KR20180076986A - Method of estimating waste and system for estimating waste - Google Patents

Abstract

The present invention relates to a method for calculating waste volume without cumulative data on the volume of waste generated by previous disasters and a system thereof. According to an embodiment of the present invention, the method for calculating waste volume comprise the steps of: photographing a place in which the waste is located; synthesizing the photographing result into a three-dimensional image; extracting a set of wastes from a three-dimensional image by receiving a seed of waste search; and estimating the volume of the extracted waste set in the three-dimensional image.

Description

Technical Field [0001] The present invention relates to a waste volume calculating method and a waste volume calculating system,

The present invention relates to a waste volume calculating method and a waste volume calculating system.

In the event of a disaster, large amounts of disaster wastes occur in a short period of time, such as ruins of collapsed buildings, fallen trees and flooded vehicles. Disaster wastes delay physical rescue, recovery, and field work by interfering with physical access to the affected area if left unattended, and cause secondary damage such as environmental pollution or disease if disaster wastes are left for a long time It is necessary to have a separate system for disaster waste management in the event of a disaster.

The Disaster Waste Management Guideline released by the UN Environmental Program identifies disaster waste as either a designated disposal facility or a temporary disposal facility within 72 hours after a disaster to prevent problems caused by neglecting disaster wastes. Transporting should be carried out as soon as possible. It is also recommended that the amount and location of disaster wastes be identified for rapid transport operations.

In some countries such as the United States and Japan, a self-developed estimation formula is used to identify the generation amount and to display the occurrence location in connection with the GIS program. The most widely used HAZUS-MH in the United States estimates economic losses and debris from disasters such as floods, earthquakes and hurricanes before the disaster and visualizes them on a map in connection with GIS programs. At this time, information such as the size and frequency of the disaster, and the number of buildings, floors and materials in the affected area are reflected. In Japan, the amount of disaster waste per unit area is estimated based on the depth of flooding depending on the scale of the disaster in the past, the number of buildings and vegetation in the affected area, and so on.

However, no concrete method for calculating the amount and location of disaster waste has been developed.

This embodiment is one of the main goals to provide a method and system for estimating the volume of waste without cumulative data on the volume of waste generated by previous disasters.

The waste volume calculation method according to the present embodiment includes the steps of photographing a location where waste is located, synthesizing a photographing result into a three-dimensional image, and receiving a seed of a waste search, And estimating the volume of the extracted waste set in the three-dimensional image.

The waste volume calculation system according to the present embodiment includes an image acquisition device for acquiring an image of a place where waste is located, synthesizes the image into a three-dimensional image, extracts a set of wastes from a three- Extracting the extracted waste set, and computing the volume of the extracted waste set.

This embodiment provides the advantage that the volume of waste can be calculated without cumulative data on the volume of waste generated by previous disasters.

1 is a schematic diagram schematically showing a waste volume calculation system according to the present embodiment.
2 is a flowchart showing the outline of the waste volume calculating method according to the present embodiment.
FIGS. 3 to 4 are diagrams illustrating a process of extracting a waste set in a three-dimensional image from a seed.
5 is a schematic diagram for explaining an embodiment of a process of calculating the volume of a waste set.
6 is a diagram showing the trajectory of the UAV.
7 is a diagram showing a three-dimensional image synthesized by a computing device.
8 is a view showing a part of a state in which a waste set is extracted from a three-dimensional image.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms " first ", " second ", and the like are used to distinguish one element from another and should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "on" or "on" another element, it may be directly on top of the other element, but other elements may be present in between. On the other hand, when an element is referred to as being "in contact" with another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "intervening" and "intervening", between "between" and "immediately" or "neighboring" Direct neighbors "should be interpreted similarly.

It should be understood that the singular " include "or" have "are to be construed as including a stated feature, number, step, operation, component, It is to be understood that the combination is intended to specify that it is present and not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Each step may take place differently from the stated order unless explicitly stated in a specific order in the context. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms such as those defined in commonly used dictionaries should be interpreted to be consistent with the meanings in the context of the relevant art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application .

The drawings referred to for explaining the embodiments of the present disclosure are exaggerated in size, height, thickness and the like intentionally for ease of explanation and understanding, and are not absolutely enlarged or reduced in proportion. Further, any one of the components shown in the drawings may be intentionally reduced, and the other components may be intentionally enlarged.

Hereinafter, a waste volume calculating method and a waste volume calculating system according to the present embodiment will be described with reference to the accompanying drawings. 1 is a schematic diagram schematically showing a waste volume calculation system 1 according to the present embodiment. Referring to FIG. 1, the waste volume calculation system according to the present embodiment includes a UAV 100 including an image acquisition device (C) for acquiring an image of a place where waste is located, And an arithmetic unit 200 for extracting a waste set from the three-dimensional image from the seed of the waste search and calculating the volume of the extracted waste set.

2 is a flowchart showing the outline of the waste volume calculating method according to the present embodiment. Referring to FIG. 2, the waste volume calculation method according to the present embodiment includes a step S100 of photographing a place where waste is located, a step S200 of combining the photographing result with a three-dimensional image, extracting a waste set from the three-dimensional image (S300) and estimating a volume of the extracted waste set in the three-dimensional image (S400).

Referring to FIGS. 1 and 2, a UAV (Unmanned Aerial Vehicle) 100 includes an image acquisition apparatus C for acquiring an image of a flight place. In one embodiment, the image acquisition apparatus C acquires an image including a top-view image of a flying place (S100) by flying over a place where the UAV 100 is located, .

In one embodiment, the UAV 100 can acquire an image while flying along a predetermined trajectory to the place where the waste T is generated. As another example, the UAV 100 can acquire images while flying according to a direction controlled by the user in a place where the waste T is generated.

In one embodiment, the image acquiring device C can transmit images acquired while flying to the computing device 200 wirelessly. In another embodiment, the image acquisition device C may store the acquired image in flight in a memory device (not shown), and the user may acquire an image from the memory device and provide it to the computing device 200.

The computing device 200 forms a three-dimensional image by synthesizing the images acquired while the UAV 100 is flying (S200). In one embodiment, the computing device 200 can construct a three-dimensional image of a space in a photograph by photographing the same place at various angles while the UAV 100 is flying. A set of points representing a constructed three-dimensional image is referred to as a point cloud, and each of the points includes coordinates and color information indicating a relative position in the constructed space. As the density of the points increases, the three-dimensional image of the points looks similar to the real world.

The computing device 200 receives a waste retrieval seed and extracts a waste set from the three-dimensional image (S300). In one embodiment, the seed may be the coordinates of the waste in the three-dimensional image and the color value of the waste.

The coordinate of the waste means a coordinate which can specify the position of the waste in the three-dimensional image. For example, the coordinate of the point in space may be a coordinate represented by x, y, z coordinates which is a Cartesian coordinate system . As another example, the coordinates of the waste may be coordinates represented by a cylindrical coordinate of the azimuth angle φ, the distance p and the height z. As another example, the coordinates of the waste may be represented by a spherical coordinate represented by an azimuth angle, a distance, and an azimuth angle from the ceiling. The color value is a color representing the color of the waste in three-dimensional space.

The color value may be, for example, a value indicating the values of red (R), green (G), and blue (B), and in another example, it may be a color code of HTML. However, the above examples are intended to illustrate color values and are not intended to limit the scope of the present invention. Therefore, if the color of the waste can be specified in the three-dimensional image, it can function as the color value of the present invention without being restricted to the RGB color value and the HTML color code.

In one embodiment, the seed of the waste retrieval may further include a search radius and color deviation. The search radius is the distance at which the waste search is performed at the location specified by the coordinates provided in the seed. In one embodiment, the search radius may be a radius or diameter value of a circle or sphere that performs a search around a coordinate provided as a seed. In another embodiment, the search radius may be a length of a side of a polygon such as a triangle, a rectangle, etc., or a diagonal length, including the coordinates provided as a seed.

The color deviation refers to the deviation from the color value provided as a seed in the waste search. The objects included in the image acquired by the image acquiring device C may be displayed in the same color depending on the time of photographing and the diary state at the time of photographing. For example, an image photographed at 12 o'clock on a sunny day and an image photographed at a time adjacent to sunset may differ in color temperature, so that the same object may not be displayed in the same color. Thus, it may be desirable to provide an acceptable deviation in color values provided in the search seed to perform a waste search.

FIGS. 3 to 4 are diagrams illustrating a process of extracting a waste set from a seed S in a three-dimensional image. For illustrative purposes, seed color values, coordinates, search radius (r) and color deviation are provided, and the search radius assumes a radius from the seed. Referring to FIG. 3, when a seed is provided in a three-dimensional image, the computing device 200 searches for new factors within the provided range. In one embodiment, a point having a color within the chromatic aberration is searched for from a seed given color as a seed within a given search radius r from the seed.

As a result, f1, f2, f3 and f4 within the search radius can be searched as a new element as shown in the figure. However, f5 is not retrieved as a new element because it is out of the color value allowed by the seed and the color value allowed by the color deviation.

Referring to FIG. 4, a new element s1, s2, s3, s4 is searched and a point having a color within a color deviation is searched from a seed for a given color value within a given search radius r. In one embodiment, the retrieved elements (f1, f2, f3, f4, see FIG. 3) perform a new seed function. Therefore, elements having a color value within the color deviation are searched based on the color values of the new seeds s1, s2, s3, s4. The search is performed until the elements are not newly searched, and the waste set is extracted from the three-dimensional image.

According to the search method described above, the search result is independent of the seed provided first. That is, if the search is performed only on the elements having the same or similar color as the seed provided first, only the elements identical or similar to the seed provided first are searched, and the search result is dependent on the initially provided seed.

On the other hand, by utilizing the elements obtained from the search result as a new seed, the range of colors to be searched can be extended. This results in an independent result for the originally provided seed, thus enabling iterative implementation. Further, the result searched through the present embodiment converges within a certain range without diverging in all colors, which can be confirmed in an experimental example described later.

In one embodiment, the seed may be provided by a computing device (not shown) having a learning function to learn the characteristics of the waste and provide it to the computing device 200. In another embodiment, a user may provide a seed of a waste search. However, as described above, since the search result is independent of the seed provided for the first time, the reproducibility is guaranteed.

The computing device 200 calculates the volume of the waste set in the retrieved waste set (S400). 5 is a schematic diagram for explaining an embodiment of a process of calculating the volume of a waste set. Referring to FIG. 5, the computing device 200 approximates the extracted waste set WG by stacking the unit pieces U1, U2, ..., Un. In the illustrated embodiment, each of the unit pieces U1, U2, ..., Un has the same height h. The calculating device 200 calculates the bottom surface area of each unit. For example, the process of calculating the bottom surface area of the unit by the arithmetic unit 200 may be performed with reference to the top-view.

The computing device calculates the volume of each unit by using the height (h) and the bottom surface of the unit, and calculates the volume of the waste set by summing the volume of the unit.

According to another embodiment, which is not shown, the computing device 200 can approximate the waste set WG by accumulating cubes having a unit volume. The computing device 200 may calculate the volume of the waste set by summing the volumes of the accumulated cubes.

Experimental Example

Using the drones, the volume of waste accumulated in the cleaning facility was estimated. A digital camera with 12 million pixels, f / 2.8, and 94 ° fixed angle of view was used as the image acquisition device. The drone flew at an altitude of 40 m along the trajectory shown in Fig. 6, and the overlapping between images was set to be 70% so as to perform photographing.

One image was a combination of 4,000x3,000 (horizontal and vertical) pixels, and a total of 120 images were taken. We used PC with I7 cpu of intel company and 32GB of virtual memory as computing device.

7 is a three-dimensional image synthesized by a computing device, which includes 540,626 points, and the density includes 57.38 points per cubic meter. FIG. 8 is a diagram illustrating a part of a state in which a waste set is extracted from a three-dimensional image utilizing the provided seed. Referring to FIG. 8, a specific waste set was extracted from a three-dimensional image, and the volume of the waste set was estimated. The estimated waste volume was 166.4 m3.

As shown in FIG. 8, in the process of extracting the waste set, it is confirmed that the waste set is converged without diverging according to the seed.

According to the waste volume calculating method and the waste volume calculating system according to the present embodiment, the volume of the waste can be estimated without accumulating data related to the waste generated by the disaster or the like. In addition, according to the present embodiment, it is possible to perform the process of collecting debris such as debris and transportation to the debris treatment plant more quickly and efficiently, The advantage of being able to perform is also provided.

The present embodiment is not applied to simply calculating the volume of waste generated by a disaster. For example, there may be obstructions such as rockfall blocking roads on military roads. There may be a way to deal with rockfall, to go through military roads, or to bypass the military roads, and one of the bases of the judgment is the amount of obstructions such as rockfall.

According to the present embodiment, it is possible to process and proceed the obstacle on the road with the obstacle, or provide accurate information to make a decision to bypass it, thereby helping to make a reasonable decision.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of illustration, It will be appreciated that other embodiments are possible. Accordingly, the true scope of the present invention should be determined by the appended claims.

100: UAV 200: Computing device
C: Image acquisition device WG: waste set
S100 to S400: General steps of waste volume calculation

Claims (15)

(a) photographing a place where the waste is located;
(b) synthesizing the photographing result into a three-dimensional image,
(c) receiving a seed of the waste retrieval and extracting a waste set from the three-dimensional image; and
(d) estimating the volume of the extracted set of wastes in the three-dimensional image. The method according to claim 1,
The step (a)
And obtaining and performing a top-view image of the location where the waste is located. The method according to claim 1,
The step (a)
A method of calculating waste volume using an unmanned aerial vehicle. The method according to claim 1,
The step (b)
Wherein the height and the curvature of the place and the waste are expressed in the three-dimensional image. The method according to claim 1,
The step (c)
Wherein the coordinates of the waste and the color value of the waste are provided to the search seed. 6. The method of claim 5,
The step (c)
The search radius, and the color deviation of the waste are further provided as the search seed. The method according to claim 1,
The step (c)
(c1) extracting the same or similar elements as the seed from the three-dimensional image,
(c2) extracting the same or similar elements as the new seed from the three-dimensional image using the element as a new seed, and
(c3) repeating the steps (c1) and (c2) until there is no identical or similar element. The method according to claim 1,
The step (d)
(d1) approximating the waste set by stacking the units,
(d2) summing volumes of the stacked unit bodies. An image acquisition device for acquiring an image of a place where the waste is located;
Synthesizing the image into a three-dimensional image,
And a computing device for extracting a set of wastes from the seed of the provided wastes retrieval from the three-dimensional image and computing a volume of the extracted wastes collection. 10. The method of claim 9,
Wherein the unmanned aerial vehicle fills a previously provided orbit to obtain a top-view image of a location where the waste is located. 10. The method of claim 9,
The computing device includes:
Wherein the three-dimensional image is synthesized so that the elevation and the elevation of the place and the waste are expressed. 10. The method of claim 9,
The seed
A coordinate of the waste, and a color value of the waste. 13. The method of claim 12,
The seed
The search radius, and the color deviation of the waste. 10. The method of claim 9,
The computing device
Extracting the same or similar elements as the seed from the three-dimensional image, extracting the same or similar elements as the new seed from the three-dimensional image with the extracted element as a new seed, The waste volume calculation system recurses until the elements can not be extracted to extract the waste set. 15. The method of claim 14,
The computing device includes:
And a volume of the waste set is calculated by approximating the extracted waste set by the stacking of the unit pieces and adding the volumes of the stacked unit pieces.

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