurate earthwork calculation using the same.

In order to solve this problem, a stereo vision method for real-time ground shape image acquisition and soil volume calculation has been proposed.

Japanese Laid-Open Patent Publication No. 2004-247805 discloses an excavating device for calculating a volume by measuring the distance and angle of an object in a three-dimensional space radially from the origin based on a predetermined rule in a device such as stereovision, US registered Patents 4,924 and 506 propose a method of directly determining the phase of the ground surface by measuring the area and volume of the surrounding surface shape by stereo vision.

However, the stereo vision technology shown in the open technology was developed to be suitable for the indoor situation. Especially, when the measuring distance is 5m or more, the focal length of two different cameras with respect to a specific reference point for three-dimensional image realization is long. Three-dimensional image shape implementation turned out to be practically impossible.

Therefore, a method for applying stereo vision technology, which is one of the new technologies widely used for realizing three-dimensional images of an object over a short indoor measurement distance, to a ground-based three-dimensional image implementation in earthworks is urgently needed.

Accordingly, the present invention has been proposed to solve the conventional problems as described above, and an object of the present invention is to recognize the ground shape in real time and calculate the amount of earthwork using a stereo vision of the rotary measuring distance corrector (lens changer) method It is to provide a system.

Still another object of the present invention is to obtain a plan drawing and real-time by periodically mapping an amorphous ground shape that is continuously changed according to the construction situation in the work area during the excavation work by the Excavator in construction work To calculate the earthwork workload by comparing and reviewing each changed three-dimensional ground geometry images, and to provide an intelligent task planning system that can establish the optimal earthwork work plan based on the real-time three-dimensional ground geometry images.

In order to achieve the above object, a stereo vision system is mounted on an excavator to acquire a three-dimensional image of an excavation area in real time, and even if the object is 5 m or more, no serious problem occurs in the resolution of the acquired image. By installing several lenses for each distance, the lens with the proper magnification is replaced and installed according to the distance between the excavation area and the vision system to obtain more accurate and efficient three-dimensional ground shape image according to the distance of the object. Provides a system to make this possible.

The three-dimensional ground shape image implementation system using a rotary multi-magnification lens according to the present invention, a stereo vision system including a stereo vision camera 120 is installed at a specific position to enable three-dimensional modeling of the ground shape,

Rotating body 110 is installed on the front of the stereo vision camera rotatably supported by a plurality of lens units for obtaining the image signal according to the distance of the excavation target by the drive shaft 131 of the drive motor unit 130. Measurement distance corrector 100 provided in,

An input unit for inputting a rotation mode command for rotating the measurement distance corrector 100 and an image signal acquisition command for the object;

A drive motor unit 130 for rotating the measurement distance corrector 100 according to the rotation mode command of the input unit;

An image detector for inputting an image signal of an object obtained by magnification correction by the measurement distance corrector 100;

And a controller configured to rotate the driving shaft of the driving motor unit by the rotation angle of the measurement distance corrector 100 by analyzing the image signal of the object input to the image sensing unit.

In addition, the three-dimensional ground image realization system using a rotary multi-magnification lens of the present invention, the camera is provided with a panning and tilting mechanism under the stereo vision camera with the multiplier with a rotary multi-magnification lens and the magnifier is disposed in front It is characterized in that the adjustable according to the excavator bucket position, for this purpose, it is attached to each node of the excavator includes a position sensor for obtaining information about the real-time position and the angle of refraction of the excavator bucket. Based on the information provided by the position recognition sensor to determine the working position of the bucket, the panning / tilting mechanism according to the position of the excavator bucket tilting (Tilting) to focus the excavation position and the bucket position information transmitted from the position recognition sensor By means of the control unit, a lens having a magnification suitable for the measurement distance is arranged.

In addition, another feature of the present invention, in the three-dimensional ground image forming system using a rotary multi-magnification lens, to obtain information about the real-time position and the angle of refraction of the excavator bucket in the position sensor attached to each node of the excavator Determining a working position of the bucket based on the obtained real-time measurement value, selecting and setting an appropriate distance lens based on an excavator position value provided by a position recognition sensor disposed at the excavator node, and rotating multiplexing. Focusing the excavation position by tilting the stereo vision camera with the magnifier in front of the excavator cabin rotatably supported by the magnification lens by the pan / tilting mechanism according to the position of the excavator bucket. And, whenever the bucket of the excavator excavates the soil of the ground installed on the cockpit of the excavator The stereo vision camera photographs the changing ground shape every time, converts the photographed ground shape into a three-dimensional ground shape image, and compares the level and volume of the changed terrain by comparing the obtained real-time three-dimensional ground shape image data. The present invention provides a method for calculating a soil volume using a three-dimensional ground shape image implementation system using a rotary multi-magnification lens, which calculates and automatically calculates the actual excavated soil volume.

In order to help the understanding of the three-dimensional ground image forming system according to the present invention configured as described above is presented a preferred embodiment. However, the following examples are merely provided to more easily understand the present invention, and the contents of the present invention are not limited by the examples.

The present invention is a three-dimensional ground shape image implementation system, three of the excavator using a measurement distance corrector equipped with a plurality of lens unit is installed on the front of the stereo vision camera of the upper part of the excavator cabin to obtain the image signal according to the distance of the excavation target As an example of configuring a dimensional ground shape image implementing system, a three-dimensional ground shape image implementing system according to an embodiment of the present invention includes a stereo vision system including a stereo vision camera 120 installed in an upper part of an excavator cabin, and the stereo vision. A plurality of lens units (L1, L2, L3) installed in the front of the camera to obtain the image signal according to the distance of the excavation target is rotatably supported via the drive shaft 131 of the drive motor unit 130 Measurement distance corrector 100 provided in the typical body 110, a rotation mode command for rotating the measurement distance corrector and the An input unit 10 for inputting an image signal acquisition command for an object, a drive motor unit 130 for forward and reverse rotation of the measurement distance corrector 100 according to a rotation mode command of the input unit, and the measurement distance corrector 100 Rotation of the measurement distance corrector 100 by analyzing the image sensing unit 20 and the image signal of the object input to the image signal obtained by the magnification correction and the driving axis of the driving motor unit It includes a control unit 30 that rotates by an angle. The present invention also includes a multiplier having a rotary multi-magnification lens and a panning / tilting mechanism under the stereo vision camera in which the multiplier is disposed forward.

In addition, the rotatable body 110 of the measurement distance corrector 100 is supported by a guide member for guiding the outer peripheral lower side and rotating rollers (R, R) coupled to the guide member.

In addition, the lens unit employs a standard lens (L1) in the area of the measurement distance 1m to 5m, a medium magnification lens (L2) from 5m to 8m, and a high magnification lens (L3) from 8m to 12m, According to the excavator bucket position information transmitted from the position sensor installed at the excavator node, a lens having a magnification suitable for the measurement distance is configured to be changed and arranged by a command of the controller.

According to the present invention, since the magnification can be corrected according to the ground excavation deformation form, there is an advantage that the efficiency is improved, such as saving time and obtaining reliable shape information.

First, for real-time recognition of the changing ground shape during earthwork, Stereo Vision technology is used, and Stereo Vision technology extracts three-dimensional information from two-dimensional images. As a method of use, a stereoscopic image requires two or more planar images composed of at least left and right, and is generally obtained by simultaneously photographing two or more image sensors.

The principle of stereo is to find an arbitrary pattern on the image of one camera 120 on an image of another camera 120 that is mapped to the same point in three-dimensional space. We can find out the location in the three-dimensional space by using a variety of methods such as pixel, window block, and feature (edge, trajectory).

The principle of the stereo matching technique using two cameras 120 and 120 can be briefly described as illustrated in FIG. 1. When the distance difference (disparity) between the subjects is obtained from two images taken through two cameras 120 and 120 arranged at a distance of an arbitrary base (b), and the focal length f of the lens is known, the camera It can be extracted using the following Equation 1 through the geometry of the distance (Fig. 1) between the subject from the 120.

이다.Where r is the distance between the subject and the camera 120, b is the base line distance between the two cameras 120, f is the focal length of the lens of the camera 120, and d is the distance between the same subjects in the two images. As distance difference

to be.

In addition, as illustrated in Figure 2, as a prerequisite for the implementation of the technology for obtaining a real-time ground shape changes during the excavation work of earthworks, the rapid three-dimensional shape must be implemented within an average of 15 seconds when one excavation work. The stereo vision method that obtains images by taking photographs and analyzes the images to realize the 3D shape image has a shape image implementation time of less than 3 seconds at present, which is an average of 10-15 seconds in one excavation work. Due to its characteristics, it can be sufficiently recognized as a real-time change shape.

In addition, the stereo vision technique is a technique based on the stereo vision camera 120 shooting, and the shutter speed is millisecond units, and thus is not affected by vibration generated during operation or movement of the excavator.

Here, the excavation work of the excavator can be made in a variety of within a maximum radius of about 12m.

In this case, in order to enlarge the excavator's maximum digging area, the measurement distance between the object and the stereo vision camera 120 should be considered up to 12 m. The three-dimensional ground image forming system including the rotary measuring distance corrector of the present invention having a plurality of lens parts to be obtained is capable of obtaining accurate three-dimensional images outdoors, particularly at a distance of 5 m or more, and measuring distances of 5 m to 12 m. The ground shape of the measurement area can be accurately acquired as a three-dimensional image.

The stereo vision camera 120 of the present invention, while applying a rotation measuring distance corrector 100 (lens changer) according to the position of the excavator bucket, the pan / tilt driving device 140, Pan / Tilt Stage Since the use of a speed of 500 mm / sec) is adopted, the camera 120 can be adjusted in an appropriate direction.

In addition, it is possible to track the location of the excavator bucket using the information provided by the position recognition sensor installed at each node of the excavator.

In addition, tilt the camera 120 to the excavation position of the excavator and set the rotary measuring distance corrector (100, lens changer) in accordance with the distance from the stereo vision camera 120 to the excavation area (select among standard, 8m, 12m) After that, a 3D image is obtained by photographing.

At this time, since the shutter speed of the camera 120 is 1/60 to 1/1000 second, the image can be acquired without being affected by the vibration of 60 Hz to 10 KHz depending on the setting.

In addition, the tilt / lens change operation is completed within the operation time of loading the soil onto the transport truck after the excavation, and the photographing of the changed ground shape is completed immediately after the excavation.

As shown in FIG. 3, in the present invention, the stereo vision camera 120 is installed on the vehicle's upper part of an excavator and recognizes and acquires a changed ground shape in real time. By arranging the front of the stereo vision camera 120 by a measuring distance corrector 100 that rotates the lens, to compensate for the technical limitations due to the excavation area and the measurement distance with the camera 120 which are frequently changed due to the earthwork, The distance from 1m up to 12m was divided into three parts and three suitable magnification lenses were installed in the measurement distance corrector (100, lens changer).

In other words, as shown in FIG. 3, a standard lens is installed in a range of 1m to 5m, a medium magnification lens is measured from 5m to 8m, and a high magnification lens is measured at 8m to 12m. According to the bucket position information transmitted from the position sensor, the lens having a magnification suitable for the measurement distance is changed and arranged by the command of the controller.

In addition, the soil volume calculation method using the three-dimensional ground image forming system using a rotary multi-magnification lens according to the present invention, obtains information about the real-time position and the angle of refraction of the excavator bucket from the position recognition sensor attached to each node of the excavator Determining a working position of the bucket based on the obtained real-time measurement value, selecting and setting an appropriate distance lens based on an excavator position value provided by a position recognition sensor disposed at the excavator node, and rotating multiplexing. Focusing the excavation position by tilting the stereo vision camera with the magnifier in front of the excavator cabin rotatably supported by the pan / tilting mechanism according to the position of the excavator bucket; Whenever the bucket of the excavator excavates the soil, the cockpit of the excavator The stereo vision camera installed in the camera photographs the changed ground shape every time, converts the photographed ground shape into the three-dimensional ground shape image, and compares the obtained terrain level with the real-time three-dimensional ground shape image data. Computing the volume to automatically calculate the actual excavated earth excavation.

The system according to the present invention models the ground shape which is changed during the earthwork work in real time three-dimensional shape, and compares and examines the result with the ground plan image and the changed ground shape image obtained in real time, and the earthwork amount and progress. By making it possible to infer, it is a technology that is highly applicable and applicable in terms of improving the efficiency of construction work and construction management, and at the same time, it is a highly applicable original technology to be applied to various fields of construction work.

In addition, in order to overcome the limitations of the measurement distance of the stereo vision camera 120 technology introduced to commercialize the present invention, a magnification adjuster (lens changer) for automatically changing and arranging a lens having an appropriate magnification according to the measurement distance change. By providing an effective three-dimensional model for the construction site of stereo vision technology, especially earthwork, it is possible to apply stereo vision to construction technology, which has been limited due to technical limitations. Ultimately, it will be possible to lead the development of advanced construction technologies and the convergence of advanced technologies.

Therefore, the earthwork work carried out at the subjective judgment of the existing worker, that is, the earthworker that the surveyor put into the construction site pinches the survey pile and specifies the working range, and then the equipment driver depends entirely on the labor force who performs the excavation work based on this. Based on data based on arithmetic earthwork calculation method, which multiplies the number of soils loaded on a single truck transport by the number of transports of a soil transport truck, which is an important criterion for calculating productivity and efficiency, work progress, and cost of construction work. There is a very good effect of eliminating the shortcomings of one inaccurate task management.

In the system and method according to the present invention for solving this problem, by introducing a stereo vision camera 120 system equipped with a measurement distance corrector (100, lens changer) to measure the ground shape changes in real time of the construction site earthworks and plan this Compared with drawings and real-time changing shape images, it provides the operator with accurate information on the work area and work progress, minimizing the errors that can occur during work, and making it easier for unskilled workers. It is possible to obtain a very good advantage such as having a great effect.

The three-dimensional ground shape image realization system according to the present invention is being progressed for the development of an intelligent excavation system that is part of the construction transportation technology development project. By combining the modeling technology with the remote control technology, it will be possible to automatically control the excavation robot through work orders and autonomous driving considering soil characteristics, and to control the traveling speed according to the slope angle and driving direction. The use of a remote control system in the construction of multiple excavation robots will increase the efficiency of the work by a few workers, which will be economically effective by preventing safety accidents in hazardous areas such as landfills and demilitarized zones.

  In addition, if this technology is applied as a source technology of the 3D spatial mapping technology that can be used in the construction of heavy machinery-oriented ground mapping or building construction through future research as well as earthworks, it will greatly contribute to securing worker safety and increasing productivity.

The present invention periodically maps the amorphous ground shape that is continuously changed according to the construction situation in the work area during the excavation work by the Excavator in the construction work, and the result is a plan drawing and the obtained real-time change The earthwork workload can be extracted by comparing and reviewing the ground geometry image, and the ground geometry thus obtained can be used to develop an intelligent task planning system that can establish an optimal earthwork work plan for an excavator.

The present invention proposes the introduction of stereo vision technology, which is widely used in 3D modeling of objects in the electronics industry, in order to model and map the ground shape information on the plan design drawing and the ground shape modified during the work in three dimensions. In order to respond effectively to the real-time changing measurement distance in real time within the measuring distance range of 1m to 12m, a rotary measuring distance corrector (100, lens changer) is installed on the front of the stereo vision camera 120, measuring distance 1m The lens section (L) is composed of three magnification lenses suitable for dividing the area up to 12m into three parts, but the standard lens (L1) is used for the area from 1m to 5m, and the distance from 5m to 8m. Up to the middle of magnification lens (L2), high magnification lens (L3) from 8m to 12m, Stereo vision technology, which has been limited in application due to the technical limitation of the short measuring distance in the existing construction site, by allowing the lens of the magnification suitable for the measuring distance to be changed and arranged by the control command of the controller by the bucket position information transmitted from the tooth recognition sensor. It will be easy to use.

The application of the stereo vision technology equipped with the rotary measuring distance corrector (100, lens changer) according to the present invention is an automatic control of the excavation robot through work orders and autonomous driving considering the soil characteristics by combining with the present technology and the remote control technology, and slope angle And the driving speed control according to the driving direction will be possible, and the development technology will be used for various purposes such as creating a safe working environment, enhancing the image of the construction industry, replacing the surveying process during earthwork, and improving the efficiency of construction management work.

Although the above has been described as being limited to the preferred embodiment of the present invention, the present invention is not limited thereto and various changes, modifications, and equivalents may be used. Therefore, the present invention can be applied by appropriately modifying the above embodiments, it will be obvious that such applications also belong to the scope of the present invention based on the technical idea described in the claims below.

The system according to the present invention models the ground shape which is changed during the earthwork work in real time three-dimensional shape, and compares and examines the result with the ground plan image and the changed ground shape image obtained in real time, and the earthwork amount and progress. By making it possible to infer, the technology is very useful and applicable in terms of improving the efficiency of construction work and construction management, and can be applied to various fields of construction work.

By combining real-time ground shape modeling technology with remote control technology through linkage with unmanned automation system, which is the ultimate goal in the future, automatic control of excavation robot through work order and autonomous driving considering soil characteristics, driving speed according to slope angle and driving direction By using remote control system for earthwork work that has been turned into 3D industry, it is possible to control multiple excavation robots with a few workers to maximize the efficiency of work and in hazardous areas such as landfill and DMZ. By preventing safety accidents, economic effects will be great.

  In addition, if this technology is applied as a source technology of the 3D spatial mapping technology that can be used in the construction of heavy machinery-oriented ground mapping or building construction through future research as well as earthworks, it will greatly contribute to securing worker safety and increasing productivity.

The present invention periodically maps the amorphous ground shape that is continuously changed according to the construction situation in the work area during the excavation work by the Excavator in the construction work, and the result is a plan drawing and the obtained real-time change The earthwork workload can be extracted by comparing and reviewing the ground geometry image, and the ground geometry thus obtained can be used to develop an intelligent task planning system that can establish an optimal earthwork work plan for an excavator.

1 is a conceptual diagram illustrating a stereo vision measurement principle of a three-dimensional ground image forming system using a rotating multi-magnification lens according to an embodiment of the present invention;

2 is a flowchart illustrating a stereo vision photographing cycle of a measuring distance corrector 100 (lens changer) method of a 3D ground image forming system according to an embodiment of the present invention;

3 is a conceptual diagram illustrating a 3D image acquisition method according to an excavation area of an excavator employing a 3D ground image forming system according to an embodiment of the present invention;

4 is a schematic structural diagram of a three-dimensional ground image forming system using a rotating multi-magnification lens according to an embodiment of the present invention;

FIG. 5 is a view illustrating an excavator equipped with a measurement distance corrector 100 (lens changer), a stereo vision camera, and a PAN / TILTING device of a 3D ground image forming system according to an embodiment of the present invention;

6 is a front structural diagram of a measurement distance corrector 100 (lens changer) and a guide of a 3D ground image forming system according to an embodiment of the present invention;

7 is a side structural diagram of a measurement distance corrector 100 (lens changer) of a three-dimensional ground image forming system according to an embodiment of the present invention; and

8 is a flow chart illustrating an excavation operation using a three-dimensional ground image forming system using a rotary multi-magnification lens according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

   100: measuring distance corrector

   110: rotating body

   120: stereo vision camera

   130: drive motor unit

   131: drive shaft

   140: panning and tilting mechanism

Claims (5)

Stereo vision system including stereo vision camera which enables three-dimensional modeling of ground shape, A measurement distance corrector having a rotatable body rotatably supported by a plurality of lens units installed on the front part of the stereo vision camera to obtain an image signal according to the distance of the excavation target by a driving shaft of the driving motor unit; An input unit for inputting a rotation mode command for rotating the measurement distance corrector and an image signal acquisition command for the object; A drive motor unit for rotating the measurement distance corrector according to the rotation mode command of the input unit; An image detector for inputting an image signal of an object obtained by magnification correction by the measurement distance corrector; Implementing a three-dimensional ground shape image using a rotary multi-magnification lens, characterized in that for analyzing the video signal of the object input to the image sensing unit comprises a control unit for rotating the drive shaft of the drive by the rotation angle of the measurement distance corrector system. The system of claim 1, further comprising a multiplier with a plurality of multi-magnification lenses individually disposed radially and a panning / tilting mechanism beneath the stereo vision camera with the multiplier forwardly disposed. The method according to claim 1 or 2, The rotating body of the measuring distance corrector is a three-dimensional ground image forming system using a rotary multi-magnification lens, characterized in that supported by a guide member for guiding the outer peripheral lower side and a rotating roller coupled to the guide member. The method according to claim 1 or 2, The lens unit employs a standard lens in an area of 1m to 5m measurement distance, a medium magnification lens of 5m to 8m measurement distance, and a high magnification lens of 8m to 12m measurement distance, and is transmitted from a position recognition sensor installed at an excavator node. 3D ground image forming system using a rotary multi-magnification lens characterized in that the lens of the magnification suitable for the measurement distance is changed by the command of the control unit by the bucket position information. In the method of calculating the earth volume using the three-dimensional ground image forming system using a rotary multi-magnification lens, information about the real time position and the refraction angle of the excavator bucket is obtained from the position recognition sensor attached to each node of the excavator. Identifying the bucket's working position based on real-time measurements; Selecting and setting an appropriate distance lens based on an excavator position value provided by a position recognition sensor disposed at the excavator node; Focusing the excavation position by tilting the stereo vision camera with the rotating multi-magnification lens rotatably supported on the upper part of the excavator cabin by panning / tilting mechanism according to the position of the excavator bucket. , Whenever the bucket of the excavator excavates the soil, the stereo vision camera installed at the designated position is photographed every time the changing ground shape, and converting the photographed ground shape into a three-dimensional ground shape image, 3D ground image forming system using a rotary multi-magnification lens, characterized in that to automatically calculate the actual excavated earth volume by calculating the level and volume of the changed terrain through the comparison of the obtained real-time three-dimensional ground image data Earthwork amount calculation method using.

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