KR100965902B1 - Photoflight system - Google Patents

Photoflight system Download PDF

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Publication number
KR100965902B1
KR100965902B1 KR1020090103454A KR20090103454A KR100965902B1 KR 100965902 B1 KR100965902 B1 KR 100965902B1 KR 1020090103454 A KR1020090103454 A KR 1020090103454A KR 20090103454 A KR20090103454 A KR 20090103454A KR 100965902 B1 KR100965902 B1 KR 100965902B1
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South Korea
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aircraft
camera
area
photographing
detection sensor
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KR1020090103454A
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Korean (ko)
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박태호
박경환
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(주)새한지오텍
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Studio Devices (AREA)

Abstract

PURPOSE: A diversified multi aerial photography processing system capable of altitude difference identification is provided to check an altitude change of a surface during an aerial photography by measuring an altitude of the surface through a radio altimeter. CONSTITUTION: The first detection sensor(300) is installed in the first rotating member(830) of the first fixed member(800). The first detection sensor senses a photographing obstacle object moving the lower part of the front of an aircraft(100). The second detection sensor(300') is installed in the second rotating member(830') of the second fixed member(800'). The second detection sensor senses the photographing obstacle object moving the lower part of the rear of the aircraft. A radio altimeter(WH) is installed in the bottom surface of the aircraft. The radio altimeter measures a height from the surface to the aircraft.

Description

지면의 고도차 식별이 가능한 다원화된 멀티 촬영용 항공촬영처리시스템{Photoflight System}Diversified multi-shot aerial photography processing system capable of identifying elevation differences on the ground {Photoflight System}

본 발명은 지면의 고도차 식별이 가능한 다원화된 멀티 촬영용 항공촬영처리시스템에 관한 것이다.The present invention relates to a multiplexed multi-shot aerial shooting processing system capable of identifying elevation differences of the ground.

통상적으로 지도를 제작하기 위해서 항공사진촬영을 하는 경우에는, 미리 항공기의 운항경로를 설정하고 항공기에 카메라를 부착한 후 비행을 하면서 대상지역의 사진을 촬영하게 된다.In general, when aerial photography is used to produce a map, a flight path of the aircraft is set in advance, a camera is attached to the aircraft, and a photograph of the target area is taken while flying.

하지만, 상기와 같은 항공촬영은 항공촬영중 지면의 고도 변화를 확인할 수 없었다.However, the aerial photography as described above could not confirm the elevation change of the ground during aerial photography.

또한, 상기와 같이 항공촬영을 하는 경우에 있어서, 카메라의 하부로, 새 또는 비닐 등과 같이 일정면적을 갖는 촬영방해물체가 통과할 시, 카메라의 촬영각 안에 촬영방해물체가 들어가면서, 촬영 이미지에 촬영방해물체가 찍히는 일이 발생하여, 정확한 영상 이미지를 촬영할 수 없었다. In addition, in the case of aerial shooting as described above, when a shooting obstacle object having a certain area, such as bird or vinyl, passes through the lower part of the camera, the shooting obstacle object enters the shooting angle of the camera, and the shooting image is taken. The obstruction took place, and an exact image could not be taken.

따라서, 상기 촬영방해물체의 존재유무를 정확히 확인하여, 재촬영이 필요한 촬영영역을 정확히 판단할 수 있는 촬영시스템이 요구되었다.Therefore, there is a need for a photographing system capable of accurately determining the presence or absence of the photographing obstruction object and accurately determining a photographing area requiring rephotographing.

본 발명은 상기와 같은 과제를 해결하기 위한 것으로, 지면의 고도변화를 확인할 수 있으며, 재촬영이 필요한 촬영영역을 정확히 판단할 수 있는 항공촬영처리시스템을 제공하는 것을 해결하고자 한다. The present invention is to solve the above problems, to solve the above-mentioned problems, to provide an aerial photographing processing system that can determine the elevation change of the ground, and can accurately determine the photographing area that needs to be re-photographed.

상기와 같은 과제를 해결하기 위한 본 발명은, 항공기의 하부에 설치되는 카메라와; 항공기의 하부에 설치되는 제1가이드부재와, 제1가이드부재에 회전가능하게 설치되는 제1회전축과, 제1회전축에 고정되는 제1회전부재로 구성된 제1고정체와; 항공기의 하부에 설치되는 제2가이드부재와, 제2가이드부재에 회전가능하게 설치되는 제2회전축과, 제2회전축에 고정되는 제2회전부재로 구성되어, 카메라를 중심으로 제1고정체와 대향되게 설치되는 제2고정체와; 항공기의 하부에 설치되어, 제1회전축을 회전시키는 제1구동모터와; 항공기의 하부에 설치되되, 카메라를 중심으로 제1구동모터와 대향되게 설치되어, 제2회전축을 회전시키는 제2구동모터와; 제1고정체의 제1회전부재에 설치되어, 항공기의 전방 하부를 이동하는 촬영방해물체를 감지하는 제1감지센서와; 제2고정체의 제2회전부재에 설치되어, 항공기의 후방 하부를 이동하는 촬영방해물체를 감지하는 제2감지센서와; 항공기의 저면에 설치되어, 지면으로부터 항공기까지의 높이를 측정하는 전파고도계와; 항공기에 설치되어, 카메라, 제1·2구동모터, 제1·2감지센서 및, 전파고도계를 작동제어하며, 항공기 운행 중 항공기가 촬영영역에 도달되면, 카메라를 매개로 촬영영역을 촬영 하고, 제1감지센서에 감지된 촬영방해물체가 제2감지센서에 감지되지 않는 경우 해당 촬영영역을 재촬영영역으로 지정하는 한편, 전파고도계로부터의 측정신호를 입력받아, 해당 촬영영역의 측정 고도값이 해당 촬영영역의 GIS 고도값의 범위를 벗어나면 해당 촬영영역을 재측량영역으로 설정하는 제어유닛과; 항공기에 설치되며, 제어유닛에 의해 작동제어되어, 제1·2구동모터, 카메라, 제1·2감지센서 및, 전파고도계에 작동신호를 입력하고, 이들의 작동상태를 외부로 출력하는 터치스크린패널로 이루어진 것을 특징으로 한다.The present invention for solving the above problems, the camera is installed in the lower portion of the aircraft; A first fixed member including a first guide member installed at a lower part of the aircraft, a first rotating shaft rotatably installed at the first guide member, and a first rotating member fixed to the first rotating shaft; The second guide member is installed in the lower portion of the aircraft, the second rotating member rotatably installed on the second guide member, and the second rotating member fixed to the second rotating shaft, the first stationary body and the camera A second fixing body installed to face the other; A first driving motor installed under the aircraft and rotating the first rotation shaft; A second driving motor installed at a lower part of the aircraft and installed to face the first driving motor with respect to the camera, thereby rotating the second rotation shaft; A first detection sensor installed at a first rotating member of the first stationary body and detecting a photographing obstacle object moving in the front lower part of the aircraft; A second detection sensor installed at a second rotating member of the second fixed body and detecting a photographing obstacle moving in a rear lower portion of the aircraft; A radio altimeter installed on the bottom of the aircraft and measuring a height from the ground to the aircraft; Installed in the aircraft, the camera, the first and second drive motors, the first and second detection sensors and radio altimeter are operated and controlled.When the aircraft reaches the shooting area while the aircraft is in operation, the shooting area is photographed through the camera. If the obstacles detected by the first detection sensor are not detected by the second detection sensor, the corresponding shooting area is designated as the re-shooting area, while the measurement signal from the radio altimeter is input and the measured altitude value of the shooting area is A control unit for setting the photographing area to the re-measuring area if the GIS altitude value of the photographing area is out of range; The touch screen is installed in the aircraft and operated by a control unit to input operation signals to the first and second drive motors, the camera, the first and second detection sensors, and the radio altimeter, and to output their operation states to the outside. It is characterized by consisting of a panel.

상기와 같은 본 발명에 따르면, 전파고도계를 통해 지면의 고도를 측정할 수 있어, 항공촬영중 지면의 고도변화를 확인할 수 있고, 제1감지센서 및 제2감지센서의 센싱각을 조절할 수 있어, 필요에 따라 촬영방해물체의 센싱영역을 조절할 수 있으며, 제1감지센서 및 제2감지센서를 통해 촬영방해물체가 카메라의 촬영영역에 존재하는지를 정확히 파악할 수 있어, 보다 정확하게 재촬영이 필요한 영역을 확인할 수 있는 효과가 있다.According to the present invention as described above, it is possible to measure the altitude of the ground through the radio altimeter, it is possible to check the change in the altitude of the ground during aerial photography, it is possible to adjust the sensing angle of the first sensor and the second sensor, If necessary, the sensing area of the obstacle can be adjusted, and the first and second sensors can be used to accurately determine whether the obstacle is in the camera's shooting area. It can be effective.

이하 첨부도면에 의거하여 상세히 설명한다.Hereinafter will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 항공촬영처리시스템을 설명하기 위한 항공기의 측면도이고, 도 2는 도 1의 정면도이고, 도 3은 본 발명에 따른 구성 요소간의 연결관계를 나타낸 블록도로서, 도 1 내지 도 3을 참조하여 본 발명에 따른 항공촬영처리 시스템을 설명하면 다음과 같다.1 is a side view of an aircraft for explaining the aerial shooting processing system according to the present invention, Figure 2 is a front view of Figure 1, Figure 3 is a block diagram showing the connection between the components according to the invention, Figures 1 to Referring to Figure 3 describes the aerial shooting processing system according to the present invention.

본 발명에 따른 항공촬영처리시스템은, 항공기(100)에 설치되는 카메라(200)와, 항공기(100)에 설치되어 GPS인공위성(GS)로부터 위치정보를 수신하는 GPS센서(600)와, 상호 대향되게 항공기(100)에 설치되는 제1·2고정체(800,800')와, 항공기(100)에 설치되는 제1·2구동모터(900,900')와, 제1·2고정체(800,800')에 설치되는 제1·2감지센서(300,300')와, 항공기(100)의 저면에 설치되는 전파고도계(WH)와, 항공기(100)에 설치되는 제어유닛(500)과, 항공기(100)에 설치되는 터치스크린패널(400)로 이루어진다.Aerial photographing processing system according to the present invention, the camera 200 is installed on the aircraft 100, the GPS sensor 600 is installed on the aircraft 100 to receive position information from the GPS satellite (GS), and mutually opposed To the first and second fixed bodies 800 and 800 'installed in the aircraft 100, the first and second driving motors 900 and 900' installed in the aircraft 100 and the first and second fixed bodies 800 and 800 '. The first and second detection sensors 300 and 300 'installed, the radio altimeter WH installed on the bottom of the aircraft 100, the control unit 500 installed on the aircraft 100, and the aircraft 100 installed on the aircraft 100. It consists of a touch screen panel 400.

상기 카메라(200)는, 항공촬영에 사용되는 통상의 것으로, 항공기(100)의 하부에 설치되는 패널형상의 베이스(BS) 하부에 설치된다.The camera 200 is a conventional one used for aerial photography, and is installed below a panel base BS installed at the bottom of the aircraft 100.

상기 제1고정체(800)는, 베이스(BS)의 하부에 설치되는 제1가이드부재(810)와, 1가이드부재(810)에 회전가능하게 설치되는 제1회전축(820)과, 제1회전축(820)에 고정되는 제1회전부재(830)로 구성된다.The first fixing member 800 may include a first guide member 810 installed under the base BS, a first rotation shaft 820 rotatably installed on the first guide member 810, and a first guide member 810. It is composed of a first rotating member 830 fixed to the rotating shaft 820.

상기 제1가이드부재(810)는, 막대형상을 가지고, 베이스(BS)의 저면으로부터 하방으로 연장된다. 이때, 한 쌍의 제1가이드부재(810)는 상호 이격되어 대향되게 설치된다.The first guide member 810 has a rod shape and extends downward from the bottom surface of the base BS. In this case, the pair of first guide members 810 are spaced apart from each other and installed to face each other.

상기 제1회전축(820)는, 양단이 각각의 제1가이드부재(810)에 회전가능하게 설치되며, 제1구동모터(900)의 작동에 따라 정방향 또는 역방향으로 회전한다.Both ends of the first rotation shaft 820 are rotatably installed at each of the first guide members 810, and rotate in a forward or reverse direction according to the operation of the first driving motor 900.

상기 제1회전부재(830)는, 각각의 제1가이드부재(810) 사이에 배치되며, 제1회전축(820)에 삽입고정되어, 제1회전축(820)의 회전에 따라 회전한다.The first rotation member 830 is disposed between each of the first guide members 810 and inserted into and fixed to the first rotation shaft 820 to rotate according to the rotation of the first rotation shaft 820.

상기 제2고정체(800')는, 베이스(BS)의 하부에 설치되는 제2가이드부재(810')와, 2가이드부재(810')에 회전가능하게 설치되는 제2회전축(820')과, 제2회전축(820')에 고정되는 제2회전부재(830')로 구성되어, 카메라(200)을 중심으로 제1고정체(800)와 대향되게 설치된다.The second fixing body 800 ′ includes a second guide member 810 ′ installed below the base BS and a second rotation shaft 820 ′ rotatably installed on the second guide member 810 ′. And a second rotating member 830 ′ fixed to the second rotating shaft 820 ′ and installed to face the first fixing body 800 with respect to the camera 200.

상기 제2가이드부재(810')는, 막대형상을 가지고, 베이스(BS)의 저면으로부터 하방으로 연장된다. 이때, 한 쌍의 제2가이드부재(810')는 상호 이격되어 대향되게 설치된다.The second guide member 810 ′ has a rod shape and extends downward from a bottom surface of the base BS. In this case, the pair of second guide members 810 'are spaced apart from each other and installed to face each other.

상기 제2회전축(820')은, 양단이 각각의 제2가이드부재(810')에 회전가능하게 설치되며, 제2구동모터(900')의 작동에 따라 정방향 또는 역방향으로 회전한다.Both ends of the second rotation shaft 820 ′ are rotatably installed at the respective second guide members 810 ′, and rotate in a forward or reverse direction according to the operation of the second driving motor 900 ′.

상기 제2회전부재(830')는, 각각의 제2가이드부재(810') 사이에 배치되며, 제2회전축(820')에 삽입고정되어, 제2회전축(820')의 회전에 따라 회전한다.The second rotating member 830 'is disposed between each of the second guide members 810', and inserted into and fixed to the second rotating shaft 820 ', thereby rotating in accordance with the rotation of the second rotating shaft 820'. do.

상기 제1구동모터(900)는, 베이스(BS)의 저면에 설치되며, 구동축이 제1고정체(800)의 제1회전축(830)에 연결되어, 제1회전축(830)을 정방향 또는 역방향으로 회전시킨다. The first driving motor 900 is installed on the bottom of the base (BS), the drive shaft is connected to the first rotary shaft 830 of the first fixing body 800, the first rotary shaft 830 in the forward or reverse direction Rotate

상기 제2구동모터(900')는, 카메라(200)를 중심으로 제1구동모터(900)와 대향되게 베이스(BS)의 저면에 설치되며, 구동축이 제2고정체(800')의 제2회전축(820')에 연결되어, 제2회전축(820')을 정방향 또는 역방향으로 회전시킨다. The second driving motor 900 ′ is installed on the bottom surface of the base BS so as to face the first driving motor 900 with respect to the camera 200, and the driving shaft is formed of the second fixing body 800 ′. It is connected to the second rotary shaft 820 ', and rotates the second rotary shaft 820' in the forward or reverse direction.

상기 제1감지센서(300)는, 제1회전부재(830)의 저면에 설치되어, 제1회전부재(830)의 회전에 따라 전후방향으로 회전한다. 이때, 제1감지센서(300)는, 카메라(200)의 하부 주변을 이동하는 촬영방해물체(B)를 감지하기 위한 것으로, 통상의 초음파센서, 적외선센서 등이 사용된다.The first detection sensor 300 is installed on the bottom surface of the first rotating member 830, and rotates in the front and rear directions according to the rotation of the first rotating member 830. At this time, the first detection sensor 300, for detecting the shooting obstacles (B) to move around the lower portion of the camera 200, a conventional ultrasonic sensor, infrared sensor is used.

상기 제2감지센서(300')는, 제2회전부재(830')의 저면에 설치되되, 카메라(200)를 기준으로 제1감지센서(300)과 대향되게 설치되어, 제2회전부재(830)의 회전에 따라 전후방향으로 회전한다. 이때, 제2감지센서(300')는, 카메라(200)의 하부 주변을 이동하는 촬영방해물체(B)를 감지하기 위한 것으로, 통상의 초음파센서, 적외선센서 등이 사용된다. The second detection sensor 300 'is installed on the bottom surface of the second rotation member 830', and is installed to face the first detection sensor 300 on the basis of the camera 200, so that the second rotation member ( It rotates in the front-rear direction according to the rotation of 830. In this case, the second detection sensor 300 ′ is for detecting a photographing obstacle B moving around the lower portion of the camera 200, and a conventional ultrasonic sensor, an infrared sensor, or the like is used.

상기 전파고도계(WH)는, 카메라(200)에 이웃되게 베이스(BS)에 설치되되, 제1감지센서(300) 및 제2감지센서(300') 사이에 배치된다. 이때, 전파고도계(WH)는 지면으로 전파를 송출하고 돌아오는 반사파를 통해 지면으로부터 항공기(100) 까지의 높이를 측정하는 통상의 것으로, 초음파센서 또는 적외선센서 등이 적용될 수 있다. The radio altimeter (WH) is installed in the base (BS) to be adjacent to the camera 200, it is disposed between the first detection sensor 300 and the second detection sensor (300 '). At this time, the radio altimeter (WH) is a conventional to measure the height from the ground to the aircraft 100 through the reflected wave to send the radio back to the ground, an ultrasonic sensor or an infrared sensor may be applied.

상기 제어유닛(500)은, 촬영영역과, 촬영영역에 따른 항공경로를 별도의 단말장치에 의해 입력받아, 항공기(100)가 항공경로를 따라 이동하도록 하고, 카메라(200), 제1구동모터(900), 제2구동모터(900'), 제1감지센서(300), 제2감지센서(300), 전파고도계(WH) 및, 터치스크린패널(400)를 작동제어한다. 이때, 상기 단말장치의 역할을 터치스크린패널(400)이 할 수 있어, 제어유닛(500)은 터치스크린(400)을 통해 촬영영역 및 항공경로를 입력받을 수도 있다. The control unit 500 receives the photographing area and the air route according to the photographing area by a separate terminal device, and allows the aircraft 100 to move along the air route, and the camera 200 and the first driving motor. 900, the second driving motor 900 ′, the first detection sensor 300, the second detection sensor 300, the radio altimeter WH, and the touch screen panel 400 are operated and controlled. In this case, the touch screen panel 400 may play a role of the terminal device, and the control unit 500 may receive a photographing area and an air route through the touch screen 400.

또한, 상기 제어유닛(500)은, 전파고도계(WH)의 측정신호를 수신하여, 지형물로부터 항공기(100)까지의 높이를 획득한다. 이때, 제어유닛(500)에는 항공기(100)가 지나가는 촬영영역의 지형에 대한 고도정보를 갖춘 GIS(Geographical Information System) 정보가 저장되어 있다. In addition, the control unit 500 receives the measurement signal of the radio altimeter (WH), to obtain the height from the terrain to the aircraft 100. In this case, the control unit 500 stores the Geographical Information System (GIS) information having altitude information on the terrain of the photographing area through which the aircraft 100 passes.

한편, 상기 제어유닛(500)은, 촬영영역에 대한 지형의 고도가 연산되고, 해당 촬영영역의 측정 고도값이 해당 촬영영역의 GIS 고도값의 범위를 벗어나면, 해당 촬영영역을 재측량영역으로 설정한다.Meanwhile, the control unit 500 calculates the altitude of the terrain with respect to the photographing area, and when the measured altitude value of the photographing area is outside the range of the GIS altitude value of the photographing area, the control unit 500 converts the photographing area into the re-measuring area. Set it.

또한, 상기 제어유닛(500)은, 제1감지센서(300)에 감지된 촬영방해물체(B)가 제2감지센서(300')에 감지되지 않는 경우 해당 촬영영역을 재촬영영역으로 지정한다. 즉, 제어유닛(500)은, 제1감지센서(300)로부터 촬영방해물체(B)를 감지했다는 제1감지신호를 수신하고, 미리 설정된 기준시간 이내에 제2감지센서(300)로부터 촬영방해물체(B)를 감지했다는 제2감지신호를 수신하지 못하면, 카메라(200)가 촬영하고 있는 해당촬영영역을 재촬영영역으로 지정한다. In addition, the control unit 500 designates the corresponding photographing area as the re-photographing area when the photographing obstruction object B sensed by the first sensing sensor 300 is not detected by the second sensing sensor 300 '. . That is, the control unit 500 receives the first detection signal indicating that the photographing obstacle object B has been detected from the first detection sensor 300, and the photographing obstacle object from the second detection sensor 300 within a preset reference time. If the second detection signal indicating that (B) is not received is received, the camera 200 designates the corresponding photographing area that is being photographed as the re-shooting area.

한편, 상기 제어유닛(500)이 항공경로를 설정하는 것은 이미 공지된 사실이므로, 자세한 설명은 생략하기로 한다. On the other hand, since it is already known that the control unit 500 sets the air route, a detailed description thereof will be omitted.

상기 터치스크린패널(400)은, 통상의 터치스크린 기능을 가지는 것으로, 제어유닛(500)에 의해 작동제어되어, 제1·2구동모터(900,900'), 카메라(200), 제1·2감지센서(300,300') 및, 전파고도계(WH)에 작동신호를 입력하고, 이들의 작동상태를 외부로 출력한다. 이때, 터치스크린패널(400)은 항공기(100)의 조종석에 설치되는 것이 바람직한다.The touch screen panel 400 has a normal touch screen function, and is operated and controlled by the control unit 500 to detect the first and second driving motors 900 and 900 ', the camera 200, and the first and second sensing devices. The operation signals are input to the sensors 300 and 300 'and the radio altimeter WH, and the operation states thereof are output to the outside. In this case, the touch screen panel 400 is preferably installed in the cockpit of the aircraft 100.

상기 GPS센서(600)는, GPS인공위성(700)으로부터 위치정보를 받는 통상의 것으로, 제어유닛(500)에 의해 작동제어된다.The GPS sensor 600 is a conventional one that receives position information from the GPS satellites 700 and is operated and controlled by the control unit 500.

상기 GPS인공위성(700)은, GPS센서(600)에 위치정보를 주는 통상의 것으로 자세한 설명은 생략하기로 한다. The GPS satellite 700 is a conventional method for giving position information to the GPS sensor 600, and a detailed description thereof will be omitted.

도 4 내지 도 10은 본 발명에 따른 항공촬영처리시스템의 동작상태를 나타내기 위한 작동도로서, 도 4 내지 도 10을 참고하여, 본 발명에 따른 항공촬영처리시스템의 작용을 설명하면 다음과 같다.4 to 10 is an operation diagram for showing the operating state of the aerial shooting processing system according to the present invention, with reference to Figures 4 to 10, the operation of the aerial shooting processing system according to the present invention will be described as follows. .

우선, 작업자는 별도의 단말장치를 매개로 제어유닛(500)에 항공촬영을 할 대상지역을 촬영영역으로 설정하고, 촬영영역에 따른 항공경로를 설정한다. First, the operator sets the target area to be photographed by the control unit 500 as a photographing area through a separate terminal device, and sets the air route according to the photographing area.

상기와 같이 촬영영역과 항공경로가 설정되면, 작업자는 항공기(100)를 이륙시켜, 항공경로를 따라 항공기(100)를 운행한다.When the photographing area and the air route are set as described above, the operator takes off the aircraft 100 and operates the aircraft 100 along the air route.

상기 항공기(100) 운행 중, 제어유닛(500)이 GPS센서(600)로부터 촬영영역에 대한 위치정보를 수신하면, 제어유닛(500)은 카메라(200), 제1감지센서(300), 제2감지센서(300') 및, 전파고도계(WH)를 작동시킨다.When the control unit 500 receives the location information on the photographing area from the GPS sensor 600 while the aircraft 100 is in operation, the control unit 500 includes the camera 200, the first detection sensor 300, and the first detection sensor 300. Operate the two sensor 300 'and the radio altimeter (WH).

이때, 상기 전파고도계(WH)는 촬영영역에 해당하는 지면에 전파를 송출하고 돌아오는 반사파를 수신하여, 지면에 있는 지형물로부터 수평선(HL)까지의 거리를 측정한다. 한편, 상기 수평선(HL)은 항공촬영을 위해 설정된 선으로써, 지면으로부터 일정한 높이에 설정되어, 도 4와 같이 항공기(100)가 수평선(HL)을 따라 이동한다.At this time, the radio altimeter WH transmits a radio wave to the ground corresponding to the photographing area and receives the reflected wave, and measures the distance from the terrain on the ground to the horizontal line HL. On the other hand, the horizontal line HL is a line set for aerial photography, is set at a constant height from the ground, as shown in Figure 4, the aircraft 100 moves along the horizontal line HL.

계속해서, 상기 제어유닛(500)이 전파고도계(WH)로부터 측정신호를 수신하면, 제어유닛(500)은 측정신호로부터 항공기(100)와 지형물간의 측정거리값(A)를 추출하고, 미리 설정된 지면으로부터 수평선(HL)까지의 설정거리값(B)에서 측정거리값(A)를 차감하여 지면으로부터의 지형물 고도값(C)을 연산한다. 한편, 상기 제어유닛(500)은 촬영영역의 지형의 최고점(hc)과 최저점(lc)에 대한 고도값 정보를 갖고 있다.Subsequently, when the control unit 500 receives the measurement signal from the radio altimeter WH, the control unit 500 extracts the measurement distance value A between the aircraft 100 and the terrain from the measurement signal, and A feature altitude value C from the ground is calculated by subtracting the measurement distance value A from the set distance value B from the set ground level to the horizontal line HL. On the other hand, the control unit 500 has altitude value information for the highest point (hc) and the lowest point (lc) of the terrain of the photographing area.

상기와 같이 항공기(100)가 촬영영역을 이동함에 있어, 제어유닛(500)이 지형물의 고도(C)를 감지하던 중, 도 5와 같이 측정된 지형물의 고도가 해당지역 지형물의 최고점(hc) 보다 높거나 최저점(lc) 보다 낮으면, 제어유닛(500)은 해당 촬영영역에 새로운 지형이 생성된 것으로 판단하여, 해당 촬영영역을 재측량 영역으로 설정한다. 즉, 제어유닛(500)은 해당 촬영영역에서 측정된 지형물의 고도가 처고점(hc)과 최저점(lc) 사이를 벗어나면, 해당 촬영영역을 재측량 영역으로 설정한다.As the aircraft 100 moves the photographing area as described above, while the control unit 500 detects the altitude C of the terrain, the altitude of the measured terrain as shown in FIG. If it is higher or lower than the lowest point lc, the control unit 500 determines that new terrain is created in the photographing area, and sets the photographing area as the re-measurement area. That is, the control unit 500 sets the photographing area as the re-measurement area when the altitude of the terrain measured in the photographing area is out of the high point hc and the lowest point lc.

따라서, 관리자는 후에 상기 재측량 영역에 대한 지형물을 재측량하여 정확한 지리정보를 획득한다. Thus, the administrator later re-investigates the feature for the re-measurement area to obtain accurate geographic information.

또한, 상기 작업자는 제1감지센서(300)와 제2감지센서(300')의 센싱각을 조절할 필요가 있을 시, 터치스크린패널(400)이 도 6과 같이 된 상태에서, 도 7과 같이 제1감지센서각도조절메뉴(450) 및 제2감지센서각도조절메뉴(460)을 터치한다.In addition, when the operator needs to adjust the sensing angles of the first detection sensor 300 and the second detection sensor 300 ', the touch screen panel 400 becomes as shown in FIG. 6, as shown in FIG. Touch the first detection sensor angle adjustment menu 450 and the second detection sensor angle adjustment menu 460.

상기와 같이 제1감지센서각도조절메뉴(450) 및 제2감지센서각도조절메뉴(460)가 터치되면, 제어유닛(500)는 제1감지센서각도조절메뉴(450) 및 제2감지센서각도조절메뉴(460)으로부터 입력된 신호에 따라 제1구동모터(900) 및 제2구동모터(900')를 작동시킨다.As described above, when the first detection sensor angle adjustment menu 450 and the second detection sensor angle adjustment menu 460 are touched, the control unit 500 controls the first detection sensor angle adjustment menu 450 and the second detection sensor angle. The first driving motor 900 and the second driving motor 900 'are operated according to the signal input from the adjustment menu 460.

상기 제1구동모터(900) 및 제2구동모터(900')가 작동되면, 제1회전축(820) 및 제2회전축(820'가 회전하고, 이에 따라 제1회전부재(830) 및 제2회전부재(830')가 회전하여, 도 8과 같이 제1감지센서(300) 및 제2감지센서(300')의 센싱각이 조정된다.When the first driving motor 900 and the second driving motor 900 'are operated, the first rotating shaft 820 and the second rotating shaft 820' rotate, and thus the first rotating member 830 and the second rotating motor 820 '. As the rotating member 830 'is rotated, the sensing angles of the first detection sensor 300 and the second detection sensor 300' are adjusted as shown in FIG.

한편, 도 8과 같이, 상기 카메라(200)의 촬영영역 촬영 중 새와 같은 촬영방해물체(B)가 카메라(200) 인근을 지나가면서 제1감지센서(300)의 센싱영역을 통과하면 제1감지센서(300)는 이를 감지하여 제어유닛(500)으로 제1감지신호를 출력한다.On the other hand, as shown in Figure 8, when the shooting disturbance object (B), such as a bird passing through the sensing area of the first detection sensor 300 while passing through the camera 200 during the shooting area of the camera 200, the first The detection sensor 300 detects this and outputs a first detection signal to the control unit 500.

이때, 상기 촬영방해물체(B)가 제2감지센서(300')의 센싱영역 통과하지 않고 제1감지센서(300)와 제2감지센서(300') 사이에 존재하면, 촬영방해물체(B)는 카메라(200)에 의해 계속적으로 촬영된다. 따라서, 카메라(200)에 의해 정확한 영상 이미지가 촬영되지 않는다. In this case, when the photographing obstacle B exists between the first sensing sensor 300 and the second sensing sensor 300 'without passing through the sensing area of the second sensing sensor 300', the photographing blocking object B ) Is continuously photographed by the camera 200. Therefore, the correct video image is not captured by the camera 200.

계속해서, 상기 제어유닛(500)이, 제1감지센서(300)으로부터 제1감지신호를 수신한 후, 기준시간 이내에 제2감지센서(300)로부터 제2감지신호가 수신되지 않으면, 제어유닛(500)은, 카메라(200)의 촬영영역 안에 촬영방해물체(B)가 존재하는 것으로 판단하여, 해당 촬영영역을 재촬영이 필요한 재촬영영역으로 지정한다. Subsequently, after the control unit 500 receives the first detection signal from the first detection sensor 300, and if the second detection signal is not received from the second detection sensor 300 within the reference time, the control unit In operation 500, it is determined that the photographing obstruction object B exists in the photographing area of the camera 200, and the photographing area is designated as a reshooting area that needs to be photographed again.

한편, 상기 촬영방해물체(B)가 제1감지센서(300)에 의해 감지된 후, 카메라(200)를 지나쳐 제2감지센서(300)에 의해 감지되면, 제어유닛(500)은 제1감지센서(300) 및 제2감지센서(300')로부터 제1감지신호 및 제2감지신호를 수신한다. On the other hand, after the photographing obstacle (B) is detected by the first detection sensor 300, passing through the camera 200 is detected by the second detection sensor 300, the control unit 500 is the first detection The first sensing signal and the second sensing signal are received from the sensor 300 and the second sensing sensor 300 '.

이때, 상기 제어유닛(500)은, 촬영방해물체(B)가 촬영영역에서 벗어난 것으로 판단하여, 카메라(200)에 의해 촬영되는 해당 촬영영역을 별도의 재촬영영역으 로 지정하지 않는다. In this case, the control unit 500 determines that the photographing obstacle B is out of the photographing area, and does not designate the photographing area photographed by the camera 200 as a separate rephotographing area.

한편, 항공촬영을 마친 작업자는, 항공촬영 영상 이미지가 오류없이 촬영되었는 지를 확인할 수 있다.  On the other hand, the worker who has completed the aerial photography can confirm whether the aerial photography image was taken without error.

이때, 상기 작업자가 도 6과 같이 터치스크린패널(400)에 재촬영영역확인메뉴(420)가 나타난 상태에서 재촬영영역확인메뉴(420)를 터치하면, 터치스크린패널(400)은 재촬영영역확인메뉴(420)가 사라지면서 도 9와 같이 오류위치메뉴(430)가 나타난다.In this case, when the operator touches the re-shooting area checking menu 420 while the re-shooting area checking menu 420 is displayed on the touch screen panel 400 as shown in FIG. As the confirmation menu 420 disappears, an error location menu 430 appears as shown in FIG. 9.

한편, 상기 작업자는 오류위치메뉴(430)를 통해 어느 정도 항공촬영 영상 이미지에 오류가 발생했는지 확인할 수 있다.On the other hand, the operator through the error location menu 430 can determine how much error occurs in the aerial image.

계속해서, 상기 작업자가 확인하고자 하는 오류위치메뉴(430)을 터치하면, 도 10과 같이 오류표시메뉴(440)를 통해 해당오류위치와 해당오류위치에 대한 경도 및 위도 위치가 표시되고, 맵메뉴(410)에는 해당오류위치에서 촬영된 영상 이미지가 나타난다.Subsequently, when the operator touches the error location menu 430 to be checked, the error location and the longitude and latitude of the corresponding error location are displayed through the error display menu 440 as shown in FIG. In 410, a video image photographed at the corresponding error position is displayed.

따라서, 상기 작업자는, 오류위치를 확인하여 오류위치에 대한 재촬영을 실시할 수 있다.Therefore, the operator can check the error position and retake the error position.

상술한 바와 같이, 본 발명에 따른 항공촬영처리시스템은, 해당 촬영영역의 지형물의 고도를 확인하여 지형물의 변화를 확인할 수 있고, 제1감지센서(300) 및 제2감지센서(300')의 센싱각을 조절할 수 있어, 필요에 따라 촬영방해물체(B)의 센 싱영역을 조절할 수 있으며, 제1감지센서(300) 및 제2감지센서(300')를 통해 촬영방해물체(B)가 카메라(200)의 촬영영역에 존재하는지를 정확히 파악할 수 있어, 보다 정확하게 재촬영이 필요한 영역을 확인할 수 있다.As described above, in the aerial photographing processing system according to the present invention, by checking the altitude of the terrain of the photographing area, it is possible to confirm the change of the terrain, and the first detection sensor 300 and the second detection sensor 300 ' The sensing angle can be adjusted so that the sensing area of the photographing obstruction object B can be adjusted as necessary, and the photographing obstruction object B is controlled by the first detection sensor 300 and the second detection sensor 300 '. It is possible to accurately determine whether the camera 200 exists in the photographing area, so that it is possible to identify the area that needs to be rephotographed more accurately.

도 1은 본 발명에 따른 항공촬영처리시스템을 설명하기 위한 항공기의 측면도이고, 1 is a side view of an aircraft for explaining the aerial shooting processing system according to the present invention,

도 2는 도 1의 정면도이고, 2 is a front view of FIG. 1,

도 3은 본 발명에 따른 구성 요소간의 연결관계를 나타낸 블록도이고,3 is a block diagram showing a connection relationship between components according to the present invention;

도 4 내지 도 10은 본 발명에 따른 항공촬영처리시스템의 동작상태를 나타내기 위한 작동도이다.4 to 10 is an operation diagram for showing the operating state of the aerial shooting processing system according to the present invention.

- 첨부도면의 주요부분에 대한 용어설명 --Explanation of terms for main parts of attached drawings-

100; 항공기 200; 카메라100; Aircraft 200; camera

300,300'; 제1,2감지센서 400; 터치스크린패널300,300 '; First and second detection sensors 400; Touch screen panel

500; 제어유닛 600; GPS센서500; Control unit 600; GPS sensor

700; GPS인공위성 800,800'; 제1,2고정체700; GPS satellites 800,800 '; 1st, 2nd fixed body

900,900'; 제1,2구동모터 WH; 전파고도계900,900 '; First and second drive motors WH; Radio altimeter

Claims (1)

항공기(100)의 하부에 설치되는 카메라(200)와;A camera 200 installed below the aircraft 100; 항공기(100)의 하부에 설치되는 제1가이드부재(810)와, 제1가이드부재(810)에 회전가능하게 설치되는 제1회전축(820)과, 제1회전축(820)에 고정되는 제1회전부재(830)로 구성된 제1고정체(800)와;The first guide member 810 is installed in the lower portion of the aircraft 100, the first rotary shaft 820 is rotatably installed on the first guide member 810, the first fixed to the first rotary shaft 820 A first fixing body 800 composed of a rotating member 830; 항공기(100)의 하부에 설치되는 제2가이드부재(810')와, 제2가이드부재(810')에 회전가능하게 설치되는 제2회전축(820')과, 제2회전축(820')에 고정되는 제2회전부재(830')로 구성되어, 카메라(200)를 중심으로 제1고정체(800)와 대향되게 설치되는 제2고정체(800')와;On the second guide member 810 ′ installed at the lower portion of the aircraft 100, the second rotation shaft 820 ′ rotatably installed on the second guide member 810 ′, and the second rotation shaft 820 ′. A second fixing member 800 'configured to be fixed to the second rotating member 830' and installed to face the first fixing body 800 around the camera 200; 항공기(100)의 하부에 설치되어, 제1회전축(820)을 회전시키는 제1구동모터(900)와;A first driving motor 900 installed below the aircraft 100 to rotate the first rotation shaft 820; 항공기(100)의 하부에 설치되되, 카메라(200)를 중심으로 제1구동모터(900)와 대향되게 설치되어, 제2회전축(820')을 회전시키는 제2구동모터(900')와;A second driving motor 900 'installed at a lower portion of the aircraft 100 so as to face the first driving motor 900 around the camera 200 to rotate the second rotating shaft 820'; 제1고정체(800)의 제1회전부재(830)에 설치되어, 항공기(100)의 전방 하부를 이동하는 촬영방해물체(B)를 감지하는 제1감지센서(300)와;A first detection sensor 300 installed on the first rotating member 830 of the first fixing body 800 to detect the photographing obstacle B moving the lower front of the aircraft 100; 제2고정체(800')의 제2회전부재(830')에 설치되어, 항공기(100)의 후방 하부를 이동하는 촬영방해물체(B)를 감지하는 제2감지센서(300')와;A second detection sensor 300 'installed on the second rotating member 830' of the second fixing body 800 'to detect the photographing obstacle B moving on the rear lower part of the aircraft 100; 항공기(100)의 저면에 설치되어, 지면으로부터 항공기(100)까지의 높이를 측정하는 전파고도계(WH)와;A radio altimeter (WH) installed at the bottom of the aircraft (100) for measuring the height from the ground to the aircraft (100); 항공기(100)에 설치되어, 카메라(200), 제1·2구동모터(900,900'), 제1·2감지센서(300,300') 및, 전파고도계(WH)를 작동제어하며, 항공기(100) 운행 중 항공기(100)가 촬영영역에 도달되면, 카메라(200)를 매개로 촬영영역을 촬영하고, 제1감지센서(300)에 감지된 촬영방해물체(B)가 제2감지센서(300')에 감지되지 않는 경우 해당 촬영영역을 재촬영영역으로 지정하는 한편, 전파고도계(WH)로부터의 측정신호를 입력받아, 해당 촬영영역의 측정 고도값이 해당 촬영영역의 GIS 고도값의 범위를 벗어나면 해당 촬영영역을 재측량영역으로 설정하는 제어유닛(500)과;Installed in the aircraft 100, the camera 200, the first and second drive motors (900, 900 '), the first and second detection sensors (300, 300') and radio wave altimeter (WH) to operate and control, the aircraft 100 When the aircraft 100 reaches the photographing area during operation, the photographing area is photographed by the camera 200 and the photographing obstacle B detected by the first sensing sensor 300 is the second sensing sensor 300 '. If not detected, the recording area is designated as the re-shooting area, while the measured signal from the radio altimeter (WH) is input, and the measured altitude value of the shooting area is outside the range of the GIS altitude value of the shooting area. A control unit 500 for setting a corresponding photographing area as a re-measuring area; 항공기(100)에 설치되며, 제어유닛(500)에 의해 작동제어되어, 제1·2구동모터(900,900'), 카메라(200), 제1·2감지센서(300,300') 및, 전파고도계(WH)에 작동신호를 입력하고, 이들의 작동상태를 외부로 출력하는 터치스크린패널(400);Is installed in the aircraft 100, the operation is controlled by the control unit 500, the first and second drive motors (900,900 '), the camera 200, the first and second detection sensors (300,300') and radio altimeter ( A touch screen panel 400 for inputting an operation signal to WH and outputting an operation state thereof to the outside; 을 포함하는 것을 특징으로 하는 항공촬영처리시스템.Aerial shooting processing system comprising a.
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KR102597369B1 (en) * 2023-07-06 2023-11-02 삼아항업(주) Aerial photography system for stably fixing aerial camera

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