KR102391575B1 - Safety system for Accident prevention with vision Camera - Google Patents

Abstract

The present invention relates to a crane safety management system using a vision camera, comprising: an image information acquisition unit coupled to a crane to acquire image information; a central server that recognizes a person located in a detection area using the image information received from the image information acquisition unit and determines a state of the recognized person; and an administrator terminal for receiving and displaying information of the person located in the detection area from the central server. An object of the present invention is to provide the system capable of acquiring more reliable image information using a vision camera and safely managing a crane work site using the image information.

Description

Crane safety management system using a vision camera {Safety system for Accident prevention with vision Camera}

The present invention relates to a crane safety management system capable of accurately recognizing a person using a vision camera, identifying the recognized person's health state (safety accident occurrence) information, and notifying a manager.

Various unmanned systems are being built as factory automation is activated for human convenience, productivity improvement, and cost reduction in industrial sites.

As one of the representative unmanned system devices, there is a crane device responsible for loading and moving products, and various devices are used in such unmanned cranes to input shape information and location information of an object instead of human eyes.

Conventionally, the three-dimensional position coordinates of the object were extracted using the stereo vision of the CCD camera. In the case of extracting the three-dimensional position coordinates of an object only with a CCD camera, it frequently occurred that accurate data could not be extracted when the industrial site was in a low-light environment. In addition, when using only a laser scanner, it was not possible to accurately determine the shape of an object and obtain location data due to the influence of the environment in the industrial site.

Since a safety management system based on the acquisition of such incomplete shape and location data is used for cranes, safety management at the site in which the crane is used is not properly performed.

Korea Patent No. 10-1937085, Tower Crane Accident Prevention Safety Management Integrated Monitoring System, Announcement Date (2019.01.03.)

The present invention has been devised to solve the above problems, and an object of the present invention is to obtain more reliable image information using a vision camera, and to provide a system capable of safely managing a crane work site using this image information. will provide

A crane safety management system using a vision camera according to the present invention for achieving the above object includes: an image information acquisition unit 100 coupled to a crane to acquire image information; a central server 200 for recognizing a person located in a detection area using the image information received from the image information acquisition unit 100 and determining the state of the recognized person; and a manager terminal 300 for receiving and displaying information of a person located in the detection area from the central server 200 .

The image information acquisition unit 100 is characterized in that the vision camera 110 for taking an image.

The central server 200 includes a worker detection unit 210 for detecting a person from the image information received from the image information acquisition unit 100; an operator information identification unit 220 for determining the state of the person detected by the operator detection unit 210; The state of the person detected by the operator detection unit 210 and the person identified by the operator information identification unit 220 is displayed in the image information received from the image information acquisition unit 100 and provided to the manager terminal 300 . and an information providing unit 230 to

The operator detection unit 210 includes a comparison information storage unit 211 in which information about a person is stored; and a matching information detection unit 212 that detects a person in the image information acquisition unit 100 using the information about the person stored in the comparison information storage unit 211 .

The comparison information storage unit 211 includes a body comparison information storage unit 211-1 in which body information of a person is stored; a motion comparison information storage unit 211-2 in which motion information of a person is stored; a mask comparison information storage unit 211-3 in which mask information is stored; and a helmet comparison information storage unit 211-4 in which helmet information is stored.

The body comparison information storage unit 211-1 includes: a first body information storage unit 211-1A in which shoulder width information of a person is stored; a second body information storage unit 211-1B in which joint information of a person is stored; a third body information storage unit 211-1C in which the movement speed information of a person is stored; It is characterized in that it includes.

The motion comparison information storage unit 211-2 includes: a first motion information storage unit 211-2A in which joint angle limit value information of a human motion that can be taken is stored; and a second motion information storage unit 211-2B in which information on a time limit value for which a person can maintain one motion is stored.

The operator information determiner 220 stores the joint angle information of the person identified based on the image information about the person detected by the operator detection unit 210 in the first motion information storage unit 221-2A. It includes; a joint-based information grasper 221 that determines that a problem has occurred when the joint angle threshold information is exceeded.

The worker information determining unit 220 stores the motion maintenance time information of the person identified based on the image information about the person detected by the operator detecting unit 210 in the second operation information storage unit 221-2B. and a motion-based information grasper 222 that determines that a problem has occurred when the information on the time limit for maintaining the current motion is exceeded.

The central server 200 includes an emergency response unit 240 for notifying the surrounding emergency situation when emergency information is input through the manager terminal 300 and transmitting the event information to a stored institution.

The emergency response unit 240 stops the operation of the crane (1) and sounds the buzzer (2) to notify the on-site control unit 241 that an emergency has occurred; and an incident information transmission unit 242 for transmitting the information determined by the worker information identification unit 220 as having a problem to the hospital and the safety reporting center.

The crane safety management system using a vision camera according to the present invention acquires image information of a crane work site using a vision camera, and thus has the advantage of obtaining more reliable image information.

In addition, since it is possible to determine the correct position of a person using the obtained image information, there is an advantage in that it is possible to minimize the probability of a safety accident occurring in the transport process using a crane.

In addition, since it is possible to immediately provide to the manager by identifying the presence or absence of a safety accident based on the health status information of a person, there is an advantage in that it is possible to quickly respond in case of a safety accident.

In addition, there is an advantage in that it is possible to minimize the loss of life due to an accident because information on safety accidents can be delivered to related organizations to assist in prompt rescue and treatment.

1 is a block diagram showing a crane safety management system using a vision camera of the present invention.
Figure 2 is a block diagram concretely illustrating the comparative information storage unit and the operator information grasper of the crane safety management system using the vision camera of the present invention.
Figure 3 is a conceptual diagram for explaining the surveillance area shooting using a crane and a vision camera of the crane safety management system using the vision camera of the present invention.
4 is a photograph showing that a person is recognized in the monitoring area of the crane safety management system using the vision camera of the present invention.
5 is a photograph for explaining the order in which a person is recognized in the monitoring area of the crane safety management system using the vision camera of the present invention.

Advantages and features of embodiments of the present invention, and methods of achieving them, will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

In describing the embodiments of the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the content throughout this specification.

Hereinafter, a crane safety management system 1000 using a vision camera according to the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a crane safety management system using a vision camera of the present invention, FIG. 2 is a block diagram embodying a comparative information storage unit and an operator information grasper of a crane safety management system using a vision camera of the present invention, FIG. 3 is a conceptual diagram for explaining the monitoring area shooting using a crane and a vision camera of the crane safety management system using the vision camera of the present invention, and FIG. 4 is a person recognized in the monitoring area of the crane safety management system using the vision camera of the present invention 5 is a photograph for explaining the order in which a person is recognized in the monitoring area of the crane safety management system using the vision camera of the present invention.

1 and 4, the crane safety management system 1000 using a vision camera according to the present invention includes an image information acquisition unit 100 that is coupled to a crane to acquire image information, and the image information acquisition unit 100 The central server 200 that recognizes a person located in the detection area using the received image information and determines the state of the recognized person, and the central server 200 receives information on the person located in the detection area It may include a manager terminal 300 to display.

In detail, since a serious accident can occur when a person collides with an object being transported by a crane, if a person is located in the detection area where an accident may occur during the process of transporting an object by the crane, the operation of the crane must be stopped. This is to prevent accidents by notifying the person or manager located in the detection area that it is a dangerous situation.

In addition, if the response to the accident is delayed in a situation in which a person is injured or collapsed in a situation that people are not aware of, there is a problem that the accident increases. This was done so that the manager could be notified.

In this case, the image information acquisition unit 100 may be a variety of devices capable of acquiring information on the detection area, but it is recommended that the vision camera 110 be used to acquire more reliable image information.

And, it is recommended that a pair of the vision camera 110 be installed on the left and right sides of the crane 1 as shown in FIG. A detection zone display unit for informing may be combined.

In addition, the central server 200 includes a worker detection unit 210 that detects a person from the image information received from the image information acquisition unit 100 , and worker information that detects a state of a person detected by the operator detection unit 210 . By displaying the status of the person detected by the operator detection unit 210 and the person identified by the worker information identification unit 220 in the image information received from the identification unit 220 and the image information acquisition unit 100, the manager It may include an information providing unit 230 provided to the terminal 300 .

In detail, when the image information acquired through the vision camera 110 is transmitted to the central server 200, the operator detecting unit 210 identifies a person located in the image, and the information providing unit 230 As shown in FIG. 4 , the image transmitted to the manager terminal 300 is marked with a person mark L1 so that the manager can more easily recognize a person located in the received image.

And, when the information grasping unit 220 determines whether there is an abnormality in the person performing the work based on the health condition, it is displayed on the image transmitted from the information providing unit 230 to the manager terminal 300, so that the manager can This is to make it easy to understand the status of the person performing the work.

At this time, it is recommended that the mark indicating the presence or absence of a person is displayed next to the person mark (L1) so that the manager can easily identify the presence or absence of each person, and it is recommended to have a different color or shape from the person mark .

And, this determination is made based on the detection zone (S), and the detection zone (S) may be an area where a crane operates and a danger may occur among the areas where photographing is performed through the vision camera 110 .

In addition, human detection and health status identification in the area where photographing is performed may be performed through scanning, analysis, and detection steps as shown in FIG. .

In addition, the operator detection unit 210 includes a comparison information storage unit 211 in which information about a person is stored, and a person in the received image information using information about a person stored in the comparison information storage unit 211 . It may include a matching information detection unit 212 for detecting the.

In detail, the matching information detection unit 212 compares the information stored in the comparison information storage unit 211 with the received image information to detect a person.

At this time, the information used for detection includes the person's body information stored in the body comparison information storage unit 211-1, the person's motion information stored in the motion comparison information storage unit 211-2, and the mask comparison information storage unit ( It may be mask information stored in 211-3) and helmet information stored in the helmet comparison information storage unit 211-4, but it is not limited because it may include various other information.

In addition, the body information of a person stored in the body comparison information storage unit 211-1 may be information on whether arms, legs, and head are positioned with respect to the body of the person, but as shown in FIGS. 3 and 4 , As described above, since the vision camera 110 captures an image from the upper side where the crane 1 is located to the lower side, information such as the head, shoulder, and arm can be easily grasped through the image, but the body and Information on the legs may not be easy to grasp.

Therefore, it is more recommended that the body comparison information storage unit 211-1 store special information that can identify a person using a head, fish, arm, etc., and in an embodiment, the body comparison information storage unit 211-1 A first body information storage unit 211-1A in which shoulder width information of a person is stored, a second body information storage unit 211-1B in which joint information of a person including an arm is stored, and information on a person's movement speed may include a third body information storage unit 211-1C in which is stored.

That is, it is possible to detect whether a person is a person through the distance between the parts recognized as arms, joint motion information of the arms, and movement speed information.

In addition, the motion comparison information storage unit 211-2 includes the first motion information storage unit 211-2A in which joint angle limit value information of motions that a person can take is stored, and the time that a person can maintain one motion. It comprises a second motion information storage unit 211-2B in which threshold information is stored, and through the information stored in the body comparison information storage unit 211-1 above in the first detection step, a human-like body structure Even if a robot such as an Android with

In addition, for those who work in the workplace, a mask. Since wearing equipment such as a helmet is essential, based on the mask and helmet information stored in the mask comparison information storage unit 211-3 and the helmet comparison information storage unit, it is possible to additionally detect a person located in the image, When it is determined that the subject identified as a person does not wear a mask or a helmet through the first and second detection steps, information not to be worn may be provided to the user terminal 300 .

In addition, the crane safety management system 1000 using the vision camera of the present invention detects the health state of the worker (whether a problem has occurred) in the worker information grasper 220 and provides it to the manager terminal 300, so that the worker In the event of a problem with the health status of a person, it is possible to minimize the casualties through a more rapid response.

At this time, the operator information determining unit 220 stores the joint angle information of the person identified based on the image information about the person detected by the operator detection unit 210 to the first motion information storage unit 221-2A. The joint-based information determining unit 221 that determines that a problem has occurred when the stored joint angle threshold information is exceeded, and the motion maintenance time information of the person identified based on the image information is stored in the second motion information storage unit 221-2B ) may include a motion-based information determining unit 222 that determines that a problem has occurred when the information on the time limit for maintaining the motion stored in the device is exceeded.

In detail, when a certain amount of shock is applied to a person, the joint is twisted in an abnormal state, and the person who received a large shock passes out. When the information grasping unit 222 determines that the person has not moved for a certain period of time or more, it is determined that a problem has occurred in the person and can be notified to the manager.

In addition, the central server 200 may include an emergency response unit 240 that, when emergency information is input through the manager terminal 300, notifies of an emergency in the vicinity and transmits the event information to a stored institution, The emergency response unit 240 stops the operation of the crane 1 and sounds the buzzer 2 to notify the on-site control unit 241 that an emergency has occurred, and the operator information identification unit 220 has a problem It may include an incident information transmitter 242 that transmits the information determined to be the hospital 3 and the safety report center 4 .

In detail, when a safety accident (emergency) occurs, it is difficult for the manager to take all necessary measures promptly, so the emergency occurs after the manager determines that an abnormality has occurred based on the information received through the manager terminal 300 When the information notifying of , the on-site control unit 241 stops the operation of the crane 1 to prevent the accident from escalating, and then sounds the buzzer 2 so that workers located in the vicinity can solve the problem. .

And, the incident information transmitting unit 242 transmits the data determined that a problem has occurred to the hospital and the safety reporting center in advance, so that the safety reporting center and the accident occurring in the hospital can be identified more quickly and countermeasures can be devised.

In addition, the central server 200 may further include a learning unit 250 that updates the worker information grasper based on the corresponding information input by the manager after checking the received worker health condition abnormal information.

In detail, in the case of the joint angle threshold information stored in the joint-based information identification unit 221 and the motion maintenance time threshold stored in the motion-based information identification unit 222, the threshold is different for each person. , there is a problem in that when one worker has a wider joint angle than others due to a special constitution or can maintain a specific motion for a long time, the worker's health condition is often displayed as a poor state.

Therefore, when the manager checks the health condition of the worker whose health is marked as abnormal in the manager terminal 300 and inputs information that there is no abnormality into the manager terminal 300 , based on the information input from the learning unit 250 , the target It allows the operator to update the joint angle limit value and motion maintenance time limit value information.

At this time, the update may be made in the form of increasing or decreasing the joint angle limit value and the motion maintenance time limit value information, and the range of increase or decrease is not limited because the manufacturer or the manager can arbitrarily set it.

The present invention is not limited to the above-described embodiments, and the scope of application is varied, and anyone with ordinary knowledge in the field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims It goes without saying that various modifications are possible.

1: Crane 1: Buzzer
100: image information acquisition unit 110: vision camera
200: central server 210: operator detection unit
211: comparison information storage unit 211-1: body comparison information storage unit
211-1A: first body information storage unit 211-1B: second body information storage unit
211-1C: third body information storage unit
211-2: operation comparison information storage unit 211-2A: first operation information storage unit
211-2B: second operation information storage unit
211-3: mask comparison information storage unit 211-4: helmet comparison information storage unit
212: matching information detection unit 220: worker information identification unit
221: joint-based information identification unit 222: motion-based information identification unit
230: information provision unit 240: emergency response unit
241: on-site control unit 242: incident information transmitter
300: administrator terminal

Claims (5)

delete delete Image information acquisition unit 100 coupled to the crane to acquire image information;
a central server 200 for recognizing a person located in a detection area using the image information received from the image information acquisition unit 100 and judging the state of the recognized person; and
and a manager terminal 300 for receiving and displaying information of a person located in the detection area from the central server 200;
The central server 200 includes a worker detection unit 210 that detects a person from the image information received from the image information acquisition unit 100, and an operator information that detects the state of the person detected by the operator detection unit 210 The unit 220 and the image information acquired by the image information acquisition unit 100 display the state of the person detected by the operator detection unit 210 and the person identified by the operator information identification unit 220 on the image information received, and the Including; information providing unit 230 provided to the manager terminal 300;
The operator detection unit 210 includes a comparison information storage unit 211 in which information about a person is stored, and the image information acquisition unit 100 using information about a person stored in the comparison information storage unit 211. Including; a matching information detection unit 212 for detecting a person on the image information received from
The comparison information storage unit 211 includes a body comparison information storage unit 211-1 storing human body information, a motion comparison information storage unit 211-2 storing human motion information, and mask information. Including; a mask comparison information storage unit 211-3 to be stored, and a helmet comparison information storage unit 211-4 for storing helmet information;
The body comparison information storage unit 211-1 includes a first body information storage unit 211-1A in which shoulder width information of a person is stored, and a second body information storage unit 211-1B in which joint information of a person is stored; , a third body information storage unit (211-1C) in which the movement speed information of the person is stored;
The motion comparison information storage unit 211-2 includes a first motion information storage unit 211-2A in which joint angle limit value information of a motion that a person can take is stored, and a time limit value at which a person can maintain one motion. Including; a second operation information storage unit (211-2B) in which information is stored;
The operator information determining unit 220 includes joint angle information of a person identified based on the image information detected by the operator detection unit 210 is stored in the first motion information storage unit 221-2A. When the threshold information is exceeded, the joint-based information identification unit 221 that determines that a problem has occurred, and the motion maintenance time information of a person determined based on the image information detected by the operator detection unit 210, is the second motion information and a motion-based information identification unit 222 that determines that a problem has occurred when the time limit value information that can maintain the motion stored in the storage unit 221-2B is exceeded; and
The image information acquisition unit 100 is composed of a vision camera 110 that takes an image,
The central server 200, when the emergency information is input through the manager terminal 300, notifies the surrounding of the emergency and transmits the event information to the stored institution, the emergency response unit 240; Crane safety management system used.
4. The method of claim 3,
The emergency response unit 240 stops the operation of the crane (1) and sounds the buzzer (2) to notify the on-site control unit 241 that an emergency has occurred;
Crane safety management system using a vision camera, including a; incident information transmission unit 242 for transmitting the information determined that the problem has occurred in the worker information identification unit 220 to the hospital and the safety report center.
Image information acquisition unit 100 coupled to the crane to acquire image information;
a central server 200 for recognizing a person located in a detection area using the image information received from the image information acquisition unit 100 and judging the state of the recognized person; and
and a manager terminal 300 for receiving and displaying information of a person located in the detection area from the central server 200;
The central server 200 includes a worker detection unit 210 that detects a person from the image information received from the image information acquisition unit 100, and an operator information that detects the state of the person detected by the operator detection unit 210 The unit 220 and the image information acquired by the image information acquisition unit 100 display the state of the person detected by the operator detection unit 210 and the person identified by the operator information identification unit 220 on the image information received, and the Including; information providing unit 230 provided to the manager terminal 300;
The operator detection unit 210 includes a comparison information storage unit 211 in which information about a person is stored, and the image information acquisition unit 100 using information about a person stored in the comparison information storage unit 211. Including; a matching information detection unit 212 for detecting a person on the image information received from
The comparison information storage unit 211 includes a body comparison information storage unit 211-1 storing human body information, a motion comparison information storage unit 211-2 storing human motion information, and mask information. Including; a mask comparison information storage unit 211-3 to be stored, and a helmet comparison information storage unit 211-4 for storing helmet information;
The body comparison information storage unit 211-1 includes a first body information storage unit 211-1A in which shoulder width information of a person is stored, and a second body information storage unit 211-1B in which joint information of a person is stored; , a third body information storage unit (211-1C) in which the movement speed information of the person is stored;
The motion comparison information storage unit 211-2 includes a first motion information storage unit 211-2A in which joint angle limit value information of a motion that a person can take is stored, and a time limit value at which a person can maintain one motion. Including; a second operation information storage unit (211-2B) in which information is stored;
The operator information determining unit 220 includes joint angle information of a person identified based on the image information detected by the operator detection unit 210 is stored in the first motion information storage unit 221-2A. When the threshold information is exceeded, the joint-based information identification unit 221 that determines that a problem has occurred, and the motion maintenance time information of a person determined based on the image information detected by the operator detection unit 210, is the second motion information and a motion-based information identification unit 222 that determines that a problem has occurred when the time limit value information that can maintain the motion stored in the storage unit 221-2B is exceeded; and
The central server 200 is based on the manager's corresponding information input through the manager terminal 300, the joint angle threshold information stored in the joint-based information grasper, and the motion-based information grasper is stored in the A crane safety management system using a vision camera, further comprising; a learning unit 250 for updating time limit information that can maintain one motion.

Images