KR101816213B1 - Image Space Mapping System with Geographic Information Change - Google Patents

Abstract

The present invention relates to a space image drawing system according to geographic information changes. More specifically, a space image drawing system according to geographic information changes draws landmark images of various buildings which are landmarks concentrated on the downtown area based on real landmarks and applies the landmark images in a precise position in a drawing image, and rapidly reflects the frequently changed landmark images using a drone which is cheap and can take a photograph periodically instead of aerial photography using an air plane which takes a long term and costs a lot of money, thereby completing a reliable drawing image.

Description

Technical Field [0001] The present invention relates to a spatial image mapping system,

More particularly, the present invention relates to a system and method for displaying an image of a terrain of various buildings, which is a landform concentrated in a downtown area, in accordance with a real terrain, Instead of aerial photography using airplanes with long aerial photographs and expensive exposures, we use drones that can be photographed cheaply and periodically so that they can be applied to my exact position quickly, The present invention relates to a video image space image display system according to a change in terrain information so as to complete an image.

In general, the drawing images used for digital mapping are made as simple as possible to help users who use the map and minimize the visual rejection.

In particular, in the case of a device such as a navigation device, in which a user must be able to quickly and easily identify and understand an image displayed on a monitor, the background of the drawn image is significantly different from the actual image.

FIG. 1 (a) is a drawing image in which the terrain information is simplified as much as possible, and FIG. 1 (b) is a drawing image showing a state of the actual terrain.

As shown in FIG. 1, in the case of (a), the user can easily and quickly understand the road state of the terrain and the arrangement of the terrain image (B). However, , The user will be confused by whether or not the actual scene and the figure image are identical due to the appearance of the terrain image (B, B ') and the terrain which are different from each other.

In order to solve this problem, a system has been developed in which the image can be modified and updated.

The system identifies the image of the terrain by installing a positioner on the actual terrain of the site, and separately collects the coordinate value and position information of the positioner on the GPS. The coordinate values and the position information are combined with each other to update the existing image stored in the digital map DB.

However, since the position measuring instrument used in this system is working in combination with GPS in the field, it is made for the wilderness without cover by various terrains or for the relatively outdoors.

Therefore, in urban areas where high-rise buildings are concentrated, communication with GPS satellites is difficult, and numerous jamming waves are flooded, and it is impossible to accurately measure the terrain in urban areas where frequent malfunctions of various sensors occur.

In addition, there is a limit in installing a position measuring device in each building.

In addition, the aerial photographing is costly, so it can not be repeatedly photographed repeatedly periodically, and it is difficult to quickly reflect the shape characteristics of the landform which changes frequently.

In addition, the aerial photographing can not stay in the shooting area because the airplane passes through the shooting point at a high speed. Therefore, if necessary, it is necessary to take the photograph again every time the airplane is turned and the time and cost Have.

Korean Registered Patent No. 10-1018078 (Feb. 21, 2011) 'Image synthesis system for image processing of feature images'

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the prior art, and it is an object of the present invention to provide an image processing method and a system for mapping a terrain image of various buildings, But it is also possible to use the airplane with a long aerial photographing cost and expensive expense to use the dron which can be photographed inexpensively and periodically instead of the aerial photographing to quickly reflect the image of the feature image that changes frequently and complete the reliable drawing image The present invention has been made to solve the above problems.

In order to achieve the above object, at least three movable vehicles (100, 102, 104) equipped with RF transmitters (R1, R2, R3) and GPS receivers (G1, G2, G3) and; R2 and R3 via RF received from the RF transmitters R1, R2 and R3 and outputs the coordinate information received from the GPS receivers G1, G2 and G3 to the RF transmitter A drone (200) for generating a photographed image that is coded for each of the first, second, and third images (R1, R2, R3); And a management server (300) having a drawing module (310) for receiving a shot image generated by the dragon (200) and performing drawing, the system comprising:
Each of the vehicles 100, 102 and 104 includes a vehicle controller 110 in which a memory is mounted and RF transmitters R1, R2 and R2 which emit RF according to a control signal of the vehicle controller 110 are installed one by one in each vehicle A GPS receiver G1, G2, G3 for communicating with the satellite under the control signal of the vehicle controller 110 to confirm position information of the vehicle 100, 102, 104, respectively;
The drones 200 are equipped with a control drone controller 210 necessary for implementing functions including wireless communication with the management server 300 and the vehicles 100, 102, and 104; The drones controller 210 includes a camera 211 for capturing an image capturing zone, an RF receiver 212 for receiving signals from RF transmitters R1, R2 and R3, A coordinate system 214 for confirming the GSPS coordinates of the point where the drone 200 is currently located through communication with the satellite and a coordinate system 214 for checking the position information received by the RF receiver 212 and the coordinate system 214 An arithmetic unit 215 for calculating the distance on the ground to each of the RF transmitters R1, R2 and R3 using the confirmed position information and the altitude information confirmed by the altimeter 213; A position information synthesizer 216 for identifying the position information received by the RF receiver 212 and synthesizing the position information on the photographed image of the photographing zone, and a drone memory 217 for storing the synthesized image image ;
The drone 200 includes a disk-shaped drone body 220. An engine chamber 230 is fixed to a lower surface of the drone body 220. A camera 214 is mounted on the bottom surface of the engine chamber 230, A micro gas turbine generator 240 is installed in the engine chamber 230 and a cooling fan 242 is installed on the inner ceiling of the engine chamber 230. The periphery of the engine chamber 230, A plurality of ventilation holes 232 are formed in the drum installation hole 250 and a battery installation groove 250 formed in a cylindrical shape is formed at the center of the upper surface of the drone body 220. On both sides of the battery installation installation 250, The battery 260 is sealed and filled with air and the dron controller 210 is installed on one side of the buoyancy chamber 260. A battery 270 is installed in the battery installation groove 250 , The storage battery 270 may be connected to the miniaturized gas turbine generator 240 to store electricity ≪ / RTI >
A heat insulating pad 272 is interposed between the battery mounting groove 250 and the battery 270 so that the battery 270 blocks the heat generated in the miniaturized gas turbine generator 240 to deteriorate the battery 270 And the upper surface of the drone body 220 is sealed by the dron cover 280;
5% by weight of 1-chloro-2,3-epoxypropane, 5% by weight of methyltrimethoxysilane, 10% by weight of polyvinyl alcohol, and 10% by weight of silicone resin 10 , 2.5% by weight of triethanolamine, 1.5% by weight of petrolatum and the rest of the polycarbonate resin;
The landing gear 400 is disposed under the drones 200. The first and second floaters 410 and 420 are fixed to the lower end of the landing gear 400, The first and second buoyant bodies 410 and 420 are formed in a hollow interior with a helium gas chamber 430 in the form of a double tube fixed by a plurality of fixed ribs 440. One side of the first and second buoyant bodies 410 and 420 The first and second fixing pieces 470 and 480 are integrally protruded to further fix the lower ends of the landing gear 400. The first and second buoyant bodies 410 and 420 have first and second (412, 422) are further included in the image information.

According to the present invention, it is possible to map an image of a landform of various buildings, which are landforms concentrated in a downtown area, to an exact position in a picture image in accordance with a real terrain, and to use an airplane having a long aerial photographing term and a high- Instead of aerial photographing, it is possible to obtain a reliable picture image by rapidly reflecting a frequently changing feature image image using a drone capable of taking a low cost and periodic photographing.

Fig. 1 is a view schematically showing an image obtained by a conventional method.
2 is an exemplary block diagram of a spatial image display system according to the present invention.
3 is an exemplary view of a vehicle constituting the spatial image display system according to the present invention.
FIG. 4 is a conceptual diagram showing an operation example of a computing unit constituting the spatial image display system according to the present invention.
5 is a schematic diagram of a dron constituting a spatial image display system according to the present invention.
6 is an exemplary photograph of an ultra small gas turbine generator employed in the drone of FIG.
7 is a view illustrating an example of modification of the landing gear of the drones according to the present invention.
Figure 8 is an exemplary cross-sectional view of the assembled condition of Figure 7, viewed from the front.

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

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

2, the spatial image drawing system according to the present invention includes at least three movable (portable) devices including RF transmitters R1, R2, and R3 and GPS receivers G1, G2, and G3 to perform a coordinate reference point function A vehicle (100,102,104); R2 and R3 via RF received from the RF transmitters R1, R2 and R3 and outputs the coordinate information received from the GPS receivers G1, G2 and G3 to the RF transmitter A drone (200) for generating a photographed image that is coded for each of the first, second, and third images (R1, R2, R3); And a management server 300 having a drawing module 330 for receiving a shot image generated by the dragon 200 and performing drawing.

3, the vehicle 100 includes a vehicle controller 110 having a memory mounted thereon, and RF transmitters R1, R2, and R3 for transmitting RF signals according to the control signals of the vehicle controller 110, R2 are installed one by one in each vehicle.

Each of the vehicles 100, 102 and 104 is also provided with GPS receivers (G1, G2 and G3) for communicating with the satellite under the control signal of the vehicle controller 110 to confirm positional information, that is, coordinate information.

In addition, a vehicle stereo camera 120 is further provided on the roof of each of the vehicles 100, 102, and 104 to capture a stereoscopic image. This is because, in the case of a high-height building, Since the side image may not be displayed properly, the side image may be acquired as a stereoscopic image and then synthesized with the plane image, thereby converting the overall appearance image into a three-dimensional stereoscopic image.

Each of the RF transmitters R1, R2 and R3 oscillates RF so that it can be received by the drone 200. The oscillated signal is transmitted to each of the RF transmitters R1, Since the RF signal includes one RF signal, the drone 200 can identify the RF signal transmitter (R1, R2, R3) that oscillated the RF signal through the received RF signal.

The RF transmitters R1, R2 and R3 are controlled by the vehicle controller 110 installed in each of the vehicles 100, 102 and 104 when the drone 200 enters the photographing target floor (i.e., the photographing zone) And can be controlled to be continuously sent out at intervals with a break.

Meanwhile, the drones 200 mount the drones controller 210 for control necessary for implementing functions including wireless communication with the management server 300 and the vehicles 100, 102, and 104.

The drones controller 210 includes a camera 211 for photographing a photographing zone, an RF receiver 212 for receiving signals transmitted from RF transmitters R1, R2 and R3, An altimeter 213 for measuring altitude and a coordinate system 214 for confirming the GSPS coordinates of the point where the drone 200 is currently located through communication with the satellite, An arithmetic unit 215 for calculating a distance on the ground to each of the RF transmitters R1, R2 and R3 using the position information confirmed by the altimeter 213 and the altitude information confirmed by the altimeter 213; A position information synthesizer 216 for checking the distance information and the position information received by the RF receiver 212 to synthesize the position information on the photographed image of the photographing zone, and a drone memory 217 for storing the synthesized image image .

At this time, the camera 211 is a general camera for photographing a photographing zone, and an analogue or digital method can be applied, but a stereo camera for a drone is preferably used to secure a stereoscopic image.

The RF receiver 212 identifies and distinguishes RF included in the oscillation signal corresponding to different frequency bands transmitted from the RF senders R1, R2, and R3, and the distinguishing information is recognized by the drone controller 210 do.

4, the arithmetic unit 215 includes a plurality of RF transmitters (R1, R2, R3) and at least three GPS receivers (G1, G2, G3) ), And information on the size of the unit space that the camera 211 mounted on the drone 200 can photograph at one time, through the information provided by the drones 200 hovering at the upper predetermined height in the shooting zone In order to precisely position information of the vehicles 100, 102, 104 so that accurate drawing can be performed when the drawing module 330 inserts coordinate values, that is, positional information, into the image, .

At this time, the position of the drone 200 is known through the coordinate system 214, and the position of the shooting zone directly below the dron 200 is known through the altimeter 213, and the position of each RF transmitter R1, R2, The distance from the point directly below the drones 200 in the photographing zone to each of the RF transmitters R1, R2, and R3 can be determined by a right triangle It is produced by Pythagorean theorem.

In this way, the coordinate values obtained by the GPS receivers G1, G2, and G3 and the distance information from the reference point to the RF transmitters R1, R2, and R3 are obtained based on the points immediately below the drones 200 in the shooting zone Therefore, the position information of the RF transmitter (R1, R2, R3) can be displayed on the image of the photographed zone, and when the image of the photographed zone is displayed, .

The drone memory 217 records the photographed image in which the position information is synthesized in the form of a storage, and transmits the photographed image to the drawing module 330 according to a control signal of the drone controller 210.

The drone memory 217 may be, for example, an external disk having a temporary storage function, such as a RAM, a recording medium removably attached by a USB system, or an SD card type recording medium, or may be a general disk, It can also be a drive.

Meanwhile, it is preferable that the drone 200 has a buoyancy increasing function as shown in FIG. 5 so as to fly for a long time, for example, at least six hours or more.

5, the drone 200 includes a disk-shaped drone body 220. An engine chamber 230 is fixed to the lower surface of the drone body 220, and the engine chamber 230 A camera 214 is mounted on the center of the bottom surface of the camera.

A landing gear 400 is installed at the bottom of the engine chamber 230 so as to protect the drone body 220 when the drone 200 performs flying or landing. However, the description of the drones, drones, drone rotor motors and the like is omitted since they are general matters.

In the present invention, the micro gas turbine generator 240 is installed in the engine chamber 230 to increase the flight time of the drone 200.

The micro gas turbine generator 240 can be manufactured and sold by IHI (Japan) as shown in FIG. 6. The micro gas turbine generator 240 uses palm-sized LPG as fuel Is a turbine generator that has a complete oil-free structure and has a power generation capacity of 400,000 revolutions per minute and a maximum of 400 watts due to the use of a foil bearing.

Particularly, since a lot of heat is generated when the micro gas turbine generator 240 is driven, a cooling fan 242 is provided on the inner ceiling of the engine chamber 230 for cooling the engine, and a cooling fan 242 is provided around the engine chamber 230 It is preferable that a plurality of ventilation holes 232 are formed in a perforated manner.

A buoyancy chamber 260 is formed in a closed state on both sides of the battery installation groove 250 to form an air chamber 260. The buoyancy chamber 260 is formed in a closed state at the center of the upper surface of the drone body 210, Is filled. Of course, the air can escape and be perforated so that it can flow in.

In addition, the drain controller 210 described above is installed at one side of the buoyancy chamber 260.

In addition, a battery 270 is installed in the battery installation groove 250, and the storage battery 270 is connected to the miniaturized gas turbine generator 240 to store electricity.

At this time, it is more preferable that the heat insulating pad 272 is interposed between the battery installation groove 250 and the battery 270. The heat insulating pad 272 is for preventing the storage battery 270 from deteriorating by interrupting the heat generated from the micro gas turbine generator 240.

The upper surface of the drop body 220 including the battery installation groove 250 is sealed by the drones 280.

In this case, the drone 200 continuously generates electricity by the micro gas turbine generator 240, which is an engine, and accumulates electricity in the battery 270, so that the drone 200 can obtain sufficient electricity to fly for a long time do.

In order to make the durability of the drum body 220 durable and lightweight, 5% by weight of 1-chloro-2,3-epoxypropane, 5% by weight of methyltrimethoxysilane, 10% by weight of polyvinyl alcohol, It is preferred that the composition is formed of a composition comprising 10% by weight of resin, 2.5% by weight of triethanolamine, 1.5% by weight of petroleum, and the rest of the polycarbonate resin.

Here, 1-chloro-2,3-epoxypropane is added as a chlorine-based material having a high reactivity for stabilizing the reaction of the composition, and methyltrimethoxysilane is improved in durability by strengthening the bonding force between emulsified materials by hydrophobicity .

In addition, polyvinyl alcohol is added to enhance the acid resistance and chemical resistance, so as to increase the bonding force between components. The silicone resin is a polymer mainly composed of silicon and oxygen bonds, and enhances the bonding force to strengthen the binding force between the constituents. And triethanolamine is a weakly alkaline buffer added to control acidity. Petrolatum is an ointment-like material composed mainly of amorphous solid hydrocarbons and is waterproof and added to enhance the formation, and polycarbonate The resin is a base resin.

On the other hand, the management server 300 includes a server controller 310, which is a main controller, installed at a remote location. The server controller 310 wirelessly communicates with the drones 200 to receive a video image An image display module 330 for displaying images using a video image received through the servo communication unit 320 and a server memory 330 connected to the server controller 310 for storing information transmitted and received 340).

In addition, since the drone 200 can land on the watercraft in an emergency and take off from the watercourse if necessary, the structure of the landing gear 400 can be modified so that water can be landed and landed.

For example, the first and second buoyant bodies 410 and 420 are fixed to the lower end of the landing gear 400 so that the drone 200 according to the present invention can land and land.

At this time, the first and second buoyant bodies 410 and 420 are cylindrically sealed at both ends, and the inside has a hollow shape.

In addition, a helium gas chamber 430 is further formed in the inside of the first and second buoyant bodies 410 and 420 to enhance buoyancy of the first and second buoyant bodies 410 and 420.

The helium gas chamber 430 is filled with helium gas. The helium gas chamber 430 has a plurality of fixed ribs 440 through which a gas filling hole 450 is formed , And the gas filling hole 450 is sealed by the sealing plug 460 so that the helium gas can be kept charged.

Further, the first and second fixing members 470 and 480 are provided with plate-like first and second fixing pieces 470 and 480 integrally protruded on one side of the outer circumferential surface of the first and second buoyant members 410 and 420, And the lower ends of the gears 400 are respectively fixed.

The first and second support legs 412 and 422 are provided on the lower side of the outer circumferential surface of the first and second buoyant members 410 and 420. The first and second support legs 412 and 422 are support means for landing and landing.

Therefore, according to the present invention, the drone 200 can be landed and landed by the first and second buoyant bodies 410 and 420, and land takeoff and landing is possible due to the presence of the first and second support legs 412 and 422, It is easy to fall down or float in an emergency, so it can prevent damage, damage and flooding damage.

In other words, valuable information can be safely maintained, which is expected to greatly increase the usefulness of asset management.

100: vehicle 200: drones
300: management server

Claims (1)

At least three movable vehicles (100,102,104) mounted with RF transmitters (R1, R2, R3) and GPS receivers (G1, G2, G3) to perform a coordinate reference point function; R2 and R3 via RF received from the RF transmitters R1, R2 and R3 and outputs the coordinate information received from the GPS receivers G1, G2 and G3 to the RF transmitter A drone (200) for generating a photographed image that is coded for each of the first, second, and third images (R1, R2, R3); And a management server (300) having a drawing module (310) for receiving a shot image generated by the dragon (200) and performing drawing, the system comprising:
Each of the vehicles 100, 102 and 104 includes a vehicle controller 110 in which a memory is mounted and RF transmitters R1, R2 and R2 which emit RF according to a control signal of the vehicle controller 110 are installed one by one in each vehicle A GPS receiver G1, G2, G3 for communicating with the satellite under the control signal of the vehicle controller 110 to confirm position information of the vehicle 100, 102, 104, respectively;
The drones 200 are equipped with a control drone controller 210 necessary for implementing functions including wireless communication with the management server 300 and the vehicles 100, 102, and 104; The drones controller 210 includes a camera 211 for capturing an image capturing zone, an RF receiver 212 for receiving signals from RF transmitters R1, R2 and R3, A coordinate system 214 for confirming the GSPS coordinates of the point where the drone 200 is currently located through communication with the satellite and a coordinate system 214 for checking the position information received by the RF receiver 212 and the coordinate system 214 An arithmetic unit 215 for calculating the distance on the ground to each of the RF transmitters R1, R2 and R3 using the confirmed position information and the altitude information confirmed by the altimeter 213; A position information synthesizer 216 for identifying the position information received by the RF receiver 212 and synthesizing the position information on the photographed image of the photographing zone, and a drone memory 217 for storing the synthesized image image ;
The drone 200 includes a disk-shaped drone body 220. An engine chamber 230 is fixed to a lower surface of the drone body 220. A camera 214 is mounted on the bottom surface of the engine chamber 230, A micro gas turbine generator 240 is installed in the engine chamber 230 and a cooling fan 242 is installed on the inner ceiling of the engine chamber 230. The periphery of the engine chamber 230, A plurality of ventilation holes 232 are formed in the drum installation hole 250 and a battery installation groove 250 formed in a cylindrical shape is formed at the center of the upper surface of the drone body 220. On both sides of the battery installation installation 250, The battery 260 is sealed and filled with air and the dron controller 210 is installed on one side of the buoyancy chamber 260. A battery 270 is installed in the battery installation groove 250 , The storage battery 270 may be connected to the miniaturized gas turbine generator 240 to store electricity ≪ / RTI >
A heat insulating pad 272 is interposed between the battery mounting groove 250 and the battery 270 so that the battery 270 blocks the heat generated in the miniaturized gas turbine generator 240 to deteriorate the battery 270 And the upper surface of the drone body 220 is sealed by the dron cover 280;
5% by weight of 1-chloro-2,3-epoxypropane, 5% by weight of methyltrimethoxysilane, 10% by weight of polyvinyl alcohol, and 10% by weight of silicone resin 10 , 2.5% by weight of triethanolamine, 1.5% by weight of petrolatum and the rest of the polycarbonate resin;
The landing gear 400 is disposed under the drones 200. The first and second floaters 410 and 420 are fixed to the lower end of the landing gear 400, The first and second buoyant bodies 410 and 420 are formed in a hollow interior with a helium gas chamber 430 in the form of a double tube fixed by a plurality of fixed ribs 440. One side of the first and second buoyant bodies 410 and 420 The first and second fixing pieces 470 and 480 are integrally protruded to further fix the lower ends of the landing gear 400. The first and second buoyant bodies 410 and 420 have first and second Wherein the support legs (412, 422) are further provided.

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