KR20160130332A - Approach monitoring and operation retardation and stop control system for heavy equipment of industry and construction - Google Patents

Approach monitoring and operation retardation and stop control system for heavy equipment of industry and construction Download PDF

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Publication number
KR20160130332A
KR20160130332A KR1020150061428A KR20150061428A KR20160130332A KR 20160130332 A KR20160130332 A KR 20160130332A KR 1020150061428 A KR1020150061428 A KR 1020150061428A KR 20150061428 A KR20150061428 A KR 20150061428A KR 20160130332 A KR20160130332 A KR 20160130332A
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South Korea
Prior art keywords
image
heavy equipment
deceleration
construction
motion detection
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KR1020150061428A
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Korean (ko)
Inventor
강일형
김남포
정삼정
김석
김영민
황세연
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(주)영신디엔씨
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Priority to KR1020150061428A priority Critical patent/KR20160130332A/en
Publication of KR20160130332A publication Critical patent/KR20160130332A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • B60R2021/0134—
    • B60W2050/14—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Abstract

The present invention relates to a system for approach monitoring and control of deceleration and stops for heavy equipment for industry and construction. More specifically, the present invention relates to a system which regularly images the surroundings of heavy equipment for industry and construction by means of a plurality of capturing cameras and image recognition cameras, displays the same on a monitor display screen in an operating room of the heavy equipment, and when a person or a thing is captured by the capturing cameras and the image recognition cameras and is displayed on the monitor display screen, recognizes the same as a person image or a thing image by means of an image recognizing algorithm containing a pattern recognizing algorithm and/or a motion detecting algorithm, then raises an approach monitor alert and automatically at once decelerates and stops the heavy equipment at the same time.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for an industrial monitoring apparatus,

More particularly, the present invention relates to a system and method for continuously monitoring the surroundings of heavy equipment for industrial and construction use by a plurality of photographing cameras and image recognition cameras, When a person or an object is photographed from the photographing camera and the image recognition camera and a person or an object is displayed on the monitor display screen, it is displayed on a screen through a person or object through an image recognition algorithm including a pattern recognition algorithm and / And a system for automatically decelerating and stopping the operation of the heavy equipment at the same time as issuing an approach monitoring alarm after recognizing the image.

In general, various kinds of heavy equipment such as crane, dump truck, bulldozer, excavator, wheel loader, forklift, etc. are widely used in construction site, civil engineering worksite, quarry, mine or various industrial sites. Most heavy equipment bodies are large and heavy, The driver who operates the heavy equipment must pay attention to safe driving. In addition, there is always a possibility of causing a serious accident if the driving is wrong, and the heavy equipment is driven by only one driver. In this case, There was a risk of an accident because it was impossible for the driver of the heavy equipment vehicle to recognize the situation around the vehicle.

Especially, construction or industrial heavy equipment such as excavator, forklift, etc. is easy to observe in front of the cab, but it is difficult to observe left / right and rear due to equipment mounted on the vehicle body. Therefore, view mirrors, or side view mirrors located on the left and right sides of the vehicle. However, there is a blind spot in the range that can be monitored from the driver's seat. This blind spot is used for heavy equipment safety In fact, since accidents such as human accidents or structural damage that occur during operation of heavy equipment are generated at the right and left sides of the rectangle, which are difficult for the driver to observe, it is necessary to pay close attention to both the heavy equipment driver and the operator I am working with tilting.

However, in spite of this attention, accidents caused by heavy equipment frequently occur due to the carelessness of the driver or the operator during the work. Such accidents are mainly caused by the heavy equipment driver not recognizing the worker who is working in the back of the heavy equipment or in the blind spot while driving, There are many accidents in which workers are hurt by the boom band by rotating the boom stand or injuring the workers during the heavy equipment backward operation.

In order to solve such a problem, currently, a surveillance system using various sensors or a camera is being developed or under development, and the major development technology is described in Korean Patent No. 10-0227862. And a sensing device installed on a rear portion of the heavy equipment for sensing movement of the object and transmitting a signal to the main unit through a wire by sensing movement of the object, Device has been developed. However, this device monitors the approach of the operator and issues an alarm. However, there is a problem that it is impossible to prevent a fundamental accident such as an automatic stop of operation for preventing an accident.

Korean Patent Laid-Open No. 10-2013-0033582 discloses a method of recognizing access between heavy equipment vehicles by using ZigBee technology capable of mutual position recognition together with wireless communication between construction heavy equipment vehicles at a construction site, A collision prevention system for a heavy construction equipment has been developed which prevents a collision between heavy and under construction heavy vehicles by warning the driver or stopping the operation of the driving device depending on the approaching approach, Or a separate ZigBee node must be provided to the operator, and there is a problem of heavy equipment conduction due to sudden shutdown.

The PIR (Pyroelectric Infrared Ray) sensor, which is detachably mounted on a heavy equipment vehicle body and detects the approach of a human body, and a sensor for detecting the object by using an ultrasonic wave conveyed from the object, A plurality of sensor units each having an ultrasonic sensor for sensing an approach distance; A main control unit for processing a signal output from the sensor unit to determine whether a human body or an object is approaching and calculating an approach distance to perform corresponding control; An alarm speaker for outputting an alarm sound to the outside of the vehicle body when the human body approaches by the control of the main control unit; And a display device installed in a cab of a heavy equipment and displaying the access status of a human body or an object detected by the main control unit on the screen. However, this system also monitors the approach of an operator Although the alarm is issued, there is a problem that it is impossible to prevent the accident such as the automatic stop of the operation for preventing the accident.

Meanwhile, a surveillance system using a camera has been developed to prevent an accident caused by approaching a heavy equipment operator. The camera is attached to the rear of the heavy equipment body, and the image photographed by the camera is displayed in the cab. .

Typically, Korean Unexamined Patent Application Publication No. 10-2009-0116496 discloses a technique of photographing a subject located in the vicinity of the equipment by a rear monitoring camera installed at the back of a counterweight, displaying a video signal on a monitor installed in a cab, The system senses a large area of motion in the entire screen of the monitor and increases the contrast or displays the box so that the operator can see the object close to the equipment on the monitor screen The rear monitoring system of the construction equipment has been developed so that the rear monitoring can be performed only by using the camera. However, there is a problem in that the blind spot can not be monitored still.

In order to solve such a problem of obscuring all-oblique blind spot, recently, Korean Patent No. 10-1123738 has been able to completely monitor the work environment of a heavy equipment without a separate auxiliary worker by generating an image in which all directions around the heavy equipment are integrated. And a guideline is output to the output image, a heavy equipment operation safety monitoring system has been developed which can intuitively recognize the distance to an object around the heavy equipment without a separate distance measuring equipment, However, there is a problem that it is impossible to prevent the accident such as the automatic stop of operation for preventing an accident.

As another conventional technique, Korean Patent Laid-Open Publication No. 10-2014-0109878 (September 16, 2014) discloses a four-way hazard detection device for a construction equipment, which receives an image from a camera and generates a prevent ) ≪ / RTI >signal; A first stop control means for generating a control signal for turning off engine starting when a prevent signal is input from the IECU and outputting the control signal to the engine start on / off means; And a second stop control means for generating a control signal for forcibly shutting off the flow of the hydraulic oil at the time of input and outputting the control signal to the hydraulic cut-off means, wherein the IECU comprises: A first signal generating means for generating a prevent signal when the moving object is located within the set radius (or area) from the corresponding equipment and outputting the generated signal to the VECU; Of the second signal generating means for generating a prevent signal and outputting the prevent signal to the VECU when the distance Also the four-way construction hazard detection device is known consisting of equipment, including any one or more.

However, the above-mentioned all-round danger sensing device of the construction equipment is forcibly stopping the equipment when the human body or the object is sensed according to the set radial distance comparison. It can prevent the collision between the human body and the object and the construction equipment, If the operation of the construction equipment is stopped suddenly due to the long time and the engine or the hydraulic cut-off, there is a fatal problem that the equipment may be overturned or a part of the equipment may be damaged.

Korean Patent Laid-Open Publication No. 10-2013-0087361 (Aug. 06, 2013) discloses a scanner 10 for scanning peripheral information of a construction machine; A plurality of cameras (20) for photographing a peripheral image of the construction machine; A plurality of sensors (30) for detecting obstacles located in the vicinity of the construction machine; A monitor (40) for displaying the peripheral information of the construction machine scanned by the scanner (10) in a plan view and displaying a peripheral image of the construction machine photographed by the plurality of cameras (20); A joystick 50 and a pedal 60 for generating operation signals of the construction machine; An electromagnetic hydraulic pressure control valve 70 for controlling the output flow rate of the hydraulic system driving portion to correspond to the operation signals of the joystick 50 and the pedal 60; And a moving path corresponding to a corresponding operation command when a traveling or turning command of the joystick 50 and the pedal 60 is generated in a state in which the peripheral information of the scanner 10 and the peripheral image of the camera 20 are displayed on the monitor 40, Or when the detected object is detected in the vicinity of the movement path from the sensor 30, the operator recognizes the detected object, and then determines whether the detected object is a work object or an object to be avoided In the case of the object to be avoided, the control unit 70 controls the electromagnetic oil pressure control valve 70 automatically when the object to be detected is in proximity to the construction machine, And a control device (80) for causing the command to be delayed or stopped.

However, the above patent discloses a technique in which peripheral information of a construction machine is scanned by a separate scanner, peripheral images of a construction machine are photographed by a plurality of cameras, and images are compared to control operation when a peripheral image is changed. And the reaction time is prolonged according to the image comparison, so that immediate control can not be performed, and thus, there is a problem that it is not commercialized.

In addition, Korean Patent Laid-Open Publication No. 10-2011-0073637 (June 30, 2011) discloses a turning detection apparatus for a construction machine, which comprises an electronic proportional pressure reducing (EPPR) system for generating a pilot pressure corresponding to an input electrical signal, A regulator for adjusting a swash plate angle according to the pilot pressure; a hydraulic pump for discharging a flow amount corresponding to the swash plate angle as a swing load; a joystick for instructing a turning operation of the construction machine; A control unit for changing the output control line of the electronic proportional pressure reducing (EPPR) valve when the sensed distance is within a predetermined sensing distance; and a control unit for outputting a buzzer sound corresponding to the sensed distance And a buzzer for detecting the turning of the construction machine.

However, the above-described patent also shows that the reaction time for distance sensing is not only long, but also the hydraulic pressure output (EGR) is controlled by the regulator 12 that adjusts the swash plate angle via the EPRR valve 10, There is a problem that the apparatus is complicated and the reaction time until deceleration or stop control becomes long and immediate control is impossible.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the problems as described above, and it is an object of the present invention to provide a system for continuously photographing the surroundings of industrial and construction heavy equipment with a plurality of photographing cameras and image recognition cameras, displaying them on a monitor display screen of a heavy equipment operation room, When a person or object is photographed from a camera and a person or object is displayed on the monitor display screen, it is recognized as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, And a system for automatically decelerating and stopping the operation of the heavy equipment at the same time.

In order to solve the above-described problems, the present invention provides a camera system comprising: a photographing camera unit including three cameras for photographing left and right peripheral images of industrial and construction heavy equipment and one camera for photographing a forward image; A display unit for outputting a heavy equipment peripheral image photographed by the photographing camera unit on a monitor display screen of a heavy equipment operation room; Three image recognition camera units disposed adjacent to the three cameras for photographing the left and right peripheral images and recognizing the human or object image; A control unit (MCU) for outputting an alarm signal and a heavy equipment operation deceleration and stop control electric signal when recognized as a human or object image from the image recognition camera unit; A flow control valve (Oil Flow Control Valve) for allowing the heavy equipment in operation to stop after deceleration by sequentially adjusting the deceleration and stop control hydraulic pressure to correspond to the input deceleration and stop control electric signals from the control unit, And control valve (OFCV) for industrial and construction heavy-equipment access monitoring and operation deceleration / stop control system.

The control unit (MCU) outputs an operation return electric signal so that the operation is immediately returned automatically when the image recognition camera unit is not recognized as a human or object image, and the flow control valve (OFCV) Returning to the operating hydraulic pressure flow rate so as to correspond to the input operation return electric signal.

The oil flow control valve (OFCV) is formed in the middle by operating hydraulic fluid directed to the hydraulic load. The oil flow control valve (OFCV) is connected to the oil tank The hydraulic oil flow rate is sequentially reduced and then reduced completely, and at the same time, the hydraulic oil flow rate bypassed to the oil tank through the bypass passage is sequentially increased so that the hydraulic pressure load is gradually reduced and stopped, The hydraulic oil pressure is instantly shut off and the hydraulic oil pressure flow rate bypassed to the oil tank via the bypass is immediately cut off so that the hydraulic pressure load is immediately returned to operation.

And the image recognition camera unit recognizes the image as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm.

The pattern recognition algorithm generates and stores various pattern data recognized as a person or object, and then recognizes the input image as a person or an object when the input image coincides with the pattern data.

Wherein the motion detection algorithm detects a difference between the immediately preceding captured image and a currently imaged image difference measurement as a motion area, generates a motion detection signal, and recognizes the motion detection signal as a person or a thing do.

Wherein the motion detection algorithm compares the immediately preceding photographed image with the currently photographed image in units of a plurality of divided area images, counts the number of changed pixels in each divided area image as a result of the comparison, As a motion detection signal.

Wherein the image recognition camera unit displays a pattern recognition area and / or a motion detection area in a box when the human or object image is recognized by an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, Tracking display is set as a solution to the problem.

The imaging camera unit and the image recognition camera unit are applied to an infrared camera so that image recognition is possible even during night work.

The industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system further includes an alarm display unit selected from a warning sound, a warning light, and an LED display unit for an alarm signal.

The industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system continuously photographs the vicinity of the heavy equipment with a plurality of photographing cameras and image recognition cameras, displays them on the monitor display screen of the heavy equipment operation room, When a person or an object is photographed and a person or an object is displayed on the monitor display screen, it is recognized as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, At the same time, even if there is a person or object suddenly appearing while the driver is operating the equipment, it is possible to prevent the accident by automatically controlling the operation of the heavy equipment regardless of the operation of the driver, by stopping and stopping the operation. Heavy equipment Tosa has the effect of preventing the arc.

1 is a schematic configuration diagram of a conventional operation control apparatus
FIG. 2 is a block diagram of the system for monitoring and controlling the operation of the heavy equipment in the present invention
FIG. 3 is a schematic view showing an oil flow control valve configuration and operation diagram of the present invention.
FIG. 4 is a diagram showing an image recognition example screen showing a pattern recognition and motion detection area
FIG. 5 is a flowchart of a control method for heavy equipment access monitoring and operation deceleration /

The present invention relates to an image pickup apparatus comprising: a photographing camera unit including three cameras for photographing the left and right peripheral images of the industrial and construction heavy equipment and one camera for photographing the forward image; A display unit for outputting a heavy equipment peripheral image photographed by the photographing camera unit on a monitor display screen of a heavy equipment operation room; Three image recognition camera units disposed adjacent to the three cameras for photographing the left and right peripheral images and recognizing the human or object image; A control unit (MCU) for outputting an alarm signal and a heavy equipment operation deceleration and stop control electric signal when recognized as a human or object image from the image recognition camera unit; A flow control valve (Oil Flow Control Valve) for allowing the heavy equipment in operation to stop after deceleration by sequentially adjusting the deceleration and stop control hydraulic pressure to correspond to the input deceleration and stop control electric signals from the control unit, Control valve (OFCV)), which is an industrial control and construction heavy equipment access monitoring and operation deceleration / stop control system.

The control unit (MCU) outputs an operation return electric signal so that the operation is immediately returned automatically when the image recognition camera unit is not recognized as a human or object image, and the flow control valve (OFCV) Returning to the operating hydraulic pressure flow rate so as to correspond to the input operation return electric signal.

The oil flow control valve (OFCV) is formed in the middle by operating hydraulic fluid directed to the hydraulic load. The oil flow control valve (OFCV) is connected to the oil tank The hydraulic oil flow rate is sequentially reduced and then reduced completely, and at the same time, the hydraulic oil flow rate bypassed to the oil tank through the bypass passage is sequentially increased so that the hydraulic pressure load is gradually reduced and stopped, Is immediately closed and the hydraulic oil pressure flow rate bypassed to the oil tank through the bypass line is immediately shut off so that the hydraulic pressure load is immediately returned to operation.

The image recognition camera unit recognizes the image as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm.

The pattern recognition algorithm generates and stores various pattern data recognized as a person or object, and then recognizes the input image as a person or an object when the input image coincides with the pattern data.

The motion detection algorithm detects a difference between a previously photographed image and a current photographed image difference measurement to detect a difference portion as a motion region, generates a motion detection signal, and recognizes the motion detection signal as a person or an object do.

Wherein the motion detection algorithm compares the immediately preceding photographed image with the currently photographed image in units of a plurality of divided area images, counts the number of changed pixels in each divided area image as a result of the comparison, And is generated as a motion detection signal.

Wherein the image recognition camera unit displays a pattern recognition area and / or a motion detection area in a box when the human or object image is recognized by an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, Tracking display is characterized by the technical structure.

The imaging camera unit and the image recognition camera unit are characterized in that an infrared camera is applied so that the image can be recognized even during night work.

The industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system further includes an alarm display unit selected from a warning sound, a warning light, and an LED display unit for an alarm signal.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the illustrative embodiments set forth herein.

FIG. 2 is a block diagram of a control system for approaching and stopping the operation of the heavy equipment of the present invention, FIG. 3 is a diagram showing the operation and configuration of the oil flow control valve (OFCV) FIG. 5 is a flow chart of the heavy equipment approach monitoring and operation deceleration / stop control of the present invention

2, the industrial and construction heavy equipment access monitoring and operation deceleration / stop control system of the present invention includes three cameras for photographing the left and right peripheral images of industrial and construction heavy equipment, and one camera for capturing the forward image A photographing camera unit (10) including a camera; A display unit (30) for outputting a heavy equipment peripheral image photographed by the photographing camera unit (10) to a monitor display screen of a heavy equipment operation room; Three image recognition camera units 20 adjacent to three cameras for photographing the left and right and rear peripheral images, respectively, and recognizing a human or object image; A control unit (MCU) (40) for outputting an alarm signal and a heavy equipment operation deceleration and stop control electric signal when recognized as a human or object image from the image recognition camera unit (20); A flow rate control valve (not shown) for sequentially controlling the deceleration and stoppage hydraulic pressure to correspond to the input deceleration and stoppage control electrical signals and receiving the operation decelerating and stoppage control electrical signals from the control unit 40, (Oil Flow Control Valve (OFCV) 60)

The image recognition camera unit 20 recognizes the image as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm.

The pattern recognition algorithm generates and stores various pattern data recognized as a human and then recognizes the input image as a human or object when the input image coincides with the pattern data. The IHLS and NHS algorithm, the post-processing algorithm, the contour extraction algorithm, Distortion correction algorithm, Center mass optimization algorithm, Rotational offset algorithm, Shape reconstruction algorithm.

In other words, the pattern recognition algorithm generates the training data in advance using the type of the pattern to be recognized, and discriminates the recognition of the specific object when the input image matches the training data with the threshold value. Or a pattern is input into a classifier and the pattern is recognized as a pattern when the score value is larger than the threshold value in case of single pattern recognition. In the case of multi-pattern recognition, a pattern having the highest score is compared with the pattern data And the pattern recognition algorithm is known as an image recognition technology, and thus a detailed description thereof will be omitted.

In addition, the motion detection algorithm detects a difference between the immediately preceding captured image and the currently photographed image difference measurement as a motion area, generates a motion detection signal, and recognizes the motion detection signal as a person or object. More specifically, Wherein the motion detection algorithm compares the immediately preceding photographed image with the currently photographed image in units of a plurality of divided area images, counts the number of changed pixels in each divided area image as a result of the comparison, Area as a motion detection signal.

Further, as shown in Fig. 4, when the image recognition camera unit recognizes a human or object image by an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, the pattern recognition area and / The detection area may be displayed in a box and tracked on the display unit screen image.

In addition, the imaging camera unit and the image recognition camera unit can be applied to an infrared camera so that they can recognize an image even during night work.

On the other hand, the control unit (MCU) 40 outputs an operation return electrical signal so that the operation is immediately returned automatically when the image is not recognized as a human or object image from the image recognition camera unit 20, (OFCV) 60 is configured to receive the operation return electrical signal from the control unit (MCU) 40 and return to the immediately operational hydraulic pressure flow rate to correspond to the input operation return electrical signal.

3, the construction and operation of the oil flow control valve (OFCV) are controlled by the hydraulic pressure load 70 from the hydraulic pump 2 to the heavy equipment turning or boom driving, Which is formed in the middle of the hydraulic oil flow direction toward the oil pressure tank 4 and is fully opened after the hydraulic oil flow proportional solenoid valve 36 provided in the bypass passage 34 connected to the oil tank 4 is opened successively, And sequentially decreases the operating hydraulic pressure flow rate bypassed to the oil tank 4 via the bypass passage 34 so that the hydraulic pressure load 70 can be decelerated and stopped sequentially, The hydraulic oil flow rate proportional solenoid valve 36 is immediately closed and the operating hydraulic pressure flow rate bypassed to the oil tank 40 through the bypass path 34 is immediately interrupted so that the hydraulic pressure load 70 is immediately returned to operation.

In addition, the industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system of the present invention may further include an alarm display unit selected from a warning sound, a warning light, and an LED display unit for an alarm signal.

An operation flow chart of the industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system of the present invention will be described with reference to FIG.

First, a photographing camera unit 10 including three cameras for photographing the left and right surroundings of the heavy equipment and a camera for photographing the front images, and three cameras for photographing the left and right surrounding images are installed adjacent to each other Real-time heavy equipment is photographed by three image recognition camera units 20 that recognize a human or object image, and outputs the photographed peripheral image of the heavy equipment to the screen of the indoor display unit 30 of the heavy equipment operation (S10).

And recognizes the image as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm from the output image. (S20)

When the image is recognized as a human or object image as a result of the image recognition, the solenoid valve 36 is sequentially opened according to the alarm signal and the heavy equipment operation deceleration and stop control electric signal to decelerate the heavy equipment, And stops the heavy equipment (S30 to S60).

Thereafter, when the image recognition result is not recognized as a human or object image, the solenoid valve 36 is closed so as to return to the immediately-acting hydraulic pressure flow rate in accordance with the operation return electrical signal to return to the normal operation (S70 to S90)

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the drawings disclosed in the present invention are not intended to limit the scope of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: photographing camera unit 20: image recognizing camera unit
30: Monitor display unit 34: Bypass
36: Solenoid valve 40: Control unit (MCU)
50: Alarm display unit 60: Flow control valve (OFCV) valve
70: Hydraulic load

Claims (10)

A photographing camera unit including three cameras for photographing left and right surroundings of industrial and construction heavy equipment, and one camera for photographing a forward image; A display unit for outputting a heavy equipment peripheral image photographed by the photographing camera unit on a monitor display screen of a heavy equipment operation room; Three image recognition camera units disposed adjacent to the three cameras for photographing the left and right peripheral images and recognizing the human or object image; A control unit (MCU) for outputting an alarm signal and a heavy equipment operation deceleration and stop control electric signal when recognized as a human or object image from the image recognition camera unit; A flow control valve (Oil Flow Control Valve) for allowing the heavy equipment in operation to stop after deceleration by sequentially adjusting the deceleration and stop control hydraulic pressure to correspond to the input deceleration and stop control electric signals from the control unit, A control valve (OFCV) for controlling the operation of the heavy equipment,
The method according to claim 1,
The control unit (MCU) outputs an operation return electric signal so that the operation is immediately returned automatically when the image recognition camera unit is not recognized as a human or object image, and the flow control valve (OFCV) And returning to the operating hydraulic pressure flow rate so as to correspond to the input operation return electric signal. The industrial control system according to claim 1,
The method according to claim 1,
The oil flow control valve (OFCV) is formed in the middle by operating hydraulic fluid directed to the hydraulic load. The oil flow control valve (OFCV) is connected to the oil tank The hydraulic oil flow rate is sequentially reduced and then reduced completely, and at the same time, the hydraulic oil flow rate bypassed to the oil tank through the bypass passage is sequentially increased so that the hydraulic pressure load is gradually reduced and stopped, And immediately shut off the hydraulic oil flow rate bypassed to the oil tank via the bypass line so that the hydraulic oil pressure load is immediately returned to the operating state.
The method according to claim 1,
Wherein the image recognition camera unit recognizes the image as a human or object image through an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm.
5. The method of claim 4,
Wherein the pattern recognition algorithm generates and stores various pattern data recognized as a person or a thing, and recognizes the input image as a person or an object when the input image coincides with the pattern data. Deceleration / stop control system
5. The method of claim 4,
Wherein the motion detection algorithm detects a difference between the immediately preceding photographed image and a currently photographed image difference measurement as a motion area and generates a motion detection signal to recognize the difference as a human or a thing. Heavy equipment access monitoring and operation deceleration / stop control system for construction
The method according to claim 6,
Wherein the motion detection algorithm compares the immediately preceding photographed image with the currently photographed image in units of a plurality of divided area images, counts the number of changed pixels in each divided area image as a result of the comparison, And the control signal is generated as a motion detection signal.
5. The method of claim 4,
Wherein the image recognition camera unit displays a pattern recognition area and / or a motion detection area in a box when the human or object image is recognized by an image recognition algorithm including a pattern recognition algorithm and / or a motion detection algorithm, Monitoring and operation of heavy equipment for industrial and construction, characterized by tracking and displaying
The method according to claim 1,
Wherein the imaging camera unit and the image recognition camera unit apply an infrared camera so that images can be recognized even during night work.
The method according to claim 1,
Wherein the industrial and construction heavy equipment approach monitoring and operation deceleration / stop control system further comprises an alarm display unit selected from alarms, beacons, LED display units for alarm signals, for industrial and construction heavy equipment access monitoring and operation Deceleration / stop control system
KR1020150061428A 2015-04-30 2015-04-30 Approach monitoring and operation retardation and stop control system for heavy equipment of industry and construction KR20160130332A (en)

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KR20190089159A (en) * 2016-12-06 2019-07-30 스미토모 겐키 가부시키가이샤 Construction Machinery
KR20190001723A (en) * 2017-06-28 2019-01-07 경성대학교 산학협력단 Apparatus for providing object information for heavy machinery using lidar and camera
KR102065975B1 (en) * 2019-11-04 2020-01-14 주식회사 영신 Safety Management System Using a Lidar for Heavy Machine
KR102301425B1 (en) * 2020-08-14 2021-09-14 방병주 heavy equipment control system through selective sensing of objects
KR102301426B1 (en) * 2020-09-07 2021-09-14 방병주 heavy equipment control system through analysis of object action patterns
KR102301427B1 (en) * 2020-10-22 2021-09-14 방병주 heavy equipment control system through predition of object action patterns
KR102447794B1 (en) * 2021-10-22 2022-09-27 (주)영신디엔씨 Automatic Deceleration Braking System with the Preventing Collision and Narrowly Stuck Accident of Moving Equipment for Harbor
CN115520917A (en) * 2021-10-27 2022-12-27 泰州威绿环保科技有限公司 Wastewater pollution treatment system for stainless steel product centralized cleaning workshop
CN115520917B (en) * 2021-10-27 2024-01-23 泰州威绿环保科技有限公司 Wastewater pollution treatment system of stainless steel product centralized cleaning workshop
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