KR20160054091A - Working environment monitoring apparatus and working environment monitoring method performed in the same - Google Patents

Abstract

A working environment monitoring apparatus comprises: a plurality of cameras installed in a periphery of an industrial vehicle to capture the periphery of the industrial vehicle; a guideline setting unit generating a working environment view based on a plurality of images captured by the cameras and displaying at least one safe guideline on the working environment view; and an obstacle recognition unit analyzing a vertical edge component of an obstacle to determine whether or not the obstacle is a person when the obstacle is recognized by the at least one safe guideline.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working environment monitoring apparatus and a work environment monitoring apparatus,

The present invention relates to a work environment monitoring technique, and more particularly to a work environment monitoring device and a work environment monitoring device capable of generating an ambient view around an industrial vehicle and determining whether an object near the industrial vehicle corresponds to a person The present invention relates to a method and apparatus for monitoring a work environment.

In general, the heavy equipment is difficult for the driver to accurately recognize the surrounding objects because the position of the driver's stowaway is high, and it is difficult to recognize the situation occurring in the 360 degree range of the heavy equipment. Therefore, when a person suddenly appears around a heavy equipment, it is very difficult for a heavy equipment driver to recognize it immediately, and safety accidents are likely to occur.

Korean Patent Laid-Open Publication No. 10-2012-0130456 relates to a method of providing an overview of a vehicle, and it is an object of the present invention to provide a method of providing an overview of a vehicle by touching any one of a wide- Discloses a configuration in which a user can easily enlarge and observe an image of a desired area by enlarging and displaying the screen of the area.

Korean Patent Laid-Open Publication No. 10-2013-0095525 relates to an approach view system and an approach view providing method in consideration of the vehicle traveling direction. The approach view and the front / rear image of the vehicle are provided on the screen. Backward image to be displayed on the screen so that more images are displayed on the screen.

Korean Patent Laid-Open No. 10-2012-0130456 Korean Patent Publication No. 10-2013-0095525

An embodiment of the present invention is to provide an environment monitoring apparatus capable of generating an ambient view and viewing the surroundings of the industrial vehicle at 360 degrees.

An embodiment of the present invention is to provide a work environment monitoring apparatus capable of displaying a predetermined safety guideline in an surround view or receiving and displaying a setting of a safety guideline from a driver in real time.

An embodiment of the present invention is to provide a work environment monitoring apparatus capable of determining whether a specific object is recognized in a safety guideline or not.

An embodiment of the present invention is to provide a work environment monitoring apparatus capable of displaying an object as a marker, providing an alarm sound, or controlling the operation of an industrial vehicle when the object of the safety guideline corresponds to a person.

Among the embodiments, the work environment monitoring device includes a plurality of cameras installed around the industrial vehicle to pick up images of the surroundings of the industrial vehicle, a work environment view based on the plurality of images picked up by the plurality of cameras, A guideline setting unit for displaying at least one safety guideline in the environment view, and a control unit for analyzing the vertical edge component of the object when the object is recognized in the at least one safety guideline to determine whether the object corresponds to a person And a recognition unit.

In one embodiment, the plurality of cameras may be installed on the front, back and both sides of the industrial vehicle to produce a front image, a rear image, and both side images.

In one embodiment, the plurality of cameras may be installed on the front, rear, and both sides of the upper structure of the excavator of the industrial vehicle.

In one embodiment, the guideline setting unit sets at least one image selected according to a user's request among the plurality of images, and adds three-dimensional images to the matched image through image mapping centering on the industrial vehicle You can create the surrounding view to be granted.

In one embodiment, the guideline setting section may set the at least one safety guideline based on a radius for the industrial vehicle.

In one embodiment, the guideline setting unit may set the at least one safety guideline based on the length of the arm of the excavator of the industrial vehicle.

In one embodiment, the guideline setting unit may receive setting information for the at least one safety guideline from a driver of the industrial vehicle.

In one embodiment, the entity recognizer may detect a motion vector of the entity and determine whether the entity is a motion entity.

In one embodiment, the entity recognizer may display a marker for the entity in the work environment view if the recognized entity corresponds to a person.

In one embodiment, the alarm sound generating unit may generate an alarm sound when the perceived object corresponds to a person.

In one embodiment, the control unit may further include a vehicle operation control unit for controlling an operation of the industrial vehicle when the recognized object corresponds to a person.

In an embodiment, a method for monitoring a work environment includes imaging an environment around an industrial vehicle and surrounding the industrial vehicle, generating a work environment view based on the plurality of images captured by the plurality of cameras, Displaying at least one safety guideline and determining if the entity corresponds to a person by analyzing vertical edge components of the entity when the entity is recognized in the at least one safety guideline.

In one embodiment, at least one alarm selected by a driver of the industrial vehicle from among a plurality of alarm modes for the manner of providing an alarm to the driver of the industrial vehicle when the entity is recognized in the at least one safety guideline And setting a mode.

The work environment monitoring apparatus according to an embodiment of the present invention can generate an overview view and view the surroundings of the industrial vehicle at 360 degrees.

The work environment monitoring apparatus according to an embodiment of the present invention may display a safety guideline preset in the surround view or receive and display the setting for the safety guideline from the driver in real time.

The work environment monitoring apparatus according to an embodiment of the present invention can determine whether a corresponding entity is a person when a specific entity is recognized in the safety guideline.

The work environment monitoring apparatus according to an embodiment of the present invention can provide an alarm sound or control an operation of an industrial vehicle when the object of the safety guideline corresponds to a person.

1 is a block diagram illustrating an apparatus for monitoring work environment according to an embodiment of the present invention.
Figure 2 is an illustration of a work environment view.
3 is an illustration of an industrial vehicle in which an apparatus for monitoring work environment according to an embodiment of the present invention can be installed.
4 is an illustration of a vertical line segmentation method.
FIG. 5 is a flowchart illustrating a work environment monitoring method performed by the work environment monitoring apparatus of FIG. 1;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

1 is a block diagram illustrating an apparatus for monitoring work environment according to an embodiment of the present invention.

Referring to FIG. 1, the work environment monitoring apparatus 100 includes a plurality of cameras 110, a guide line setting unit 120, and an object recognizing unit 130.

A plurality of cameras 110 each pick up an image of the surroundings of the industrial vehicle to generate a plurality of images. In one embodiment, the plurality of cameras 110 may be installed on the front, rear, left, and right sides of the industrial vehicle, and may generate a front image, a rear image, a left image, and a right image by respective cameras . In one embodiment, the plurality of cameras 110 may be installed on the front, back and both sides of the upper structure of the excavator of the industrial vehicle. A more detailed description will be given below with reference to Fig.

The guideline setting unit 120 generates a working environment view based on the plurality of images captured by the plurality of cameras 110 and displays at least one safety guideline on the working environment view. In one embodiment, the guideline setting unit 120 sets at least one image selected according to a user's request among a plurality of images and adds a three-dimensional image to the matched image through an image mapping centering on an industrial vehicle You can create the surrounding view to be granted. Here, the surround view can correspond to a view that can be viewed in real time as seen from the top of the vehicle, using the four cameras installed on the front, rear, left, and right sides of the industrial vehicle to view the situation occurring in the 360 degree range of the industrial vehicle.

In one embodiment, the guideline setting section 120 may establish at least one safety guideline based on the radius for the industrial vehicle. Here, the safety guideline refers to a radius that moves when an industrial vehicle performs a specific task, or an indication line that identifies an area where the risk of a safety accident increases when a specific object comes within a certain range from an industrial vehicle . More specifically, the guideline setting unit 120 can set a safety guideline that sets the driver's seat position of the industrial vehicle at the center and has a length from the driver's seat position to the frontmost position of the industrial vehicle or a length from the driver's seat position to the rearmost position as a radius. In one embodiment, the guideline setting unit 120 can set at least one safety guideline on the basis of the length of the arm of the excavator of the industrial vehicle, and a more detailed description will be given below with reference to Fig.

In one embodiment, the guideline establisher 120 may receive configuration information for at least one safety guideline from a driver of an industrial vehicle. Herein, the setting information for at least one safety guideline may be input through an input device, and the input device may correspond to a mouse, a trackball, a touchpad, a graphic tablet, a touch screen, a keyboard or a pointing device can do. More specifically, the guideline setting unit 120 receives the setting information of at least one safety guideline inputted by the driver of the industrial vehicle through the input device, and displays a guideline on the working environment view based on the setting information can do.

The object recognition unit 130 analyzes the vertical edge component of the object when the object is recognized in at least one safety guideline to determine whether the object corresponds to a person. Hereinafter, a vertical line segmentation method for determining whether an object corresponds to a person by analyzing a vertical edge component will be described in detail with reference to FIG.

In one embodiment, the entity recognizer 130 may detect a motion vector of a recognized entity in at least one safety guideline to determine whether it is a motion entity. Here, the optical flow method of the block unit is used for the detection of the motion vector, and the optical flow method of the block unit is used to search the position of the block having the highest similarity with the block of the current frame in the previous frame, And calculates the motion by applying the block size to detect the motion vector.

In one embodiment, when the recognized object in at least one safety guideline corresponds to a person, the object recognition unit 130 may display a marker for the object in the work environment view. For example, if the perceived object is a person in the safety guideline, the object can be displayed in the workspace view as a red bounding box.

In one embodiment, the entity recognizer 130 may perform tracing on the entity determined to be human. For example, the object recognition unit 130 may track the corresponding object displayed in the work environment view with a red bounding box, and may stop performing the tracking if the object is out of the safety guideline, .

In one embodiment, the work environment monitoring apparatus 100 may further include an alarm sound generating unit, and the alarm sound generating unit may generate an alarm sound when the recognized object corresponds to a person. In one embodiment, the alarm sound generator may recognize an object in at least one safety guideline and generate an alarm sound differently depending on the type of the object. For example, if an object recognized in the safety guideline corresponds to an object, it may not generate an alarm sound, and if an object recognized in the safety guideline corresponds to a person, an alarm sound may be generated.

In one embodiment, the alert tone generator may activate an alert light if an entity is recognized in at least one safety guideline. The alarm sound generator can activate an alarm light to alert the person in the safety guideline to the danger or to recognize the risk to the driver of the industrial vehicle. Here, the warning light may be installed outside or inside the industrial vehicle.

In one embodiment, the alert tone generator may generate different types of alert tones and different audible tones for each of the at least one safety guideline. For example, if there are multiple safety guidelines, if the object is recognized in the safety guideline near the industrial vehicle, then a loud warning Can be generated. In addition, the pattern of the alarm sound or the kind of the alarm sound may be different, and the alarm sound may be generated differently according to the type of the recognized object in the safety guideline or according to each of the plurality of safety guideline lines.

In one embodiment, the work environment monitoring apparatus 100 may further include a vehicle operation control unit, and the vehicle operation control unit may control the operation of the industrial vehicle when the recognized object corresponds to a person. For example, when a person is recognized in the safety guideline, the vehicle operation control unit can temporarily stop the operation of the vehicle by controlling an ECU (Electronic Control Unit) of the vehicle.

In one embodiment, the work environment monitoring apparatus 100 may further include an alarm mode setting unit, and the alarm mode setting unit may be configured to set the alarm mode setting unit to set the alarm mode to the driver of the industrial vehicle among the plurality of alarm modes for the method of providing the alarm to the driver of the industrial vehicle At least one selected alarm mode can be set.

In one embodiment, the alarm mode setting unit may include at least one of an alarm sound mode and a vehicle operation control mode, wherein the alarm sound mode is activated when an object is recognized in at least one safety guideline, And the vehicle operation control mode controls the operation of the industrial vehicle through the vehicle operation control unit according to the type of the entity in which the individual is recognized in at least one safety guideline or the safety guideline.

Figure 2 is an illustration of a work environment view.

2A shows a plurality of images generated by a plurality of cameras 110 installed on a work vehicle, and FIG. 2B shows an around view generated by a work environment view providing unit 120 based on a plurality of images. In one embodiment, the work environment view feeder 120 matches the front image, the rear image, the left image, and the right image of FIG. 2A and the three-dimensional image to the matched image through an image mapping centered on the working vehicle Thereby creating the surround view of FIG. 2B.

In one embodiment, the work environment view providing unit 120 may generate an overview view using at least one image selected according to a user's request among a plurality of images, Lt; / RTI > For example, you can create a three-dimensional view, a Rotate view, a top view, a two-dimensional view, a front view, a rear view, a right view, or a left view.

3 is an illustration of an industrial vehicle in which an apparatus for monitoring work environment according to an embodiment of the present invention can be installed.

3, the excavator 300 includes a work tool on the vehicle body, and includes a boom 310, an arm 320, and a bucket 330 corresponding to the work tool, and the upper structure 340 and the lower structure (350). In one embodiment, the plurality of cameras 110 may be installed in the upper structure 340 of the excavator 300 and may include a front camera 111, a rear camera 112, and side cameras 113 and < RTI ID = 0.0 > 114 may be installed at specific locations in the upper structure 340. [

In one embodiment, the boom 310 of the working vehicle 300 may be raised and lowered, the arm 320 may be bent and unfolded, and the bucket 330 may be lifted and lowered. Further, the portion including the boom 310, the arm 320, and the bucket 330 corresponds to the upper structure and the remaining portion corresponds to the lower structure. The front camera 111, the rear camera 112, and the side cameras 113 and 114 provided in the working vehicle 300 can be used to generate an image and generate an surround view, respectively.

The guide line setting unit 120 sets the distance from the crucible 360 of the excavator 300 to the end of the boom 310 and the distance from the crucible 360 to the end of the arm 320 The distance from the driver's seat 360 to the end of the bucket 330 where the arm 320 is in a straight line parallel to the boom 310, The boom 310 and the arm 320) and a safety guide line around the driver's seat 360 can be set.

In one embodiment, the guideline setter 120 may set a safety guideline based on the operating state of the excavator 300. [ For example, when the excavator 300 is in a stopped state, a safety guideline centering on the driver's seat 360 can be set with the radius from the driver's seat 360 to the end of the arm 320 as a radius, When the excavator 300 is in the working state using the bucket 330, a safety guideline centering on the driver's seat 360 can be set with a radius from the driver's seat 360 to the end of the bucket 330 as a radius have.

4 is an illustration of a vertical line segmentation method.

In one embodiment, when the object is recognized in the safety guideline, the object recognition unit 130 may detect a vertical edge of the object and determine whether the object is a person. Here, a method of detecting a vertical edge is to use a divided group edge image to designate an ROI (Region Of Interest) region corresponding to an image ROI for an object, and calculate an edge of a block unit for the ROI Direction edge detection division result is obtained. More specifically, if the edge value is scanned in the vertical direction and the edge value is greater than a predetermined threshold value, the line start point is checked. If the edge value difference is greater than a predetermined threshold value, the line end point is checked and the start point and the end point are designated as one label . If the number of moving vertical lines is less than 2 and the result of the background modeling is a moving area, it may be judged that the person is a person or the case where there are more than two vertical lines that are moving, It is possible to determine whether the corresponding object is a person by matching the detected vertical edge and the pattern of the vertical edge that can be obtained when the object is a person.

FIG. 5 is a flowchart illustrating a work environment monitoring method performed by the work environment monitoring apparatus of FIG. 1;

The plurality of cameras 110 pick up images of the surroundings of the industrial vehicle (step S510). In one embodiment, the plurality of cameras 110 may be installed on the front, rear, and both sides of the industrial vehicle to generate front, rear, and both side images, for example, when the industrial vehicle corresponds to an excavator A plurality of cameras 110 may be installed on the front, rear, and both sides of the upper structure of the excavator to produce an image.

The guideline setting unit 120 generates a work environment view using at least one image captured by the plurality of cameras 110 (step S520). In one embodiment, the guideline setting unit 120 may generate a working environment view using a part of a plurality of images according to a user's selection, and may generate an around view around the industrial vehicle.

The guideline setting unit 120 may display a safety guideline in the work environment view. In one embodiment, the guideline setting unit 120 may display at least one safety guideline set by the user, and may display at least one guideline based on the safety guideline setting information input by the user . In one embodiment, if a plurality of safety guidelines are set, each of the safety guidelines may be displayed in the work environment view in a different color.

The guideline setting unit 120 determines whether an object is recognized in the safety guideline (step S540).

In one embodiment, when the object is recognized in the safety guideline, the object recognition unit 130 may determine whether the object is a person (step S550). In one embodiment, if a plurality of safety guidelines are set, different entity awareness can be set according to each of the plurality of safety guidelines. For example, in the case where there is a first safety guideline and a second safety guideline, if an object is recognized in the first safety guideline, it is determined whether or not the corresponding object is a person, And determine whether the object is a person or not.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the present invention as defined by the following claims It can be understood that

100: Work environment monitoring device
110: Multiple cameras
120: Guideline setting section
130:
300: Working vehicle
310: Boom
320: Cancer
330: Bucket

Claims (13)

A plurality of cameras installed around the industrial vehicle for imaging the surroundings of the industrial vehicle;
A guideline setting unit for generating a working environment view based on a plurality of images picked up by the plurality of cameras and displaying at least one safety guideline on the working environment view; And
And an object recognition unit for analyzing the vertical edge component of the object when the object is recognized in the at least one safety guideline to determine whether the object corresponds to a person.
The apparatus of claim 1, wherein the plurality of cameras
And a front image, a rear image, and both side images are provided on the front, rear, and both sides of the industrial vehicle.
The apparatus of claim 2, wherein the plurality of cameras
Wherein the excavator is installed on the front, rear and both sides of the upper structure of the excavator of the industrial vehicle.
2. The apparatus of claim 1, wherein the guideline setting unit
And generates an ambient view that matches at least one image selected according to a user's request among the plurality of images and gives a stereoscopic effect to the matched image through image mapping centering on the industrial vehicle A working environment monitoring device.
2. The apparatus of claim 1, wherein the guideline setting unit
And sets the at least one safety guideline based on a radius for the industrial vehicle.
6. The apparatus of claim 5, wherein the guideline setting unit
Wherein the at least one safety guideline is set based on the length of the arm of the excavator among the industrial vehicles.
2. The apparatus of claim 1, wherein the guideline setting unit
And receives setting information for the at least one safety guideline from a driver of the industrial vehicle.
2. The apparatus of claim 1, wherein the object recognizer
Wherein the motion vector of the object is detected to determine whether the object is a motion object.
2. The apparatus of claim 1, wherein the object recognizer
And if the recognized object corresponds to a person, displays a marker for the object on the work environment view.
The method according to claim 1,
And an alarm sound generating unit for generating an alarm sound when the perceived object corresponds to a person.
The method according to claim 1,
Further comprising a vehicle operation control unit for controlling an operation of the industrial vehicle when the recognized object corresponds to a person.
Installing an industrial vehicle around the industrial vehicle;
Generating a work environment view based on the plurality of images captured by the plurality of cameras and displaying at least one safety guideline on the work environment view; And
And analyzing the vertical edge component of the object when the object is recognized in the at least one safety guideline to determine whether the object corresponds to a person.
13. The method of claim 12,
Setting at least one alert mode selected by a driver of the industrial vehicle from among a plurality of alert modes for a manner of providing an alert to a driver of the industrial vehicle when the entity is recognized in the at least one safety guideline Further comprising the step of:

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