KR20200133876A - System for obstacle collision avoidance of construction equipment - Google Patents

System for obstacle collision avoidance of construction equipment Download PDF

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KR20200133876A
KR20200133876A KR1020190058811A KR20190058811A KR20200133876A KR 20200133876 A KR20200133876 A KR 20200133876A KR 1020190058811 A KR1020190058811 A KR 1020190058811A KR 20190058811 A KR20190058811 A KR 20190058811A KR 20200133876 A KR20200133876 A KR 20200133876A
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obstacle
construction equipment
collision
collision time
turning
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KR102625693B1 (en
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김용휘
권영민
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현대건설기계 주식회사
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F9/26—Indicating devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • B60W2050/146—Display means
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • 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
    • B60W2420/408—
    • 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
    • B60W2420/42—Image sensing, e.g. optical camera
    • 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
    • B60W2420/52—Radar, Lidar
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/03—Actuating a signal or alarm device

Abstract

The present invention relates to a system for preventing construction equipment from colliding with an obstacle, which is able to precisely recognize general obstacles existing on a driving and turning path of the construction equipment, to control the operation of the construction equipment or give a warning for collision to the surroundings based on the information, and to prevent the collision between the construction equipment and the obstacles. According to the present invention, the system for preventing the construction equipment from colliding with the obstacles comprises: a collision time measuring module which calculates the time of collision with the obstacles when the construction equipment drives or turns; and an obstacle collision prevention server which controls the collision time measuring module, a radar sensor, a camera sensor, a turning angle sensor, a monitor, and an alarm apparatus, and controls the operation of the alarm apparatus based on the display of each obstacle and the calculated collision time on the basis of the recognition of the obstacles, the control of the calculation of the collision time, and the calculated collision time.

Description

건설장비의 장애물 충돌방지시스템{System for obstacle collision avoidance of construction equipment}System for obstacle collision avoidance of construction equipment

본 발명은 건설장비의 장애물 충돌방지시스템에 관한 것으로서, 보다 상세하게는 건설장비의 주행 및 선회 동선 상에 존재하는 제반 장애물을 정확히 인식함과 함께 장애물과의 충돌시간을 계산하고, 이를 바탕으로 건설장비의 동작을 제어하거나 주변에 충돌경고를 알려 건설장비와 장애물 사이의 충돌을 방지할 수 있는 건설장비의 장애물 충돌방지시스템에 관한 것이다. The present invention relates to an obstacle collision prevention system for construction equipment, and more specifically, to accurately recognize all obstacles present on the driving and turning movement of the construction equipment, and calculate the collision time with the obstacle, and build based on this The present invention relates to an obstacle collision prevention system for construction equipment capable of preventing collision between construction equipment and obstacles by controlling the operation of equipment or by notifying a collision warning in the vicinity.

굴삭기, 휠로더, 지게차 등의 건설장비는 주행과 선회 동작을 기반으로 건설 작업을 수행하는 장치이다. 따라서, 건설장비의 주행 동작 및 선회 동작시 안전사고 방지를 위해 주변 장애물을 인식할 필요가 있다. Construction equipment such as excavators, wheel loaders, and forklifts are devices that perform construction work based on driving and turning motions. Therefore, it is necessary to recognize surrounding obstacles in order to prevent safety accidents during driving and turning operations of construction equipment.

장애물을 인식하기 위한 기술로서 한국공개특허 제2014-0083130호는 각도센서 및 카메라를 이용하여 주변 장애물을 감지하는 기술을 제시하고 있다. 그러나, 한국공개특허 제2014-0083130호에 개시된 기술은 건설장비의 상단부 작업 영역에 존재하는 장애물을 인식하는 기술로서, 건설장비의 주행 및 선회 동선에 존재하는 제반 장애물을 정확히 인식하기에는 한계가 있다. As a technology for recognizing an obstacle, Korean Patent Application Publication No. 2014-0083130 proposes a technology for detecting surrounding obstacles using an angle sensor and a camera. However, the technology disclosed in Korean Patent Application Publication No. 2014-0083130 is a technology for recognizing obstacles present in the upper working area of construction equipment, and there is a limitation in accurately recognizing all obstacles present in the driving and turning movement of construction equipment.

한국공개특허 제2014-0083130호Korean Patent Publication No. 2014-0083130

본 발명은 상기와 같은 문제점을 해결하기 위해 안출한 것으로서, 건설장비의 주행 및 선회 동선 상에 존재하는 제반 장애물을 정확히 인식함과 함께 장애물과의 충돌시간을 계산하고, 이를 바탕으로 건설장비의 동작을 제어하거나 주변에 충돌경고를 알려 건설장비와 장애물 사이의 충돌을 방지할 수 있는 건설장비의 장애물 충돌방지시스템을 제공하는데 그 목적이 있다. The present invention was conceived to solve the above problems, accurately recognizing all obstacles present on the driving and turning movement of construction equipment, and calculating the collision time with the obstacle, and based on this, the operation of the construction equipment Its purpose is to provide an obstacle collision avoidance system for construction equipment capable of preventing collision between construction equipment and obstacles by notifying a collision warning in the vicinity.

상기의 목적을 달성하기 위한 본 발명에 따른 건설장비의 장애물 충돌방지시스템은 건설장비의 주행 또는 선회 동작시 장애물과의 충돌시간을 계산하는 충돌시간 측정모듈; 및 충돌시간 측정모듈, 레이더 센서, 카메라 센서, 선회각 센서, 모니터 및 경보장치를 제어하며, 이를 바탕으로 장애물의 인식, 충돌시간 계산의 제어, 계산된 충돌시간을 기반으로 한 각 장애물의 디스플레이, 계산된 충돌시간을 기반으로 한 경보장치의 동작을 제어하는 상기 장애물 충돌방지서버;를 포함하여 이루어지는 것을 특징으로 한다. An obstacle collision prevention system for construction equipment according to the present invention for achieving the above object comprises: a collision time measurement module for calculating a collision time with an obstacle during a driving or turning operation of the construction equipment; And a collision time measurement module, a radar sensor, a camera sensor, a turning angle sensor, a monitor and an alarm device, and based on this, the recognition of obstacles, control of the collision time calculation, display of each obstacle based on the calculated collision time, And the obstacle collision avoidance server for controlling the operation of the alarm device based on the calculated collision time.

상기 충돌시간 측정모듈은 아래의 식 1을 통해 주행 동선 상에서의 장애물과의 충돌시간(t D )을 계산할 수 있다. The collision time measurement module may calculate a collision time ( t D ) with an obstacle on a moving line through Equation 1 below.

(식 1) (Equation 1)

Figure pat00001
Figure pat00001

(t D 는 주행 동선 상에서의 장애물과의 충돌시간, d는 건설장비와 장애물 사이의 최단거리, v는 상대속도)( t D is the collision time with an obstacle on the moving line, d is the shortest distance between the construction equipment and the obstacle, v is the relative speed)

또한, 상기 충돌시간 측정모듈은 아래의 식 2를 통해 선회 동선 상에서의 장애물과의 충돌시간(t s )을 계산할 수 있다. In addition, the collision time measurement module may calculate a collision time ( t s ) with an obstacle on the turning line through Equation 2 below.

(식 2) (Equation 2)

Figure pat00002
Figure pat00002

(t s 는 선회 동선 상에서의 장애물과의 충돌시간, θ m 은 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도, ω는 건설장비의 선회속도, f(ω)는 선회정지시 건설장비가 밀리는 선회각)( t s is the collision time with an obstacle on the turning path, θ m is the angle in the direction of the remaining turning until the collision with the construction equipment, ω is the turning speed of the construction equipment, and f (ω) is the turning that the construction equipment is pushed when the turning is stopped. bracket)

상기 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도(θ m )는 아래의 식 3 또는 식 4를 통해 계산되며, 식 3은 건설장비가 장애물 쪽으로 선회하는 경우(θ m < π)이고, 식 4는 건설장비가 장애물 반대쪽으로 선회하는 경우(θ m ≥ π)이다. The remaining turning direction angle ( θ m ) until the collision between the construction equipment and the obstacle is calculated by Equation 3 or Equation 4 below, and Equation 3 is the case where the construction equipment turns toward the obstacle ( θ m <π), and Equation 4 Is the case when the construction equipment is turning away from the obstacle ( θ m ≥ π).

(식 3) (Equation 3)

Figure pat00003
Figure pat00003

(식 4) (Equation 4)

Figure pat00004
Figure pat00004

식 3 및 식 4에 있어서, (X, Y)는 선회시 건설장비가 장해물과 부딪히는 위치이고, f(ω)는 선회정지시 건설장비가 밀리는 선회각이며, ω는 건설장비의 선회속도(반시계방향 : ω ≥ 0, 시계방향 : ω < 0)이다. In Equations 3 and 4, (X, Y) is the position where the construction equipment collides with the obstacle when turning, f(ω) is the turning angle at which the construction equipment is pushed when the turning stops, and ω is the turning speed of the construction equipment (half Clockwise: ω ≥ 0, Clockwise: ω <0).

레이더 센서는 건설장비와 장애물 사이의 상대거리 및 상대속도(v)를 측정하고, 카메라 센서는 장애물의 방위각을 측정하며, 레이더 센서 및 카메라 센서에 의해 측정된 상대거리, 상대속도(v) 및 장애물의 방위각 정보는 충돌시간 측정모듈로 전달되며, 충돌시간 측정모듈은 측정된 상대거리와 레이더의 설치위치 및 장비크기를 고려하여 장애물과의 차단거리(d)를 산출하고 최종적으로 식 1을 통해 주행 동선 상에서의 장애물과의 충돌시간(t D )을 계산할 수 있다. The radar sensor measures the relative distance and relative speed ( v ) between the construction equipment and the obstacle, the camera sensor measures the azimuth angle of the obstacle, and the relative distance, relative speed ( v ) and obstacles measured by the radar sensor and camera sensor The azimuth angle information of is transmitted to the collision time measurement module, and the collision time measurement module calculates the blocking distance ( d ) from the obstacle considering the measured relative distance, the installation position of the radar, and the equipment size, and finally runs through Equation 1. It is possible to calculate the collision time ( t D ) with the obstacle on the moving line.

또한, 레이더 센서는 건설장비와 장애물 사이의 상대거리 및 상대속도를 측정하고, 카메라 센서는 횡방향 상대속도, 장애물의 크기 및 장애물 방위각(θ)을 측정하며, 선회각 센서는 선회속도를 측정하며, 레이더 센서, 카메라 센서 및 선회각 센서에 의해 측정된 상대거리, 상대속도, 횡방향 상대속도, 장애물의 크기, 장애물 방위각(θ), 선회속도(ω) 정보는 충돌시간 측정모듈로 전달되며, 충돌시간 측정모듈은 식 2를 통해 선회 동선 상에서의 장애물과의 충돌시간(t s )을 계산할 수 있다. In addition, the radar sensor measures the relative distance and relative speed between the construction equipment and the obstacle, the camera sensor measures the lateral relative speed, the size of the obstacle and the obstacle azimuth ( θ ), and the turning angle sensor measures the turning speed. , Relative distance, relative speed, lateral relative speed, size of obstacle, obstacle azimuth ( θ ), turning speed ( ω ) information measured by radar sensor, camera sensor, and turning angle sensor are transmitted to the collision time measurement module, The collision time measurement module can calculate the collision time ( t s ) with the obstacle on the turning line through Equation 2.

상기 충돌시간 측정모듈에 의해 계산된 충돌시간에 대응되는 경고정보를 작업자에게 알리는 역할을 하는 모니터를 더 구비하며, 상기 모니터는 카메라 센서에 의해 획득된 화상을 디스플레이하며, 해당 화상 속의 각 장애물은 서로 다른 충돌시간으로 구분되며, 충돌시간별로 각 장애물을 구분하여 표시될 수 있다. Further comprising a monitor that serves to inform the operator of warning information corresponding to the collision time calculated by the collision time measurement module, the monitor displays an image obtained by the camera sensor, and each obstacle in the image is It is divided into different collision times, and each obstacle can be classified and displayed for each collision time.

상기 충돌시간별로 각 장애물이 안전구역, 위험경고구역, 위험구역으로 구분되고, 각 구역별로 장애물의 색깔이 달리 표시될 수 있다. Each obstacle is divided into a safety zone, a danger warning zone, and a danger zone for each collision time, and the color of the obstacle may be displayed differently for each zone.

상기 장애물 충돌방지서버는, 충돌시간 측정모듈에 의해 측정된 충돌시간이 위험경고구역에 해당되는 경우 건설장비의 주행속도 또는 선회속도를 감속시키며, 충돌시간 측정모듈에 의해 측정된 충돌시간이 위험구역에 해당되는 경우 건설장비의 주행 및 선회를 정지시킬 수 있다. The obstacle collision avoidance server, when the collision time measured by the collision time measurement module corresponds to the danger warning zone, decelerates the driving speed or the turning speed of the construction equipment, and the collision time measured by the collision time measurement module is the danger zone. If applicable, the driving and turning of construction equipment may be stopped.

건설장비의 일측에 장착되어 건설장비 주변의 보행자 등에게 경고정보를 알리는 역할을 하는 경보장치가 더 구비될 수 있다. An alarm device that is mounted on one side of the construction equipment and serves to inform pedestrians around the construction equipment of warning information may be further provided.

본 발명에 따른 건설장비의 장애물 충돌방지시스템은 다음과 같은 효과가 있다. The obstacle collision prevention system of construction equipment according to the present invention has the following effects.

건설장비의 주행 또는 선회시 해당 동선 상에 위치한 장애물을 인식함과 함께 장애물과의 충돌시간을 정확히 계산하고, 이를 바탕으로 작업자 및 보행자에게 안전사고 위험경고를 알림으로써 건설장비와 장애물 사이의 충돌을 방지할 수 있다. When driving or turning the construction equipment, the collision between the construction equipment and the obstacle is recognized by accurately calculating the collision time with the obstacle, and by notifying the operator and pedestrian of a safety accident risk based on this. Can be prevented.

도 1은 본 발명의 일 실시예에 따른 건설장비의 장애물 충돌방지시스템의 구성도이다.
도 2는 건설장비의 선회 동작시 각 구역을 나타낸 참고도.
도 3은 본 발명의 일 실시예에 따라 충돌시간의 각 구역별로 장애물을 모니터에 디스플레이한 것을 나타낸 것이다. 1 is a block diagram of an obstacle collision prevention system for construction equipment according to an embodiment of the present invention.
Figure 2 is a reference diagram showing each zone during the turning operation of construction equipment.
3 is a diagram illustrating an obstacle displayed on a monitor for each zone of a collision time according to an embodiment of the present invention.

본 발명은 건설장비의 주행 및 선회 동선 상에 존재하는 장애물을 인식하여 장애물과의 충돌시간을 계산하고, 계산된 충돌시간을 기반으로 건설장비의 동작을 제어함과 함께 건설장비 주변에 충돌 경고를 알림으로써 건설장비와 장애물의 충돌을 방지할 수 있는 기술을 제시한다. The present invention recognizes an obstacle existing on the driving and turning movement of the construction equipment, calculates the collision time with the obstacle, controls the operation of the construction equipment based on the calculated collision time, and generates a collision warning around the construction equipment. As a notification, we propose a technology that can prevent collisions between construction equipment and obstacles.

본 발명에서 건설장비라 함은 주행 및 선회 동작으로 건설작업을 수행하는 장비를 일컬으며, 상기 건설장비에는 굴삭기, 휠로더, 지게차 등이 포함된다. In the present invention, the construction equipment refers to equipment that performs construction work by running and turning, and the construction equipment includes an excavator, a wheel loader, and a forklift.

본 발명은 장애물과의 충돌시간을 계산함에 있어서, 주행 동작과 선회 동작을 구분하여 장애물과의 충돌시간을 계산한다. 즉, 주행 동선 상에서의 장애물과의 충돌시간, 선회 동선 상에서의 장애물과의 충돌시간을 독립적으로 계산하며, 이에 따라 장애물 인식 및 충돌시간의 정확성을 높일 수 있다. 주행 동선 상에서의 장애물과의 충돌시간은 레이더 센서 및 카메라 센서 기반 하에 진행되며, 선회 동선 상에서의 장애물과의 충돌시간은 레이더 센서, 카메라 센서 및 선회각 센서의 기반 하에 진행된다. In the present invention, in calculating the collision time with the obstacle, the collision time with the obstacle is calculated by dividing the driving motion and the turning motion. That is, the collision time with the obstacle on the driving movement line and the collision time with the obstacle on the turning movement line are independently calculated, thereby increasing the accuracy of obstacle recognition and collision time. The collision time with an obstacle on the moving line is based on the radar sensor and the camera sensor, and the collision time with the obstacle on the turning line is based on the radar sensor, the camera sensor and the turning angle sensor.

또한, 본 발명은 각 동선 상에 존재하는 복수의 장애물에 대해 각각의 충돌시간을 계산하고, 각 장애물의 충돌시간에 대응되는 경고표시를 각 장애물별로 구분하여 건설장비의 모니터에 디스플레이하여 작업자가 인식하도록 함과 함께 경보장치 예를 들어, 경광등, 스피커 등을 통해 건설장비 주변에 알릴 수 있는 기술을 제시한다. 이와 함께, 작업자 및 건설장비 주변에 충돌경고를 알림과 함께, 충돌이 임박한 경우 건설장비의 동작을 감속시키거나 정지시켜 안전사고를 효과적으로 방지할 수 있는 기술을 제시한다. In addition, the present invention calculates each collision time for a plurality of obstacles present on each movement line, divides a warning indication corresponding to the collision time of each obstacle for each obstacle, and displays it on the monitor of the construction equipment to be recognized by the operator. In addition, a technology that can notify the surrounding construction equipment through alarm devices such as warning lights and speakers is presented. Along with this, it provides a technology that can effectively prevent safety accidents by notifying workers and construction equipment of a collision warning, and by slowing or stopping the operation of construction equipment when a collision is imminent.

이하, 도면을 참조하여 본 발명의 일 실시예에 따른 건설장비의 장애물 충돌방지시스템을 상세히 설명하기로 한다. Hereinafter, an obstacle collision prevention system of construction equipment according to an embodiment of the present invention will be described in detail with reference to the drawings.

도 1을 참조하면, 본 발명의 일 실시예에 따른 건설장비의 장애물 충돌방지시스템은 장애물 충돌방지서버(110), 충돌시간 측정모듈(120), 레이더 센서(130), 카메라 센서(140), 선회각 센서(150), 모니터(160) 및 경보장치(170)를 포함하여 이루어진다. Referring to Figure 1, the obstacle collision prevention system of construction equipment according to an embodiment of the present invention is an obstacle collision prevention server 110, a collision time measurement module 120, a radar sensor 130, a camera sensor 140, It comprises a turning angle sensor 150, a monitor 160, and an alarm device 170.

상기 장애물 충돌방지서버(110)는 충돌시간 측정모듈(120), 레이더 센서(130), 카메라 센서(140), 선회각 센서(150), 모니터(160) 및 경보장치(170)를 제어하며, 이를 바탕으로 장애물의 인식, 충돌시간 계산의 제어, 계산된 충돌시간을 기반으로 한 각 장애물의 디스플레이, 계산된 충돌시간을 기반으로 한 경보장치(170)의 동작을 제어하는 역할을 한다. The obstacle collision prevention server 110 controls a collision time measurement module 120, a radar sensor 130, a camera sensor 140, a turning angle sensor 150, a monitor 160, and an alarm device 170, Based on this, it serves to recognize obstacles, control collision time calculation, display each obstacle based on the calculated collision time, and control the operation of the alarm device 170 based on the calculated collision time.

상기 충돌시간 측정모듈(120)은 장애물과의 충돌시간을 계산하는 역할을 한다. 장애물과의 충돌시간은 주행 동선과 선회 동선이 구분되어 계산된다. 구체적으로, 주행 동선 상에 장애물이 존재하는 경우에서의 충돌시간(t D )과, 선회 동선 상에 장애물이 존재하는 경우에서의 충돌시간(t s )이 구분되어 계산된다. The collision time measurement module 120 serves to calculate a collision time with an obstacle. The collision time with an obstacle is calculated by dividing the driving and turning movements. Specifically, a collision time ( t D ) when an obstacle exists on a driving movement line and a collision time ( t s ) when an obstacle exists on a turning movement line are divided and calculated.

주행 동선 상에서의 장애물과의 충돌시간(t D ) 계산에 요구되는 인자는 건설장비와 장애물 사이의 최단거리(d)와 건설장비와 장애물 사이의 상대속도(v)이며(아래의 식 1 참조), 상기 최단거리(d)와 상대속도(v)는 레이더 센서(130) 및 카메라 센서(140)를 통해 획득된다. The factors required for calculating the collision time ( t D ) between the construction equipment and the obstacle are the shortest distance between the construction equipment and the obstacle ( d ) and the relative speed ( v ) between the construction equipment and the obstacle (see Equation 1 below). , The shortest distance ( d ) and relative speed ( v ) are obtained through the radar sensor 130 and the camera sensor 140.

(식 1) (Equation 1)

Figure pat00005
Figure pat00005

(t D 는 주행 동선 상에서의 장애물과의 충돌시간, d는 건설장비와 장애물 사이의 최단거리, v는 상대속도)( t D is the collision time with an obstacle on the moving line, d is the shortest distance between the construction equipment and the obstacle, v is the relative speed)

또한, 선회 동선 상에서의 장애물과의 충돌시간(t s ) 계산에 요구되는 인자는 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도(θ m ), 건설장비의 선회속도(ω)이며(아래의 식 2 참조), 상기 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도(θ m )와 건설장비의 선회속도(ω)는 레이더 센서(130), 카메라 센서(140) 및 선회각 센서(150)를 통해 획득된다. 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도(θ m )는 아래의 식 3 또는 식 4를 통해 계산된다. 식 3은 건설장비가 장애물 쪽으로 선회하는 경우(ω · y ≥ 0 또는 θ m < π)이고, 식 4는 건설장비가 장애물 반대쪽으로 선회하는 경우(ω · y < 0 또는 θ m ≥ π)이다. 또한, 아래의 식 2에 있어서, f(ω)는 선회정지시 건설장비가 밀리는 선회각으로서 대체적으로 선회속도(ω)와 비례하는 값(f(ω) = kω, k는 비례상수)을 가지며, 해당 건설장비의 사양으로부터 정보를 얻을 수 있다. In addition, the factors required to calculate the collision time ( t s ) with the obstacle on the turning line are the angle of the turning direction remaining until the collision between the construction equipment and the obstacle ( θ m ) and the turning speed of the construction equipment ( ω ) (the equation below 2), the remaining turning direction angle ( θ m ) and the turning speed ( ω ) of the construction equipment until the collision between the construction equipment and the obstacle is determined through the radar sensor 130, the camera sensor 140, and the turning angle sensor 150. Is obtained. The remaining turning direction angle ( θ m ) until the collision between the construction equipment and the obstacle is calculated through Equation 3 or Equation 4 below. Equation 3 is when the construction equipment turns toward an obstacle ( ω · y ≥ 0 or θ m <π), and Equation 4 is when the construction equipment turns away from the obstacle ( ω · y <0 or θ m ≥ π). . In addition, in Equation 2 below, f(ω) is the turning angle at which the construction equipment is pushed when the turning is stopped, and has a value that is generally proportional to the turning speed ( ω ) ( f(ω) = kω, k is a proportional constant). , Information can be obtained from the specifications of the construction equipment.

(식 2) (Equation 2)

Figure pat00006
Figure pat00006

(t s 는 선회 동선 상에서의 장애물과의 충돌시간, θ m 은 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도, ω는 건설장비의 선회속도, f(ω)는 선회정지시 건설장비가 밀리는 선회각)( t s is the collision time with an obstacle on the turning path, θ m is the angle in the direction of the remaining turning until the collision with the construction equipment, ω is the turning speed of the construction equipment, and f (ω) is the turning that the construction equipment is pushed when the turning is stopped. bracket)

(식 3) (Equation 3)

Figure pat00007
Figure pat00007

(식 4) (Equation 4)

Figure pat00008
Figure pat00008

식 3 및 식 4에 있어서, (X, Y)는 선회시 건설장비가 장해물과 부딪히는 위치이고, f(ω)는 선회정지시 건설장비가 밀리는 선회각이며, ω는 건설장비의 선회속도(반시계방향 : ω ≥ 0, 시계방향 : ω < 0)이다. In Equations 3 and 4, (X, Y) is the position where the construction equipment collides with the obstacle when turning, f(ω) is the turning angle at which the construction equipment is pushed when the turning stops, and ω is the turning speed of the construction equipment (half Clockwise: ω ≥ 0, Clockwise: ω <0).

상기 레이더 센서(130), 카메라 센서(140) 및 선회각 센서(150)로부터 상기 충돌시간 측정모듈(120)로 전달되는 정보는 구체적으로 다음과 같다. 상술한 바와 같이 주행 동선 상의 장애물을 인식하는 경우와 선회 동선 상의 장애물을 인식하는 경우 각각의 경우에서 충돌시간 계산에 요구되는 인자는 서로 다르며, 이에 따라 각각의 경우에 따라 레이더 센서(130), 카메라 센서(140) 및 선회각 센서(150)로부터 상기 충돌시간 측정모듈(120)로 전달되는 세부 정보는 서로 다르다. Information transmitted from the radar sensor 130, the camera sensor 140, and the turning angle sensor 150 to the collision time measurement module 120 is specifically as follows. As described above, in the case of recognizing an obstacle on a moving line and an obstacle on a turning line, factors required for calculating the collision time are different in each case, and accordingly, the radar sensor 130, the camera Detailed information transmitted from the sensor 140 and the turning angle sensor 150 to the collision time measurement module 120 is different from each other.

먼저, 주행 동선 상의 장애물을 인식하는 경우를 레이더 센서(130), 카메라 센서(140)로부터 충돌시간 측정모듈(120)로 전달되는 세부 정보는 다음과 같다. 레이더 센서(130)는 건설장비와 장애물 사이의 상대거리 및 상대속도(v)를 측정하고, 카메라 센서(140)는 장애물의 방위각을 측정한다. 레이더 센서(130) 및 카메라 센서(140)에 의해 측정된 상대거리, 상대속도(v) 및 장애물의 방위각 정보는 충돌시간 측정모듈(120)로 전달되며, 충돌시간 측정모듈(120)은 측정된 상대거리와 레이더의 설치위치( 및 장비크기)를 고려하여 장애물과의 차단거리(d)를 산출하고 최종적으로 식 1을 통해 주행 동선 상에서의 장애물과의 충돌시간(t D )을 계산한다. First, detailed information transmitted from the radar sensor 130 and the camera sensor 140 to the collision time measurement module 120 in the case of recognizing an obstacle on the driving movement line is as follows. The radar sensor 130 measures the relative distance and relative speed v between the construction equipment and the obstacle, and the camera sensor 140 measures the azimuth angle of the obstacle. The relative distance, relative speed ( v ), and azimuth information of the obstacle measured by the radar sensor 130 and the camera sensor 140 are transmitted to the collision time measurement module 120, and the collision time measurement module 120 is measured. Considering the relative distance and the installation location (and equipment size) of the radar, the blocking distance ( d ) between the obstacles is calculated, and finally the collision time ( t D ) with the obstacles on the moving line is calculated through Equation 1.

다음으로, 선회 동선 상의 장애물을 인식하는 경우를 레이더 센서(130), 카메라 센서(140) 및 선회각 센서(150)로부터 충돌시간 측정모듈(120)로 전달되는 세부 정보는 다음과 같다. 레이더 센서(130)는 건설장비와 장애물 사이의 상대거리 및 상대속도를 측정하고, 카메라 센서(140)는 횡방향 상대속도, 장애물의 크기 및 장애물 방위각을 측정하며, 선회각 센서(150)는 선회속도를 측정한다. 레이더 센서(130), 카메라 센서(140) 및 선회각 센서(150)에 의해 측정된 상대거리, 상대속도, 횡방향 상대속도, 장애물의 크기, 장애물 방위각(θ), 선회속도(ω) 정보는 충돌시간 측정모듈(120)로 전달되며, 충돌시간 측정모듈(120)은 식 2를 통해 선회 동선 상에서의 장애물과의 충돌시간(t s )을 계산한다. Next, detailed information transmitted from the radar sensor 130, the camera sensor 140, and the turning angle sensor 150 to the collision time measurement module 120 in the case of recognizing an obstacle on the turning movement line is as follows. The radar sensor 130 measures the relative distance and relative speed between the construction equipment and the obstacle, the camera sensor 140 measures the relative speed in the lateral direction, the size of the obstacle, and the obstacle azimuth, and the turning angle sensor 150 is turning Measure your speed. Relative distance, relative speed, lateral relative speed, obstacle size, obstacle azimuth angle ( θ ), turning speed ( ω ) information measured by the radar sensor 130, camera sensor 140 and turning angle sensor 150 It is transmitted to the collision time measurement module 120, and the collision time measurement module 120 calculates the collision time t s with the obstacle on the turning line through Equation 2.

상기 모니터(160) 및 경보장치(170)는 상기 충돌시간 측정모듈(120)에 의해 계산된 충돌시간에 대응되는 경고정보를 작업자 및 보행자에게 알리는 역할을 한다. 구체적으로, 상기 모니터(160)는 카메라 센서(140)에 의해 획득된 화상 즉, 하나 또는 복수의 장애물이 존재하는 화상을 디스플레이하며, 해당 화상 속의 각 장애물은 서로 다른 충돌시간으로 구분되며, 충돌시간별로 각 장애물을 구분하여 표시할 수 있다. 예를 들어, 안전구역(도 2의 반경 R2 밖의 영역), 위험경고구역(도 2의 반경 R1과 R2 사이의 영역), 위험구역(도 2의 반경 R1 이내의 영역)으로 구분하여 각 구역별로 장애물의 색깔을 달리 표시할 수 있다. 또한, 주행 동선 기준으로 안전구역은 충돌시간 3초 이상(선회 동선 기준인 경우 3초 이상), 위험구역은 충돌시간 1초 미만(선회 동선 기준인 경우 1초 미만), 위험경고구역은 안전구역과 위험구역 사이의 충돌시간으로 설정할 수 있다. 한편, 충돌시간이 3초 이상(선회 동선 기준인 경우 3초 이상)에 해당되더라도 장애물과의 최단거리에 따라 위험구역으로 간주될 수 있다. The monitor 160 and the alarm device 170 serve to inform workers and pedestrians of warning information corresponding to the collision time calculated by the collision time measurement module 120. Specifically, the monitor 160 displays an image acquired by the camera sensor 140, that is, an image in which one or more obstacles exist, and each obstacle in the image is divided into different collision times, and each collision time Each obstacle can be marked separately. For example, it is divided into a safety zone (area outside radius R 2 in Fig. 2), a danger warning area (area between radius R 1 and R 2 in Fig. 2), and danger zone (area within radius R 1 in Fig. 2). Therefore, the color of obstacles can be displayed differently for each area. In addition, based on the driving traffic, the safety zone has a collision time of 3 seconds or more (3 seconds or more in the case of a turning traffic line), a danger zone with a collision time of less than 1 second (if a turning traffic line is the standard, less than 1 second), and the danger warning zone is a safety zone. It can be set as the collision time between the and the danger zone. On the other hand, even if the collision time is 3 seconds or more (3 seconds or more in the case of a turning movement line), it may be considered a dangerous area according to the shortest distance to an obstacle.

상술한 방법 이외에, 모니터(160)의 상단부에 안전구역, 위험경고구역, 위험구역각각에 해당되는 색깔이 표시되도록 할 수 있다(도 3 참조). In addition to the above-described method, a color corresponding to each of the safety zone, the danger warning zone, and the danger zone may be displayed on the upper end of the monitor 160 (see FIG. 3).

상기 경보장치(170)는 건설장비의 일측에 장착되어 건설장비 주변의 보행자 등에게 경고정보를 알리는 역할을 하는 것으로서, 경광등 또는 스피커 등으로 구성될 수 있다. 경광등, 스피커 등의 경보장치(170)는 장애물의 위치가 위험경고구역에 들어서면 작동되도록 할 수 있다. The alarm device 170 is mounted on one side of the construction equipment and serves to inform pedestrians around the construction equipment of warning information, and may be configured as a warning light or a speaker. The alarm device 170 such as a beacon or speaker may be operated when the position of an obstacle enters the danger warning zone.

상술한 바와 같이 모니터(160) 및 경보장치(170)를 통해 작업자와 보행자 등에게 경보정보를 알림과 함께 건설장비의 동작을 제어할 수도 있다. 구체적으로, 상기 장애물 충돌방지서버(110)는 충돌시간 측정모듈(120)에 의해 측정된 충돌시간이 상술한 위험경고구역에 해당되는 경우 건설장비의 주행속도 또는 선회속도를 감속시킬 수 있으며, 나아가 충돌시간 측정모듈(120)에 의해 측정된 충돌시간이 상술한 위험구역에 해당되는 경우 건설장비의 주행 및 선회를 정지시킬 수 있다. As described above, through the monitor 160 and the alarm device 170, it is possible to control the operation of the construction equipment together with alarm information to workers and pedestrians. Specifically, when the collision time measured by the collision time measurement module 120 corresponds to the above-described danger warning zone, the obstacle collision avoidance server 110 can reduce the driving speed or turning speed of the construction equipment, and further When the collision time measured by the collision time measurement module 120 corresponds to the above-described danger zone, driving and turning of the construction equipment may be stopped.

110 : 장애물 충돌방지서버 120 : 충돌시간 측정모듈
130 : 레이더 센서 140 : 카메라 센서
150 : 선회각 센서 160 : 모니터
170 : 경보장치110: obstacle collision prevention server 120: collision time measurement module
130: radar sensor 140: camera sensor
150: turning angle sensor 160: monitor
170: alarm device

Claims (10)

건설장비의 주행 또는 선회 동작시 장애물과의 충돌시간을 계산하는 충돌시간 측정모듈; 및
충돌시간 측정모듈, 레이더 센서, 카메라 센서, 선회각 센서, 모니터 및 경보장치를 제어하며, 이를 바탕으로 장애물의 인식, 충돌시간 계산의 제어, 계산된 충돌시간을 기반으로 한 각 장애물의 디스플레이, 계산된 충돌시간을 기반으로 한 경보장치의 동작을 제어하는 상기 장애물 충돌방지서버;를 포함하여 이루어지는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
A collision time measurement module for calculating a collision time with an obstacle during the driving or turning operation of the construction equipment; And
Controls collision time measurement module, radar sensor, camera sensor, turning angle sensor, monitor and alarm device, based on this, recognizes obstacles, controls collision time calculation, displays and calculates each obstacle based on the calculated collision time. The obstacle collision prevention server for controlling the operation of the alarm device based on the collision time;
 제 1 항에 있어서, 상기 충돌시간 측정모듈은 아래의 식 1을 통해 주행 동선 상에서의 장애물과의 충돌시간(t D )을 계산하는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
(식 1)
Figure pat00009

(t D 는 주행 동선 상에서의 장애물과의 충돌시간, d는 건설장비와 장애물 사이의 최단거리, v는 상대속도)
The system of claim 1, wherein the collision time measurement module calculates a collision time ( t D ) with an obstacle on a moving line through Equation 1 below.
(Equation 1)
Figure pat00009

( t D is the collision time with an obstacle on the moving line, d is the shortest distance between the construction equipment and the obstacle, v is the relative speed)
 제 1 항에 있어서, 상기 충돌시간 측정모듈은 아래의 식 2를 통해 선회 동선 상에서의 장애물과의 충돌시간(t s )을 계산하는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
(식 2)
Figure pat00010

(t s 는 선회 동선 상에서의 장애물과의 충돌시간, θ m 은 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도, ω는 건설장비의 선회속도, f(ω)는 선회정지시 건설장비가 밀리는 선회각)
The system of claim 1, wherein the collision time measurement module calculates the collision time ( t s ) with the obstacle on the turning line through Equation 2 below.
(Equation 2)
Figure pat00010

( t s is the collision time with an obstacle on the turning path, θ m is the angle in the direction of the remaining turning until the collision with the construction equipment, ω is the turning speed of the construction equipment, and f (ω) is the turning that the construction equipment is pushed when the turning is stopped. bracket)
 제 3 항에 있어서, 상기 건설장비와 장애물 충돌까지 남은 선회 진행방향 각도(θ m )는 아래의 식 3 또는 식 4를 통해 계산되며, 식 3은 건설장비가 장애물 쪽으로 선회하는 경우(θ m < π)이고, 식 4는 건설장비가 장애물 반대쪽으로 선회하는 경우(θ m ≥ π)인 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
(식 3)
Figure pat00011

(식 4)
Figure pat00012

(식 3 및 식 4에 있어서, (X, Y)는 선회시 건설장비가 장해물과 부딪히는 위치이고, f(ω)는 선회정지시 건설장비가 밀리는 선회각이며, ω는 건설장비의 선회속도(반시계방향 : ω ≥ 0, 시계방향 : ω < 0)이다)
The method of claim 3, wherein the angle ( θ m ) in the turning direction remaining until the collision between the construction equipment and the obstacle is calculated through Equation 3 or 4 below, and Equation 3 is when the construction equipment turns toward the obstacle ( θ m < π), and Equation 4 is an obstacle collision avoidance system for construction equipment, characterized in that when the construction equipment turns to the opposite side of the obstacle ( θ m ≥ π).
(Equation 3)
Figure pat00011

(Equation 4)
Figure pat00012

(In Equations 3 and 4, (X, Y) is the position where the construction equipment collides with the obstacle when turning, f(ω) is the turning angle at which the construction equipment is pushed when the turning is stopped, and ω is the turning speed of the construction equipment ( Counterclockwise: ω ≥ 0, clockwise: ω <0))
 제 2 항에 있어서, 레이더 센서는 건설장비와 장애물 사이의 상대거리 및 상대속도(v)를 측정하고, 카메라 센서는 장애물의 방위각을 측정하며,
레이더 센서 및 카메라 센서에 의해 측정된 상대거리, 상대속도(v) 및 장애물의 방위각 정보는 충돌시간 측정모듈로 전달되며, 충돌시간 측정모듈은 측정된 상대거리와 레이더의 설치위치 및 장비크기를 고려하여 장애물과의 차단거리(d)를 산출하고 최종적으로 식 1을 통해 주행 동선 상에서의 장애물과의 충돌시간(t D )을 계산하는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
The method of claim 2, wherein the radar sensor measures the relative distance and relative speed ( v ) between the construction equipment and the obstacle, and the camera sensor measures the azimuth angle of the obstacle,
Relative distance, relative speed ( v ) and azimuth information of obstacles measured by radar sensor and camera sensor are transmitted to the collision time measurement module, and the collision time measurement module considers the measured relative distance, the radar installation location, and equipment size. Thus, the obstacle collision avoidance system of construction equipment, characterized in that calculating the blocking distance ( d ) with the obstacle and finally calculating the collision time ( t D ) with the obstacle on the moving line through Equation 1.
 제 3 항에 있어서, 레이더 센서는 건설장비와 장애물 사이의 상대거리 및 상대속도를 측정하고, 카메라 센서는 횡방향 상대속도, 장애물의 크기 및 장애물 방위각(θ)을 측정하며, 선회각 센서는 선회속도를 측정하며,
레이더 센서, 카메라 센서 및 선회각 센서에 의해 측정된 상대거리, 상대속도, 횡방향 상대속도, 장애물의 크기, 장애물 방위각(θ), 선회속도(ω) 정보는 충돌시간 측정모듈로 전달되며, 충돌시간 측정모듈은 식 2를 통해 선회 동선 상에서의 장애물과의 충돌시간(t s )을 계산하는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
The method of claim 3, wherein the radar sensor measures the relative distance and relative speed between the construction equipment and the obstacle, the camera sensor measures the lateral relative speed, the size of the obstacle, and the obstacle azimuth ( θ ), and the turning angle sensor Measure the speed,
Relative distance, relative speed, lateral relative speed, size of obstacle, obstacle azimuth angle ( θ ), turning speed ( ω ) information measured by radar sensor, camera sensor, and turning angle sensor are transmitted to the collision time measurement module, and collision The time measurement module is an obstacle collision avoidance system of construction equipment, characterized in that it calculates the collision time ( t s ) with the obstacle on the turning line through Equation 2.
 제 1 항에 있어서, 상기 충돌시간 측정모듈에 의해 계산된 충돌시간에 대응되는 경고정보를 작업자에게 알리는 역할을 하는 모니터를 더 구비하며,
상기 모니터는 카메라 센서에 의해 획득된 화상을 디스플레이하며, 해당 화상 속의 각 장애물은 서로 다른 충돌시간으로 구분되며, 충돌시간별로 각 장애물을 구분하여 표시되는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
The method of claim 1, further comprising a monitor serving to inform an operator of warning information corresponding to the collision time calculated by the collision time measurement module,
The monitor displays an image acquired by a camera sensor, and each obstacle in the image is divided into different collision times, and each obstacle is classified and displayed for each collision time.
 제 7 항에 있어서, 상기 충돌시간별로 각 장애물이 안전구역, 위험경고구역, 위험구역으로 구분되고, 각 구역별로 장애물의 색깔이 달리 표시되는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
[8] The system of claim 7, wherein each obstacle is divided into a safety zone, a danger warning zone, and a danger zone for each collision time, and the color of the obstacle is displayed differently for each zone.
 제 8 항에 있어서, 상기 장애물 충돌방지서버는, 충돌시간 측정모듈에 의해 측정된 충돌시간이 위험경고구역에 해당되는 경우 건설장비의 주행속도 또는 선회속도를 감속시키며, 충돌시간 측정모듈에 의해 측정된 충돌시간이 위험구역에 해당되는 경우 건설장비의 주행 및 선회를 정지시키는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템.
The method of claim 8, wherein the obstacle collision avoidance server decelerates the driving speed or turning speed of the construction equipment when the collision time measured by the collision time measuring module corresponds to the danger warning zone, and measured by the collision time measuring module. An obstacle collision avoidance system for construction equipment, characterized in that stopping the driving and turning of the construction equipment when the collision time corresponds to the danger zone.
 제 1 항에 있어서, 건설장비의 일측에 장착되어 건설장비 주변의 보행자 등에게 경고정보를 알리는 역할을 하는 경보장치가 더 구비되는 것을 특징으로 하는 건설장비의 장애물 충돌방지시스템. The system for preventing collision of obstacles of construction equipment according to claim 1, further comprising an alarm device installed on one side of the construction equipment to notify warning information to pedestrians around the construction equipment.
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