KR101349215B1 - Processing system for leveling of slope land - Google Patents

Abstract

The purpose of the present invention is to provide a processing system, which is for leveling a sloped site, capable of facilitating horizontal control and fixation of a field instrument in a sloped site, capable of achieving accurate geodetic surveying by maximally preventing vibrations although the ground soil in an installation site is not hard and capable of solving a problem that the horizontal and fixation work must be continuously done by continuously maintaining a stable horizontal state of the field observation instrument. The present invention comprises: a field observation instrument, which is for geodetic surveying, comprising an observation body capable of measuring the angle and distance of a measured point, calculating, displaying and storing a location coordinate and a support body for mounting the observation body; and an integrated manager for receiving and correcting the surveyed data received through a vehicle and a wired/wireless communication unit of the vehicle from the field observation instrument for geodetic surveying by mounting the wired/wireless communication unit. The support body includes a base, three legs, a rotary sphere, a cover, a weight and a leg fixation tool. The leg fixation tool comprises a fixation cylinder body, a vertical body, a fixation body, a conical protrusion, a fixation tool, a fixation pillar, a fixation piece, an operation rod and a rotary member for firmly fixating the support body to the ground surface.

Description

Processing System for Leveling of Slope Land}

The present invention relates to a level measurement processing system of a slope, and more particularly, even when the installation site of the field observer for precise level surveying is inclined like a mountainous area and the soil is not hard, the field observer is in a stable position without shaking. It is possible to obtain accurate and accurate survey data by minimizing errors during precision level surveying by making it possible to maintain and secure the fixation, and by using the scanline image information obtained through the three-wire scanner of the camera mounted on the vehicle, The present invention relates to a leveling processing system of slopes capable of precisely determining posture information and correcting geodetic data accurately.

In order to produce digital maps and geographic information including various topographical information, geodetic and surveying work is required to confirm the photographed area as well as the topography of the target area. This is because the terrain and GPS coordinates must be exactly the same when the digital map is completed and the GPS coordinates are synthesized.

Geodetic surveys of terrain are typically performed on-site through field observers. The field observer is a well-known and common instrument in the field of geodetic surveying technology that can measure the elevation of the terrain, and the operator installed the field observer at one point and carried out geodetic surveying by aiming the geodetic survey target area one by one.

The geodetic surveying method according to the prior art has the efficiency of geodetic surveying work due to the inconvenience of having to repeat the installation and dismantling of the field observer as described above, and the time disadvantage caused by the limitation of one-time surveying for the surveyed area. It became the cause which markedly inhibited.

On the other hand, with the development of image technology and the introduction of three-dimensional stereoscopic maps, interest in three-dimensional digital maps has emerged. These three-dimensional digital maps can be displayed or illustrated even on the high and low roads and mountains, so that users can enjoy the feeling of the site with the digital map alone. There was a difficulty to measure.

In order to solve this problem, there is an improved conventional technology known as Korean Patent Registration No. 10-1126357 (registered on March 06, 2012) for geodetic data correction of field observer.

However, in the integrated management geodetic system for geodetic data correction of the field observer of the registered patent No. 10-1126357, when the position (coordinate) measurement (geodetic survey) by the field observer, the bubbles of the circular bubble tube and the horizontal bubble tube in the center of the tube It is to repeat the process of leveling and measuring one selected measuring point, and then moving to another point to geodetic measurement of another measuring point, which is a cumbersome task of having to repeat leveling the field observer at each measuring point. There is a recurring problem.

In addition, the "structure location information confirmation system of the urban area through the numerical map" of the Republic of Korea Patent No. 10-0978944 is easy to adjust the level of the field observer installed on a tripod at each measuring point using a weight and a rotary ball in a short time. As a result, a field observer has been disclosed in which the installation of the field observer is convenient.

However, the field observer disclosed in the Patent No. 10-0978944 is convenient to maintain the level of the field observer by the weight and the rotary ball, but it is difficult to use in an inclined area such as a mountainous area, and contact with the ground Since the tip of the tripod is formed sharply, if the floor of the installation site is not solid, not only the tripod is not easy to install, but it also causes shaking easily even if it is difficult to perform precise geodetic surveying. In addition, it was difficult to constantly maintain a stable horizontal state of the field observer, which made it difficult to adjust frequently.

The present invention is to solve the above-mentioned problems, the leveling and fixing of the field observer is convenient in the terrain with high inclination, and at the same time, even when the ground soil of the installation place to prevent the shaking as much as possible precise geodetic surveying work It is possible to achieve, and to provide a leveling processing system of the slope to solve the hassle of having to constantly perform the horizontal and fixed work by maintaining a stable horizontal state of the field observer.

In order to achieve the above object, the present invention provides a geodetic field observer comprising an observation body capable of measuring the angle and distance of the measurement point, calculating and displaying the position coordinates of the measurement point, and a support body for mounting the observation body. ; A vehicle equipped with wired / wireless communication means to receive geodetic data from the geodetic field observer; And an integrated manager for receiving and calibrating geodetic data received through wired / wireless communication means of the vehicle, wherein the support body of the geodetic field observer has a screw thread formed on an outer circumferential surface thereof. The base is formed in a cylindrical shape having a hemispherical first accommodating groove, the base is formed in the center of the first accommodating groove is formed through the through groove which is opened downward; Three legs, one end of which is pivotally hinged to the base; Rotation that has a fixing protrusion for fixing the observation body to form a spherical shape having a curvature corresponding to the first receiving groove, the fastening groove formed on the outer surface facing the fixing protrusion is seated in the first receiving groove to face the through groove. phrase; The fixing protrusion of the rotating hole has a second fixing groove penetrating and covers the base to enclose the rotating sphere, and forms a screw thread engaged with the thread of the base, and the inner surface of the second fixing groove has a curvature that comes into close contact with the rotating sphere. Formed cover; A weight that penetrates the through groove of the base and is fixed to the fastening groove of the rotary tool; And a leg fixing mechanism detachably fixed to the three leg ends to support the legs with respect to the ground, wherein the leg fixing mechanism includes: a fixing cylinder fitted to the leg ends and detachably fixed with a fixing screw; A vertical body installed in a vertical direction and having an upper end rotatably connected to one side of the fixed cylinder and a horizontal axis; A fixed body rotatably connected to the horizontal axis formed by the lower end of the vertical body and the angle adjusting knob formed at the center of the upper surface; A plurality of conical protrusions protruding from the bottom surface of the fixed body; It is installed at both ends of the fixed body, respectively, freely connected to the fixed body around the horizontal axis and the hollow connection cylinder, the insertion tube is inserted into the connection cylinder fixed by a tightening screw, and the insertion tube end Fixing mechanism consisting of a cylindrical support tube fixed to the; A fixed pillar having a pointed end and penetrating the support tube of the fixing mechanism to be driven into the ground; A pair of fixings are rotatably connected around the horizontal axis on both sides of the lower end of the fixing column so as to be movable between an insertion position in the fixing pillar and a fixing position protruding out of the fixing pillar, and having a tooth-shaped portion formed on an outer surface thereof. side; It is installed in the vertical hole formed in the fixing column so as to be movable in the vertical direction, and the lower end is connected to the one end of the pair of fixing pieces so that the pair of fixing pieces between the insertion position and the fixing position Rotating rod; And a screw member that is screwed into a screw hole formed in a vertical direction at an upper end of the fixing column, and is held by an upper end of the operating rod, and includes a rotating member which moves the operating rod in an upward and downward direction by a rotation operation. It is characteristic of the leveling processing system of the slope.

According to the level measurement processing system of the slope of the present invention according to the above characteristic configuration, by the weight and the rotary ball provided in the field observer is convenient for horizontal adjustment and fixing of the observation body, and at the same time the leg fixing mechanism on the three legs By mounting each of them, the field observer can be installed and securely fixed even on a hilly terrain such as a mountainous area, and it is a useful inventor that can perform precise geodetic surveying work by preventing shaking as much as possible even when the floor is not hard. will be.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram schematically showing the configuration of a level measurement processing system of a slope according to the present invention.
Figure 2 is a front view of the field observer shown in partial cross section in the present invention.
Figure 3 is a front view of the field observer equipped with a leg fixing mechanism in the present invention.
Figure 4 is a perspective view of the leg fixing mechanism in the present invention.
5 is a sectional view taken along the line AA in Fig.
Figure 6 is a side view showing a state of use of the leg fixing mechanism in the present invention.
Figure 7 is an exploded perspective view showing a fixing column of the leg fixing mechanism in the present invention.
8a and 8b is a cross-sectional view of the use state showing the fixing column of the leg fixing mechanism in the present invention.
9 is a cross-sectional view taken along the line BB of FIG. 8A.
10A and 10B are sectional views showing a state in which the leg fixing mechanism of the present invention is used on a slope.
11 is a block diagram for explaining the calculation of the exact position of the vehicle in the present invention.
12 is a block diagram schematically showing a configuration to which the position and posture correction device of the camera is applied in the present invention.
13 to 15 are flowcharts illustrating a process of generating a position and posture correction information showing a relationship between images acquired through the camera shown in FIG. 12.

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

In the present invention, the position refers to the coordinates and will be selectively used according to the context.

1 is a block diagram schematically showing the configuration of the level measurement processing system of the slope according to an embodiment of the present invention, as shown, the level measurement processing system of the slope according to an embodiment of the present invention, geodetic site Observer 100, a vehicle 200 receiving geodetic data from the geodetic field observer 100, and an integrated manager 300 for receiving and correcting the geodetic data received through the vehicle 200. .

The geodetic field observer 100 includes an angle and distance measuring function of a measuring point, a function of calculating and displaying and storing a position coordinate of the measuring point, and a wired / wireless communication function.

That is, as shown in FIG. 2, the geodetic field observer 100 measures an angle and a distance of a measurement point, calculates a position coordinate of the measurement point, displays and stores the observation body 110, and an observation body ( It includes a support body 120 for mounting 110.

The observation body 110 is, for example, a known total station, and a function of calculating and displaying an angle and a distance measuring function of a measuring point, a position coordinate of the measuring point, displaying and storing the wired / wireless communication function, and receiving a GPS satellite signal. A GPS instrument having an antenna, a GPS output unit for processing the signals received from the GPS antenna to check and transmit the GPS information necessary for calculating the position coordinates of the main body, and measuring each of the GPS instrument while communicating with a wired / wireless communication device of the vehicle. And a transmitter for transmitting the coordinates.

Accordingly, the observation body 110 receives the GPS satellite signals, processes the received position signals, checks the GPS information necessary for calculating the extracted position coordinates, and performs wired / wireless communication with the vehicle 200. Since the configuration of the main body 110 is well known, a detailed description thereof will be omitted.

On the other hand, the support body 120 is a mechanism for convenient adjustment and leveling of the equipment in order to confirm the exact position of the observation body 110.

The support body 120 is preferably separated from the observation body 110 in consideration of the operator's ease of use to have a fluidity.

The support body 120 is composed of a base 121, three legs 122, a rotary ball 123, the cover 124 and the weight (125).

The base 121 has a hemispherical first accommodating groove 121a open upward in the center thereof, and a through groove 121b opening through the bottom of the first accommodating groove 121a so as to penetrate upward and downward. . In addition, the base 121 has a thread 121c formed on an outer circumferential surface thereof.

The three legs 122 are hinged to the base 121 so as to be rotatable, and the other end is fixed to the ground to adjust the installation angle and height of the base 121.

The rotary sphere 123 is for adjusting the horizontal of the observation body 110, is rotatably seated in the first receiving groove (121a) of the base 121. In addition, the rotating sphere 123 is formed with a fixing protrusion (123a) protruding upwards, it can be coupled to the screw inserted into the fixing groove (110a) of the observation body 110, through which the rotating sphere 123 and The observation body 110 is fixed to each other. In addition, the rotation hole 123 forms a fastening groove 123b on the opposite side facing the fixing protrusion 123a. In the present embodiment, the rotating tool 123 is a fixed protrusion 123a is formed integrally with the rotating tool 123, of course, it is also possible to be formed separately for convenience of transport and installation.

The cover 124 is opened downward, the second receiving groove 124a having a screw thread is formed on the opened inner peripheral surface, the cover 124 is screwed while wrapping the outer peripheral surface of the base 121. In addition, the second receiving groove 124a communicates with the opening upwards, and the second fixing groove 124b having a diameter smaller than that of the rotation hole 123 is formed. At this time, the inner surface of the second fixing groove 124b which is in direct contact with the outer surface of the rotating tool 123 is cut in correspondence to the surface curvature of the rotating tool 123, so that the surface of the rotating tool 123 is the second fixing groove It can be in intimate contact with the inner side of 124b. This is to effectively block the movement of the rotating ball 123 when the inner surface of the second fixing groove 124b receives the pressure of the cover 124 while performing the braking function of the rotating ball 123. On the other hand, in order to increase the stop function of the rotary sphere 123 of the cover 124, the inner surface may be applied to the friction member of a synthetic resin material having a high coefficient of friction.

The weight 125 penetrates through the through groove 121b of the base 121, and is detachably coupled to the rotating hole 123 by a screwing method, and rotates the rotating hole 123 to observe the observation body 110. ) Should remain vertical. In the present embodiment, for the convenience of transportation and installation, the weight 125 and the rotating ball 123 is formed in a detachable type so that the weight 125 is detachably fixed to the rotating ball 123, but as necessary It may be formed integrally.

Referring to the operation of the field observer 100 made of such a configuration as follows.

First, the support body 120 is installed at the installation position of the field observer 100. At this time, the support body 120 is a state in which the base 121, three legs 122, the rotary ball 123, the cover 124 and the weight 125 is integrally coupled.

On the other hand, depending on the topography of the installation location, the main body 120 has a difference, such as the inclination or extended length of the three legs 122, so that the fixing projections (123a) of the rotary sphere 123 is inclined rather than vertical Since it can be arranged, the cover 124 to the upper portion of the base 121 so that the operator can rotate the rotating ball 123 is pressed by the inner surface of the second fixing groove (124b) of the cover 124 can be rotated Manipulate to move.

In this case, since the cover 124 and the base 121 are fixed by being coupled with a screw thread, the operator may control the height of the cover 124 by rotating the cover 124. Subsequently, when the restraint of the rotary ball 123 is released by the movement of the cover 124, the rotary ball 123 rotates in accordance with the relative movement of the weight (125) to hold the position in the direction of gravity, the operator specified When paused to determine the GPS position at the point, the weight 125 will maintain the current position inclined relatively.

Of course, the operator rotates the cover 124 to move below the base 121, the moving cover 124 is constrained while the inner surface of the second fixing groove (124b) in close contact with the rotary hole 123 do.

Accordingly, even if frequent movement of the field observer 100 occurs, an accurate position can be measured at an accurate horizontal position.

In addition, the present invention is detachably fixed to each of the ends of the three legs 122 provided on the support body 120 of the field observer 100, as shown in Figure 3 to secure the legs 122 to the ground It further includes a leg fixing mechanism 130 for supporting.

The leg fixing mechanism 130, as shown in Figures 4 to 6, the fixed cylinder 131, vertical body 132, fixed body 133, the fixing mechanism 135 and the fixing column 140 Is done.

First, the fixing cylinder 131 is formed in a cylindrical shape having a size that can be fitted to the end of the leg 122 and is detachably fixed to the leg 122 by a fixing screw 131a.

The vertical body 132 is installed in the vertical direction with respect to the fixed body 133 and the upper end is rotatably connected about a horizontal axis by one side of the fixed cylinder 131 and the hinge pin (132a).

The fixed body 133 is formed in the shape of a square plate, the rotary support portion 133a formed in the center of the upper surface is rotatably connected about the horizontal axis by the lower end of the vertical body 132 and the angle adjustment knob 134. That is, as shown in FIG. 5, the rotation support part 133a is disposed at both lower ends of the vertical body 132, and the angle adjusting knob 134 is formed with a male screw part 134a at the end to be perpendicular to the rotation support part 133a. It penetrates through the body 132 in turn and is screwed into the female screw part 133b formed in one rotation support part 133a.

Therefore, both rotation support portions 133a can be fixed or released to the vertical body 132 by screwing or loosening by the rotation operation of the angle adjustment knob 134.

In addition, a plurality of conical protrusions 133c are formed on the bottom surface of the fixed body 133 in contact with the ground.

The fixing mechanism 135 and the fixing pillar 140 are for fixing the fixing body 133 to the ground, and the fixing mechanism 135 is formed at both ends of the fixing body 133 based on the vertical body 132, respectively. It is provided.

The fixing mechanism 135 consists of a connecting cylinder 135a, the insertion pipe 135b, and the support pipe 135c. The connecting cylinder 135a is formed in a hollow cylindrical shape, and one end of the fixing body 133 is rotatably connected about a horizontal axis by a hinge pin 135d. Insertion tube (135b) is inserted into the connecting cylinder (135a) is fixed by a tightening screw (135e), the support tube (135c) is formed in a hollow cylindrical shape is fixed to the exposed end of the insertion tube (135b). . Therefore, the distance between the fixed body 133 and the support tube 135c can be adjusted according to the length of inserting the insertion tube 135b into the connecting cylinder 135a.

The fixed pillar 140 is formed to have a pointed end and penetrates into the ground by penetrating the support tube 135c of the fixing mechanism 135, and may be used by selecting a length according to necessity by providing a plurality of different lengths. Make sure

In addition, as shown in Figures 7 to 9, the fixing column 140, a pair of fixing pieces connected to the lower side of the fixing column 140 by a rotation support pin 141a freely around a horizontal axis 141 is provided. The fixing piece 141 is installed in the fixing column 140 and is interposed between the insertion position in the fixing column 140 and the fixing position projecting out of the fixing column 140 by interlocking by the vertical movement of the operating rod 142. Is installed to be movable in, the outer surface is formed with a serrated portion (141b).

The operating rod 142 is installed in the vertical hole 140a formed in the fixing column 140 so as to be movable upward and downward in the vertical direction. The lower end of the operating rod 142 is connected to one end of the pair of fixing pieces 141 so as to rotate the pair of fixing pieces 141 between the insertion position and the fixed position.

The connecting rod 142 and the pair of fixing pieces 141 form a rectangular connecting hole 141c at one side connecting portion 141e of the pair of fixing pieces 141 to form the connecting holes 141c. It is made by connecting through the connecting rod 142d penetrating the lower end of the operating rod 142.

Therefore, as shown in FIGS. 8A and 8B, the pair of fixing pieces 141 rotate forward and backward about the rotation support pin 141a by vertically moving the operating rod 142 to fix the pillar 140. It is possible to operate between the insertion position and the fixed position to be released from the.

In addition, a screw hole 140b formed in the vertical direction in communication with the vertical hole 140a is formed at an upper end of the fixing column 140, and the screw part 143a of the rotating member 143 is formed in the screw hole 140b. Is screwed, and the lower end of the rotating member 143 is held with the upper end of the operating rod 142, the operating rod 142 is movable up and down by the rotation operation of the rotating member 143. .

At this time, the locking structure of the rotating member 143 and the operating rod 142 forms a locking disc portion 143b at the lower end of the rotating member 143, and the locking disc portion 143b is fitted to the operating rod 142 to be engaged. It is preferable to form a holding groove 142a to be maintained, and to form an operation groove 143c on the upper surface of the rotating member 143 to facilitate the rotation operation.

Therefore, the operating rod 142 by moving the rotary member 143 in the vertical direction to move the pair of fixing piece 141 is configured to operate between the insertion position and the fixed position.

Referring to the operation of the leg fixing mechanism 130 made of such a configuration as follows.

When the soil of the floor for the installation of the field observer 100 is not hard, for example, sandy ground, mud ground or tidal flat, the shaking of the support body 120 for fixing the observation body 110 is prevented to the maximum. At the same time, it is firmly fixed so that accurate survey data can be obtained.

That is, as shown in Figures 3 to 6, after the fixing cylinder 131 is inserted into the end of the leg 122 of the support body 120, it can be installed simply by fixing with a fixing screw 131a, and also fixed It can be easily removed by loosening the screw 131a.

Subsequently, when the fixed body 133 is placed on the ground and pressed downward, the bottom surface of the fixed body 133 is placed on the ground while the conical protrusion 133c of the fixed body 133 is inserted into the ground. Even in the case of land or a tidal flat, the fixed body 133 is prevented from sliding or flowing with respect to the ground, thereby preventing the shaking of the support body 120 as much as possible.

In addition, in a terrain that is severely inclined, such as a mountainous region, as shown in FIGS. 10A and 10B, the fixing body 133 using the fixing mechanism 135 and the fixing pillar 140 provided on both sides of the fixing body 133. It is more firmly fixed to the ground and at the same time rotate the vertical body 132 by a predetermined angle with respect to the fixed body 133 to maintain the vertical state by supporting the support body 120 in a stable state as in the case of supporting on a flat I can support it.

That is, the fixing mechanism 135, the connecting cylinder 135a is rotatably connected by the fixing body 133 and the hinge pin (135d), so as to rotate the connecting cylinder 135a outward with respect to the fixing body 133. When the support tube 135c formed at the end of the insertion tube 135b inserted into the connection cylinder 135a is spaced apart from the fixed body 133, the fixing column 140 passes through the support tube 135c. By making a pointed end to the ground, the fixed pillar 140 can be driven deep into the ground with a hammer such as a hammer. As a result, the fixed body 133 can be further prevented from slipping or flowing even in a severely inclined terrain, and in particular, the fixed body 133 can be firmly fixed even when the soil is not hard.

At this time, by adjusting the insertion length of the insertion tube (135b) inserted into the connecting cylinder (135a) by loosening the tightening screw (135e), it is possible to adjust the position of the support tube (135c) with respect to the fixed body (133), By selecting a good position to drive the fixed pillar 140, and also if the fixed pillar 140 is provided with a plurality of different length, by selecting the length of the fixed pillar 140 according to the hardness of the soil by using The fixing body 133 can be fixed more effectively.

In addition, after fixing the fixing pillar 140 to the ground, as shown in Figure 8a and 8b, the rotating member 143 provided on the fixing pillar 140, the tool (not shown) in the operation groove (143c) If not rotated, the screw 143a of the rotating member 143 is screwed to the screw hole 140b of the fixing column 140, so that the rotating member 143 is lowered while rotating, thereby rotating The operating rod 142 connected to the member 143 is also lowered.

When the operating rod 142 is lowered, the connecting portion 141e of both fixing pieces 141 connected by the connecting pin 141d is also lowered, so that both fixing pieces 141 rotate about the rotation support pin 141a. It moves from the insertion position in the fixing column 140 to the fixing position protruding out of the fixing column 140, thereby fixing the toothed portion (141b) of the fixing piece 141 as shown in Figure 8b and 10b Closer contact with the ground in the direction perpendicular to the inserting direction of the pillar 140 to further solidify the fixed state of the fixing column 140, and prevent the fixing pillar 140 from being easily stuck in the ground. have.

When removing the fixing column 140, if the rotating member 143 is rotated in the reverse order of the operation, the rotating member 143 is raised, thereby operating rod 142 connected to the rotating member 143 and , Since the connecting portion 141e of the fixing piece 141 connected to the operating rod 142 is also raised, both fixing pieces 141 are reversely rotated about the rotation support pin 141a to protrude out of the fixing pillar 140. Since it is moved from the fixed position to the insertion position in the fixing column 140, it is easy to remove the fixing column 140 from the ground.

Subsequently, FIG. 11 is a block diagram illustrating the calculation of the exact position of the vehicle in the present invention. As shown in FIG. 11, the vehicle is mounted on the vehicle 200 and receives position information of the vehicle 200 from the satellite. GPS receiver 210 for detecting the position (PGPS) and the speed (VGPS) of the acceleration, and the acceleration sensor 220 for detecting the linear acceleration (Fx, Fy, Fz) of the vehicle by detecting the actual driving speed of the vehicle And a gyro sensor unit 230 that detects an actual driving direction of the vehicle 200 and detects rotational accelerations p, q, and r of the vehicle, the GPS receiver 210, and an acceleration detector 220. And a position compensator 240 for compensating for the error of the vehicle position from the information of the gyro sensor unit 230 to prevent the error from being diverged.

In addition, the auxiliary posture C_aid of the vehicle is calculated based on the vehicle speed VGPS detected by the GPS receiver 210 and the linear accelerations Fx, Fy, and Fz detected by the acceleration detector 220. Auxiliary attitude calculation unit 250, a position / speed calculation unit 260 for calculating the actual position (P_ins) and the speed (V_ins) of the vehicle by the linear acceleration (Fx, Fy, Fz), and the gyro sensor unit The electronic device further includes an attitude calculator 270 that calculates an actual attitude C_ins of the vehicle based on the rotational accelerations p, q, and r sensed by the vehicle 230.

Here, the posture C_ins of the vehicle calculated by the posture calculating unit 270 is the position (PGPS) and speed (VGPS) of the vehicle detected by the GPS receiver 210, the auxiliary posture (C_aid), and the vehicle. Position (P_ins) and the speed (V_ins) together with the position correction unit 240 to estimate the error of the position and speed of the vehicle to compensate the error position (Pkf), speed (Vkf) and attitude ( Ckf) is output.

In this case, the position correction unit 240 is configured as a Kalman filter that performs an optimal state estimation process applied to a dynamic system including an irregular outing.

For reference, the Kalman filter is linear, unbiased, and minimum error variance for optimally estimating unknown state variables of dynamic systems from noise-bearing data measured at discrete real time intervals. As a recursive algorithm of minimum error variance, it has been widely used in satellite navigation, trajectory estimation of missiles, radar, etc., and the recent development of high-speed, high-performance microprocessors allows the Kalman filter to be used in very complex real-time processing systems. Increasingly, the value of use is increasing.

In more detail, the position (PGPS) and the speed (VGPS) of the vehicle are sensed according to the position information received from the satellite in the GPS receiver 210. In addition, the linear acceleration (Fx, Fy, Fz) and rotational acceleration (p, q, r) is detected by the acceleration detector 220 and the gyro sensor 230 for detecting the actual driving speed and driving direction of the vehicle, respectively. do.

In this case, the assist posture C_aid of the vehicle is calculated based on the vehicle speed VGPS detected by the GPS receiver 210 and the linear accelerations Fx, Fy, and Fz, and the linear accelerations Fx, Fy, The actual position P_ins and the speed V_ins of the vehicle are calculated via Fz).

In addition, the actual attitude C_ins of the vehicle is calculated through the rotational accelerations p, q, and r.

Here, the position (PGPS) and speed (VGPS) of the vehicle received by the GPS receiver 210, the assisted posture (C_aid) of the vehicle, the actual position (P_ins) and speed (V_ins) of the vehicle, and the actual vehicle Information about the posture C_ins is transmitted to the position correction unit 240.

The position correction unit 240 formed of the Kalman filter compensates for the error of the position and speed of the vehicle through the transmitted information to obtain an output in which the error is compensated, thereby obtaining a more accurate position and speed of the vehicle. Will be.

In addition, FIG. 12 is a block diagram illustrating correcting a posture of a vehicle using a camera mounted on the vehicle in the present invention. The vehicle 200 is further equipped with a camera 280 having a three-wire scanner.

As shown, the position and attitude information of the camera 280 is directly connected to the position and attitude information of the camera 280. The three-wire scanner includes a vertical scanner 281 facing a direction perpendicular to the traveling direction of the vehicle 200, and a front scanner 282 facing an arbitrary direction between the traveling direction of the vehicle 200 and the direction in which the vertical scanner 281 faces. And a rear scanner 283 facing an arbitrary direction between a direction opposite to the traveling direction of the vehicle 200 and a direction toward the vertical scanner 281. Therefore, the angle between the vertical scanner 281 and the front scanner 282 and the angle between the vertical scanner 281 and the rear scanner 283 are 90 degrees or less. That is, the angle between the front scanner 282 and the vertical scanner 281 is 90 degrees or less toward the travel direction, and the angle between the rear scanner 283 and the vertical scanner 281 is 90 degrees or less in the opposite direction to the travel direction. do.

Here, the auxiliary posture calculation unit 250 calculates the position data received from the GPS receiver 210, the gyro sensor unit 230, and the camera 280 to perform correction on the geodetic data.

The GPS receiver 210 is connected to the camera 280 to determine the location of the camera 280. The gyro sensor unit 230 is connected to the camera 280 to determine the pose of the camera 280. The GPS receiver 210 and the gyro sensor unit 230 are physically fixed to the same frame as the camera 280.

The position and posture correction information of the camera 280 is generated using the scan line image input through the three-line scanner of the camera 280. The generated position and posture correction information is fed back to the GPS receiver 210 and the gyro sensor unit 230, respectively, and the position and posture information of the camera 280 may be more precisely identified.

FIG. 13 illustrates a relationship between images acquired through a three-wire scanner of the camera 280.

The three-wire scanner is composed of a front scanner 282, a vertical scanner 281, and a rear scanner 283 according to the traveling direction of the vehicle 200. Accordingly, the scanline image is also generated by the front scanner observation image 282a generated by the front scanner 282, the vertical scanner observation image 281a generated by the vertical scanner 281, and the rear scanner 283. It consists of a scanner observation image 283a.

Since three scanners are arranged based on the traveling direction of the vehicle 200, the ground surface or facility to be observed is first observed by the front scanner 282. After a certain time Δt1, the observation target is observed by the vertical scanner 281, and after a certain time Δt2 passes, the observation target is observed by the rear scanner 283.

When the vehicle 200 performs the constant velocity linear motion and the inertial motion without change in posture, the observation time interval between the front scanner 282, the vertical scanner 281 and the rear scanner 283 becomes the same (that is, [Delta] t1 = [Delta] t2), the positional deviation does not appear between the images observed through the three scanners described above.

On the other hand, when the observing apparatus does not perform the constant velocity linear motion and the inertial motion, position deviations appear between the images 281a, 282a, and 283a observed through the three scanners as shown in FIG. The image position deviation between the front scanner observation image 282a and the vertical scanner observation image 281a is (1,1) in pixel units, and the image position deviation between the vertical scanner observation image 281a and the rear scanner observation image 283a is (1,2) in pixel units. The present invention can obtain more accurate geodetic data by analyzing the positional deviation of the camera 280 mounted on the vehicle.

14 is a detailed flowchart illustrating geodetic data correction through a camera in the present invention.

As the observation device equipped with the camera 280 with the three-wire scanner proceeds forward, the front scanner observation image 282a, the vertical scanner observation image 281a, and the rear scanner observation image 283a are sequentially turned on by the three-wire camera. Is generated. The generated observation image is input to the image-based position and posture corrector 284.

The front scanner observation image 282a is temporarily stored in the first buffer memory 285. Thereafter, the image aligning unit 286 performs image registration on the temporarily stored front scanner observation image 282a and the vertical scanner observation image 281a input and observed in real time through the vertical scanner 281. Image position deviations [Delta] u1 and [Delta] v1 in pixel units are calculated between (281a and 282a).

Image matching may be performed by various known methods such as region-based matching or shape-based matching.

The same process applies to the images observed through the vertical scanner 281 and the rear scanner 283. That is, the vertical scanner observation image 281a is temporarily stored in the second buffer memory 287. Thereafter, the image matching unit 286 performs image registration on the temporarily stored vertical scanner observation image 281a and the rear scanner observation image 283a which is observed and input in real time through the rear scanner 283. Image position deviations [Delta] u2 and [Delta] v2 in pixel units are calculated between 281a and 283a. Image matching may be performed by various known methods such as region-based matching or shape-based matching.

The first image position deviation related information (Δu1, Δv1, tf, tn) between the front scanner observed image 282a and the vertical scanner observed image 281a, and between the vertical scanner observed image 281a and the rear scanner observed image 283a. The second image position deviation related information Δu2, Δv2, tn, and tr are input to the Kalman Filter processing unit 288.

The first image position deviation related information Δu1, Δv1, tf, tn is an image position deviation Δu1, Δv1 between the front scanner observation image 282a and the vertical scanner observation image 281a, and the front scanner observation image 282a. The generated time tf and the vertical scanner observation image 281a are composed of the generated time tn.

The second image position deviation related information (Δu2, Δv2, tn, tr) is the image position deviation Δu2, Δv2 between the vertical scanner observation image 281a and the rear scanner observation image 283a, and the vertical scanner observation image 281a. The generated time tn and the rear scanner observation image 283a are composed of the generated time tr.

Although the Kalman filter processing unit 288 has been described above, an additional description of the camera 280 is as follows. Claim of t _n when the input from the first and second imaging position error information, GPS receiver (210), (x, y, z, tn), t _n camera position information at the time of input from, and the gyro sensor unit 230 From the camera attitude information (ω, κ, φ, tn), the position and attitude correction information (x ', y', z ', ω', κ ', φ', t _m ) are estimated and generated. The position and posture correction information includes the position and posture change of the camera locally calculated for each time interval at which the image is generated. Here, the time t _m is an arbitrary time existing between the time tf at which the front scanner observation image 282a was made and the time tb at which the rear scanner observation image 283a was made. The time interval at which the image is generated may be shorter than the time interval limited by a conventional satellite navigation system or an inertial navigation apparatus.

15 is a detailed flowchart of the Kalman filter processing unit 288 in the present invention.

The projection conversion unit 288a includes seven parameters (x, y, z, ω, κ) defined by the camera position information (x, y, z, tn) and the camera pose information (ω, κ, φ, tn). perform projection transformation by applying, φ, tn to seven parameters (Δu1, Δv1, Δu2, Δv2, tf, tn, tb) defined by the first and second image positional deviation related information, and as a result Is applied to the parameters (x, y, z) representing the camera position information to calculate the parameters (δx, δy, δz) representing the real world position deviation.

Then, the Kalman filter 288b is optimized from the parameters (x, y, z, ω, κ, φ, tn) representing the position and attitude information and the parameters δx, δy, δz representing the real world position deviation. And parameters (Δx, Δy, Δz, Δω, Δκ, Δφ) representing the estimates for the attitude deviations.

The deviation correction unit 288c uses the parameters (Δx, Δy, Δz, Δω, Δκ, Δφ) indicating parameters for the position and posture deviations to indicate the position and posture information. By correcting the deviations of, z, ω, κ, φ, tn), the position and attitude correction information (x ', y', z ', ω', κ ', φ', optimized for a given time tm is estimated. tm) is calculated.

The position and attitude correction information (x ', y', z ', ω', κ ', φ', tm) optimized and estimated for any time tm existing between tf and tb is the position correction information (x ' , y ', z', tm) and posture correction information (ω ', κ', φ ', tm). The separated position correction information and posture correction information are fed back to the GPS receiver 210 and the gyro sensor unit 230, respectively, and used to precisely correct the position and posture information of the camera.

The technique of improving the accuracy of the position and attitude information by feeding back the correction information obtained by analyzing the three-wire scanner image may be performed by an onboard processing approach as well as a postprocessing approach.

The instant processing approach observes images through a three-wire scanner in a satellite or a vehicle, and feeds the position and attitude correction information back to the GPS receiver 210 and the gyro sensor unit 230 to improve the accuracy of the position and attitude information. This means that the corrected position and posture information is immediately applied (ie, recorded) to the image obtained through the three-wire scanner.

The post-processing approach records the position and posture information obtained from the GPS receiver 210 and the gyro sensor unit 230 and the image information obtained through the three-wire scanner as it is, and later processes the position and posture information through a separate process. It means to improve the precision.

The communication module (not shown) is mounted on a vehicle and is a means for wirelessly communicating with the communication device of the field observer 100, and communication may be performed through a general public network or a satellite communication network.

Integrated manager 300 includes a receiver and a data identifier.

The integrated manager 300 receives the geodetic data received from the vehicle 200 through the receiver and identifies the geodetic data using the data identifier. When the communication device of the integrated manager 300 combines and transmits the promised unique code, the data identification unit may check the source of the geodetic data by checking the unique code, and determine the authenticity of the geodetic data through this.

The integrated manager further includes a correction unit, and the correction unit compares the existing actual image and graph with the actual image and graph of newly received geodetic data to determine the difference, and if there is a difference, the actual inspection of newly received geodetic data. Stores images and graphs in an image database.

In addition, a digital map can be created using the stored geodetic data.

Persons having ordinary skill in the art to which the present invention pertains can make various substitutions, modifications, and changes to the above-described contents of the present invention without departing from the technical spirit of the present invention. It is not limited by the embodiment and the accompanying drawings.

100: field observer 110: observation body
120: support body 121: base
122: leg 123: rotary ball
124 cover 125 weight
130: leg fixing mechanism 131: fixed cylinder
132: vertical body 133: fixed body
134: angle adjustment knob 135: fixing mechanism
140: fixing column 141: fixing piece
142: operating rod 143: rotating member
200: vehicle 300: integrated manager

Claims (1)

A geodetic field observer comprising an observation body capable of measuring an angle and a distance of a measurement point, calculating and displaying a position coordinate of the measurement point, and a support body for mounting the observation body; A vehicle equipped with wired / wireless communication means to receive geodetic data from the geodetic field observer; And a level measurement processing system of a slope, comprising an integrated manager configured to receive and correct geodetic data received through wired / wireless communication means of the vehicle,
The support body of the geodetic field observer, the base is formed in a cylindrical shape having a screw thread on the outer circumferential surface and the first receiving groove of the hemispherical shape on the upper surface, the through-hole is opened downward in the center of the first receiving groove ;
Three legs, one end of which is pivotally hinged to the base;
Rotation that has a fixing protrusion for fixing the observation body to form a spherical shape having a curvature corresponding to the first receiving groove, the fastening groove formed on the outer surface facing the fixing protrusion is seated in the first receiving groove to face the through groove. phrase;
The fixing protrusion of the rotating hole has a second fixing groove penetrating and covers the base to enclose the rotating sphere, and forms a screw thread engaged with the thread of the base, and the inner surface of the second fixing groove has a curvature that comes into close contact with the rotating sphere. Formed cover;
A weight that penetrates the through groove of the base and is fixed to the fastening groove of the rotary tool; And
A leg fixing mechanism detachably fixed to the three leg ends to support the legs with respect to the ground,
The leg fixing mechanism includes: a fixing cylinder which is inserted into a leg end and detachably fixed by a fixing screw; A vertical body installed in a vertical direction and having an upper end rotatably connected to one side of the fixed cylinder and a horizontal axis;
A fixed body rotatably connected to the horizontal axis formed by the lower end of the vertical body and the angle adjusting knob formed at the center of the upper surface;
A plurality of conical protrusions protruding from the bottom surface of the fixed body;
It is installed at both ends of the fixed body, respectively, freely connected to the fixed body around the horizontal axis and the hollow connection cylinder, the insertion tube is inserted into the connection cylinder fixed by a tightening screw, and the insertion tube end Fixing mechanism consisting of a cylindrical support tube fixed to the;
A fixed pillar having a pointed end and penetrating the support tube of the fixing mechanism to be driven into the ground;
A pair of fixings are rotatably connected around the horizontal axis on both sides of the lower end of the fixing column so as to be movable between an insertion position in the fixing pillar and a fixing position protruding out of the fixing pillar, and having a tooth-shaped portion formed on an outer surface thereof. side;
It is installed in the vertical hole formed in the fixing column so as to be movable in the vertical direction, and the lower end is connected to the one end of the pair of fixing pieces so that the pair of fixing pieces between the insertion position and the fixing position Rotating rod; And
A screw part is formed to be screwed into a screw hole formed in the vertical direction at the upper end of the fixing column, and is held by the upper end of the operating rod, including a rotating member for moving the operating rod up and down by a rotation operation Level measurement processing system of the slope.

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