KR102596659B1 - Digital map production system for improving precision and reliability using field survey data - Google Patents

Abstract

The present invention relates to a digital map production system, and more specifically, to a plurality of permanent observatories that communicate with artificial satellites and confirm the current numerical coordinates, a mobile station that communicates with artificial satellites and corrects digital map images, and the current confirmed by a plurality of permanent observatories. It is characterized in that it includes a virtual reference point server that receives numerical coordinates, generates a position correction value and transmits it to the mobile station, and a distance information collector that measures the moving distance of the mobile station in real time and displays the distance value on the moving path. In order to measure high-accuracy numerical coordinates for a region, a digital map production system that can improve precision and reliability is developed by using local survey data that can confirm numerical coordinates using network RTK technology using VRS and general RTK technology, respectively. It's about.

Description

Digital map production system that can improve precision and reliability using field survey data {DIGITAL MAP PRODUCTION SYSTEM FOR IMPROVING PRECISION AND RELIABILITY USING FIELD SURVEY DATA}

The present invention relates to a digital map production system, and more specifically, to a digital map production system that can improve precision and reliability using field survey data.

In general, a digital map refers to a map that expresses the geographical and topographic content to be expressed in numbers, such as a chart showing the water depth in numbers, a topographic map showing the relief of the terrain, etc. there is. In other words, a digital map expresses the geographical/topographical characteristics of a specific point as numerical information and applies it to a drawn image.

The process of building a numerical map is completed through several processes as follows. First, the paper map becomes a digital map through digitizing or scanning, and then goes through procedures to correct various input errors.

Subsequently, through coordinate transformation, it is converted into an actual coordinate system to suit the user's purpose, and then a topological structure is established to determine the mutual location and correlation between spatial objects. Afterwards, attribute data related to each geometrical data are entered into the numerical map whose topological structure has been established.

At this time, the above-mentioned attribute data includes various identifier information, and as an example, a feature electronic identifier (UFID: Unique Feature Identifier) is used as an identifier for a feature in a digital map of the National Geographic Information Institute, which is used for a feature. It is a single identifier that represents the assigned location information, management agency, other attribute information, etc. and is uniquely assigned to a geographical feature. It is composed of an organization code, map number, geographical feature identification code, and serial number field, and is used to manage the geographical feature, It is used as an identifier for linking with other geographic information or cross-referencing between geographical features for search and utilization.

The digital maps produced in this way enable faster and more accurate map searches than paper maps, and are superior in terms of information management and usability, allowing them to more effectively support various planning and decision-making.

In a digital map, the numerical spatial information about the relevant point must be accurately applied to the drawn image so that the user can easily obtain geographical and topographical information while looking at the map, and the drawn image must also be accurately depicted according to the spatial information.

In this process, in areas where the accuracy of numerical coordinates such as GNSS location information is relatively low (hereinafter referred to as 'occluded areas'), such as urban areas with high communication volume or points far from a reference station or permanent observation station, the numerical values of other adjacent areas are collected. Refer to the coordinates to check the numerical coordinates of the occluded area.

However, since the numerical coordinates directly checked in the field are applied to the digital map image that serves as the background of the digital map, inaccurate numerical coordinates can lead to the production of inaccurate digital maps.

In order to improve this, it is possible to effectively check for errors by comparing existing digital maps for buildings that have not been realistically processed in conventionally produced realistic appraisal images, or for buildings that are outside the accuracy range set by the inspector even for buildings that have been processed. The technology has been disclosed.

However, the prior art is only a technology for evaluating and correcting the digital map image of a digital map, and is not a technology for correcting the numerical coordinates themselves by checking inaccuracies in the numerical coordinates. Therefore, the prior art also provides a high level of information about the current location to the user of the digital map. There is a problem in that it does not provide reliable information.

The matters described as background technology above are only for the purpose of improving understanding of the background of the present invention, and should not be taken as recognition that they correspond to prior art already known to those skilled in the art.

The present invention is intended to solve the problems of the prior art described above. In order to measure the numerical coordinates of a blocked area with high accuracy, the present invention provides field survey data that can confirm the numerical coordinates using network RTK technology using VRS and general RTK technology, respectively. The purpose is to provide a digital map production system that can improve precision and reliability using .

In addition, the present invention can track the uncertainty of a digital map image for a specific location by identifying the difference between the two types of numerical coordinates, so it is possible to modify and complete a high reliability digital map image without being limited to a specific type of numerical coordinates. Another purpose is to provide a digital map production system that can improve precision and reliability by using available local survey data.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description of the present invention. .

The configuration of the present invention to achieve the above object includes a plurality of permanent observatories that check current numerical coordinates while communicating with artificial satellites; A mobile station that communicates with satellites and corrects digital map images; A virtual reference point server that receives the current numerical coordinates confirmed by multiple permanent observation stations, generates a position correction value, and transmits it to the mobile station; and a distance information collector that measures the moving distance of the mobile station in real time and displays the distance value on the moving path; It is characterized by including.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the permanent observatory receives signals in real time from three or more artificial satellites and provides measured numerical coordinates for the current location. It is desirable to recheck and transmit the measured numerical coordinates to the virtual reference point server and mobile station respectively.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the virtual control point server is connected to a number of permanent observatories through a network and receives primary numerical coordinates from a mobile station. After checking, search for three or more permanent observation stations adjacent to the mobile station, compare the measured numerical coordinates of the searched permanent observation stations with the numerical coordinates of the corresponding known point, calculate the position correction value for the first numerical coordinate based on the difference, and calculate the position correction value. It is desirable to transmit to a mobile station.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the mobile station includes a GNSS module that verifies current numerical coordinates while communicating in real time with a satellite; A network communication module that processes communication with a virtual reference point server; A numerical coordinate correction module that corrects the numerical coordinates confirmed by the GNSS module based on the position correction value received from the virtual reference point server; An image storage module that stores digital map images; An image input/output module that outputs a digital map image retrieved from an image storage module; A supplementary point processing module that processes supplementation for the corresponding point in the digital map image; A photography module that photographs a specific point; Numerical coordinate comparison module that checks and compares the numerical coordinates confirmed based on general RTK and the numerical coordinates confirmed based on network RTK, respectively; and a movement path display module that displays and records the movement path of the mobile station, which is confirmed and displayed based on general RTK, and the movement path of the mobile station, which is confirmed and displayed based on network RTK, together on a digital map image; It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the distance information collector includes a base unit; A front wheel whose base is installed to be movable and rotatable about the steering axis for steering; Rear wheels installed in line with the front wheels so that the base moves; A distance confirmation module that counts the number of revolutions of the front wheels and transmits the corresponding count information to the distance value calculation module; A direction confirmation module that is placed on the steering axis and detects and measures the steering angle of the front wheel that changes during movement and transmits it to the distance calculation module; A mobility assistance device coupled to the upper part of the base; A vertical support attached to the upper part of the mobility assistance device; A horizontal support coupled to the top of the vertical support so as to be perpendicular to the vertical support; A horizontal positioning portion coupled to the lower part of the horizontal support; A vertical drive unit coupled to the lower part of the horizontal position; A shielding part coupled to the lower part of the upper and lower driving unit; and a mobile station accommodated inside the shielding unit; It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the mobility assistance device is a first device that is provided on the upper part of the base and drives the vertical support in the front-back and height directions. driving part; A connection unit provided in the first driving unit and moved in the forward and backward directions and in the height direction; and a second driving unit on one side of which is coupled to the connection unit and equipped with a vertical support unit; It is preferable that the connection unit is coupled to the second driving unit so that rotation and angle can be adjusted.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the first driving means includes: a moving body coupled to the upper part of the base; A horizontal movement control unit provided to move in the longitudinal direction of the movable body; and a lifting and lowering control unit provided to be lifted and lowered by the horizontal movement control unit and to which a connection unit is coupled. It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the horizontal movement control unit includes a pair of first rails spaced apart from the upper surface of the moving body; A pair of first blocks whose lower sides are movably coupled to a pair of first rails; A moving plate coupled to the upper surface of the pair of first blocks and moved together with the pair of first blocks; And a lifting support plate vertically coupled to the moving plate; It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the lifting control unit includes a pair of second rails spaced apart and coupled to the lifting support plate; and a pair of second blocks each coupled to a pair of second rails to enable elevation. It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the horizontal position control unit includes a connection plate coupled to the lower part of the horizontal support; A plurality of ball housings coupled to the lower part of the connection plate; Ball members each rotatably disposed inside a plurality of ball housings; A ball post formed at the bottom of the ball member and having a relatively smaller diameter than the ball member; and a ball damping part provided between the ball housing and the ball member to reduce vibration transmitted from the ball housing to the ball member. It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the upper and lower driving units include: a driving unit body coupled to the lower part of the horizontal positioning portion; A rotating body rotatably coupled to the inside of the drive unit body; A lifting mechanism whose upper part is coupled to the rotating body and which can be raised and lowered; A horizontal rotating part where one side is coupled to the drive unit body and the other side is coupled to a rotating body to rotate the shield clockwise or counterclockwise; A rotation damping unit provided inside the drive unit body to reduce vibration of the rotating body; and a battery provided in the drive unit body to supply electrical energy to the elevation drive unit and the horizontal rotation unit. It is desirable to include.

In a digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the shielding part includes a base body forming an open area coupled to the lower part of the upper and lower driving parts; a base shielding body provided at the lower part of the base body and covering the open area of the base body; A first shielding body provided to be lifted and lowered on the base shielding body and covering the open area of the upper part of the base shielding body; a second shielding body that is raised and lowered on the first shielding body and covers the open area of the upper part of the first shielding body; and a shielding drive part where one side is coupled to the base shielding body and the other side is coupled to the second shielding body to raise and lower the first shielding body and the second shielding body; It is desirable to include.

In the digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, the shielding drive unit includes a cylinder body provided at the lower part of the base shielding body; A cylinder rod whose one side is connected to the cylinder body and expands and contracts; A cylinder bracket coupled to the end of the cylinder rod; A connection unit that is coupled to one side of the cylinder bracket and is raised and lowered together with the cylinder rod; A lifting guide bar with one end coupled to the base shielding body and the other side penetrating the base support plate coupled to the base shielding body and coupled to the first support plate of the first shielding body; A lifting connection body that connects the connection unit and the lifting guide bar to elevate and lower the connection unit and the lifting guide bar together and is disposed inside the lifting guide bar; An upper lifting bar with one side coupled to the lifting guide bar and the other side coupled to the second shielding body to be lifted and lowered together with the lifting guide bar; and an upper stopper provided on the upper lifting bar to limit the rising height of the upper lifting bar; It is desirable to include.

The present invention, which has the above configuration, checks the numerical coordinates using network RTK technology and general RTK technology using VRS in order to measure high accuracy numerical coordinates for the occluded area, and places the confirmed numerical coordinates in the existing digital map image. Since it is possible to track the uncertainty of a digital map image for a specific location by displaying it at the same time and identifying the difference between the numerical coordinates of the two methods, it has the effect of modifying and completing a highly reliable digital map image without being limited to the numerical coordinates of a specific method. You can get it.

The attached drawings are intended as reference for understanding the technical idea of the present invention, and are not intended to limit the scope of the present invention.
Figure 1 is a block diagram schematically showing the configuration of a digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention.
Figure 2 is a block diagram showing the detailed configuration of a mobile station according to an embodiment of the present invention.
Figure 3 is an image showing an example of a numerical map image output to an image input/output module according to an embodiment of the present invention.
Figure 4 is an image showing a captured image linked to a digital map image output by an image input/output module according to an embodiment of the present invention.
Figure 5 is an image showing the ground image corrected by the supplementary point processing module according to an embodiment of the present invention.
Figure 6 is a block diagram showing the configuration of an image input/output module according to an embodiment of the present invention.
Figure 7 is a diagram schematically illustrating how a user uses the digital map production system in the field according to an embodiment of the present invention.
Figure 8 is an image showing the location of the mobile station within a digital map image output by the mobile station according to an embodiment of the present invention.
Figure 9 is a diagram showing a mobile station and a distance information collector according to an embodiment of the present invention.
Figure 10 is a plan view schematically illustrating the movement of a mobile station according to an embodiment of the present invention.
Figure 11 is a diagram showing the overall appearance of a mobility assistance device according to an embodiment of the present invention.
Figure 12 is a cross-sectional view of a connection unit according to an embodiment of the present invention.
Figure 13 is a cross-sectional view of the horizontal positioning portion and the vertical driving unit according to an embodiment of the present invention.
Figure 14 is an enlarged view showing the area of the ball housing according to an embodiment of the present invention.
Figure 15 is a diagram schematically showing a damping body and a support block according to an embodiment of the present invention.
Figure 16 is a diagram showing the overall appearance of the shielding portion according to an embodiment of the present invention.
Figure 17 is a view showing the back of the shield according to an embodiment of the present invention.
Figure 18 is a diagram showing the operation of the first shielding body and the second shielding body being lowered according to an embodiment of the present invention.

Hereinafter, based on the attached drawings, the present invention will be described in detail so that those skilled in the art can easily practice it. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts that are not relevant to the description are omitted, and identical or similar components are assigned the same reference numerals throughout the specification.

In addition, terms or words used in this specification and patent claims should not be construed as limited to their usual or dictionary meanings, and the inventor must appropriately use the concept of terms to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle of definability.

Figure 1 is a block diagram schematically showing the configuration of a digital map production system that can improve precision and reliability using field survey data according to an embodiment of the present invention, and Figure 2 is a block diagram showing an embodiment of the present invention. This is a block diagram showing the detailed configuration of the mobile station.

First, to help you understand, VRS (Virtual Reference Station) surveying will be explained. The VRS positioning method utilizes data from a distant permanent observation station to determine a virtual reference point in software, assuming that there is a reference point near the mobile station. It is a technology that creates

In the existing DGNSS (Differential Global Navigation Satellite System), when the distance between the reference station and the above observatory becomes more than several hundred kilometers, accuracy deteriorates due to the influence of the ionosphere, etc. However, in the virtual reference point type DGNSS, the accuracy of numerical coordinates is maintained even when moving away from the observatory.

For reference, in order to perform high-precision GNSS (Global Navigation Satellite System) surveying, a reference station must be installed at a reference point whose coordinates are already known, and the mobile station must communicate with the reference station and satellites, so two or more GNSS receivers are always required. is needed. However, if the VRS positioning method is used to use observation data from a permanent observation station installed at an existing reference station, GNSS observations at the reference station become unnecessary.

Therefore, GNSS surveying is possible with a single receiver if the user observes only at unknown points and downloads and uses correction values from the observation data of the regular observatory.

Additionally, because there is no need to operate multiple reference stations, work efficiency is improved and it is more efficient.

The system according to the present invention based on numerical coordinate confirmation using the network RTK (Real Time Kinematic) method using VRS will be described in detail with reference to the attached drawings.

As illustrated in Figures 1 and 2, the system according to the present invention verifies numerical coordinates based on VRS to correct errors in numerical coordinates linked to digital map images, and also compensates for errors in digital map images. .

For this purpose, the system includes a permanent observation station 30 that communicates with a satellite and checks the current numerical coordinates, a mobile station 10 that is carried by an operator and communicates with the satellite and corrects the digital map image according to the operator's operation, and a permanent observation station 30 that communicates with the satellite and verifies the current numerical coordinates It includes a virtual reference point server 20 that receives the current numerical coordinates confirmed by the observation station 30, generates a position correction value, and transmits it to the mobile station 10.

As is well known, the permanent observation station 30 is installed at a reference station, which is a known point, and serves as a standard for error correction of current numerical coordinates confirmed from a satellite.

The current numerical coordinates confirmed at the permanent observation station (30) are transmitted in real time to the ground control point server (20).

The virtual reference point server 20 is a system that verifies numerical coordinates based on network RTK (Real Time Kinematic) by VRS. It establishes network communication with the permanent observatory 30 and receives the numerical coordinates currently confirmed from the permanent observatory 30. Receive in real time.

The numerical coordinates received in this way are compared with the known point coordinates of the permanent observation station 30 to determine the error rate of the numerical coordinates confirmed by the permanent observation station 30, and based on this, a position correction value is generated and transmitted to the mobile station 10. .

The mobile station 10 is carried by workers visiting the site and checks the numerical coordinates in real time, and outputs a digital map image of the site based on the numerical coordinates so that the worker can directly check errors in the digital map image. By correcting identified errors, the digital map image can be supplemented in real time.

For this purpose, the mobile station 10 includes a GNSS module 11 that verifies the current numerical coordinates while communicating with a satellite in real time, a network communication module 12 that processes communication with the virtual control point server 20, and a virtual control point server ( A numerical coordinate correction module 13 that corrects the numerical coordinates confirmed by the GNSS module 11 based on the position correction value received from 20), an image storage module 14 that stores a digital map image, and an image storage module ( An image input/output module (15) that outputs the digital map image retrieved in 14) and operates according to the operator's manipulation, and a supplementary point processing module (16) that processes the supplementation of the corresponding point of the digital map image according to the operator's manipulation. and a shooting module (17) that photographs a specific point according to the operator's operation, and a numerical coordinate comparison module (17) that checks and compares the numerical coordinates confirmed based on general RTK and the numerical coordinates confirmed based on network RTK, respectively ( 18), and a movement path display that displays and records the movement path of the mobile station 10, which is confirmed and displayed based on general RTK, and the movement path of the mobile station 10, which is confirmed and displayed based on network RTK, together in a digital map image. Contains module 19.

A more detailed description of the mobile station 10 will be provided according to the operating order of the system according to the present invention.

Subsequently, it further includes a distance information collector 40 that measures the moving distance of the mobile station 10 in real time and displays the distance value on the moving path output to the image input/output module 15.

The distance information collector 40 for this purpose is installed on the wheel configured in the mobile station 10 and includes a distance confirmation module 41 that counts the number of rotations of the wheel, a direction confirmation module 42 that measures the steering angle of the wheel, and It includes a distance value calculation module 43 that receives and calculates the rotation speed and steering angle to confirm the moving distance of the mobile station 10.

The distance information collector 40 is configured in the mobile station 10, and a detailed description thereof will be provided below.

1) First confirmation of numerical coordinates

The GNSS module 11 receives signals from artificial satellites and first confirms the current location of the mobile station 10.

As is well known, the GNSS module 11 receives signals from at least three artificial satellites, checks the strength of the signals, and calculates and confirms the primary numerical coordinates of the point where the mobile station 10 is currently located.

The GNSS module 11 according to the present invention is capable of correcting numerical coordinates based on DGNSS (Differential GNSS) like a general GNSS device, which will be explained again below.

2) VRS communication

The network communication module 12 transmits the primary numerical coordinates of the GNSS module 11 to the virtual reference point server 20.

The virtual reference point server 20 communicates in real time with the permanent observation station 30 installed at the reference point and receives the measured numerical coordinates confirmed by the permanent observation station 30 in real time.

As is well known, the permanent observation station 30 is installed at a known point, so the exact known coordinates of the current location are registered.

In this environment, the permanent observation station 30 can receive a signal from an artificial satellite, newly confirm the currently measured numerical coordinates, and calculate the error rate by comparing the newly confirmed numerical coordinates with known coordinates.

The virtual reference point server 20 calculates an error rate by comparing the measured numerical coordinates newly confirmed by the permanent observation station 30 with the known coordinates of the permanent observation station 30.

Meanwhile, the virtual reference point server 20 checks the error rate for three or more permanent observation stations 30 corresponding to the location of the mobile station 10 based on the first numerical coordinates received from the network communication module 12, Using this, the position correction value for the first numerical coordinate is completed and transmitted to the mobile station 10.

The position correction value may be a secondary numerical coordinate obtained by correcting the primary numerical coordinate, or may be a correction value that allows the GNSS module 11 to correct the primary numerical coordinate into secondary numerical coordinates based on RTK technology. .

3) Check the current location of the mobile station

The network communication module 12 receives the position correction value from the virtual reference point server 20, and the numerical coordinate correction module 13 receives the position correction value and corrects the primary numerical coordinates to secondary numerical coordinates.

The secondary numerical coordinates quantify the location of the mobile station 10 with high reliability, and allow the numerical coordinates to be confirmed without significant influence on the distance and communication environment between the permanent observation station 30 and the mobile station 10.

4) Output of digital map image corresponding to the current location of the mobile station

The image storage module 14 searches for a digital map image of the corresponding location based on the secondary numerical coordinates, and outputs the searched digital map image through the image input/output module 15.

Figure 3 is an image showing an example of a numerical map image output to an image input/output module according to an embodiment of the present invention, and Figure 4 is an image showing an example of a numerical map image output by an image input/output module according to an embodiment of the present invention. This is an image that shows the image being linked.

Figure 3 is a corresponding digital map image where secondary numerical coordinates are located, and displays a point where the mobile station 10 is located in the digital map image according to the secondary numerical coordinates.

Here, the 'blue dot' indicates the point where the mobile station 10 is located in the digital map image based on secondary numerical coordinates.

For reference, the 'blue dot' is displayed moving in real time according to the secondary numerical coordinates confirmed by the mobile station 10, and based on this, the worker of the mobile station 10 confirms his or her position in the digital map image.

5) On-site shooting

The operator of the mobile station 10 compares the location confirmed in the digital map image with the location confirmed in the field and determines the difference.

If the worker checks his/her location and the surrounding environment shown in the digital map image and determines that there is a difference, he/she photographs the scene using the photography module (17) and makes corrections to the digital map image using the image input/output module (15). Mark the target point (see 'red dot' in Figure 3).

For reference, the image input/output module 15 according to the present invention may be a touch screen type device so that the operator can immediately display the point to be corrected while viewing the digital map image.

Additionally, the photographing module 17 may be a digital camera that generates and inputs digital images in conjunction with the image input/output module 15.

Subsequently, when the shooting by the shooting module 17 is completed, as shown in FIG. 4 (an image showing the captured image being linked to the numerical map image output by the image input/output module according to the present invention), the shooting module ( 17) automatically links the captured image to a point in the digital map image indicated by the current location of the mobile station 10.

By linking in this way, workers can easily check the target and point of supplementation in the digital map image, as well as how to supplement the digital map image by referring to the captured image and the 'red dot'.

6) Processing of supplementary points

The supplementary point processing module 16 allows the operator to modify the digital map image according to the point where the 'red dot' is displayed.

To explain this in more detail, the supplementary point processing module 16 is produced as an application that can edit digital map images, and the operator uses the image input/output module 15 according to the menu presented by the supplemental point processing module 16. Manipulate to supplement the digital map image.

To explain as an example, as in the digital map image shown in Figure 3, the worker marks (red dot) a correction target point, which is a specific point that needs supplementation, while conducting a field investigation, and in the digital map image shown in Figure 4, Refer to the linked captured image and proceed to supplement the point to be corrected.

Figure 5 is an image showing how the supplementary point processing module corrects the ground image according to an embodiment of the present invention.

The operator checks the point to be corrected in the ground image output to the image input/output module 15 and compares it with the linked ground image (see FIG. 4).

Here, the corner located at the bottom of the point to be corrected has a somewhat gentler shape compared to the corner located at the top in the actual site, so taking this into consideration, the image shape of the corner is changed through the supplementary point processing module 16 as in the 'supplementary part'. Edit .

In addition, as can be seen in Figures 3 and 4, the previous digital map image shows the space between roads as an empty lot, but the actual site, which can be seen in the linked ground image, shows that the space is not an empty space but a large number of stores. You can see that it is composed.

In other words, the space is occupied by a ‘temporary building’. Accordingly, the supplementary point processing module 16 edits the image form of the corresponding space as a 'supplemental part' as shown in FIG. 5.

Ultimately, the supplementary point processing module 16 supplements the digital map image in the above-described process, and through this, a user visiting the site can accurately confirm his or her location using the modified digital map image.

Figure 6 is a block diagram showing the configuration of an image input/output module according to an embodiment of the present invention, and Figure 7 schematically explains how a user uses the digital map production system in the field according to an embodiment of the present invention. This is a drawing for

A user who visits the site compares the digital map image with the site while looking at the digital map image displayed on the screen of the image input/output module 15, which is one component of the system, and checks for errors in the digital map image.

However, the digital map image output through the image input/output module 15 is always output with north (N) facing the top of the screen and south (S) facing the bottom of the screen, regardless of the user's movement direction and gaze. .

In other words, even if the user moves toward the east, south, or west, the digital map image that can be used as a reference always faces the upper part of the screen, resulting in a difference between the digital map image and the scene.

In the end, the user has difficulty matching the digital map image with the site using only the digital map image output to the image input/output module 15, and because of this, it is not possible to easily determine whether there is an error in the digital map image for the site.

For this purpose, the image input/output module 15 according to the present invention retrieves and outputs the digital map image from the image storage module 14, confirms the user's operation, processes the corresponding operation, and determines the direction confirmed by the direction observation unit 15b. An input/output unit 15a adjusts the arrangement direction of the digital map image by checking the value and time value confirmed by the timer 15c, and detects the direction the screen of the input/output unit 15a faces based on north, south, east, west, and generates a direction value. It consists of a direction observation unit 15b, which starts measuring time when a change in the direction value is confirmed, and a timer 15c that generates a time value after a certain time has elapsed.

As shown in Figure 7 (a), the user places the image input/output module 15 in front of himself and moves north while viewing the digital map image displayed on the screen of the input/output unit 15a.

The direction observation unit 15b is equipped with a known electronic compass function and determines which direction the image input/output module 15 is facing based on the user as one of north, south, east and west, and generates the corresponding direction value to display the input/output unit 15a. Pass it to

Meanwhile, the timer 15c checks the direction value, measures the time from the point of change if there is a change in the direction value, and generates the corresponding time value after a certain period of time and transmits it to the input/output unit 15a. .

In an embodiment according to the present invention, when the user moves toward the north as shown in (a) of FIG. 7 and changes direction toward the east as shown in (b) of FIG. 7, the direction observation unit 15b changes the direction. Recognizing that it has changed from north to east, the corresponding direction value is generated and transmitted to the input/output unit 15a, and the timer 15c measures the time from this point.

Subsequently, when a certain time elapses, the timer 15c transmits the corresponding time value to the input/output unit 15a, and the input/output unit 15a generates the corresponding numerical map image as shown in (b) of FIG. 7. Make sure the output faces east.

In other words, when the user is facing north, the north side of the digital map image is toward the top of the screen based on the user's line of sight, and when the user is facing east, the east side of the digital map image is toward the top of the screen based on the user's line of sight. It is to be pointed towards.

For reference, the user can change direction at any time to check the site, but adjusting the arrangement of the digital map image output each time puts a strain on the system and causes confusion for the user, so maintain a stable output state of the digital map image. To achieve this, it is desirable to adjust the arrangement of the digital map image only when the direction is maintained for more than a certain period of time.

Ultimately, the user can navigate and move while looking at the digital map image displayed on the screen of the input/output unit 15a, and through this, the user can easily identify the terrain displayed on the digital map image by matching it with the site.

The GNSS module 11 of the mobile station 10 according to the present invention verifies the numerical coordinates (secondary numerical coordinates) of the mobile station based on network RTK, and also determines the numerical coordinates (tertiary numerical coordinates) of the mobile station based on general RTK. Check together.

Figure 8 is an image showing the location of the mobile station within a digital map image output by the mobile station according to an embodiment of the present invention.

The numerical coordinates confirmed in this way may differ depending on the communication environment of the location where the mobile station 10 is located, the distance between the permanent observation station 30 and the mobile station 10, etc., and the numerical coordinate comparison module 18 operates according to each of the above methods. The confirmed numerical coordinates are displayed as shown in (a) of FIG. 8.

Here, the first point indicated in green indicates the location of the mobile station 10 as a route according to network RTK-based numerical coordinates, and the second point indicated in purple indicates the location of the mobile station 10 according to general RTK-based numerical coordinates. It is displayed as a path.

In the end, the operator of the mobile station 10 checks the numerical coordinates based on general RTK and network RTK in the digital map image output to the image input/output module 15, and based on this, calculates the numerical coordinate system synthesized in the digital map image. You can proceed with modifications.

To explain this in more detail, based on the general RTK-based numerical coordinates and the network RTK-based numerical coordinates confirmed through the numerical coordinate comparison module 18, the image input/output module 15 determines the first point where the mobile station 10 is located. The meeting and the second point are displayed together in one digital map image, and the movement path display module 19 uses the displayed position of the mobile station 10 as the movement path as shown in (b) of FIG. 8. Display together.

Here, the first movement path shown in green represents the location of the mobile station 10 according to network RTK-based numerical coordinates, and the second movement path shown in purple indicates the location of the mobile station 10 according to general RTK-based numerical coordinates. The location is displayed as a path.

Looking at the movement routes, both routes are displayed accurately within the margin of error along 'Jongno 9-gil', which is the movement route of the mobile station 10.

However, at the intersection of 'Jongno 9-gil', an error occurs where the general RTK-based numerical coordinates (marked in black) deviate from the travel path.

In other words, when a worker is at the same field location, the first and second points (black indicated points) displayed on the digital map image are displayed with a difference greater than the specified range.

The numerical coordinate comparison module 18 compares the general RTK-based numerical coordinates and the network RTK-based numerical coordinates according to the reference value set as the designated range, and for the numerical coordinate point exceeding the designated range, the numerical coordinate is designated as a 'recheck point'. Categorize and save.

Therefore, when the operator searches for the 'reconfirmation point', the numerical coordinate comparison module 18 controls the image input/output module 15, and the image input/output module 15 controls the 'reconfirmation point' as shown in (b) of FIG. 8. ' Search for a digital map image of numerical coordinates and print it along with the movement route.

The worker visits the site and confirms the numerical coordinates for the 'reconfirmation point' identified in this way, supplements the terrain image of the digital map image based on the supplemented numerical coordinates, and then moves workers or general users according to the numerical coordinate confirmation. Ensure that the route is displayed accurately within the relevant travel route.

FIG. 9 is a diagram showing a mobile station and a distance information collector according to an embodiment of the present invention, and FIG. 10 is a plan view schematically illustrating the movement of a mobile station according to an embodiment of the present invention.

As described above, the distance information collector 40 includes a distance confirmation module 41, a direction confirmation module 42, and a distance value calculation module 43.

The mobile station 10 has a structure that allows the user to push and move it in the field. The distance information collector 40 includes a base portion 100, a front wheel 110 that is installed to be movable and rotatable about the steering axis 111 for steering, and a base portion. A distance confirmation module that counts the number of revolutions of the rear wheel 120 and the front wheel 110, which are installed in line with the front wheel 110 so that (100) moves, and transmits the corresponding count information to the distance value calculation module 43. (41), a direction confirmation module 42 that is disposed on the steering axis 111 and detects and measures the steering angle of the front wheel 110 that changes during movement and transmits it to the distance value calculation module 43, the base ( A mobility assistance device 500 coupled to the top of the mobility assistance device 500, a vertical support 400 coupled to the top of the mobility assistance device 500, and a horizontal support 400 coupled to the top of the vertical support 400 so as to be perpendicular to the vertical support 400. Support 410, horizontal position part 300 coupled to the lower part of the horizontal support 410, vertical driving unit 200 coupled to the lower part of the horizontal positioning part 300, coupled to the lower part of the vertical driving unit 200 It includes a shielding unit 600 and a mobile station 10 accommodated inside the shielding unit 600.

At this time, the mobile station 10 takes the form of a two-wheeled vehicle, and for this purpose, the front wheels 110 and rear wheels 120 are arranged in a row.

Meanwhile, the front wheel 110 is installed on the base 100 to be rotatable for steering the mobile station 10.

To explain this in more detail, the front wheel 110 is rotatable around the steering shaft 111, allowing the user to physically adjust the moving direction of the mobile station 10, and when adjusting, the front wheel 110 ) rotates around the steering axis 111.

The distance confirmation module 41 is disposed on the rotation axis of the front wheel 110, counts the rotation speed of the front wheel 110, and transmits the rotation speed to the distance value calculation module 43.

The direction confirmation module 42 is disposed on the steering shaft 111 to detect the steering angle of the front wheel 110 that changes during movement, measures it, and transmits it to the distance calculation module 43.

The distance value calculation module 43 receives the rotation speed and steering angle information of the front wheel 110 transmitted from the distance confirmation module 41 and the direction confirmation module 42, respectively, and calculates the current moving distance of the mobile station 10 based on this. Measure the value.

To explain this further, the distance value calculation module 43 has information on the circumference of the front wheel 110, so it calculates the rotation speed and circumference to determine the distance of the mobile station 10 as shown in (a) of FIG. 10. Performs the first operation on the value 'd'.

Subsequently, the distance value calculation module 43 checks the steering angle information and, if a steering angle greater than the specified angle is transmitted during the specified time, stops calculating the previous distance value 'd' as shown in (b) of FIG. 10 and The calculation of 'd', which is the distance value for the corresponding direction, is started again.

The distance value calculated in this way is transmitted to the movement path display module 19, and the movement path display module 19 displays and links the distance value to the digital map image. Through this, the actual measured distance of the road can be accurately reflected in the digital map to complete a highly reliable digital map.

Figure 11 is a diagram showing the overall appearance of a mobility assistance device according to an embodiment of the present invention, and Figure 12 is a diagram showing a cross-section of a connection unit according to an embodiment of the present invention.

As shown, the mobility assistance device 500 includes a first driving part 510 that is coupled to the upper part of the base 100 and drives the vertical support 400 in the forward and backward directions and the height direction, and a first driving part 510. ) and includes a connection unit 520 that moves in the front-back and height directions, and a second driving unit 530 on which one side is coupled to the connection unit 520 and a vertical support 400 is mounted.

In this embodiment, the first driving unit 510 is lifted and lowered by the moving body 511, the horizontal movement control unit 512 provided to move in the longitudinal direction of the mobile body 511, and the horizontal movement control unit 512. It is provided and includes a lifting control unit 513 to which the connection unit 520 is coupled.

The moving body 511 of the first driving unit 510 may be coupled to the upper part of the base unit 100.

The horizontal movement control unit 512 of the first driving unit 510 includes a pair of first rails 512a spaced apart from the upper surface of the moving body 511, and a pair of first rails 512a on the lower side. A pair of first blocks 512b movably coupled to and a moving plate 512c coupled to the upper surface of the pair of first blocks 512b and moved together with the pair of first blocks 512b. And, it includes a lifting support plate (512d) that is vertically coupled to the moving plate (512c).

The lifting control unit 513 of the first driving unit 510 is capable of being raised and lowered on a pair of second rails 513a spaced apart from the lifting support plate 512d and a pair of second rails 513a. It includes a pair of second blocks 513b that are coupled, and the connection unit 520 can be detachably coupled to the pair of second blocks 513b.

In this embodiment, the second driving unit 530 on which the vertical support 400 is mounted is coupled to the connection unit 520, and the connection unit 520 is coupled to a pair of second blocks 513b, so that a pair of When the second block 513b is lifted or lowered, the vertical support 400 may also be moved in the height direction of the pair of second rails 513a.

In addition, the pair of second rails 513a are coupled to the lifting support plate 512d, and the lifting support plate 512d moves together with the moving plate 512c, and the moving plate 512c is a pair of second rails 513a. The pair of first rails 512a can be moved in the longitudinal direction by one block 512b. In this embodiment, the first block 512b and the second block 513b can be controlled by being connected to a control unit (not shown).

The connection unit 520 has one side coupled to a pair of second blocks 513b and the other side coupled to the second driving part 530, and is coupled to the second driving part 530 to rotate and angle adjust, thereby forming the second driving part 513b. The vertical support 400 mounted on 530 can also be rotated and angle adjusted.

In this embodiment, a coupling plate 521 coupled to the second block 513b of the connection unit 520, a connection base body 522 provided on one side of the connection plate 521, and a connection base body ( A ball member 523 provided at the end of 522, a coupling body 524 that is detachably coupled to the frame body 531 provided in the second driving unit 530 and in which the ball member 523 is rotatably accommodated, and , a rotation guide body 525 disposed between the inner wall of the coupling body 524 and the ball member 523 to guide the rotation of the ball member 523, and a coupling body in the area facing the coupling plate 521 ( It includes a support sheet 526 provided at 524) to prevent the ball member 523 from being separated.

In this embodiment, the second driving unit 530 is detachably coupled to the coupling body 524 by the frame body 531, and the coupling body 524 is coupled to the ball member 523 so that rotation and angle adjustment are possible. The second driving unit 530 can also rotate and adjust its angle, and as a result, the vertical support 400 provided on the second driving unit 530 can also rotate and adjust its angle.

In this embodiment, a hole member 522a is provided inside the connection base body 522, and this hole member 522a may also be provided inside the ball member 523.

In addition, in this embodiment, a support protrusion 525a is provided on the inner wall of the rotation guide body 525, and this support protrusion 525a is inserted into a groove provided on the outer wall of the ball member 523 to form the ball member 523. The rotation can be guided more stably.

Figure 13 is a cross-sectional view of the horizontal positioning portion and the vertical drive unit according to an embodiment of the present invention, and Figure 14 is an enlarged view of the area of the ball housing according to an embodiment of the present invention. Figure 15 is a diagram schematically showing a damping body and a support block according to an embodiment of the present invention.

The vertical driving unit 200 is coupled to the lower part of the horizontal positioning part 300 and can lift and lower the shielding part 600 coupled to the lower part or rotate the shielding part 600 counterclockwise or clockwise. .

The vertical driving unit 200 includes a driving unit body 210 disposed between the shielding part 600 and the horizontal positioning part 300, and a rotating body rotatably coupled to the inside of the driving unit body 210 ( 220), one side is coupled to the rotating body 220 and the other side is coupled to the shield 600, and the lifting drive unit 230 is coupled to the shield 600 to raise and lower, and one side is coupled to the drive unit body 210. And the other side is a horizontal rotating part 240 that is coupled to the rotating body 220 and rotates the shielding part 600 clockwise or counterclockwise, and a rotating body 220 provided inside the driving unit body 210 and rotating. ) includes a rotation damping unit 250 that reduces vibration, and a battery 260 provided in the drive unit body 210 to supply electrical energy to the lifting drive unit 230 and the horizontal rotation unit 240.

A first bearing 211 is provided in the drive unit body 210 of the vertical drive unit 200 to guide the rotation of the rotary body 220.

The lifting unit 230 of the vertical driving unit 200 is connected to the shielding unit 600 and can lift the shielding unit 600 and the mobile station 10 accommodated therein in the vertical direction.

The lifting drive unit 230 includes a lifting cylinder 231 coupled to the bottom of the rotating body 220, a lifting rod 232 provided on the lifting cylinder 231 and lifted in the direction of the shield 600, and one side. One part is coupled to the lifting rod 232, and the other side includes a coupling plate 233 coupled to the shielding part 600.

The lifting cylinder 231 of the lifting drive unit 230 is connected to the battery 260 and can be operated by receiving electrical energy from the battery 260. A plurality of lifting cylinders 231 may be provided, and each lifting cylinder 231 may be spaced apart from each other.

The coupling plate 233 of the lifting drive unit 230 may be detachably coupled to the lifting rod 232 and the shield 600 with bolts or screws.

The horizontal rotating part 240 of the vertical driving unit 200 can rotate the shielding part 600 clockwise or counterclockwise.

The horizontal rotating part 240 includes a drive motor 241 coupled to the drive unit body 210, a drive bevel gear 242 connected to the drive motor 241 and rotated clockwise or counterclockwise, and one side The part is coupled to the rotating body 220, and the other part includes a driven bevel gear 243 that is rotated by engaging with the driving bevel gear 242.

In this embodiment, the central axis of the driven bevel gear 243 is fixedly coupled to the rotating body 220, so that the driven bevel gear 243 and the rotating body 220 can rotate in the same direction.

The rotation damping unit 250 of the vertical driving unit 200 can reduce vibration or shock transmitted from the driving unit body 210 to the rotating body 220.

The rotation damping unit 250 includes a first frame 251 provided on one side of the drive unit body 210, a second frame 252 provided perpendicular to the first frame 251, and one side provided with 2 The first spring 253 is coupled to the bottom of the frame 252, the roller support body 254 is coupled to the other side of the first spring 253, and is rotatably coupled to the roller support body 254. It includes a roller member 255 that presses the upper surface of the rotating body 220.

When the rotary body 220 rotates, the upper surface of the roller member 255 is pressed, so the vibration of the rotary body 220 can be reduced.

In addition, when vibration is transmitted to the rotating body 220, the vibration is transmitted to the first spring 253 through the roller member 255, and the vibration transmitted to the first spring 253 is transmitted to the first spring 253. Can be canceled out by vibration.

The battery 260 of the vertical driving unit 200 is coupled to the wall of the driving unit body 210 and can supply electric energy to the lifting cylinder 231 and the driving motor 241.

The horizontal position part 300 is connected to the horizontal support 410 at the upper part and the upper and lower driving unit 200, so that the shield 600 and the mobile station 10 are horizontal even when the horizontal support 410 is tilted. can be maintained.

The horizontal position portion 300 includes a ball post 310 that protrudes upward from the top of the drive unit body 210, is provided at the upper end of the ball post 310, and has a diameter larger than that of the ball post 310. A ball member 320 is provided, a ball housing 330 in which the ball member 320 is rotatably disposed, and a ball housing 330 is provided between the ball housing 330 and the ball member 320. It includes a ball damping part 340 that reduces vibration transmitted to the member 320, and a connection plate 350, one side of which is coupled to the ball housing 330 and the other side of which is coupled to the horizontal support 410.

The ball post 310 of the horizontal position portion 300 may be bolted or welded to the upper surface of the drive unit body 210.

In this embodiment, a total of four ball posts 310 may be provided, and each ball post 310 may be spaced apart from each other.

The ball member 320 of the horizontal position portion 300 may be surrounded by the ball damping portion 340 and disposed inside the ball housing 330.

When the ball housing 330 is tilted due to the inclination of the horizontal support 410, the ball member 320 is rotated toward the center of the earth like the ball damping part 340 inside the ball housing 330 to form a shielding part. (600) and the mobile station (10) can be maintained horizontally.

The ball housing 330 of the horizontal position portion 300 is provided with a ball flange 331 at the edge, and the ball flange 331 is detachable from the connection plate 350 by a fastening member 332 including a bolt. can be combined.

The ball damping part 340 of the horizontal position part 300 is disposed inside the ball housing 330, surrounds the ball member 320, and reduces vibration transmitted to the ball member 320 to form a shielding part 600. It is possible to attenuate the vibration transmitted to the .

The ball damping part 340 is disposed between the ball housing 330 and the ball member 320, covers one side of the ball member 320, and is a first damping body 341 through which the ball post 310 penetrates. and a second damping body 342 disposed between the ball housing 330 and the ball member 320 and covering the other side of the ball member 320, and a first block provided on the first damping body 341. A first support block 343 coupled to the groove 341b, a second spring 344 with one side coupled to the first support block 343, and a second block coupling groove provided in the second damping body 342. A second support block 345 is coupled to (342a) and coupled to the other side of the second spring 344, and is provided on the outer wall of the first damping body 341 and the second damping body 342 to form a first damping body. A lubricating member (346) that reduces friction between the ball housing (330) and the first damping body (341), the ball housing (330) and the second damping body (342) when the (341) and the second damping body (342) rotate. ) includes.

The first damping body 341 of the ball damping unit 340 is made of an elastic material containing rubber and can reduce vibration or shock transmitted from the ball housing 330.

The first damping body 341 may be provided with a post hole 341a through which the ball post 310 passes, and a first block coupling groove 341b into which the first support block 343 is fitted is provided. may be, and a body groove 341c into which the lubricating member 346 is coupled may be provided.

The second damping body 342 of the ball damping unit 340 surrounds the ball member 320 like the first damping body 341 and can reduce vibration or shock transmitted from the ball housing 330.

In this embodiment, the second damping body 342 may be made of an elastic material including rubber, and may be combined with the first damping body 341 to surround the ball member 320 in a circular shape.

The second damping body 342 may be provided with a second block coupling groove 342a into which the second support block 345 is fitted and coupled.

The first damping body 341 and the second damping body 342 may be arranged to be spaced apart from each other at a predetermined distance by a second spring 344. In this case, the rotation of the ball member 320 can be performed smoothly, and the shock or vibration transmitted from the ball housing 330 to the ball member 320 can be reduced to the first by contraction or expansion of the second spring 344. There is an advantage that can be offset like the damping body 341 and the second damping body 342.

The lubricating member 346 of the ball damping unit 340 is provided in the body groove 341c provided on the outer wall of the first damping body 341 to allow the first damping body 341 to rotate smoothly.

In this embodiment, the lubricating member 346 may be provided in the same way on the second damping body 342. Additionally, in this embodiment, the lubricating member 346 may include grease.

The connection plate 350 of the horizontal position portion 300 may be detachably bolted or screwed to the lower part of the horizontal support 410.

Figure 16 is a diagram showing the overall appearance of the shield according to an embodiment of the present invention, Figure 17 is a diagram showing the rear of the shield according to an embodiment of the present invention, and Figure 18 is an embodiment of the present invention. This is a diagram showing the operation of the first shielding body and the second shielding body being lowered according to .

As shown, the shield 600 according to the present invention can shield the mobile station 10 placed inside from the outside. Since the shielding unit 600 can block internal components and external components, it can protect the mobile station 10 from damage during transportation and installation of the distance information collector.

Specifically, the shielding unit 600 includes a base body 601, a base shielding body 610, a first shielding body 620, a second shielding body 630, a shielding drive unit 640, a stopper unit 650, etc. It consists of a composition of

The base body 601 is coupled to the lower part of the upper and lower drive unit 200, and may have a hexahedral shape with an open front portion, and may also be provided with an open rear portion.

A protruding support body 602 that protrudes forward is provided at the lower end of the base body 601 and can serve as a place for attaching and detaching the base shielding body 610. In addition, the protruding support body 602 is provided with a guide cut hole 603, into which the cylinder body 641 provided in the shield 600 can be inserted and accommodated. As a result, it is possible to prevent the cylinder body 641 from colliding with the protruding support body 602.

The base shielding body 610 is coupled to the protruding support body 602 of the base body 601 and can shield the open area of the base body 601, for example, the front area or the rear area of the base body 601. In the case where both the front and rear areas of the base body 601 are shielded, they may be disposed at the front and rear of the base body 601, respectively.

The base shielding body 610 is coupled to the lower part of the base body 601 and covers the open area of the base body 601, and the first shielding body 620 is provided to be lifted and lowered on the base shielding body 610 to cover the base shielding body 601. It covers the open area at the top of the body 610, and the second shielding body 630 is provided to be raised and lowered on the first shielding body 620 and covers the open area at the top of the first shielding body 620.

One side of the shield driving unit 640 is coupled to the base shield body 610 and the other side is coupled to the second shield body 630 to elevate the first shield body 620 and the second shield body 630. The stopper unit 650 is provided on the base shielding body 610 and the first shielding body 620 to limit the rising height of the first shielding body 620 and the second shielding body 630.

Base bending plates 611 are provided on both sides of the base shielding body 610 and can be supported on the outer wall of the base body 601. A base support rail 613 is provided on the base bending plate 611 to guide the lifting and lowering of the first lifting rail 623 provided on the first shielding body 620.

In this embodiment, a base support plate 612 is provided at the center of the base shielding body 610. A base guide body 614 is provided on the base support plate 612 to guide the lifting and lowering of the lifting guide bar 645 of the shield driving unit 640. A cut hole 645a may be provided in the lifting guide bar 645.

The first shielding body 620 is provided to be raised and lowered on the base shielding body 610 and can shield the open area of the base body 601.

First bending plates 621 are provided on both sides of the first shielding body 620 and can be supported on the outer wall of the base body 601. A first lifting rail 623 is provided on the first support plate 622, and the first lifting rail 623 is supported by the base support rail 613 described above and can be lifted and lowered in a sliding manner.

And in this embodiment, the first support rail 624 is coupled to the first lifting rail 623 to guide the sliding movement of the second lifting rail 633 provided on the second shielding body 630.

Additionally, a first support plate 622 may be provided at the center of the first shielding body 620.

The second shielding body 630 is provided to be raised and lowered on the first shielding body 620 and can shield the open area of the base body 601.

Second bending plates 631 may be provided on both sides of the second shielding body 630. The second bending plate 631 may be provided with the second lifting rail 633 described above.

Additionally, in this embodiment, a bent piece 632 is provided at the upper end of the second shielding body 630, and this bent piece 632 may be supported on the front or rear wall of the base body 601.

The shield driving unit 640 has one side coupled to the base shield body 610 and the other side coupled to the second shield body 630 to elevate and lower the first shield body 620 and the second shield body 630. You can. In this embodiment, the shield driving unit 640 may be operated by being connected to a control module (not shown).

The shield drive unit 640 includes a cylinder body 641 provided at the lower part of the base shield body 610, a cylinder rod 642 whose one side is connected to the cylinder body 641 and expands and contracts, and a cylinder rod 642. A cylinder bracket 643 coupled to the end of the cylinder bracket 643, one side coupled to the cylinder bracket 643 and a connection unit 644 that is raised and lowered together with the cylinder rod 642, and one end coupled to the base shield body 610 and the other. The side part connects the lifting guide bar 645, which penetrates the base support plate 612 and is coupled to the first support plate 622 of the first shield body 620, and the connection unit 644 and the lifting guide bar 645. The connection unit 644 and the lifting guide bar 645 are raised and lowered together, and the lifting connection body 646 is disposed inside the lifting guide bar 645, and one side is coupled to the lifting guide bar 645 and the other side is connected to the lifting guide bar 645. An upper lifting bar 647 that is coupled to the secondary shielding body 630 and is raised and lowered together with the lifting guide bar 645, and an upper stopper provided on the upper lifting bar 647 to limit the lowering height of the upper lifting bar 647 ( 648).

The lower end of the cylinder body 641 can be detachably bolted to the base shield body 610 using a bracket.

The connection unit 644 is coupled to the cylinder bracket 643 and is coupled to the first connection body 644a disposed on the top of the first support plate 622, and is coupled to the first connection body 644a and the first support plate ( It includes a second connection body 644b disposed on the upper part of 622, and a third connection body 644c, one side of which is coupled to the second connection body 644b and the other side of which is coupled to the lifting connection body 646. .

In this embodiment, the third connection body 644c is provided to surround the outer wall of the lifting guide bar 645, and the first connection body 644a, the second connection body 644b, and the third connection body 644c are It may have a ‘ㄴ’ shape on the plane.

In this embodiment, the lifting guide bar 645 is provided with a cut hole 645a to reduce friction between the lifting connection body 646 and the lifting guide bar 645.

The stopper unit 650 is provided on the base support rail 613 and the first support rail 624 to limit the rising height of the first shielding body 620 and the second shielding body 630.

In this embodiment, the stopper portion 650 includes a stopper plate 651 and a plurality of stopper balls 652 provided to protrude inside and outside the wall portion of the stopper plate 651.

In this embodiment, a plurality of stopper balls 652 are in contact with the first lifting rail 623 or the second lifting rail 633 to limit the rising height of the first shielding body 620 and the second shielding body 630. can do.

Below, the operation of the shield driving unit 640 will be briefly described.

When the cylinder rod 642 of the shield drive unit 640 rises, the connection unit 644 and the lifting guide bar 645 connected to the connection unit 644 rise. At this time, since the upper lifting bar 647 is coupled to the upper part of the lifting guide bar 645, the upper lifting bar 647 is also raised.

As a result, the first shielding body 620 and the second shielding body 630 are also raised, and the first shielding body 620 is raised while being supported on the base support rail 613, and the second shielding body 630 is raised. It can be raised by being supported on the first support rail 624.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is commonly known in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be clear to those who have the knowledge of.

10: Mobile station 20: Virtual reference point server 30: Permanent observation station
40: Distance information collector 100: Base 110: Front wheel
111: Steering shaft 120: Rear wheel 200: Up and down drive unit
210: Drive unit body 211: First bearing 220: Rotating body
230: Elevating port eastern part 231: Elevating cylinder 232: Elevating rod
233: Coupling plate 240: Horizontal rotating part 241: Drive motor
242: Drive bevel gear 243: Passive bevel gear 250: Rotation damping unit
251: 1st frame 252: 2nd frame 253: 1st spring
254: roller support body 255: roller member 260: battery
300: horizontal position part 310: ball post 320: ball member
330: Ball housing 331: Ball flange 332: Fastening member
340: Ball damping part 341: First damping body 341a: Post hole
341b: 1st block coupling groove 341c: body groove 342: 2nd damping body
342a: Second block coupling groove 343: First support block 344: Second spring
345: second support block 346: lubricating member 350: connection plate
400: Vertical support 410: Horizontal support 500: Movement assistance device
510: first driving unit 511: moving body 512: horizontal movement control unit
512a: first rail 512b: first block 512c: moving plate
512d: Elevation support plate 513: Elevation control unit 513a: Second rail
513b: second block 520: connection unit 521: coupling plate
522: Connection base body 522a: Hole member 523: Ball member
524: Combined body 525: Rotation guide body 525a: Support protrusion
526: Support sheet 530: Second driving unit 531: Frame body
600: Shielding part 601: Base body 602: Protruding support body
603: Guide cut hole 610: Base shielding body 611: Base bending plate
612: Base support plate 613: Base support rail 614: Base guide body
620: First shielding body 621: First bending plate 622: First support plate
623: 1st lifting rail 624: 1st support rail 630: 2nd shielding body
631: second bending plate 632: bending piece 633: second lifting rail
640: Shield driving part 641: Cylinder body 642: Cylinder rod
643: Cylinder bracket 644: Connection unit 644a: First connection body
644b: Second connection body 644c: Third connection body 645: Elevating guide bar
645a: cut hole 646: lifting connection body 647: upper lifting bar
648: Upper stopper 650: Stopper part 651: Stopper plate
652: Stopper ball

Claims (1)

Multiple permanent observatories that communicate with satellites and check current numerical coordinates; A mobile station that communicates with satellites and corrects digital map images; A virtual reference point server that receives the current numerical coordinates confirmed by multiple permanent observation stations, generates a position correction value, and transmits it to the mobile station; and a distance information collector that measures the moving distance of the mobile station in real time and displays the distance value on the moving path; Including,
The permanent observation station is,
It receives signals in real time from three or more satellites, reconfirms the measured numerical coordinates of the current position, and transmits the measured numerical coordinates to the virtual reference point server and mobile station, respectively.
The virtual reference point server is,
It is connected to a number of permanent observatories through a network, checks the primary numerical coordinates received from the mobile station, searches for three or more permanent observatories adjacent to the mobile station, and compares the measured numerical coordinates of the searched permanent observatories with the numerical coordinates of the corresponding known points to determine the difference. Based on this, the position correction value for the first numerical coordinate is calculated and the position correction value is transmitted to the mobile station.
The mobile station is,
GNSS module that communicates with satellites in real time and checks current numerical coordinates; A network communication module that processes communication with a virtual reference point server; A numerical coordinate correction module that corrects the numerical coordinates confirmed by the GNSS module based on the position correction value received from the virtual reference point server; An image storage module that stores digital map images; An image input/output module that outputs a digital map image retrieved from an image storage module; A supplementary point processing module that processes supplementation for the corresponding point in the digital map image; A photography module that photographs a specific point; Numerical coordinate comparison module that checks and compares the numerical coordinates confirmed based on general RTK and the numerical coordinates confirmed based on network RTK, respectively; and a movement path display module that displays and records the movement path of the mobile station, which is confirmed and displayed based on general RTK, and the movement path of the mobile station, which is confirmed and displayed based on network RTK, together on a digital map image; Including,
The distance information collector,
basal part; A front wheel whose base is installed to be movable and rotatable about the steering axis for steering; Rear wheels installed in line with the front wheels so that the base moves; A distance confirmation module that counts the number of revolutions of the front wheels and transmits the corresponding count information to the distance value calculation module; A direction confirmation module that is placed on the steering axis and detects and measures the steering angle of the front wheel that changes during movement and transmits it to the distance calculation module; A mobility assistance device coupled to the upper part of the base; A vertical support attached to the upper part of the mobility assistance device; A horizontal support coupled to the top of the vertical support so as to be perpendicular to the vertical support; A horizontal positioning portion coupled to the lower part of the horizontal support; A vertical drive unit coupled to the lower part of the horizontal position; A shielding part coupled to the lower part of the upper and lower driving unit; and a mobile station accommodated inside the shielding unit; Includes,
The mobility assistance device is,
A first driving unit provided on the upper part of the base to drive the vertical support in the front-back direction and the height direction; A connection unit provided in the first driving unit and moved in the forward and backward directions and in the height direction; and a second driving unit on one side of which is coupled to the connection unit and equipped with a vertical support unit; It includes, and the connection unit is coupled to the second driving unit to rotate and angle adjust,
The first driving unit,
A moving body coupled to the upper part of the base; A horizontal movement control unit provided to move in the longitudinal direction of the movable body; and a lifting and lowering control unit provided to be lifted and lowered by the horizontal movement control unit and to which a connection unit is coupled. Including,
The horizontal movement control unit,
A pair of first rails spaced apart from each other on the upper surface of the moving body; A pair of first blocks whose lower sides are movably coupled to a pair of first rails; A moving plate coupled to the upper surface of the pair of first blocks and moved together with the pair of first blocks; And a lifting support plate vertically coupled to the moving plate; Including,
The lifting control unit,
A pair of second rails spaced apart and coupled to the lifting support plate; and a pair of second blocks each coupled to a pair of second rails to enable elevation. Includes,
The horizontal position part is,
A connection plate coupled to the lower part of the horizontal support; A plurality of ball housings coupled to the lower part of the connection plate; Ball members each rotatably disposed inside a plurality of ball housings; A ball post formed at the bottom of the ball member and having a relatively smaller diameter than the ball member; and a ball damping part provided between the ball housing and the ball member to reduce vibration transmitted from the ball housing to the ball member. Including,
The upper and lower driving unit is,
A drive unit body coupled to the lower part of the horizontal position; A rotating body rotatably coupled to the inside of the drive unit body; A lifting mechanism whose upper part is coupled to the rotating body and which can be raised and lowered; A horizontal rotating part where one side is coupled to the drive unit body and the other side is coupled to a rotating body to rotate the shield clockwise or counterclockwise; A rotation damping unit provided inside the drive unit body to reduce vibration of the rotating body; and a battery provided in the drive unit body to supply electrical energy to the elevation drive unit and the horizontal rotation unit. Includes,
The shielding part,
a base body formed with an open area coupled to the lower part of the upper and lower driving units; a base shielding body provided at the lower part of the base body and covering the open area of the base body; A first shielding body provided to be lifted and lowered on the base shielding body and covering the open area of the upper part of the base shielding body; a second shielding body that is raised and lowered on the first shielding body and covers the open area of the upper part of the first shielding body; and a shielding drive part where one side is coupled to the base shielding body and the other side is coupled to the second shielding body to raise and lower the first shielding body and the second shielding body; Including,
The shield drive unit,
A cylinder body provided at the lower part of the base shield body; A cylinder rod whose one side is connected to the cylinder body and expands and contracts; A cylinder bracket coupled to the end of the cylinder rod; A connection unit that is coupled to one side of the cylinder bracket and is raised and lowered together with the cylinder rod; A lifting guide bar with one end coupled to the base shielding body and the other side penetrating the base support plate coupled to the base shielding body and coupled to the first support plate of the first shielding body; A lifting connection body that connects the connection unit and the lifting guide bar to elevate and lower the connection unit and the lifting guide bar together and is disposed inside the lifting guide bar; An upper lifting bar with one side coupled to the lifting guide bar and the other side coupled to the second shielding body to be lifted and lowered together with the lifting guide bar; and an upper stopper provided on the upper lifting bar to limit the rising height of the upper lifting bar; A digital map production system that can improve precision and reliability using field survey data, characterized by including.

Images