KR20200040195A - Integrated building management system using lidar sensor - Google Patents

Abstract

The present invention provides a LiDAR sensor-based building management system comprising: a LiDAR sensor installed in the surveillance area of a security facility and collecting point cloud data; a transmission module for transmitting the point cloud data collected by the LiDAR sensor; an analysis module for receiving the point cloud data transmitted from the transmission module and analyzing location information and shapes; and a detection signal module for activating an alarm and selectively outputting shape detection information according to whether the alarm is activated and whether a false alarm signal is detected according to the control logic of a program in response to an analysis signal. Therefore, to compensate the shortcomings of an existing method using CCTVs and infrared cameras installed in surveillance areas, the LiDAR sensor-based building management system can maximize a surveillance area of one sensor through the LiDAR sensor and track an intrusion route based on accurate location information regardless of the day or night.

Description

Integrated building management system using lidar sensor

The present invention relates to an integrated building management system using a lidar sensor, and more specifically, to use a lidar sensor to integrate a lidar sensor that can manage various situations that may occur in a building such as security or fire management of a building. It relates to an integrated building management system.

In general, LiDAR (Light Detection And Ranging) can detect targets using light and measure the distance to the target. These riders are similar in function to radar (RADAR: Radio Detection And Ranging). However, unlike radars that use radio waves, there is a difference in using light.

Accordingly, various devices using the above-mentioned lidar are being developed, and as an example of a technology for such a lidar sensor device using a lidar, Korean Patent Registration No. 10-1773020 changes the transmission direction while lasers corresponding to each transmission direction. A transmitter for transmitting laser light including light identification information, a receiving unit for receiving reflected light from which the laser light is reflected by an object, and a laser beam identification information included in the received reflected light corresponding to the reflected light A lidar sensor device including a signal processing unit for identifying a laser light transmission direction has been disclosed.

On the other hand, in buildings with important facilities such as offices, buildings, houses, etc., CCTV and infrared cameras are used to detect people entering illegally from the outside. At the same time, it installs a security system device that notifies the security company.

However, in such a conventional security system device, it is difficult to obtain accurate information at night because the detection image is not accurate enough to be discerned by the naked eye, and its function is limited to simple intrusion detection, so it may occur in buildings such as fire or aging. There was a difficult problem to manage a variety of possible.

Republic of Korea Registered Patent No. 10-1773020

In the present invention, reliable data can be obtained by obtaining accurate information through a lidar sensor, and security as well as fire and aging of a building can be managed, so that building integration using a lidar sensor that enables various integrated management of building duties It aims to provide a management system.

The present invention, the frame portion fixedly installed in the building; A lidar sensor unit installed in the frame unit and sensing a position and shape of an object using a light source; A sensor control unit which drives and controls the lidar sensor unit by a control signal and transmits the sensed data received from the lidar sensor unit; It is possible to provide a building integrated management system using a lidar sensor characterized in that it comprises an integrated control unit for analyzing the detection data collected from the sensor control unit and transmitting the control signal.

Here, the frame portion, and the support frame fixed to the building, the lidar sensor portion is coupled, is rotatably coupled to the support frame, and comprises a rotating frame that is rotated by the drive signal of the sensor control unit You can.

At this time, the rotating frame is rotatably coupled to the support frame, the first rotating shaft portion for rotating the rider sensor portion in a horizontal or vertical direction, the rider sensor portion is coupled, the rider sensor portion It may be configured to include a second rotating shaft portion formed in a direction orthogonal to the first rotating shaft portion to rotate around a rotating shaft orthogonal to the rotating shaft of the first rotating shaft portion.

The integrated control unit may be configured to measure the positional change of the objects in time series through the detection data and classify and analyze the objects for each object according to the measured result.

In detail, the object includes a structure in which the position change is less than a set limit value, an installation in which the position change is greater than a set limit value, an installation having periodicity in the position change, and the position change is greater than a set limit value, and the position change The periodicity may be divided into an independent object having a stop time greater than or equal to a set reference value, and a moving object whose position change is greater than or equal to a set limit value, and having no periodicity in the position change, but having a stop time less than a preset reference value.

Accordingly, when the object is divided into structures, the integrated control unit generates a relative angle change between the structure boundary lines, and when the accumulated relative angle change amount of the structure has linearity, shear deformation of the structure is in progress. It can be configured to determine that.

In addition, when the object is divided into structures, the integrated control unit may be configured to determine that the floating settlement of the structure is occurring when there is no change in the relative angle between the boundary lines of the structure but there is a change in the direction of gravity. .

In addition, the integrated control unit may be configured to determine that when the object is divided into a structure, a shape change of the structure surface occurs, and if the accumulated shape change amount of the structure is increased, cracks are progressing in the structure. have.

Here, the integrated control unit may be configured to collect and store sensing data for the structure and output an alarm signal when the shear deformation amount or the amount of floating settlement or crack amount of the structure is greater than or equal to a predetermined value.

The lidar sensor unit receives the laser beam irradiated and reflected through the light irradiation unit irradiating the laser to the object through the irradiation units arranged in a plurality of rows and the reception units configured in a form corresponding to the light irradiation unit. It may be configured to include a light receiving unit, and a data transmission unit for transmitting the detection data generated through the laser light received by the light receiving unit to the sensor control unit.

The integrated control unit may be configured to detect the object and collect and store detection data for the moving object when the object is determined to be a moving object.

The integrated control unit may be configured to transmit the location information of the mobile object to an external CCTV management center server, so that the CCTV near the mobile object enlarges the mobile object.

The integrated control unit may be configured to set a location of a landing point of a courier drone and transmit location information of a landing point to the courier drone.

The integrated control unit measures the light reflectance of the detection data, determines whether smoke is generated through the irregularity of the change in the light reflectivity and the change in the light reflectivity, and outputs an alarm signal when it is determined that smoke is generated. Can be configured.

In this case, the integrated control unit may determine whether the degree of change of the light reflectivity in the detection data is within a preset range.

In addition, the integrated control unit may be determined as having a change in the degree of change of the light reflectivity.

Meanwhile, the integrated control unit compares and measures received energy between light-receiving lasers received through the receiving unit with respect to an output laser of the same energy irradiated from the irradiation unit, and a difference value between the received energies is previously set. It is determined whether the value is greater than or equal to the value, and if the difference value between the received energies is greater than or equal to the preset value, it is determined whether the object is an installation object or a standalone object. By determining the unit, it can be configured to reduce the laser output amount of the irradiation unit.

The integrated building management system using a lidar sensor according to the present invention provides the following effects.

First, by using a lidar sensor, more accurate detection data can be obtained, reliable information can be obtained, and since it is highly reliable, unnecessary warning sounds and malfunctions (such as animals or wind) can be minimized.

Second, it is possible to efficiently manage the entire building because it can manage the fire and aging of the building as well as the security of external intrusion.

Third, it is possible to determine the floating settlement and shear deformation of a building structure, as well as to determine the cracks generated on the structure surface of the building structure to effectively manage the aging of the building structure.

Fourth, it is possible to minimize the blind spot of the sensing area that the lidar sensor can have through the rotating frame, thereby maximizing the sensing area.

Fifth, it is possible to improve the detection efficiency by classifying objects in accordance with each structure, installation, independent object, and moving object, and detecting and controlling in response to external intrusion, cracking of the structure, floating settlement, or shear deformation.

Sixth, by preventing the occurrence of image distortion, it is possible to secure more accurate detection data, thereby improving data reliability.

Seventh, it is possible to track the intrusion route based on accurate location information regardless of day and night, as well as provide useful alarm information accurately by synthesizing location information and object shape, unlike conventional CCTV and infrared cameras, efficient management of reliability and security facilities. Is possible.

Eighth, through the lidar sensor, it is possible to accurately identify the intruder as well as the intrusion location and the infiltration and escape route, and it is possible to easily control the detection area with a simple operation, maximizing user convenience.

Ninth, because the sensing area is wide, it is not necessary to install the sensor excessively, and it is easy to control security clearance and lock approval with a simple operation.

1 is a block diagram showing the configuration of a building integrated management system using a lidar sensor according to an embodiment of the present invention.
2 is a view showing the operation of the support frame and the rotating frame in the building integrated management system using the lidar sensor of Figure 1;
3 is a procedure diagram illustrating a control flow in which the integrated control unit divides an object into each object in the integrated building management system using the lidar sensor of FIG. 1.
FIG. 4 is a process diagram illustrating a control flow for determining shear deformation or floating settlement of a structure when the integrated control unit of FIG. 3 determines the object as a structure.
FIG. 5 is a process diagram illustrating a control flow for determining cracks in a structure when the integrated control unit of FIG. 3 determines the object as a structure.
FIG. 6 is a process diagram illustrating a process of collecting and storing detection data when the integrated control unit of FIG. 3 determines that the object is a moving object.
7 is a process diagram illustrating a process of correcting image distortion when the integrated control unit of FIG. 3 is an object.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, referring to Figures 1 and 2, the integrated building management system using a lidar sensor according to an embodiment of the present invention (hereinafter referred to as the 'integrated building management system'), the frame unit 100, and the lidar sensor unit It may be configured to include 200, the sensor control unit 300, and the integrated control unit 400.

The frame part 100 is fixedly installed in the building, and the rider sensor part 200 is coupled to serve to fix and support the position of the rider sensor part 200.

The frame part 100 may include a support frame 110 and a rotating frame 120.

Here, the support frame 110 is fixed to the building corresponding to the installation position of the sensor control unit 300. Here, if the structure of the support frame 110 can be fixedly installed in the building, various types of frames can be applied, and it can be fixedly installed in the building through anchor bolts, etc., and detailed description thereof will be omitted. .

The rotating frame 120 is coupled to the support frame 110, and the lidar sensor unit 200 is coupled.

On the other hand, although the lidar sensor unit 200 has a wide sensing area, there is no choice but to have a sensing square area due to characteristics of a light source having linearity and structural characteristics of a building structure. Therefore, more rider sensor units 200 may be installed to compensate for this, in order to minimize the sensing square area. However, in this case, it is possible to increase the cost due to the excessive installation of the lidar sensor unit 200, as well as damage to the structure due to coupling means such as anchor bolts and deteriorate the aesthetics of the structure.

Thus, the present invention, instead of installing a lot of the lidar sensor unit 200, the rotating frame 120 to which the lidar sensor unit 200 is coupled is rotated to expand the detection area of the lidar sensor unit 200 and , Through this, it can be configured to minimize the sensing square area.

Looking at the rotational configuration of the rotation frame 120, the rotation frame 120 is rotatably coupled to the support frame 110, and controlled to be rotated by a driving signal of the sensor control unit 300 do.

In detail, the rotating frame 120 may include a first rotating shaft portion 121 and a second rotating shaft portion 122 to be capable of two-axis rotation.

The first rotation shaft part 121 is rotatably coupled to the support frame 110, and is configured to rotate the lidar sensor part 200 in a horizontal or vertical direction.

And the second rotary shaft portion 122, one side is rotatably coupled to the first rotary shaft portion 121, the other side is coupled to the lidar sensor unit 200, the lidar sensor unit according to rotation It is formed in a direction orthogonal to the first rotation shaft portion 121 so as to rotate the 200 around a rotation axis orthogonal to the rotation axis of the first rotation shaft portion 121.

On the other hand, the configuration of the first rotating shaft unit 121 and the second rotating shaft unit 122 is a rotation driving unit that is driven and controlled by a drive signal of the sensor control unit 300, and is connected to the rotation driving unit, respectively. It can be configured to include a rotating shaft and a body coupled to the rotating shaft, and various configurations can be applied to the two-axis rotating configuration, such as a configuration including a known rotating gear unit.

According to the above, the rotation frame 120, the first rotating shaft portion 121 and the second rotating shaft portion 122 through the rider sensor unit 200 can be rotated in a horizontal direction as well as vertical Since it can be rotated in one direction, the sensing area of the lidar sensor unit 200 can be maximized, and the sensing square area can be minimized.

On the other hand, in the drawing, the first rotating shaft portion 121 is located in a horizontal direction, one side is coupled to the support frame 110, and is rotatable about a virtual horizontal rotation axis with respect to the support frame 110 Combined.

In addition, the second rotating shaft portion 122 is erected in a vertical direction, and the upper side is coupled to the lower portion of the other side of the first rotating shaft portion 121, and is centered on a virtual vertical rotating shaft with respect to the first rotating shaft portion 121. It is rotatably coupled. Here, the horizontal direction and the vertical direction mean the transverse direction and the longitudinal direction, and it is needless to say that it includes not only the horizontal direction but also the inclined direction.

According to this, the sensor control unit 300, as shown, rotates in the vertical direction through the first rotating shaft portion 121 and the second rotating shaft portion 122 as well as rotating in the horizontal direction to detect the detection area. It can be enlarged, thereby minimizing the sensed square area.

On the other hand, the first rotary shaft portion 121 and the second rotary shaft portion 122 are respectively positioned horizontally and vertically, but can be installed in various forms, and various designs are possible if two-axis rotation in the above-described different directions is possible. Of course it is possible.

The lidar sensor unit 200 is installed on the frame unit 100 and is configured to sense the position and shape of the object using a light source.

In detail, the lidar sensor unit 200 may include a light irradiation unit 210, a light receiving unit 220, and a data transmission unit 230.

The light irradiation unit 210 is configured to irradiate a laser to the object through irradiation units arranged in a plurality of rows. Here, the irradiation unit is configured to irradiate a laser light source, and such a configuration may employ a configuration of a known laser irradiation means.

The light receiving unit 220 is configured to receive the laser reflected after being irradiated through the irradiation units, including the receiving units. Here, the receiving units are configured in a form corresponding to the light irradiation unit 210, and configured to receive a laser beam irradiated and reflected from the irradiation unit.

Here, the light receiving unit 220 is configured not only to receive the reflected laser, but also to receive various information of the laser, such as energy information of the reflected laser.

On the other hand, the irradiation unit and the receiving unit, corresponding to the configuration of irradiating a light source made of a matrix, such as a known vertical-cavity surface-emitting laser (VCSEL), the number and arrangement of these can be set in various ways Of course, it can be variously designed in consideration of the detection range and installation position.

The data transmission unit 230 is configured to transmit the detection data generated through the laser beams received by the light reception unit 220 to the sensor control unit 300.

Here, the detection data includes energy information of the irradiated laser and energy information of the received laser, and may include various information such as a time received after irradiation of the laser.

The sensor control unit 300 drives and controls the light receiving unit 220 and the light irradiation unit 210 of the lidar sensor unit 200 by a control signal transmitted from the integrated control unit 400, and the lidar sensor It is configured to transmit the sensed data received from the data transmission unit 230 of the unit 200.

In addition, the sensor control unit 300 is configured to receive a control signal from the integrated control unit 400 and transmit a driving signal to the frame unit 100.

The integrated control unit 400 analyzes the sensed data collected from the sensor control unit 300 and transmits a control signal.

That is, the integrated control unit 400 analyzes the sensed data in a configuration that controls the building integrated management system as a whole, and transmits a control signal to the sensor control unit 300 to transmit the control signal to the frame unit 100 and the lidar sensor unit. The driving of the 200 is controlled.

On the other hand, as described above, the integrated control unit 400, the overall control of the building integrated management system, it is possible to perform integrated management of buildings, such as outsiders intrusion, fire, cracking or tilting of the building, its efficient Management is required.

Accordingly, the integrated control unit 400 measures the positional change of the objects in time series through the detection data, and classifies the detected objects into respective objects according to the measured result, depending on whether the object is movable. It can be configured to be divided into objects and analyzed and managed according to analysis criteria such as behavioral characteristics and change characteristics for each divided object.

Before looking at the control of the integrated control unit 400 for each object, first, the object will be described.

The object may be divided into a structure, an installation object, an independent object, and a moving object.

First, the structure has a configuration in which the position change is less than a set limit value, and the limit value at this time is a movement considering the inclination of the structure. Therefore, the structure may exhibit a configuration in which its position is almost fixed, and a building may be configured as a representative example.

Next, the installation shows a configuration in which the position change is greater than or equal to the set limit value and has periodicity in the position change. Here, the periodicity of the position change includes a certain period and the position change occurs in a certain pattern, and may include a configuration such as an open / close door installed in a building.

The independent object represents a configuration in which the position change is greater than or equal to the set limit value, and there is no periodicity in the position change, but the stop time is greater than or equal to the set reference value. That is, since the independent object can be moved separately from the structure, there is a position change but no specific pattern, and may include a fire extinguisher or furniture installed in the building.

The moving object represents a configuration in which the position change is greater than or equal to the set limit value, and there is no periodicity in the position change, but the stop time is less than the set reference value. According to this, the moving object does not have a specific periodicity in the building, and of course, the stoppage time is not long, and thus the mobility is frequently represented, and may include people or animals.

Hereinafter, the process of classifying the object for each object by the integrated control unit 400 will be described.

First, the integrated control unit 400 may classify an object for each object through an amount of position change of the objects, a periodicity of the position change, and a stop time of the object.

Here, the position change amount means the position change amount of the object for a set time. And the periodicity for the position change means that the position change has a repetitive periodicity from the time of appearance to the time of disappearance.

Referring to FIG. 3, when the object classification criteria are set, the integrated control unit 400 first collects detection data (S11) and identifies an object to be determined through the collected detection data (S12).

Then, the integrated control unit 400, in order to distinguish the object for the specified target object, first compares the position change amount and the limit value of the object, and determines whether the position change amount of the object is greater than or equal to the limit value (S13).

Here, the limit value is an extremely small value, and the amount of position change is less than the limit value means that the position is almost fixed, and when the object is a structure such as a building, the limit value may be considered as considering the inclination of the structure. .

On the other hand, in the above, if the amount of position change of the object is less than the limit value, the integrated control unit 400 determines the object as a structure (S15). This may determine that the position is fixed, as described above, that the amount of position change is less than the limit value, and in this case, the object may indicate that the structure is the same structure as the fixed structure.

On the other hand, if the position change amount of the object is greater than or equal to the limit value, the integrated control unit 400 determines whether there is periodicity in the position change of the object in the next process (S14).

At this time, the integrated control unit 400, if there is a periodicity in the position change of the object, determines the object as an installation (S16). This is because the above-described change in the position of the object has a periodicity because it has a position movement pattern like a rotating door installed in a building, as described above, in this case it can be determined as an installation.

On the other hand, if there is no periodicity in the position change of the object, the integrated control unit 400 measures the stop time of the object to distinguish whether the object is an independent object or a driving object, and the stop time of the object is a reference value. It is determined whether it is abnormal (S17).

Thus, the integrated control unit 400, if the stop time of the object is greater than or equal to the reference value, it is determined as an independent object (S18), and if the stop time of the object is less than the reference value, it is determined as a driving object (S19).

Hereinafter, various detailed control methods for each object of the integrated control unit 400 will be described.

First, when the object is determined to be a structure, the structure corresponds to a fixed installed structure as described above, and in the case of such a structure, aging management including safety management or deformation is required.

Thus, the integrated control unit 400, the shear force is deformed by the horizontal force acting on the structure, the inclination between the vertical member and the horizontal member of the structure, the tilting of the structure caused by subfloor subsidence, the external force or aging of the structure Analyze and check the cracks generated by each.

Here, the floating settlement (uneven settlement) refers to all settlements in which the entire structure is inclined because the structure settlement amount is not the same due to the uneven state of the structure support base caused by various causes. In addition, the crack is used to mean not only cracks generated in structural members such as walls, pillars, slabs, beams, but also peeling of concrete and compressive destruction.

Hereinafter, with reference to FIGS. 4 and 5, the case where the integrated control unit 400 determines shear deformation or floating settlement or crack of the structure, respectively, will be described.

First, the case of determining the shear strain of the structure will be described.

Referring to FIG. 4, when the object is determined to be a structure (S21), the integrated control unit 400 measures the relative angles between the boundary lines of the structure, and measures the relative angle change (S22). At this time, the measurement object may be a structural member of the structure as described above.

Thereafter, the integrated control unit 400 determines whether or not the relative angle between the boundary lines of the structure is changed (S23), and when the relative angle change of the structure occurs, the accumulated relative angle change amount of the structure is measured, and this relative angle It is determined whether the amount of change has linearity (S24).

At this time, if it is determined that the accumulated relative angle change amount of the structure has linearity, the integrated control unit 400 determines that the structure undergoes shear deformation (S26). This is because the accumulated relative angle change amount of the structure has linearity, because the structure can be judged to be inclined.

On the other hand, if it is determined that the accumulated relative angle change amount of the structure does not have linearity, the integrated control unit 400 performs the relative angle measurement between the previous structure boundary lines again (S22).

On the other hand, if it is determined that the shear deformation of the structure proceeds as described above, the integrated control unit 400 accumulates and stores the sensing data for the structure (S28).

Thereafter, if the shear deformation of the structure exceeds the set range through the accumulated detection data for the structure and falls into the danger range of structural design safety, an alarm signal is output to the integrated manager (S29) to perform a safety check.

Next, the case of determining the floating settlement of the structure will be described.

Prior to this, when looking at the floating settlement of the structure, it means that the entire structure is inclined as the foundation ground of the floating settlement is unevenly settled, and this floating settlement is determined through a change in the relative angle between the boundary lines of the structure. Can't. Therefore, in order to determine the floating settlement, a change in position (direction) with respect to the direction of gravity of the structural structural member can be measured, and through this, the floating settlement can be determined.

Accordingly, first, when the object is determined to be a structure as described above (S21), the integrated control unit 400 measures the relative angle change between the boundary lines of the structure (S22), and determines whether the relative angle between the structure boundary lines is changed. (S23).

In this case, when it is determined that the relative angle of the structure is not changed, the integrated control unit 400 next determines whether there is a change in the gravity direction of the structure (S25).

If there is no change in the direction of gravity of the structure at this time, the integrated control unit 400 determines that there is no specific problem with the structure, and continuously measures a change in the relative angle between the boundary lines of the structure.

On the other hand, if it is determined that there is a change in the direction of gravity of the structure, the integrated control unit 400 determines that floating settlement of the structure occurs (S27). At this time, the integrated control unit 400, in determining the occurrence of the floating settlement, if a plurality of lidar sensor unit 200 is mounted in the structure, the degree of agreement of the floating settlement amount measured by each lidar sensor unit 200 According to this, it can be judged as floating subsidence of structures or supporting individual lidar sensors.

On the other hand, if it is determined that floating settlement of the structure occurs as described above, the integrated control unit 400 accumulates and stores the sensing data for the above-described structure (S28), and thereafter the floating settlement amount of the corresponding structure If it falls outside the set range and falls within the set danger range for structural safety, it outputs an alarm signal to the integrated manager to perform safety inspection.

Next, the case of judging the crack of the structure will be described.

First, the integrated control unit 400 detects a shape change of a structure surface of an object, which is determined to be a structure, in order to determine a crack of the structure, and determines whether or not the amount of the shape change increases when a shape change of the structure surface occurs. do.

Referring to FIG. 5, when the object is determined to be a structure (S31), the integrated control unit 400 detects the shape of the structure surface (S32).

Then, the integrated control unit 400 determines whether the shape of the structure surface is changed (S33).

Here, if it is determined that there is no change in the shape of the structure surface, the integrated control unit 400 continuously detects the shape of the structure surface (S32), whereas, when there is a change in shape of the structure surface, the accumulated amount of shape change of the structure surface It is determined whether or not it has linearity within the preset change amount range (S34).

At this time, the integrated control unit 400, if the accumulated shape change amount does not have a linearity within a predetermined change amount range, determines the shape of the structure surface by determining that it is caused by damage to the interior or exterior of the building, or contamination of the structure. It continuously detects (S32).

However, the integrated control unit 400 determines that a crack is formed in the corresponding structure when the accumulated amount of shape change of the structure surface increases linearly within a preset change amount range (S35).

This is because the shape change amount of the structure surface increases within a predetermined change amount range, considering the characteristics of the crack that progresses at a very slow rate over time, because it may mean that the structure is cracking.

If it is determined that the cracking of the structure proceeds as described above, the integrated control unit 400 collects and stores the sensing data for the structure (S36), and then the shape change amount of the structure is within the risk of structural design safety. If it belongs, it outputs an alarm signal to the integrated manager (S37) to perform a safety check.

On the other hand, in the above, the case where the integrated control unit 400 determines the shear deformation or floating settlement or crack of the structure when the object is a structure is shown.

Hereinafter, an analysis process of the integrated control unit 400 will be described with reference to FIG. 6 when the object is a mobile object.

First, as described above, the moving object can be classified as a person who can move freely. When the object is a moving object, it is necessary to collect and monitor data of the moving object for security and the like.

Accordingly, the integrated control unit 400 first detects the object (S41) and analyzes whether the object is determined to be a moving object (S42). In this process, if the object is determined to be a moving object, the integrated control unit 400 collects and stores detection data for the moving object (S43), and detects the object again if the object is not a moving object.

On the other hand, here, the integrated control unit 400, for efficient and economical surveillance and security work, detects the movement of the object determined to be a moving object and stops the collection and storage of the detection data when the moving of the moving object is stopped. can do.

Furthermore, the integrated control unit 400 transmits the collected sensing data information of the mobile object to an external CCTV management center server, so that the CCTV near the mobile object magnifies and shoots the mobile object, thereby more accurate information of the mobile object. It can be configured to obtain.

Meanwhile, hereinafter, a configuration of the present invention configured to correct image distortion and the like to obtain more accurate detection data will be described.

First of all, it has been described above that the present invention is configured to acquire detection data through an output laser and a light-receiving laser reflected thereon, and to perform integrated management of the building.

In consideration of this, when the above-mentioned object is made of a material that affects the reflection of the light source, only the energy of the light source reflected on the object is significantly higher than the energy of the light source reflected on the other object, and thus, between the received lasers. Interference may generate a sensing distortion around the reflective material object, thereby reducing the accuracy of the sensing data.

For example, when the object is made of a material such as glass or a mirror, the detection data, the receiving energy of the light-receiving laser is high in the process of the object reflecting the output laser, and this high received energy causes interference to other light-receiving lasers. In addition to deteriorating the accuracy of the sensed data, it can cause phenomena such as image distortion.

Therefore, in view of the fact that the present invention may cause image distortion due to such interference,

To prevent this, it is possible to reduce the laser output amount of the corresponding irradiation unit, where the difference between the output energy and the reception energy is greater than a set value, and reduce the received energy reflected in response to this, so that more accurate sensing data can be obtained.

Furthermore, the present invention is intended to limit the object as an installation object or an independent object in the process of correcting such image distortion. This is because, in the case of a structure, it is possible to set the correction through the data of the structure in the initial stage of setting, and in the case of a moving object with frequent movement, the effectiveness of the correction data is small.

Hereinafter, an image distortion correction process of the integrated control unit 400 will be described with reference to FIG. 7.

First, the integrated control unit 400 compares and measures received energy between light-receiving lasers through a receiving unit for an output laser of the same energy irradiated from the irradiation unit (S51), whereby the difference value between the received energy is set. It is determined whether the value is greater than or equal to (S52).

Here, the set value is an energy difference value capable of determining that image distortion may occur due to interference, etc., which is set according to the algorithm of the integrated control unit 400 using detection data and the performance of the receiving unit. You can.

In the above process, when the difference between the received energies is determined to be equal to or greater than the preset value, the integrated control unit 400 determines whether the object is an installation object or an independent object (S53). The object determination of the object is for effective data processing and management as described above, and it is because it is inefficient to apply a correction algorithm when the image distortion is temporary in a short time.

Accordingly, when the object is an installation or an independent object, the integrated control unit 400 determines the irradiation unit that irradiates the object (S54). Here, the determination of the irradiation unit irradiating the target object may be determined through an algorithm in consideration of the movement of the irradiation unit due to the rotating frame 120.

When the irradiation unit irradiating the target object is determined by the above process, the integrated control unit 400 decreases the laser output amount of the irradiation unit (S55) so that the difference value between the received energies is maintained within an appropriate range. It is possible to correct the image distortion through this (S56).

Here, the reduction value of the laser output amount of the irradiation unit can be set by comparing the difference between the output energy and the received energy, the received energy value of another light receiving laser, and the like.

On the other hand, the integrated building management system, it is possible to efficiently manage the drone courier in connection with the courier system using a drone, as well as the detection of cracks or inclination of the above-mentioned buildings and security due to intrusion by outsiders.

To this end, the integrated control unit 400 sets the location of the landing point of the courier drone in the corresponding building, and transmits the location information of the set landing point to the corresponding courier or drone management system to enable efficient drone delivery. Can be configured.

In addition, the integrated building management system may be configured to detect a fire occurring in the building and perform a fire alarm accordingly.

To this end, the integrated control unit 400 measures the light reflectance of the detection data, determines whether smoke is generated through the irregularity of the change in the light reflectivity and the change in the light reflectivity, and when it is analyzed that smoke is generated, fire It may be configured to determine that has occurred and output an alarm signal. Here, the degree of change in the light reflectivity in the preset range represents the range of change in the light reflectivity, which is usually measured by smoke particles.

According to the above, the integrated control unit 400 determines whether the degree of change of the light reflectivity for the entire light-receiving laser is within a predetermined range and determines smoke generation. This is to distinguish whether the light reflectivity is lowered by the moving object or the independent object.

In addition, the integrated control unit 400 determines whether smoke is generated according to whether the degree of change of the light reflectivity has an amorphous property. This is to use the diffusion characteristics of smoke to distinguish changes in ambient light, etc., and decrease in light reflectivity caused by smoke.

According to the above, the integrated control unit, in consideration of the fact that when the smoke is generated, the light reflectivity decreases due to the smoke particles, and the light reflectivity gradient is atypical due to the diffusion characteristics of the smoke. Through the characteristics including the amorphousness of the light reflectivity gradient, it is possible to determine whether smoke is generated and to perform a safety check.

Here, the alarm signal is transmitted to a fire alarm speaker or manager terminal in the building to generate an alarm visually and aurally, and may also transmit an alarm signal to an external fire department.

This is to take into account that the smoke generated during the fire decreases the light reflectivity of the irradiated laser, and the integrated control unit 400 determines that the smoke is generated when the light reflectivity is low in a set range and determines that a fire has occurred. .

Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

On the other hand, the building integrated management system, may be configured by the following other embodiments.

Looking at this, the building integrated management system may include a lidar sensor, a transmission module, an analysis module, and a detection signal module.

First, the lidar sensor is composed of an RX module that receives the TX module of the lidar sensor and the collected point cloud data installed in the center of a specific surveillance area of a security facility to determine whether or not to invade and issue an alarm. You can.

In detail, the lidar sensor may be installed including a TX module in the center of the measurement area, and an RX module that receives collected point cloud data and determines whether an intrusion has occurred and issues an alarm.

The transmission module serves to transmit the point cloud data collected by the lidar sensor to the analysis module.

The analysis module is configured to receive the point cloud data transmitted from the TX module, analyze whether there is location information, and analyze whether there is a shape or not and transmit the analyzed information to the detection signal processing unit.

The detection signal module is configured to selectively output alarm activation and shape detection information according to whether an alarm is activated or not, and whether a false alarm signal is detected according to a control logic of a program in response to the analysis module and the analysis signal.

Hereinafter, a location-based tracking system using the integrated building management system will be described.

The location-based tracking system is a technology for detecting intruder tracking based on location information. Unlike conventional intruder detection systems using infrared sensors, real-time monitoring of monitors using fixed video cameras and intrusion detection of objects or persons based on location-based information Represents an intrusion route tracking system based on the city x, y, z location information.

The integrated building management system has an extended detection area that is specialized in existing CCTVs, an extended detection coverage even in sections other than buildings, and a wide range of detection coverage for paths that can be invaded above and beyond the building. In addition, the emergence of a small flying device such as a drone can meet the need for detection over the air and around the building.

The building integrated management system may have a drag security solution unlocking function, a drag security unlocking solution, a security unlocking solution through a cm-class section setting, and a security based on the position of the constructed 3D building exterior wall surface. It is possible to provide a drag lock function.

In addition, the building integrated management system includes a security unlocking algorithm and a security release algorithm through dragging a certain section or area on the program.

On the other hand, in the building integrated management system, the location of the lidar sensor installation can be up to 200m sensor coverage, and the range detectable by a single sensor is up to 200m, thereby maximizing the tracking range of existing CCTV or infrared cameras.

Preferably, the lidar sensor, it is preferable to attach the lidar sensor at a position of about 8: 2 from the ground based on the central entrance of the building, it is possible to optimize the coverage according to the installation location, the attachment angle and the lidar performance Depending on the function can be improved.

On the other hand, the integrated building management system can also perform the function of building aging management. In other words, the rider sensor-based facility control system can manage aging such as cracks and erosion of building walls in addition to intruder detection, and slope cracks at regular intervals after the initial DB of the slope and cracks of the building's outer walls It can be used to implement a system that generates a warning sound for the excess part by setting the building design standards and maintenance standards, by measuring the degree and building the information database for the difference value.

Furthermore, the building integrated management system may be used as a drone delivery management system in connection with drone delivery by adding a function of setting accurate landing coordinates based on location information for unmanned services such as drone delivery.

The integrated building management system can also be applied as a video tracking system interlocking lidar and CCTV. The lidar sensor-based facility control system may be implemented to transmit intrusion traces and changes detected from the lidar based on location information to a CCTV and move the camera to the corresponding location to track the image.

To this end, CCTV is transmitted to the lidar detection signal, and the change point of the acquired point cloud data is transmitted to the CCTV processor as location information, and the CCTV detects this and moves to the corresponding point through a 3D building map to zoom in and zoom in. Afterwards, when continuous change is detected, the corresponding function can be implemented by tracking the CCTV image.

The building integrated management system can be applied to a building 3D model built with a lidar and a CCTV video device as an interlocking system.

At this time, the LIDAR CCTV interlocking technology (algorithm) for realizing a video tracking system interlocking the LIDAR and CCTV, builds a 3D DB on the outer wall of the LIDAR building (100), extracts and converts location information, and inputs the CCTV Sends location information to, maps the received location information on the outer wall map of the building, moves the CCTV to the point of change, zooms in (x4, x 8), releases the movement when there is no change, and sets the CCTV tracking system when the change occurs After that, it goes through the process of video recording along the path.

In addition, the building integrated management system receives the output signal from the rider communication module and the communication module on the CCTV facility side to receive the location analysis signal and transmit it to the detection signal processing unit in conjunction with the DB that loads the 3D modeling building 3D data to the detection signal processing unit. It includes a CCTV communication module to transmit.

Hereinafter, a fire occurrence detection system using lidar location information will be described. The lidar sensor-based facility control system can be applied as a fire alarm device using 3D information outside or inside a building, and measures the reflectance of the lidar based on the acquired location data to immediately recognize the situation in the event of a fire and alert. It is a ringing system and is configured to make 119 emergency calls when a detection alarm occurs.

In addition, the building integrated management system may automatically detect fire detection through a lidar sensor, detect a lidar response method and information after fire detection to implement a sensor's tracking reaction system for fire occurrence.

In addition, the Rida sensor-based facility control system building integrated management system generates a warning alarm when a fire is detected, and displays the location information on the map after the alarm to automatically transmit information about the location and fire scale to 119. have.

100: frame portion 110: support frame
120: rotating frame 121: first rotating shaft
122: second rotary shaft unit 200: lidar sensor unit
210: light irradiation unit 220: light receiving unit
230: data transmission unit 300: sensor control unit
400: integrated control unit

Claims (16)

A frame part fixedly installed in the building;
A lidar sensor unit installed in the frame unit and sensing a position and shape of an object using a light source;
A sensor control unit which drives and controls the lidar sensor unit by a control signal and transmits the sensed data received from the lidar sensor unit;
Building integrated management system using a lidar sensor characterized in that it comprises an integrated control unit for analyzing the detection data collected from the sensor control unit, and transmitting the control signal.
According to claim 1,
The frame portion,
Support frame fixed to the building,
The lidar sensor unit is coupled, rotatably coupled to the support frame, the integrated structure management system using a lidar sensor characterized in that it comprises a rotating frame rotated by the drive signal of the sensor control unit.
According to claim 2,
The rotating frame,
A first rotational shaft portion rotatably coupled to the support frame to rotate the lidar sensor portion in a horizontal or vertical direction;
The rider sensor unit is coupled, and the rider sensor unit is configured to include a second rotary shaft unit formed in a direction orthogonal to the first rotary shaft unit so as to rotate about a rotary axis orthogonal to the rotary shaft of the first rotary shaft unit. Integrated building management system using a lidar sensor.
The method of claim 3,
The integrated control unit,
Building integrated management system using a lidar sensor, characterized in that it is configured to measure the positional change of the object in time series through the detection data and classify and analyze the object for each object according to the measured result.
The method of claim 4,
The object,
A structure in which the position change is less than a set limit value,
The position change is more than the set limit value, and the installation having periodicity to the position change,
An independent object in which the position change is greater than a set limit value, and there is no periodicity in the position change, but a stop time is greater than a set reference value,
Integrated management system for buildings using a lidar sensor, characterized in that the position change is more than a set limit value, and there is no periodicity in the position change, but the stop time is divided into moving objects that are less than a set reference value.
The method of claim 5,
The integrated control unit,
When the object is divided into structures,
When the relative angle change between the boundary lines of the structure occurs and the accumulated relative angle change amount of the structure has linearity, it is configured to determine that shear deformation of the structure is in progress. system.
The method of claim 5,
The integrated control unit,
When the object is divided into structures,
If there is no change in the relative angle between the boundary lines of the structure, but there is a change in the direction of gravity, the building integrated management system using a lidar sensor is characterized in that it is configured to determine that floating settlement of the structure is occurring.
The method of claim 5,
The integrated control unit,
When the object is divided into structures,
When the shape change of the structure surface of the structure occurs, and the cumulative shape change amount of the structure increases, the integrated structure management system using a lidar sensor is characterized in that it is configured to determine that the crack is in progress in the structure.
The method according to any one of claims 6 to 8,
The integrated control unit,
Integrated structure management system using a lidar sensor, characterized in that it is configured to collect and store sensing data for the structure and output an alarm signal if the shear deformation amount or the amount of floating settlement or crack of the structure is greater than a predetermined value.
The method of claim 5,
The lidar sensor unit,
And a light irradiation unit for irradiating the laser to the object through the irradiation unit arranged in a plurality of rows,
A light receiving unit receiving the laser reflected after being irradiated through receiving units configured in a form corresponding to the light irradiation unit;
Building integrated management system using a lidar sensor, characterized in that it comprises a data transmission unit for transmitting the detection data generated through the laser light received by the light receiving unit to the sensor control unit.
The method of claim 5,
The integrated control unit,
Integrated building management system using a lidar sensor, characterized in that it is configured to detect and collect and store the sensing data for the moving object when the object is determined to be a moving object.
The method of claim 11,
The integrated control unit,
An integrated building management system using a lidar sensor, characterized in that the location information of the moving object is transmitted to an external CCTV management center server, so that the CCTV near the moving object is configured to enlarge the moving object.
The method of claim 5,
The integrated control unit,
Integrated management system for buildings using a lidar sensor, characterized in that it is configured to set a location for a landing point of a courier drone and transmit location information for a landing point to the courier drone.
The method of claim 5,
The integrated control unit,
Characterized in that it is configured to measure the light reflectance of the detection data, determine whether smoke is generated through the irregularity of the change in the light reflectivity and the change in the light reflectivity, and output an alarm signal when it is determined that smoke has been generated. Integrated building management system using lidar sensors.
The method of claim 14,
The integrated control unit,
Integrated building management system using a lidar sensor, characterized in that it is determined whether or not the change in the light reflectivity is within a preset range in the detection data.
The method of claim 14,
The integrated control unit,
Building integrated management system using a lidar sensor, characterized in that it is determined whether the degree of change of the light reflectivity has atypism.

Images