KR20160110642A - Monitoring apparatus for work status of construction equipment and method thereof - Google Patents

Monitoring apparatus for work status of construction equipment and method thereof Download PDF

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Publication number
KR20160110642A
KR20160110642A KR1020150033030A KR20150033030A KR20160110642A KR 20160110642 A KR20160110642 A KR 20160110642A KR 1020150033030 A KR1020150033030 A KR 1020150033030A KR 20150033030 A KR20150033030 A KR 20150033030A KR 20160110642 A KR20160110642 A KR 20160110642A
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construction equipment
image
images
camera
monitoring
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KR1020150033030A
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Korean (ko)
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김영석
유현석
염동준
서정훈
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인하대학교 산학협력단
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Signal Processing (AREA)
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  • Closed-Circuit Television Systems (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The present invention relates to an apparatus for monitoring work status of a construction equipment and a method thereof. The apparatus for monitoring work status of a construction equipment according to the present invention comprises: a capturing unit having a plurality of first cameras to capture images of front, back, left and right surfaces of construction equipment, and a second camera to capture an image of the front of the construction equipment; a sensor unit containing a plurality of sensors for recognizing obstacles within a set area of the back of the construction equipment; an image converting unit which corrects images captured by the first cameras, generates a plurality of corrected images, then synthesizes the same in an overlay way and converts the same into TOP-view typed images; a control unit which reflects data recognized by the sensors and the images captured by the second camera to the TOP-view typed images, and generates information on obstacles in the surrounding the construction equipment and work status images; and a display unit which displays the obstacle information and the work status images. According to the present invention, the apparatus converts images into TOP-view images having no blind spot by means of a plurality of cameras and sensors, and provides information on obstacles and the work status for a driver of a construction equipment, thereby improving safety of a construction equipment and the efficiency of works.

Description

TECHNICAL FIELD [0001] The present invention relates to a monitoring apparatus,

The present invention relates to an apparatus and method for monitoring the operation status of a construction equipment, and more particularly, to a system and method for monitoring the operation status of a construction equipment by converting a top-view image without a blind spot of a construction equipment through a plurality of cameras and sensors, To a pilot of a construction equipment, and a method thereof.

Generally, large-scale construction equipment such as dozer, loader, excavator, and grader is mainly used in earthwork environment. Of these, excavators have a wide range of work to be done compared to the size of equipment, and the disadvantages of such excavator characteristics (boom, arm, bucket) .

As a result, excavators cause frequent safety accidents due to blind spots, crashes and disturbances due to blind spots during driving, and the efficiency of equipment operation is greatly degraded due to anxiety about accidents. Especially, the construction equipment operator is classified as 3D job and the input of new manpower is very low. Therefore, the absence of a skilled operator deepens these problems.

Therefore, it is urgent to develop a device to enable the equipment operator to grasp the status of the earthwork environment in real time when operating the equipment.

The technique of the present invention is disclosed in Korean Patent Laid-Open Publication No. 2014-0026690 (published on April 03, 2016).

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to provide a method and apparatus for converting a top-view image without a blind spot of a construction equipment through a plurality of cameras and sensors, Which is provided to a pilot of a construction equipment, and a method thereof.

An apparatus according to an embodiment of the present invention includes a photographing unit having a plurality of first cameras for photographing front, back, left and right sides of a construction equipment, and a second camera for photographing the front of the construction equipment; A sensor unit including a plurality of sensors for recognizing an obstacle in a setting area behind the construction equipment; An image converting unit for generating a plurality of corrected images by correcting the images photographed by the plurality of first cameras, and synthesizing the plurality of corrected images by an overlay method to convert the images into a top view type image; A control unit for generating obstacle information and operation status images around the construction equipment by reflecting the data recognized by the plurality of sensors and the image captured by the second camera on the top view type image; And a display unit for displaying the obstacle information and the operation status image around the construction equipment.

Also, the first camera may be a CCD camera provided on the front, rear, left, and right sides of the construction equipment such that the front, back, left, and right sides of the construction equipment are all photographed.

Also, the image converter may synthesize the plurality of corrected images in an overlay method based on the mask image including the information on the shooting area of each first camera and the weight information on the pixels forming each shooting area, May be converted into the top view type image.

In addition, the sensor is a laser sensor provided at both rear sides of the construction equipment, and can recognize the position, type, moving direction, and moving speed of an obstacle including an object and a person in the setting area separately.

In addition, the second camera is a stereo vision camera provided in front of the construction equipment, and the ground surface of the construction equipment front work area can be photographed in 3D image.

In addition, the control unit may generate the job status image as a 3D image so that the pre-stored job plan image and the image captured by the second camera can be compared with each other.

A method of monitoring a work status using an apparatus for monitoring work status of a construction equipment according to an embodiment of the present invention includes generating a plurality of corrected images by correcting images photographed from a plurality of first cameras that photograph front, Synthesizing the image data in an overlay manner, and converting the synthesized image into a top view image; Receiving data recognized from a plurality of sensors for recognizing an obstacle in a setting area behind the construction equipment and images photographed by a second camera for photographing the front of the construction equipment; Reflecting the data and the image on an image of the top view type to generate obstacle information and a work status image around the construction equipment; And displaying the obstacle information and the operation status image around the construction equipment.

The apparatus and method for monitoring the operation status of a construction equipment according to the present invention convert a top-view image of a construction equipment into a top-view image through a plurality of cameras and sensors, Thereby contributing to the improvement of safety and work efficiency of the construction equipment.

In addition, the present invention can provide a suitable surround view for a construction equipment operator by installing a CCD camera, a 2D laser sensor, and a stereo vision camera in a suitable position of a construction equipment, thereby eliminating a blind spot And it is possible to prevent a safety accident and to maximize the efficiency of operation of the equipment by easily recognizing the movement of the obstacles and the worker.

Further, the present invention can lower the entry barriers of the construction equipment operators and contribute to the activation of the construction equipment industry.

1 is a block diagram illustrating an apparatus for monitoring the operation status of a construction equipment according to an embodiment of the present invention.
2 is a view for explaining a position where a photographing unit of a construction equipment monitoring apparatus for construction equipment according to an embodiment of the present invention is installed.
3 is a flowchart illustrating an operational flow of a method of monitoring the operation status of a construction equipment according to an embodiment of the present invention.
4 is a conceptual diagram of a top view type image converted by a CCD camera of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.
5 is a conceptual diagram of data recognized by a laser sensor of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.
6 and 7 are conceptual diagrams of an image captured by a stereo vision camera of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.
FIG. 8 and FIG. 9 show an example of a screen displayed through the display unit of the apparatus for monitoring the operation status of construction equipment according to the embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An apparatus and method for monitoring the operation status of construction equipment according to an embodiment of the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram illustrating an apparatus for monitoring the operation status of a construction equipment according to an embodiment of the present invention. FIG. 2 is a view for explaining a position where a photographing unit of the apparatus for monitoring the operation status of a construction equipment according to an embodiment of the present invention is installed FIG.

1 and 2, an apparatus 100 for monitoring operation status of a construction equipment according to an embodiment of the present invention includes a photographing unit 110, an image converting unit 120, a sensor unit 130, a control unit 140, And a display unit 150.

The photographing unit 110 includes a plurality of first cameras 111 for photographing the front, back, right, and left sides of the construction equipment 200, and a second camera 113 for photographing the front of the construction equipment 200.

2, the first camera 111 is provided on the front, rear, left, and right sides of the construction equipment 200 such that the front, back, right, and left sides of the construction equipment 200 are all photographed, Can be applied.

That is, the four first cameras 111 must have an angle of view capable of acquiring an image without a blind spot on the front, rear, left, and right sides of the construction equipment 200. In view of the characteristics of the construction equipment 200, It is preferable that a camera having a resolution capable of converting an obstacle and a worker at a distance equal to or greater than a predetermined distance into a TOP-view image is applied.

2, the second camera 113 may be a stereoscopic vision camera that is provided in front of the construction equipment 200 and that takes a 3D image of the ground surface of the work area in front of the construction equipment 200.

That is, the second camera 113 is preferably a camera capable of acquiring the 3D shape of the ground surface of the front work area of the construction equipment 200.

The image converting unit 120 corrects the images photographed by the plurality of first cameras 111 to generate a plurality of corrected images, and synthesizes the corrected images in an overlay manner to convert them into top view type images.

In detail, a plurality of correction images are synthesized in an overlay method based on a mask image including photographing area information for each first camera 111 and weight information about pixels constituting each photographing area, ) Into a top view type image.

More specifically, the image converting unit 120 may process images photographed from the plurality of first cameras 111 through a lookup table, and generate a corrected image from each image . Here, the lookup table can be generated by applying a distortion correction algorithm, an affine transformation algorithm, and a viewpoint transformation algorithm. Then, the corrected images are synthesized by overlapping overlay method. In detail, the overlay synthesis process is performed using the mask image, and the mask image has weight information for the pixels constituting the region information and the correction image for each first camera 111. Accordingly, the weights of the pixels included in the overlapping regions between the corrected images are adjusted so that the overlapping regions are displayed naturally.

In this way, the image converting unit 120 synthesizes the four corrected images in an overlay manner, and converts 360 ° of the peripheral equipment of the construction equipment 200 into a top view type image that can be viewed at a glance.

The sensor unit 130 includes a plurality of sensors 131 for recognizing an obstacle in a setting area behind the construction equipment 200.

2, the sensors 131 are provided at both sides of the rear portion of the construction equipment 200, and are provided with sensors 131 for sensing the position, type (person, material, and truck classification) A 2D laser sensor for recognizing the direction and the moving speed can be applied.

That is, the two sensors 131 should be installed on both sides of the rear side of the construction equipment 200 so as to be able to recognize (sense) the surroundings horizontally with respect to the ground, It is preferable that the degree of recognizing the obstacle and the worker in the remaining area except the front with the field of view is applied.

The control unit 130 reflects the recognized data from the plurality of sensors 131 and the captured image photographed by the second camera 113 on the top view type image converted by the image converting unit 120, And generates the surrounding obstacle information and the operation status image.

That is, the control unit 130 divides a person, a material, a truck, etc. recognized from the plurality of sensors 131 and reflects a moving direction, a speed, and the like in a corresponding position of the top view image, And compare the pre-stored job plan image with the image photographed from the second camera 113 so that the progress status of the job plan can be grasped as a 3D image.

The display unit 140 displays the obstacle information and the operation status image around the construction equipment 200.

Hereinafter, a method of monitoring the operation status of the construction equipment using the operation status monitoring device will be described in detail.

FIG. 3 is a flowchart illustrating an operational flow of a method of monitoring the operation status of a construction equipment according to an embodiment of the present invention, and a specific operation of the present invention will be described with reference to FIG.

First, the operation status monitoring apparatus 100 generates a plurality of corrected images by correcting images photographed from a plurality of first cameras 111 that photograph the front, rear, left, and right sides of the construction equipment 200, And converted into a top view image (S310).

More specifically, the photographing area information for each first camera 111 provided on the front, back, left, and right sides of the construction equipment 200 so that the front, back, left, and right sides of the construction equipment 200 are all photographed, A plurality of correction images are synthesized in an overlay method based on a mask image including weight information about pixels to convert a surrounding image including the construction equipment 200 into a top view type image.

More specifically, images photographed from a plurality of first cameras 111 can be processed through a look-up table, and a correction image is generated from each image. Here, the lookup table can be generated by applying a distortion correction algorithm, an affine transformation algorithm, and a viewpoint transformation algorithm. Then, the corrected images are synthesized by overlapping overlay method. In detail, the overlay synthesis process is performed using the mask image, and the mask image has weight information for the pixels constituting the region information and the correction image for each first camera 111. Accordingly, the weights of the pixels included in the overlapping regions between the corrected images are adjusted so that the overlapping regions are displayed naturally.

4 is a conceptual diagram of a top view type image converted by a CCD camera of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.

As shown in FIG. 4, the four correction images are synthesized in the overlay method, and 360 ° of the peripheral equipment of the construction equipment 200 is transformed into a top view image which can be seen at a glance.

At this time, the four first cameras 111 must have an angle of view capable of acquiring an image without a blind spot on the front, rear, left, and right sides of the construction equipment 200. Due to the nature of the construction equipment 200, It is preferable that a CCD camera which is capable of converting an obstacle and a worker at a distance equal to or greater than a predetermined distance into a TOP-view image is applied.

 The operation status monitoring apparatus 100 includes data recognized from a plurality of sensors 131 for recognizing an obstacle in a setting area behind the construction equipment 200 and a second camera for photographing the front of the construction equipment 200 113, respectively (S320).

At this time, the sensors 131 are provided on both rear sides of the construction equipment 200, and detect the position, type (person, material and truck classification), moving direction and moving speed of the obstacle including the object and the person in the setting area A 2D laser sensor for discriminating and recognizing can be applied.

That is, the two sensors 131 should be installed on both sides of the rear side of the construction equipment 200 so as to be able to recognize (sense) the surroundings horizontally with respect to the ground, It is preferable that the degree of recognizing the obstacle and the worker in the remaining area except the front with the field of view is applied.

5 is a conceptual diagram of data recognized by a laser sensor of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.

5, the sensor 131 installed on the rear left portion of the construction equipment 200 among the two sensors 131 recognizes the area a and detects the sensor 131 installed on the rear right portion of the construction equipment 200 Recognizes the area b, so that the area other than the front area can be recognized.

The second camera 113 may be a stereoscopic vision camera that is provided in front of the construction equipment 200 and captures 3D images of the ground surface of the work space in front of the construction equipment 200.

That is, the second camera 113 is preferably a camera capable of acquiring the 3D shape of the ground surface of the front work area of the construction equipment 200.

6 to 7 are conceptual diagrams of an image captured by a stereo vision camera of an apparatus for monitoring the operation status of construction equipment according to an embodiment of the present invention.

In detail, as shown in FIG. 6, the state of the progress of work is photographed through a stereo vision camera which takes a 3D image of the ground in the work area in front of the construction equipment 200. For example, as shown in the fifth figure, (The area indicated in green) and the part to be worked (the area marked in purple) at a glance. Therefore, the fourth figure shows the state where the progress rate is 0% because only the part to be worked on (the part marked with purple) is displayed, and the sixth figure shows only the completed part Therefore, it can be seen that the figure shows a state where the progress rate is 100%.

In addition, as shown in FIG. 7, the pre-stored task plan image and the image photographed from the second camera 113 may be displayed together so that the progress of the task plan can be grasped as a 3D image.

Then, the operation status monitoring apparatus 100 reflects the input data and the images input in step S320 on the transformed top view image in step S310 (S330).

That is, a person, a material, a truck, and the like recognized from the plurality of sensors 131 are distinguished, and a moving direction and a speed are reflected on corresponding positions of the top view image, And compares the photographed images to the corresponding positions of the top view image.

In operation S340, the operation status monitoring apparatus 100 generates the obstacle information and the operation status image around the construction equipment 200 from the top view type image reflected in operation S330.

Accordingly, it is possible to grasp the obstacle information around the construction equipment 200, to compare the pre-stored work plan image with the image photographed from the second camera 113, and to grasp the progress status of the work plan as a 3D image It is possible.

Then, the operation status monitoring apparatus 100 displays the obstacle information and the operation status image around the construction equipment through the display unit 140 (S350).

At this time, the display unit 140 is provided in the construction equipment 200 at a position where the operator can easily check, so that the operator of the construction equipment 200 can recognize the blind spot around the construction equipment 200, So that it can easily grasp the movement and the operation status.

FIG. 8 and FIG. 9 show an example of a screen displayed through the display unit of the apparatus for monitoring the operation status of construction equipment according to the embodiment of the present invention.

8 and 9, the display unit 140 displays the top view image converted by the first camera 111 by dividing the person, the material, and the truck recognized by the sensor 131 into the moving direction And the speed and the like, and displays and displays the progressed work status of the work plan photographed by the second camera 113 at a glance.

As described above, the apparatus and method for monitoring the operation status of the construction equipment according to the embodiment of the present invention converts a top-view image without a blind spot of the construction equipment through a plurality of cameras and sensors, By providing information on the status to pilots of construction equipment, it is possible to contribute to improvement of safety and work efficiency of construction equipment.

In addition, by installing CCD camera, 2D laser sensor and stereo vision camera in the proper position of the construction equipment, it is possible to provide the optimum view to the construction equipment operator, thereby eliminating the blind spot that can occur in construction equipment operation, By easily grasping obstacles and movement of workers, safety accidents can be prevented beforehand and the efficiency of equipment operation can be maximized.

In addition, it can lower the entry barriers of construction equipment operators and contribute to the revitalization of the construction equipment industry.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined by the appended claims. will be. Accordingly, the true scope of the present invention should be determined by the following claims.

110: photographing unit 111: first camera
113: second camera 120: image conversion unit
130: sensor unit 131: sensor
140: control unit 150: display unit
200: Construction equipment

Claims (12)

A photographing unit having a plurality of first cameras for photographing the front and rear sides of the construction equipment and a second camera for photographing the front of the construction equipment;
A sensor unit including a plurality of sensors for recognizing an obstacle in a setting area behind the construction equipment;
An image converting unit for generating a plurality of corrected images by correcting the images photographed by the plurality of first cameras, and synthesizing the plurality of corrected images by an overlay method to convert the images into a top view type image;
A control unit for generating obstacle information and operation status images around the construction equipment by reflecting the data recognized by the plurality of sensors and the image captured by the second camera on the top view type image; And
And a display unit for displaying the obstacle information and the operation status image around the construction equipment. The method according to claim 1,
Wherein the first camera comprises:
Wherein the construction equipment is mounted on the front, rear, left, and right sides of the construction equipment such that the front, back, left, and right sides of the construction equipment are all photographed. 3. The method of claim 2,
The image converter may include:
A plurality of correction images are synthesized in an overlay manner on the basis of a mask image including shooting area information of each first camera and weight information of pixels constituting each shooting area, A monitoring device for monitoring the operation status of the construction equipment converting the image into the top view type image. The method according to claim 1,
The sensor includes:
And a laser sensor provided at both sides of the rear portion of the construction equipment, wherein the laser sensor senses a position, a type, a moving direction, and a moving speed of an obstacle including an object and a person in the setting area. The method according to claim 1,
Wherein the second camera comprises:
A stereo vision camera provided in front of the construction equipment, and monitoring the operation status of the construction equipment for photographing the ground surface of the construction equipment in a 3D image. The method according to claim 1,
Wherein,
A monitoring unit for monitoring the operation status of the construction equipment to generate the operation status image using the 3D image so that the pre-stored operation plan image and the image captured by the second camera can be compared. 1. A method for monitoring a work status using a monitoring apparatus for a construction equipment,
Generating a plurality of corrected images by correcting the images photographed by the plurality of first cameras that photograph the front, back, left, and right sides of the construction equipment, synthesizing the corrected images by an overlay method, and converting the combined images into a top view type image;
Receiving data recognized from a plurality of sensors for recognizing an obstacle in a setting area behind the construction equipment and images photographed by a second camera for photographing the front of the construction equipment;
Reflecting the data and the image on an image of the top view type to generate obstacle information and a work status image around the construction equipment; And
And displaying the obstacle information and the operation status image around the construction equipment. 8. The method of claim 7,
Wherein the first camera comprises:
And monitoring the operation status of the construction equipment such that the front, back, left, and right sides of the construction equipment are respectively photographed. 9. The method of claim 8,
The step of converting into the top view type image
A plurality of correction images are synthesized in an overlay manner on the basis of a mask image including shooting area information of each first camera and weight information of pixels constituting each shooting area, And monitoring the operation status of the construction equipment converting the image into the top view type image. 8. The method of claim 7,
The sensor includes:
And a laser sensor provided at both sides of the rear portion of the construction equipment, wherein the laser sensor senses a position, a type, a moving direction, and a moving speed of an obstacle including an object and a person in the setting area. 8. The method of claim 7,
Wherein the second camera comprises:
And a stereo vision camera provided in front of the construction equipment, the method comprising the steps of: capturing a 3D image of the ground surface of the work area in front of the construction equipment; 8. The method of claim 7,
The step of generating the job status image
A method of monitoring the operation status of a construction equipment, which generates the operation status image as a 3D image so that a pre-stored job plan image and an image photographed from the second camera can be compared.
KR1020150033030A 2015-03-10 2015-03-10 Monitoring apparatus for work status of construction equipment and method thereof KR20160110642A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11076130B2 (en) 2017-07-14 2021-07-27 Komatsu Ltd. Operation information transmission device, construction management system, operation information transmission method, and program
KR20230089493A (en) * 2021-12-13 2023-06-20 한남대학교 산학협력단 Multi-camera fire detector

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11076130B2 (en) 2017-07-14 2021-07-27 Komatsu Ltd. Operation information transmission device, construction management system, operation information transmission method, and program
KR20230089493A (en) * 2021-12-13 2023-06-20 한남대학교 산학협력단 Multi-camera fire detector

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