KR20240051064A - Positioning system for moving objects, collision avoidance system using the same - Google Patents

Abstract

The present invention relates to a positioning system for a moving object and a collision prevention system using the same.
According to an embodiment of the present invention, the position of a moving object such as a crane is measured in an indoor work environment where a GPS detector cannot be used, and collision with surrounding obstacles (e.g., loaded cargo, other cranes, etc.) is based on the measured position. A positioning system for a moving object configured to prevent collisions and a collision prevention system using the same are disclosed.

Description

Positioning system for moving objects, collision avoidance system using the same {Positioning system for moving objects, collision avoidance system using the same}

The present invention relates to a positioning system for a moving object and a collision prevention system using the same, which measures the position of a moving object such as a crane in an indoor work environment where a GPS detector cannot be used, and based on the measured position, surrounding obstacles (e.g., loading This relates to a positioning system for a moving object configured to prevent collisions with existing cargo, other cranes, etc., and a collision prevention system using the same.

Technologies have been proposed to prevent collisions with surrounding obstacles (e.g., loaded cargo, other cranes, etc.) when moving a moving object such as a crane.

As an example of this prior art, Korean Patent Publication No. 10-2009-0072329 (2009.07.02) relates to a crane collision prevention and monitoring system, which is installed for each of a plurality of cranes, such as a Golias crane, a jib crane, or a tower crane, and each A plurality of GPS receivers that acquire and transmit GPS coordinates regarding the crane; And the GPS coordinates of each crane transmitted from the GPS receiver, the rotation angle and tilt information of the jib crane boom transmitted from the first rotation sensor and tilt sensor installed on the jib crane boom, and the rotation angle and tilt information transmitted from the second rotation sensor installed on the tower crane boom. We proposed a configuration that includes a main management unit that predicts collisions between cranes using the rotation angle information of each tower crane boom.

As another example of prior art, Korean Patent Publication No. 10-2011-0000462 (2011.01.03) relates to a crane collision prevention device using a mixed collision detection method, which uses one or more GPS receivers installed on the crane to detect the crane's GPS. Acquires coordinates, transmits the acquired GPS coordinate information to the main management unit, detects collision signal information from collision detection sensors installed on cranes, moving objects, and fixed obstacles fixed at the work site, and transmits it to the main management unit. proposed a configuration that predicts collisions at work sites based on the GPS coordinate information and collision signal information transmitted from the GPS receiver and collision detection sensor through a communication network including communication means.

As another example of prior art, Republic of Korea Patent Publication No. 10-2019-0078984 (2019.07.05.) relates to a monitoring system for preventing collision of salvaged objects with cranes, and monitors the salvaged objects with the main camera and sub-camera mounted on the crane. Image detection means for generating a three-dimensional image; Operation detection means for detecting a change in the position of the crane as well as a change in the position of the lifted object; and a control means for controlling the image detection means and the operation detection means according to a set algorithm.

However, the above prior technologies are intended for outdoor work environments such as shipyard sites, and are difficult to apply to an indoor work environment with a roof in that they detect the location of the crane and/or salvage object by installing a GPS detector on the boom bar of the crane. there was.

Republic of Korea Public Patent No. 10-2009-0072329 (2009.07.02) Republic of Korea Public Patent No. 10-2011-0000462 (2011.01.03) Republic of Korea Public Patent No. 10-2019-0078984 (2019.07.05.)

The present invention was developed in consideration of the above problems, and determines the position of a moving object such as a crane in an indoor work environment where a GPS detector cannot be used. Based on the determined position, surrounding obstacles (e.g., loaded cargo, other cranes) are determined. The purpose is to provide a positioning system for moving objects configured to prevent collisions with objects (e.g., etc.) and a collision prevention system using the same.

According to one aspect of the present invention in consideration of the above purpose, based on a plurality of objects linearly arranged at preset intervals and each displaying an identification value, the plurality of objects move based on a linear path set along the linear arrangement of the plurality of objects. A system for determining the position of a moving object, comprising: a camera installed on the moving object and capturing an identification value displayed on an object closest to the moving object based on a preset shooting direction; A LiDAR unit installed on the moving object and measuring a distance value and direction to an object closest to the moving object based on the shooting direction; and a positioning unit that determines the position of the moving object on the linear path based on the identification value of the object captured through the camera and the distance value and direction to the object measured through the lidar unit. Positioning for a moving object configured to include a. The system starts.

Preferably, the object is a building pillar arranged linearly at a preset interval, the identification value is a pillar identification number displayed on the side of the building pillar, and the moving object is a crane that can move based on a linear path.

Preferably, the positioning unit determines the one closest to the moving object based on information about the preset interval between each object, information about the identification value displayed for each object, and the identification value of the object captured through the camera. Make a first decision regarding where the object is located along the direction of the linear arrangement based on the starting point of the linear arrangement of the plurality of objects, and determine the distance value and direction to the object measured through the lidar unit. Based on this, a second decision is made regarding where the moving object is located along the direction of the linear arrangement with respect to the measured object, and based on the result of the first decision and the second decision, the linear arrangement is made based on the result of the first decision and the second decision. Determine the position of the moving object on the path.

According to another aspect of the present invention, a system for preventing collision of a moving object based on the position of the moving object determined through the positioning system, wherein the position of the obstacle obtained through an input and the linear position determined through the positioning unit of the positioning system A collision avoidance system for a moving object is disclosed, including a control unit that controls movement of the moving object so that it does not collide with the obstacle, based on the position of the moving object on the path.

Preferably, the obstacle is another crane capable of moving based on another linear path or cargo transported therethrough, and the position of the obstacle is determined through another positioning system installed in the other crane.

The present invention determines the position of a moving object such as a crane in an indoor work environment where a GPS detector cannot be used and prevents collision with surrounding obstacles (e.g., loaded cargo, other cranes, etc.) based on the determined position. There is an advantage in providing a positioning system for moving objects configured to enable collision prevention and collision prevention using this system.

1 is a configuration diagram of a positioning system according to an embodiment of the present invention;
2 is a configuration diagram of a collision avoidance system according to an embodiment of the present invention;
3 is a schematic diagram showing the use state of the positioning system according to an embodiment of the present invention;
Figure 4 is a schematic diagram of the use state of the positioning system in the plane direction according to an embodiment of the present invention;
Figure 5 is a planar direction schematic diagram for explaining the position determination process of the positioning system according to an embodiment of the present invention.
Figure 6 is a schematic diagram for explaining a collision avoidance system according to another embodiment of the present invention.

The present invention can be implemented in various other forms without departing from its technical idea or main features. Accordingly, the embodiments of the present invention are merely examples in all respects and should not be construed as limited.

Terms such as first, second, etc. are used only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected to or connected to the other component, but other components may also exist in between.

As used in this application, singular expressions include plural expressions, unless the context clearly dictates otherwise. In the present application, terms such as “comprise”, “provide”, “have”, etc. are intended to express the presence of the components described in the specification or a combination thereof, but do not indicate the possibility that other components or features may be present or added. It is not excluded in advance.

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

Figure 1 is a configuration diagram of a positioning system according to an embodiment of the present invention, Figure 3 is a schematic diagram of the use state of the positioning system according to an embodiment of the present invention, and Figure 4 is a plan view of use of the positioning system according to an embodiment of the present invention. State schematic diagram, FIG. 5 is a planar direction schematic diagram for explaining the position determination process of the positioning system according to an embodiment of the present invention.

The positioning system (PS) of this embodiment is based on a plurality of objects (2) that are linearly arranged according to a preset interval (D) and each of which displays an identification value (3), and the linearity of the plurality of objects (2) is It is a system that determines the position of a moving object (4) based on a linear path (T) set along the arrangement.

The positioning system (PS) of this embodiment includes a camera 10, a LiDAR unit 20, and a positioning unit 30.

The camera 10 is installed on the moving object 4 and captures the identification value 3 displayed on the object 2 closest to the moving object 4 based on a preset shooting direction. For example, the preset shooting direction may be forward with respect to the moving direction (Y in FIG. 3) of the moving object 4, or may be an inclined direction capable of photographing the object 2 close to the front.

The LiDAR unit 20 is installed on the moving object 4, and measures the distance value and direction with the object 2 closest to the moving object 4 based on the shooting direction.

Lidar is a device that accurately depicts the surroundings by firing a laser pulse, receiving the light reflected from surrounding objects, and measuring the distance and direction to the object.

In general, LiDAR (Light Detection And Ranging, LiDAR) includes a laser, scanner, receiver, and range calculation module. Lasers have different wavelengths depending on their purpose, and light with a wavelength of 600 to 1000 nm is usually used. A scanner is a part that obtains information by scanning the surroundings at high speed, and various types of mirrors can be used. The receiver is a part that detects reflected and returned light, and generally has the function of detecting and amplifying photons.

The positioning unit 30 is based on the identification value 3 of the object 2 photographed through the camera 10 and the distance value and direction of the object 2 measured through the lidar unit 20. Determine the position of the moving object 4 on the linear path T.

For example, the positioning unit 30 may be implemented in the form of a computing module equipped with an MCU, memory, communication unit, power unit, data interface, etc. For example, the power unit may be a rechargeable battery, the communication unit may include a wireless communication module that communicates wirelessly with an external server, and the data interface may be connected to various known data storage media or data transmission cables to input or transmit data. Can be printed.

In a preferred example, the object 2 is a building pillar arranged linearly according to a preset interval D, and the identification value 3 may be a pillar identification number displayed on the side of the building pillar. The object 2 is not necessarily limited to building pillars.

For example, the mobile body 4 is a crane that can move based on a linear path (T), and the linear path (T) may be a movable rail installed to move the crane.

For example, the object 2 illustrated in FIGS. 3 to 5 may be 21 building pillars sequentially assigned identification numbers 0 to 20, and Figure 4 illustrates building pillars with identification numbers 12 to 15. The number and spacing of objects 2 can be changed. The spacing may be set differently for each pillar.

In the examples of FIGS. 3 to 5, the preset spacing D is 10 m, and the building pillar (not shown) with identification number 0 is the starting point of the linear arrangement of the plurality of objects 2 and the direction of the linear arrangement ( It has a position of 0m based on Y), the building pillar with identification number 1 has a position of 10m based on the direction (Y) of the linear arrangement, and the building pillar with identification number 12 has a position based on the direction (Y) of the linear arrangement. It has a position of 120m, and the building pillar with identification number 13 has a position of 130m based on the direction (Y) of the linear arrangement.

Preferably, the positioning unit 30 performs a first determination and a second determination to determine the position of the moving object 4 on the linear path T.

The positioning unit 30 provides information about the preset distance D between each object 2, information about the identification value 3 displayed for each object 2, and captures images through the camera 10. Based on the identification value 3 of one object 2, the one object 2 closest to the moving object 4 is selected from the linear arrangement based on the starting point of the linear arrangement of the plurality of objects 2. Make a first decision about where you are along the direction (Y).

In addition, the positioning unit 30 determines that, based on the distance value and direction to the object 2 measured through the lidar unit 20, the moving object 4 moves the linear axis based on the measured object 2. A second determination is made as to where the position is along the direction of placement (Y).

Additionally, the positioning unit 30 determines the position of the moving object 4 on the linear path T based on the results of the first decision and the second decision.

For example, the identification value 3 of the object 2 captured through the camera 10 may be in the form of numbers, letters, or symbols, and may be detected using known image analysis technology. For example, there are many known image analysis technologies for recognizing numbers and letters of a car license plate based on images captured by a camera, and these known image analysis technologies can be used.

The positioning process of the positioning system (PS) of this embodiment will be described by way of example.

3 to 5, the preset distance D between each object 2 is 10 m, and the identification value 3 displayed for each object 2 is the starting point of linear arrangement (identification number 0). The identification numbers are 0 to 20 along the direction (Y) of the linear arrangement based on the building pillar), and the identification value (3) of the object (2) photographed through the camera (10) is '13'.

Therefore, the positioning unit 30 determines that one object 2 closest to the moving object 4 is a building pillar with identification number 13, and that the building pillar is the starting point of the linear arrangement of the plurality of objects 2. The result of the first decision can be calculated as being located 130 m away along the direction (Y) of the linear arrangement based on (building column with identification number 0).

In addition, based on the distance value (r) and direction (a) with the object 2 measured through the lidar unit 20, the moving object 4 is arranged in the linear manner with respect to the measured object 2. A second decision may be made regarding which position (y1) is along the direction (Y). For example, if the distance value (r) to the object (2, building pillar with identification number 13) measured in FIG. 5 is 3 m and the direction (a) is 45 degrees, the moving object ( The position value y1 in 4) is calculated as -2.121m (truncated after the fourth decimal place).

Based on the results of the first decision and the second decision, with respect to the building pillar with identification number 0, the position of the mobile object 4 on the linear path T is along the direction Y of the linear arrangement. It is determined to be located 127.879 m (= 130 m - 2.121 m) away.

Figure 2 is a configuration diagram of a collision avoidance system according to an embodiment of the present invention.

The collision prevention system (AS) of this embodiment is a system for preventing collision of the moving object 4 based on the position of the moving object 4 determined through the positioning system PS.

The collision avoidance system (AS) of this embodiment includes the positioning system (PS), and together with the position of the obstacle 5 obtained through input and the position determined through the positioning unit 30 of the positioning system (PS) It is configured to include a control unit 40 that controls the movement of the mobile object 4 so as not to collide with the obstacle 5, based on the position of the mobile object 4 on the linear path T.

For example, the control unit 40 may be implemented in the form of a computing module equipped with an MCU, memory, communication unit, power unit, data interface, etc. Preferably, the control unit 40 includes the functions of the positioning unit 30 or is implemented in the form of a computing module linked with the positioning unit 30.

3 to 5, if the position of the moving object 4 on the linear path T is determined in the manner described above, and the position of the obstacle 5 on the linear path T is obtained through input, When the mobile object 4 approaches the position of an obstacle 5 while moving along the direction Y of the linear arrangement, the control unit 40 can prevent a collision by stopping the movement of the mobile object 4. Referring to FIG. 4, for example, if the location of the obstacle 5 is input as being 132 m away along the direction (Y) of the linear arrangement based on the building pillar with identification number 0, the mobile object 4 ) is determined to have reached a position of 130 m while moving along the direction (Y) of the linear arrangement, the control unit 40 can prevent a collision by stopping the movement of the moving object 4.

As an example, the obstacle 5 is a surrounding obstacle (e.g., loaded cargo) that has a risk of collision with the crane or cargo transported through the crane in an indoor work environment where a moving object 4 such as a crane moves on a linear path T. , other cranes, etc.).

As an example, the location of the obstacle 5 is obtained by inputting the measured value through various sensors (e.g., infrared sensor, radar sensor, lidar sensor, UWB sensor) installed in or around the indoor work environment to the control unit 40. Alternatively, images captured through cameras installed in or around the indoor work environment may be obtained by being input to the control unit 40 and analyzed. For example, using three distance measuring sensors whose coordinates can be known based on spatial information of the indoor work environment, the location of obstacles can be calculated through trilateration.

As another example, the position of the previously known obstacle 5 may be coordinate input based on spatial information of the indoor work environment through the administrator input means of the collision avoidance system (AS).

Figure 6 is a schematic diagram for explaining a collision avoidance system according to another embodiment of the present invention.

As another example, the obstacle may be another crane 4 movable based on another linear path T or cargo 5 transported therethrough. In this case, the location of the obstacle can be determined through another positioning system (PS) installed on the other crane.

There are cases where a plurality of cranes (4, 4') are installed in an indoor work environment such as a factory or cargo warehouse. A plurality of cranes may be installed in parallel in a parallel direction, or may be installed to have movement paths at different angles (e.g., 90 degrees) with a height difference in the movement space.

For example, as shown in FIG. 6, when a plurality of cranes 4 and 4' are installed to have movement paths at different angles (e.g., 90 degrees) with a difference in the height of the movement space, each crane 4, 4') can determine the position on each linear path (T, T') in real time through each positioning system (PS).

For example, the crane 4 moving on the linear path T on the upper side or the cargo 5 transported thereon collides with the crane 4 ′ moving on the linear path T′ on the lower side. There is a risk of doing so.

In this case, the crane (4, including hoist) moving on the upper linear path (T) or the cargo (5) transported through it is connected to the crane (4') moving on the lower linear path (T'). can be seen as an obstacle to

The position of the crane (4, including the hoist) moving on the upper linear path (T) or the cargo (5) transported through it can be determined through the positioning system (PS) of the crane (4), and the position Information regarding is transmitted from the positioning system (PS) of the crane (4') moving on the linear path (T') on the lower side, and this can be identified as location information of the obstacle and movement control can be performed.

Although the present invention has been described with a focus on preferred embodiments with reference to the accompanying drawings, it is clear to those skilled in the art that many various and obvious modifications can be made from this description without departing from the scope of the present invention. Accordingly, the scope of the present invention should be interpreted by the stated claims to include these many modifications.

10: Camera
20: Raidavu
30: Positioning unit
40: control unit

Claims (5)

A system for determining the position of a moving object based on a linear path set along the linear arrangement of the plurality of objects, based on a plurality of objects linearly arranged at preset intervals and each displaying an identification value, comprising:
a camera installed on the moving object and capturing an identification value displayed on an object closest to the moving object based on a preset shooting direction;
A LiDAR unit installed on the moving object and measuring a distance value and direction to an object closest to the moving object based on the shooting direction; and
A positioning system for a moving object that includes a positioning unit that determines the position of the moving object on the linear path based on the identification value of the object captured through the camera and the distance value and direction to the object measured through the lidar unit. .
According to paragraph 1,
The object is a building pillar arranged linearly according to a preset interval,
The identification value is a pillar identification number displayed on the side of the building pillar,
A positioning system for a mobile object, characterized in that the mobile object is a crane that can move based on a linear path.
According to paragraph 1,
The positioning unit,
Based on information about the preset interval between each object, information about the identification value displayed for each object, and the identification value of the object captured through the camera, the one object closest to the moving object is selected from the plurality of objects. Make a first determination as to where along the direction of the linear arrangement is relative to the starting point of the linear arrangement,
Based on the distance value and direction to the object measured through the lidar unit, a second decision is made as to where the moving object is located along the direction of the linear arrangement with respect to the measured object,
A positioning system for a moving object, characterized in that, based on the results of the first determination and the result of the second determination, the position of the moving object on the linear path is determined.
A system for preventing collision of moving objects based on the position of the moving object determined through the positioning system according to any one of claims 1 to 3, comprising:
Based on the position of the obstacle obtained through input and the position of the moving object on the linear path determined through the positioning unit of the positioning system, a control unit for controlling the movement of the moving object so as not to collide with the obstacle; collision for a moving object comprising a prevention system.
According to clause 4,
The obstacle is another crane capable of moving based on another linear path or cargo transported through it,
A collision avoidance system for a moving object, wherein the location of the obstacle is determined through another positioning system installed on the other crane.

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