WO2008097015A1 - Système de perception de véhicules émettant des gaz nocifs et procédé associé - Google Patents

Système de perception de véhicules émettant des gaz nocifs et procédé associé Download PDF

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Publication number
WO2008097015A1
WO2008097015A1 PCT/KR2008/000708 KR2008000708W WO2008097015A1 WO 2008097015 A1 WO2008097015 A1 WO 2008097015A1 KR 2008000708 W KR2008000708 W KR 2008000708W WO 2008097015 A1 WO2008097015 A1 WO 2008097015A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
smoke
image
processing unit
taken
Prior art date
Application number
PCT/KR2008/000708
Other languages
English (en)
Inventor
Soon Hyun Ahn
Il Do Chang
Original Assignee
Rexgen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rexgen filed Critical Rexgen
Publication of WO2008097015A1 publication Critical patent/WO2008097015A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N21/49—Scattering, i.e. diffuse reflection within a body or fluid
    • G01N21/53—Scattering, i.e. diffuse reflection within a body or fluid within a flowing fluid, e.g. smoke
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1793—Remote sensing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis

Definitions

  • the present invention relates to system and method for automatic monitoring of smoke from a vehicle. More specifically, the present invention relates to automatic vehicular smoke monitoring system and method for automatic monitoring of a vehicle which emits smoke more than a reference value and processing a data obtained thus.
  • Background Art
  • the supervisor reproduces the image taken, and determines whether the pollution level of the smoke from the vehicle is higher than the reference value or not.
  • the supervision may also be made with an infrared sensor placed close to an exhaust hole of the vehicle to measure scattering of a light.
  • the placing of the infrared sensor close to the exhaust hole of the vehicle is not easy.
  • an object of the present invention is to provide an automatic vehicular smoke monitoring system for making automatic photograph taking, analyzing, and determining smoke from a vehicle and a license number of the vehicle without any supervisor; and a method therefor.
  • Another object of the present invention is to provide an automatic vehicular smoke monitoring system in which a reference of a pollution level is made obvious enough to be processed, not by human being, but by machines objectively without any misunderstanding; and a method therefor.
  • Another object of the present invention is to provide an automatic vehicular smoke monitoring system which can take supervisory data at a place distanced from an objective vehicle easily; and a method therefor.
  • a system for automatic monitoring of smoke from a vehicle includes a field processing unit including a vehicle sensing unit for sensing a vehicle, at least one camera for taking photographs of a license number of, and smoke from, the vehicle, an image data processing unit for converting an image taken thus to a data for processing an image to process the image, and making comparative operation on a reference value, and a data base for storing the data processed at the image data processing unit.
  • the system may further include a communication network for transmission of the data processed at the field processing unit, and a central managing unit for inspecting and determining a class to identify an owner of the vehicle with reference to the data from the field processing unit, the central managing unit including a managing server for remote control of the field processing unit, and an output unit for providing a result of determination at the managing server to the owner of the vehicle.
  • the field processing unit may include a control unit for controlling data and signal flows, a vehicle sensing unit for determining entry of the vehicle, and at least one camera for taking photographs of a license number of, and smoke from, the vehicle sensed at the vehicle sensing unit thus.
  • the system may further include a governmental information network connected to the central managing unit for identifying the owner of the vehicle and retrieving in- formation of the vehicle.
  • the image data processing unit may compare a reference image taken a state taken without the vehicle to an image taken with the vehicle, to determine a pollution level of the smoke from the vehicle.
  • the image data processing unit may use either a white and black gray scale of the image taken thus, or a color RGB data for determining the pollution level of the smoke.
  • the system may further include a sensor for sensing dust, and the managing server uses information on dust sensed at the sensor as a supplementary data in determining the pollution level of the smoke.
  • the system may further include a supplementary camera for taking a photograph of surroundings of the area wherein the photograph of the vehicle is to be taken, and the managing server uses an image of the surroundings of the area wherein the photograph of the vehicle is to be taken as a supplementary data on a weather and climate in determining the pollution level of the smoke.
  • the system may further include a thermal image camera for sensing a location of the smoke from the vehicle.
  • the system may further include a coat of a particular color applied on a surface of a road the photograph of the vehicle on which is to be taken.
  • a method for automatic monitoring of smoke from a vehicle includes a first step for sensing a running vehicle, a second step for taking photographs of a license number of and smoke from the running vehicle with a camera, a third step for determining a pollution level and information on the vehicle with reference to information taken thus in the second step, and a fourth step for informing a result of the determination in the third step to an owner of the vehicle.
  • the third step includes the step of obtaining the information on the vehicle from a governmental information network having information on the vehicle stored therein.
  • the third step includes the step of classifying the pollution level in determining the smoke from the vehicle.
  • the third step includes the step of comparing a darkness and a color of the image taken thus to a darkness and a color of a reference image in determining the smoke from the vehicle.
  • the system and method for automatic monitoring of smoke from a vehicle of the present invention has following advantageous effects.
  • the unmanned photograph taking of a license number of and smoke from a vehicle permits safe supervision.
  • the computerized processing permits accurate analyzing and processing of a pollution level and the like.
  • FIG. 1 illustrates a block diagram of a system for automatic monitoring of smoke from a vehicle in accordance with a preferred embodiment of the present invention
  • FIG. 2 illustrates a flow chart showing the steps of a method for automatic monitoring of smoke from a vehicle in accordance with a preferred embodiment of the present invention
  • FIG. 3 illustrates a perspective view of a field having a system for automatic monitoring of smoke from a vehicle in accordance with a preferred embodiment of the present invention applied thereto, schematically;
  • FIGS. 4(A) ⁇ 4(C) illustrate examples of photograph taking of smoke from a vehicle with the system for automatic monitoring of smoke from a vehicle in accordance with a preferred embodiment of the present invention.
  • FIG. 5 illustrates a photographic image taken over a vehicle.
  • the system for automatic monitoring of smoke from a vehicle in accordance with a preferred embodiment of the present invention includes a field processing unit 10 for sensing entry of a vehicle, taking a photograph of the vehicle sensed thus, and determining a pollution level of smoke from the vehicle with reference to a photograph and information, a communication network 20 for transmission of a result of the determination, a central managing unit 30 for providing a message of the result of the determination to an owner of the vehicle, and a governmental information network 40 connected to the central managing unit 30 for identifying the owner of the vehicle.
  • a field processing unit 10 for sensing entry of a vehicle, taking a photograph of the vehicle sensed thus, and determining a pollution level of smoke from the vehicle with reference to a photograph and information
  • a communication network 20 for transmission of a result of the determination
  • a central managing unit 30 for providing a message of the result of the determination to an owner of the vehicle
  • a governmental information network 40 connected to the central managing unit 30 for identifying the owner of the vehicle.
  • the field processing unit 10 serves to sense entry of a vehicle, and take a photograph of the vehicle sensed thus, i.e., serves to take a photograph of a vehicle making entry to a preset area, to obtain information thereon.
  • Any combination can be used s the field processing unit 10 as far as the combination has a system that can carry out above functions. For an example, the following system is viable.
  • the field processing unit 10 may include a control unit 1 for controlling data and signal flows, a vehicle sensing unit 2 for determining entry of the vehicle, at least one camera 3 for taking photographs of smoke from and a license number of the vehicle sensed thus, an image data processing unit 5 for analyzing images taken by the camera to obtain a pollution level and the license number of the vehicle, and a data base 6 for storing information on the photograph.
  • the field processing unit 10 includes the control unit.
  • the control unit 1 controls the vehicle sensing unit 2, the camera 3, the image data processing unit 3, and the data base 6 of the field processing unit.
  • the vehicle sensing unit 2 is included.
  • the vehicle sensing unit 2 senses the vehicle making entry into an area the camera 3 described later can take a photograph thereof, and informs the entry to the control unit 1.
  • any means that can sense the entry of the vehicle to a preset area can be used as the vehicle sensing unit 2, for an example, sensing means having a laser, or infrared sensor can be used.
  • the camera 3 is included. Any means which can take a photograph of the vehicle can be used as the camera 3, such as a CCTV.
  • the camera 3 may be a thermal image camera which can take a location of smoke from the vehicle, accurately.
  • the field processing unit 10 may further include the image data processing unit 5.
  • the image data processing unit 5 serves to analyze and process the image taken by the camera 3. That is, the image data processing unit 5 compares the image taken by the camera 3 to a reference image, to measure the pollution level thereof, and retrieves the license number of the vehicle. [50] The image data processing unit 5 may serve to convert the image taken thus into a digital data for easy processing and transmission. [51] The field processing unit 10 may further include the data base 6. The data base 6 serves to store the image taken by the camera 3, and the information processed at the image data processing unit 5.
  • the communication network 20 is included for transmission/ reception of the image and information (for an example, a time the photograph is taken, a location, a speed of the vehicle, and so on) processed at the field processing unit 10 to/from the central managing unit 30 and the like.
  • the communication network 20 may be a network.
  • the system of the present invention may further include the central managing unit
  • the central managing unit 30 serves to classify the pollution levels in steps with reference to the information received through the communication network 20 from the field processing unit 10.
  • the steps of classifying the result of determination may be a discipline level, a warning level, or an instruction level. Of course, the steps may be represented with numerals to determine in classes.
  • the central managing unit 30 includes a managing server 31 for performing above function.
  • the managing server 31 generates a result of determination with reference to the data and information received through the communication network 20.
  • the central managing unit 30 may further include an output unit 32 for outputting and providing a letter, an e-mail, or a text message to the owner of the vehicle on the result of determination of being the discipline level or the instruction level through steps of vehicle identification and so on in connection with a governmental information network 40 which will be described later.
  • the system of the present invention may further include the governmental information network 40.
  • the governmental information network 40 is a giant server having all information on the vehicle, such as the license number of the vehicle, fine, and so on, and searching means.
  • the system of the present invention may further include a sensor for sensing dust, and supplementary camera for taking photographs of surroundings of the area to be photographed.
  • the image and information of the dust sensor and the supplementary camera can be used as supplementary data in determination of the pollution level of the smoke from the vehicle.
  • the area a photograph of which is to be taken as the vehicle runs i.e., a surface of a road, may be coated with a particular color.
  • a white color For an example, a white color.
  • the method for automatic monitoring of smoke from a vehicle of the present invention includes a step for sensing a moving vehicle (S21), a step for taking a photograph of a license number of the moving vehicle with at least one camera (S22), a step for taking a photograph of gas from the vehicle with at least one camera (S23), a step for converting images taken thus into digital data (S24), a step for comparing the data having an image processing technique applied thereto to a preset reference value (S26), a step for storing information on an image of the vehicle which exceeds the reference value as a result of comparison to the reference value (S28), a step for inspecting and determining a pollution level of the smoke from the vehicle with reference to the image information and the photographic information (S29), and a step for providing a message according to a result of the determination.
  • S21 sensing a moving vehicle
  • S22 a step for taking a photograph of a license number of the moving vehicle with at least one camera
  • S23 a step for taking a photograph of
  • a vehicle sensing unit 2 senses entry of a running car into an area for taking a photograph (S21). Though there can be a variety of methods for sensing the vehicle, the vehicle can be sensed with a loop coil or a proximity sensor on a surface of a road on which the vehicle moves. Preferably, the vehicle sensing unit 2 may include means for measuring a speed of the vehicle together with passing of the vehicle.
  • the vehicle sensing unit 2 may include means for sensing entry or a speed of the vehicle, or both. Moreover, a plurality of the vehicle sensing units 2 may be provided as necessary, and utilized as a trigger signal of the at least one camera 3 described later.
  • the at least one camera 3 takes photographs of a license number of and gas from the running vehicle (S22, and S23). In this instance, the at least one camera 3 takes photographs of the vehicle passing through the area for taking a photograph at regular intervals in succession, to utilize the photographs as a data for determining the pollution level of the gas from the vehicle.
  • the photograph taking of the license number of, and gas from, the running vehicle can be made with one camera 3. In this instance, it is preferable that a rear of the running vehicle is taken.
  • cameras may be used, individually. That is, a first camera 3a and a second camera 3b may be used for taking a photograph of the license number of the running vehicle and the gas from the running vehicle, respectively.
  • the first camera 3a takes a photograph of a front of the vehicle
  • the second camera 3b takes a photograph of a rear of the vehicle.
  • the vehicle sensed at the vehicle sensing unit 2 such as a loop coil or the like may be identified with a counter
  • the vehicle may be identified with reference to the speed of the vehicle sensed at the vehicle sensing unit 2 by identifying the vehicle advanced a certain distance
  • the vehicle may be identified with a plurality of the vehicle sensing units 2 put into operation in succession, to make to understand the vehicles as the same vehicle.
  • an image is used as an image taken by the second camera 3b in a state the vehicle is passing through the photograph taking area of the second camera 3b after the second camera 3b receives a vehicle entry signal.
  • the second camera 3b takes the photograph of the vehicle right over, or in a slanted position above and in rear of, the vehicle, so that the image of the smoke from the vehicle can be compared clearly to a reference image in view of colors and darkness.
  • the reference image is an image of the area of the second camera 3b taken in a state there is no vehicle in the area.
  • supplementary cameras for taking surroundings of the area of the second camera 3b are included. That is, in general, darkness and colors of a photographic image may vary with weather and an atmospheric state. Therefore, by adding the supplementary cameras, variation of digital data on the photographic image influenced by the weather and atmospheric state of the moment the photograph is taken can be corrected.
  • a plurality of the cameras 3 may be provided according to purposes of use.
  • the image data processing unit 5 converts the images taken with the at least one of the camera 3 into a digital data (S24).
  • the images are converted into the digital data for easy and fast transmission of the license number of the vehicle, easy comparison of the photographic image taken by the second camera to the reference image, and easy and fast transmission of data.
  • the images can be converted into the digital data by a variety of methods and apparatuses.
  • an image processing technique is applied to the digital data (S25).
  • the image data processing unit applies the image processing technique to the digitized image information, to compare the darkness and color of the image of the vehicle in an entered state taken by the second camera to the darkness and color of the preset reference image (S26).
  • the reference image is an image of the area of the second camera 3b in a no vehicle state. That is, the reference image is an image of a no vehicle state taken by the second camera 3b, taken and stored in advance, or taken right after the entry of the vehicle is sensed.
  • a particular color for an example, a white color
  • a particular color is coated on a surface of the road in a photograph taking area of the second camera 3b for clear comparison of the color and darkness of the smoke from the vehicle to the color and darkness of the reference image.
  • the data base 6 can store information on the result of determination for a certain time period, together with the information on photograph taken thus (S27).
  • the information on the result of determination and the information on photograph taken thus is transmitted to the central managing unit 30 (S28).
  • the central managing unit 30 inspects and determines the pollution level of the smoke from the vehicle with reference to the information on the result of determination and the information on photograph taken thus (S29). However, it can be made that the inspection and determination of the pollution level of the smoke from the vehicle is performed at the image data processing unit 5.
  • the central managing unit 30 can determine the pollution level of the smoke by classifying the pollution level into an instruction level, a warning level, and discipline level.
  • a smoke sensor 4 may be provided in addition to the camera.
  • a dust sensor or the like may be provided, additionally.
  • the dust sensor By measuring and providing an amount and a grain size of the dust, the dust sensor enables the managing server to use the amount and the grain size of the dust as a supplementary data at the time of determination of the pollution level of the smoke.
  • a thermal image camera may be provided, for accurate sensing of a location of the smoke from the vehicle.
  • the system of the present invention provides the result of determination to the owner of the vehicle in a letter, e- mail, or text message, automatically (S30).
  • the output unit 32 secures a basic data of the vehicle, such as the owner of the vehicle, from the governmental information network 40, and generates an output material at an output device, which gives notice to the owner on the result of determination, such as instruction, discipline, or so on.
  • the system for automatic monitoring of smoke from a vehicle of the present invention may include a vehicle 101 running on a road 100 and smoke 102 from the vehicle, a photograph taking area 104 of the second camera 3b which takes a photograph of the smoke 102, a first camera 3a for sensing a license number of the vehicle, a column 105 for mounting the first, and second cameras thereto, a control unit 1, a vehicle sensing unit 2 for sensing entry of the vehicle, and a smoke sensor 4 for sensing the smoke vehicle, provided additionally.
  • the vehicle sensing unit 2 senses the vehicle, and transmits a sensed signal to the control unit 1.
  • control unit 1 senses a speed of entry of the vehicle together with the entry of the vehicle.
  • the first camera 3a sets a time point to take a photograph with reference to information on the speed of entry sensed thus, and transmits an image taken thus to the image data processing unit 5.
  • the second camera 3b sets a time point to take a photograph with reference to information on the speed of entry sensed thus, starts taking photographs starting from right before the vehicle enters into the photograph taking area to take a reference image 103 without the vehicle, and takes a photograph of the vehicle passing through the photograph taking area 104 and the smoke 102 from the vehicle at the same time if the vehicle enters into the photograph taking area.
  • the photograph taking of the second camera 3b proceeds for a preset number of times (N times) at a regular time intervals until the vehicle 101 moves out of the photograph taking area 104, completely. Then, the images taken in succession are transmitted to the image data processing unit 5.
  • the image data may be processed by using the image data taken in succession.
  • the present invention can provide a supplementary smoke sensor as means for sensing the smoke for making objective determination of the pollution level of the smoke from the vehicle.
  • the smoke sensor 4 senses a pollution state of the smoke from the vehicle, transmits a data thereof to the data processing unit 5, so that the data is used in determination of the pollution level of the smoke, additionally.
  • a thermal image camera may be provided additionally, for accurate sensing of a location of the smoke form the vehicle.
  • FIG. 4(A) illustrates the reference image of the photograph taking area 104 of the second camera right before the vehicle makes entry into the photograph taking area
  • FIG. 4(B) illustrates an image of a rear portion of the vehicle in a state the vehicle has entered the photograph taking area
  • FIG. 4(C) illustrates an image of a rear portion of the vehicle taken after a preset time period in a state the vehicle has entered the photograph taking area.
  • FIGS. 4(A), 4(B), and 4(C) are an example of images taken in succession within the photograph taking area.
  • FIGS. 4(A), 4(B), and 4(C) taken thus by the second camera 3b are digitized at the image processing unit 5, and transmitted to the central managing unit 30.
  • the location, shape and the like of the vehicle may be identified by image processing based on the images of FIGS. 4(A), 4(B), and 4(C).
  • FIG. 4(C) illustrates the vehicle moved forward of the vehicle in FIG. 4(B), and enables to determine an indeterminate form, i.e., diffusion of the smoke with reference to the reference image according to levels of generation of the smoke from the vehicles, even though there are no substantial changes other than location changes, such as an outline of the vehicle, compared to FIG. 4(B).
  • the diffusion of the smoke can be determined by analyzing a difference of darkness with reference to the reference image, or relative differences of data of RGB colors in determining the pollution level of the smoke.
  • Such an algorithm is formulated as an image interpreting program and loaded on the image data processing unit 5, and the image to be compared taken for comparison to the reference image is used as comparative data which is many sheets of images taken at regular time intervals.
  • the image interpreting program can interpret the pollution level of the smoke with a program in class.
  • the pollution level of the smoke may be determined with reference to a relative darkness level difference of a background image.
  • the system and method for automatic monitoring of smoke from a vehicle of the present invention senses a license number of the vehicle and a state of smoke from the vehicle with unmanned image camera, objectively determines a pollution level of the smoke sensed thus, and can make automatic sending of an instructive notice or a warning notice for the pollution level of the smoke to the owner of the vehicle which emits smoke higher than a reference level with reference to the result of determination.

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Abstract

L'invention concerne un système et un procédé visant à surveiller de manière automatique de la fumée s'échappant d'un véhicule. Ce système comprend une unité de traitement de terrain comprenant une unité de détection de véhicule destinée à détecter un véhicule; au moins un appareil photo destiné à prendre des photographies d'un numéro de plaque d'immatriculation de ce véhicule et de la fumée s'échappant de ce véhicule; une unité de traitement de données d'image destinée à convertir une image ainsi prise en données en vue d'un traitement d'images, ce qui permet de traiter cette image, et à effectuer une comparaison par rapport à une valeur de référence; et une base de données destinée à stocker les données traitées par l'unité de traitement de données d'image.
PCT/KR2008/000708 2007-02-08 2008-02-05 Système de perception de véhicules émettant des gaz nocifs et procédé associé WO2008097015A1 (fr)

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KR1020070013051A KR100963279B1 (ko) 2007-02-08 2007-02-08 매연차량 자동판독 시스템 및 그 방법
KR10-2007-0013051 2007-02-08

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CN105259304A (zh) * 2015-09-16 2016-01-20 张世达 一种车辆尾气污染物在线监测系统和方法
CN105741560A (zh) * 2016-02-22 2016-07-06 中国石油天然气股份有限公司安徽销售分公司 一种用于加油站的车辆识别方法
CN108064388A (zh) * 2017-11-16 2018-05-22 深圳前海达闼云端智能科技有限公司 人物搜寻方法、装置、终端及云端服务器
CN111899523A (zh) * 2020-07-21 2020-11-06 深圳大雷汽车检测股份有限公司 车头、车厢分离的大型货车的黑烟车抓拍系统
EP3789755A1 (fr) * 2019-09-06 2021-03-10 Josefina de la Fuente Egido Mesure de polluants émis par des véhicules comprenant un système de caméra infrarouge multispectral

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KR102054693B1 (ko) * 2019-06-07 2019-12-11 (주)지인테크 공회전 차량 무인 단속 시스템 및 방법
KR102059532B1 (ko) 2019-06-20 2019-12-27 주식회사 넷 공회전 차량 감시 시스템
KR102627057B1 (ko) * 2022-12-27 2024-01-23 주식회사 와보텍 차량의 배기가스 실시간 측정장치

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