KR101009359B1 - 3d image drawing system making the gps map by air picture and ground picture - Google Patents

Abstract

PURPOSE: A 3D image drawing system for making a GPS map by an air picture and a ground picture is provided to check a location among location measuring devices by an ultrasonic wave, thereby drawing an accurate land building image. CONSTITUTION: An image drawing device receives data from the first and second location measuring devices(100,100',200). The image drawing device completes a land building image using a boundary point. The image drawing device matches an operated center point with a representative GPS coordinate of a corresponding building. The image drawing device operates the height of the land building from distances among the location measuring devices. The image drawing device updates a drawing image stored in a numeric map database.

Description

3D image drawing system making the GPS map by air picture and ground picture}

The present invention relates to a three-dimensional image drawing system for creating a three-dimensional digital map by extracting and synthesizing information of parts of aerial and terrestrial photographic images of a terrain structure.

Drawing images used for digital map production are made as simple as possible to help users who use the map and to minimize visual rejection. In particular, in the case of a device in which a user needs to be able to quickly and easily check and understand the drawing image being output on the monitor, such as a navigation, the background of the drawing image is significantly different from the actual appearance.

(A) of FIG. 1 (a diagram schematically showing the illustrated image) is a drawing image that simplifies the terrain information as much as possible, and (b) is a drawing image showing the actual terrain.

As can be seen through the two drawings, in the case of FIG. 1 (a), the road state of the terrain and the layout of the terrain image (B) may be easily and quickly understood by the user, but the drawing image in the actual site. When comparing the terrain with the terrain, users will be confused about whether the actual site and the drawing image are identical due to the appearance between the different topographical images (B, B ') and the topographical structures.

In order to solve such a problem, a system and method have been developed in the related art which can perform a modification and update operation on a drawing image based on the system shown in FIG. 2 (a block diagram showing a state of an image drawing system). Conventional systems and methods verify the image of the topographical structure by installing the first position measuring device 100 on the actual topographic structure of the site, and separately collect the coordinate values and position information of the first position measuring device 100 in the GPS (20) In addition, the image projector 30 updates the existing drawing image stored in the digital map DB 10 by combining the image of the topographical structure thus identified, the coordinate values and the position information measured separately.

However, since the conventional first position measuring device 100 is combined with the GPS 20 in the field, the work is performed, and thus, the first position measuring device 100 is manufactured exclusively in the wilderness or relatively secluded offshore by various terrain structures. Therefore, it is difficult to communicate with GPS satellites due to the concentration of high-rise buildings such as skyscrapers, flooding of numerous jammers, and accurate positioning of terrain structures in urban areas where various malfunctions of sensors are caused.

As a result, it is required to develop a highly reliable technology capable of accurately expressing the topographical image in the drawing image through accurate measurement of the topographical structure in the city center, thereby solving the conventional problems caused by using the digital map.

Accordingly, the present invention has been invented to solve the above problems, a topographic structure that can be applied to the correct position in the drawing image by drawing the topographical image of the various buildings that are concentrated in the downtown area according to the actual topographical structure It is a technical task to provide a three-dimensional image drawing system for creating a three-dimensional digital map by extracting and synthesizing the information of each part of aerial and terrestrial photographic images.

According to an aspect of the present invention,

Numerical map DB (10) that stores the drawing image including the feature image:

A support (110) comprising a support (111) seated on the ground and a support pipe (112) having a hollow partitioned up and down by the partition wall (113) and fixedly fixed to the support (111); The first through hole 121 is formed in the center of the ring shape, the first groove portion 122 is formed around the outer surface, the transparent body 123 is disposed around the inner surface, the upper end of the support 110 is the first through hole 121 The first head 120 is constructed while being inserted into): a gel injected into the upper hollow of the partition wall 113; Polarity of the magnetic material is generated opposite to each other, is inserted into the first through-hole 121 is installed to float on the water surface of the gel, the rotating sphere 130 is configured to be anchored 131 protruding downward to penetrate the gel ; A laser beam 150 arranged horizontally so as to aim the transparent body 123 and irradiating laser light therein, the laser 150 being installed in the rotary hole 130; Ultrasonic transmitting device 170 is built in the rotary sphere 130 while transmitting a certain frequency band and the ultrasonic wave of the intensity; A plurality of first sensing modules 161 disposed in a line along the first groove 122 to individually detect the ultrasonic waves, and the first head 120 facing the light gun 151 around the transparent body 123. Arranged in a line along the inner circumference of the plurality of light receiving modules 162 to individually detect the laser of the light gun 151, and check the first detection module 161 and the light receiving module 162 with the highest sensitivity. A first ultrasonic wave receiving device 160 composed of a first control module 163; And a control panel 142 for controlling the operation of the laser 150, the ultrasonic transmitter 170, and the first ultrasonic receiver 160, respectively detected by the first sensing module 161 and the light receiving module 162. A plurality of first position measuring devices (100, 100 ') comprising: a first control device (140) for storing the transmission position of the ultrasonic wave as data using the angle and the reception sensitivity of the ultrasonic wave and the laser beam:

The supporter 211 is installed on the roof of the topographical structure so that one end is exposed to the outer wall of the topographical structure, and the linker 212 which is circular and has a rail protrusion 212a formed along the circumference and is disposed at the one end of the topological structure 211. Fastening means 210 provided; A semicircular shape is formed, and a second groove portion 232 is formed at a circumference thereof, and a second through hole 231 having a rail groove 233 is formed on an inner surface thereof so as to be movable with the rail protrusion 212a. A second head 230 fixed to the fastening means 210; A second ultrasonic wave receiving device including a plurality of second sensing modules arranged in a line along the second groove part 232 to individually detect ultrasonic waves, and a second control module for identifying a second sensing module having the largest reception sensitivity; The second position measuring device 200 includes: a second control device 240 for controlling the operation of the second ultrasonic receiving device and storing the transmission position of the ultrasonic wave as data using the reception sensitivity detected by the second sensing module; And

The data is received from the first and second position measuring devices 100, 100 ', and 200, respectively, to complete the feature image B' having the first position measuring device 100 as the boundary point P, and the boundary point P. The center point computed by)) to the representative GPS coordinates of the corresponding terrain structure, and the height h of the terrain structure from the distances d1, d2, d3 between the first and second position measuring devices 100, 100 ′, 200. The imager 30 which updates the drawing image after linking to the feature image B 'by calculating a:

It is a three-dimensional image drawing system for creating three-dimensional digital map by extracting and synthesizing the information of each part of aerial and terrestrial photographic image on the topographic structure.

According to the present invention, the first position measuring device disposed on the outside of the actual topographical structure receives the ultrasonic waves emitted toward each other to check the position of each other, and in this process to determine the absolute position of the first position measuring device. Since communication with GPS satellites is excluded, accurate topographical images can be drawn while minimizing errors in urban areas, thereby achieving a reliable drawing image.

1 is a view schematically showing a drawn image,
2 is a block diagram showing a state of an image drawing system;
3 is a diagram illustrating a drawing image to which GPS coordinates are applied.
4 is a perspective view showing a first position measuring device which is an essential configuration of an image drawing system according to the present invention;
5 is a view showing a state of completing the terrain image by using the first position measuring device to check the coordinate values for each point by installing the first position measuring device on the actual terrain structure to be measured position,
6 is an exploded perspective view illustrating a first position measuring device according to the present invention;
7 is a cross-sectional view showing a state of a first position measuring device according to the present invention;
8 is an exploded perspective view of a second position measuring device according to the present invention;
FIG. 9 is a view schematically illustrating a measurement state of plane and height information of a topographical structure using first and second position measuring devices according to the present invention.

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

3 is a view illustrating a drawing image to which GPS coordinates are applied, which will be described with reference to the drawing.

In general, a digital map is produced by combining GPS coordinates with a drawing image including a feature image (B '). In this case, the drawing image may be an image shown in the background of the aerial photographing image, or may be an aerial photographing image itself. However, in the case of an image shown in the background of the aerial photographing image, the terrain image B (see FIG. 1 (a)) is simplified for various reasons as described above. That is, it is shown differently from the actual topographical image B '. Of course, these differences cause confusion for users who use numerical maps.

Therefore, in the present invention, as shown in Figure 3, not only makes the terrain image (B ') shown in the drawing image the same as the planar appearance of the actual terrain structure, but also its position in the position relative to the GPS coordinates It was made to be posted correctly, so that accurate information can be provided to users who understand and understand the terrain through the contents of the drawing image. To this end, accurate image confirmation of the terrain image B 'is required, and in order to express the image, the position of the boundary point P, which is a vertex, must be accurately identified. Of course, while the information of the boundary point P thus identified is applied to the GPS coordinates, the corresponding terrain image B 'is synthesized into the drawing image.

On the other hand, in order to check the boundary point (P) the image drawing system according to the present invention includes a first position measuring device (100).

Figure 4 is a perspective view showing a first position measuring device which is an essential configuration of the image drawing system according to the present invention, will be described with reference to this.

The first position measuring device 100 according to the present invention is disposed at each boundary point P of the topographical structure, emits and receives ultrasonic waves of a predetermined intensity, and checks the position of each other.

The first position measuring device 100 has a columnar shape that can be easily placed adjacent to the topographical structure, and includes a support 110, a first head 120 positioned on the support 110, and a first head 120. It includes a rotary ball 130 seated on the top. At this time, the support 110, the first head 120 and the rotating ball 130 is the first control device 140, laser 150, the first ultrasonic receiving device 160 and the ultrasonic transmitting device 170 to be described later As a housing for mounting and protecting electronic equipment such as, it would be desirable to be made of a synthetic resin that can ensure airtightness as well as cushioning against external impact. Detailed description of the support 110, the first head 120 and the rotating ball 130 will be described in detail below.

Subsequently, the topographical structure that is built in the city center is a three-dimensional object of various shapes, and the first position measuring unit 100 is disposed at each vertex of the topographical structure and receives a signal from another neighboring first position measuring apparatus 100. Meanwhile, the first ultrasonic receiver 160 (refer to FIG. 7) for receiving the ultrasonic wave transmitted from another first position measuring device 100 is mounted on the first head 120, and the first head 120 is the other first. In order to increase the horizontal reception rate of the ultrasonic wave transmitted from the position measuring device 100, the circumferential surface thereof is preferably curved. For reference, the circumferential surface of the first head 120 is formed with a curved first groove portion 122 to increase the reception rate of the ultrasonic waves.

The rotary ball 130 has a structure having independent fluidity by protruding upward of the first head 120, and includes an ultrasonic wave emitting device 170 (see FIG. 7) for transmitting ultrasonic waves. That is, the rotary ball 130 equipped with the ultrasonic transmitting device 170 is disposed on the top of the first position measuring device 100, so that the transmission of the ultrasonic waves can be made effectively.

FIG. 5 is a view illustrating a state in which the first position measuring device is installed on an actual topographical structure that is a position measurement object, and after confirming coordinate values for each point, the topographical image is completed using the first position measuring device. FIG. 1 is a perspective view illustrating an exploded view of a position measuring device, and FIG. 7 is a cross-sectional view illustrating a first position measuring device according to the present invention.

As described above, the first position measuring device 100 according to the present invention is built into the support 110, the first head 120, and the rotation hole 130 in sequence, and the first control is provided in the support 110. The device 140 is internally installed, the first ultrasonic wave receiving device 160 is embedded in the first head 120, and the laser 150 and the ultrasonic wave emitting device 170 are embedded in the rotating device 130.

The first control device 140 is installed in the hollow of the support pipe 112 in the form of a standing pipe, so as to confirm and store the information received by the first ultrasonic receiver 160, the laser 150 and the ultrasonic transmitter 170 Control the operation of For reference, the control panel 142 is provided in the first control device 140 for the operator's operation, and the control panel 142 is protected by a door 112a formed to be opened and closed on the outer surface of the support tube 112. Thus, the measurer opens or closes the door 112a to manipulate or protect the control panel 142.

On the other hand, the first control device 140 further includes a first storage means 143. The first storage means 143 stores distance information and direction information to another neighboring first position measuring device received by the first ultrasonic wave receiving device 160, and is detachable from the first control device 140. Or MD may be applied. The separated first storage means 143 is collected from the first position measuring devices 100 to allow the image projector 30 to process it.

As described above, the first head 120 has a ring shape having a first through-hole 121 through which the support tube 112 is inserted in the center thereof, and the circumferential surface of the first head 120 has a curved first shape to increase the reception efficiency of the ultrasonic wave. Groove 122 is formed. The first ultrasonic receiver 160 is mounted on the first head 120 having such a structure.

The first ultrasonic receiving apparatus 160 may include a first sensing module 161 for sensing ultrasonic waves collected by the first groove 122, a light receiving module 162 for receiving laser light emitted from the laser 150, and The first control module for processing the ultrasound information and laser light information detected and received by the first sensing module 161 and the light receiving module 162 and transmitted to the first control device 140 through the second line (L2). 163. In this case, a plurality of first sensing modules 161 and a light receiving module 162 are independently arranged in a row, and receive ultrasonic waves and laser light, respectively. Of course, both the first sensing module 161 and the light receiving module 162 are identified by a unique code, and the first control module 163 includes the batch data of the first sensing module 161 and the light receiving module 162. The ultrasound information detected by the first detection module 161, the laser light information detected by the light receiving module 162, and the batch data are transmitted to the first control device 140.

The first ultrasonic receiving apparatus 160 is for receiving the ultrasonic wave transmitted from another neighboring first position measuring device and checking the distance and position to another neighboring first position measuring device. The first control module 163 defines The distance between the first position measuring device 100 is checked by checking the ultrasonic reduction rate transmitted at the received intensity. In addition, the light receiving module 162 may check the light receiving position of the laser light received by the light receiving module 162 to track the direction of another neighboring first position measuring device. The description thereof will be made in detail while explaining the laser 150.

For reference, the first sensing module 161 for sensing the ultrasonic wave and the light receiving module 162 for receiving the laser light are disposed along the outer circumference and the inner circumference of the first head 120, respectively, and are introduced in various directions. Ultrasonic and laser light can be detected. In addition, it is preferable that the inner surface of the first head 120 is finished with a transparent body 123 through which the laser light can pass, thereby increasing the transmittance of the laser light. In addition, the support jaw 115 may be protrudingly formed around the support tube 112 to stably seat the first head 120, thereby enabling detachment between the first head 120 and the support 110. will be.

Rotating hole 130 is a spherical shape having a hollow for mounting the ultrasonic wave emitting device 170 and the laser 150, is inserted into the control first through hole 121 of the first head 120, the bottom An anchor 131 inserted into the support tube 112 is formed to protrude. In this case, the anchor 131 may wrap and protect the first line L connecting to the first control device 140 to control the laser 150 and the ultrasonic wave emitting device 170.

The laser 150 includes a light gun 151 facing the light receiving module 162 of the first ultrasonic wave receiving device 160, and receives the laser light according to a control signal of the first control device 140. Investigate with In this case, as described above, the light receiving module 162 is disposed along the inner circumference of the first head 120 and sets a unique code for each point to independently receive the laser light. That is, when the light receiving module 162 independently disposed along the inner circumference of the first head 120 transmits the laser light received by the first head 120 to the first control device 140, By checking whether the light receiving module 162 has received the laser light of the laser 150, it is possible to track the direction around the first position measuring device 100.

The support tube 112 is formed with a partition wall 113 for partitioning and waterproofing the first control device 140, and the first and second gels G1 and G2 having different densities are formed on the partition wall 113. Injecting, the rotary ball 130 is arranged to be floating on the water surface of the first and second gels (G1, G2).

That is, if the first gel (G1) is a liquid having a greater density than the second gel (G2), as shown in Figure 7, the first gel (G1), the second gel (G2) and the rotating sphere 130 in order Will be deployed. For reference, the rotary ball 130 will float on the water surface of the first and second gels G1 and G2 by their buoyancy regardless of the density. For reference, in order to achieve a stable and free floating state of the rotating sphere 130, the diameter of the rotating sphere 130 is larger than the diameter of the support tube 112, so as to be smaller than the diameter of the first through-hole 121. On the other hand, the second gel (G2) in direct contact with the rotary ball 130 is preferably made of a material having a high viscosity. This is to prevent the rotary ball 130 from unstable movement due to excessive movement of the second gel (G2) and the shoulder.

However, both the first and second gels G1 and G2 need not be injected into the support tube 112, and only one of the first gel G1 and the second gel G2 may be injected. Therefore, in the following claims, the first and second gels G1 and G2 are collectively described as gels.

Subsequently, the rotating ball 130 is made of a magnet having magnetic force itself, and a mark for checking the polarity is inserted into the surface of the rotating ball 130.

As described above, after the first and second gels G1 and G2 are injected into the support tube 112 and the rotor 130 is seated on the water surface, the rotor 130 automatically functions as a compass by magnetic force. The S pole is facing north. At this time, the anchor 131 is inserted into the first and second gels (G1, G2) so that the rotary ball 130 has a stability.

In addition, although not shown, a pair of bars are disposed to face each other around the rotating ball 130, and the bars may be made of a magnetizable material or made of a permanent magnet to maximize the effect of the compass. .

The ultrasonic wave emitting device 170 is mounted on the rotary ball 130 and randomly transmits ultrasonic waves under the control of the first control device 140. In this case, the intensity of the ultrasonic waves may be set to be uniform for all the first position measuring devices 100, and the shape of the topographical structure may be tracked based on the collected information.

An unexplained drawing symbol “114” is a drawing of a drawing path formed in the partition wall 113, and includes a first line L1 connecting the first control device 140, the laser 150, and the ultrasonic transmitting device 170. ) Is the space through.

Unexplained withdrawal symbol "P" is a member that closes the inlet passage 114, and blocks the first and second gels G1 and G2 from entering the first control device 140 through the inlet passage 114. do.

Unexplained withdrawal symbol "111" is a withdrawal of the support which is one component of the support 110, the first position in which the support 110, the first head 120 and the rotary ball 130 is built in sequence The measuring device 100 forms a structure in which the lower end is extended to maintain the current position stably without shaking.

Unexplained withdrawal symbol "141" is a withdrawal of the code 141 inserted into the inlet path 114, and guides the first line (L1) to the first control device (140).

8 is an exploded perspective view showing a state of the second position measuring device according to the present invention, Figure 9 is a schematic view showing the measurement of the plane and height information of the topographic structure using the first and second position measuring device according to the present invention It is described with reference to the drawings.

The image drawing system according to the present invention is to ensure three-dimensional information about the topographical structure, and further includes a second position measuring device 200 for measuring the height of the topographical structure.

The second position measuring unit 200 receives ultrasonic waves from one or more first position measuring units 100 and 100 'and checks the received sensitivity to measure the distance between the first and second position measuring units 100, 100' and 200. And through this, the height (h) of the topographical structure can be measured.

Preferably, the height h of the topographical structure is measured by a triangulation method through two first position measuring devices 100 and 100 'and one second position measuring device 200. That is, as described above, the distance d1 between the first position measuring devices 100 and 100 'is first checked, and the distance d2 between the first position measuring device 100 and the second position measuring device 200 and the first position measuring device 200 are sequentially determined. The distance d3 between the first position measuring device 100 'and the second position measuring device 200 is checked, and the height h is calculated through a known calculation method. At this time, since the height of the first position measuring device (100, 100 ') is negligible compared to the height (h) of the topographical structure, the height (identified using the first and second position measuring devices (100, 100', 200) ( h) will soon be the height of the structure.

The second position measuring device 200 for this purpose, the one end is arranged to be drawn out to the outside and the other end is fixed to the roof of the topography of the topographical structure via the bracket 220 and the fixed end 211 is fixed to one end A fastening means 210 having a circular shape and having a linker 212 formed with a rail protrusion 212a along a circumference thereof; The center of the circle is cut to form a second through hole 231, and a circumferential surface is formed with a second groove for increasing the efficiency of ultrasonic reception, and is fitted into the inner surface of the second through hole 231 so as to be movable with the rail protrusion 212a. A second head 230 having a biting rail groove 233 formed therein; A second sensing module (not shown) for receiving ultrasonic waves transmitted from the first ultrasonic transmitter 170 of the first position measuring apparatus 100 and 100 ′, and a second sensing module having the largest receiving sensitivity. A second ultrasonic receiver having a second control module (not shown); Controls the operation of the second ultrasonic receiver, checks the distances d2 and d3 to the first position measuring instruments 100 and 100 'corresponding to the received sensitivity detected by the second sensing module, and checks the distances d2 and d3. And a second control device 240 having a second storage means 241 for storing information.

Here, the function of the second sensing module is the same as that of the first sensing module 161, and the function of the second control module receives and processes the sensing signal of the first sensing module 161. Same as). Therefore, the description of the second sensing module and the second control module included in the second ultrasonic receiver is omitted.

Subsequently, the second head 230 mounts the second ultrasonic wave receiving device, and unlike the first head 120, the second head 230 has a semicircular shape. In this case, a second through hole 231 having a rail groove 233 formed therein is formed at a circle center of the second head 230, and the second hole 231 and the linker 212 of the fastening means 210 are engaged with each other. All. At this time, while the rail groove 233 and the rail protrusion 212a are fixed to each other to be movable, the second head 230 is disposed to be exposed to the outer surface of the topographical structure. In addition, since the second head 230 is rotatably fixed to the fastening means 210 based on the semi-circular circle center, the second groove 232 is always facing the ground. As a result, the second position measuring unit 200 may effectively receive the ultrasonic waves transmitted from the first position measuring units 100 and 100 ′ regardless of the roof shape of the topographical structure.

The operation of the image drawing system according to the present invention will be described in detail.

First stage

Identify the topographical structures that need to be corrected, and arrange the first position measuring device 100 at each boundary point P of the topographical structure.

2nd step

After physically stabilizing the first position measuring device 100, observe the appearance of the rotary ball (130). At this time, it is checked whether all the rotary holes 130 of the first position measuring device 100 located at the boundary point P of the topographical structure are located in the same direction.

3rd step

The first control device 140 of each of the first position measuring devices 100 is operated through the control panel 142 to check the unique code of the light receiving module 162 that has received the laser light of the laser 150, and the unique The direction is determined based on the light receiving module 162 where the code is located. At this time, the light gun 151 of the laser 150 side by side with the position of the rotary sphere 130 facing the north, the position of the rotary sphere 130 is determined and the laser 150 irradiates the laser light when the laser The light is soon irradiated toward the north, and the light receiving module 162 receiving the light is soon north.

4th step

The first control device 140 determines the direction around the first position measuring device 100 to which it belongs by receiving the laser light of the light receiving module 162.

5th step

The first control device 140 of each of the first position measuring device 100 is operated through the control panel 142 so that the ultrasonic wave emitting device 170 emits ultrasonic waves of a constant frequency band and intensity. At this time, in order to prevent the interference of the ultrasonic waves and to accurately determine the neighboring first position measuring device 100, the operations of the first position measuring device 100 respectively positioned at the boundary point P of the topographical structure are sequentially and not simultaneously. It is preferable to advance one by one.

That is, when the directions of all the first position measuring instruments 100 are determined in the fourth step, the ultrasonic wave transmitting apparatus 170 operates one by one for each of the first position measuring instruments 100 and ultrasonic waves are applied to other first position measuring instruments adjacent to both sides. The ultrasonic wave transmitting apparatus of the other first position measuring device that receives the ultrasonic wave transmits the ultrasonic wave so that another first position measuring unit adjacent to the other first position measuring device receives the ultrasonic wave.

6th step

Ultrasonic waves of the neighboring first position measuring instruments are independently received by independent first sensing modules 161 disposed along a circular first head 120.

As is well known, the ultrasonic waves are transmitted in the form of concentric circles around the first position measuring device 100, and since the first sensing module 161 is disposed in a circular shape, a straight line directly from the ultrasonic transmitting device of the neighboring first position measuring device. The reception sensitivity of the first detection module 161 received by the first detection module 161 is relatively higher than the reception sensitivity of the ultrasonic waves received by the other first detection module 161. That is, the first position measuring apparatus 100 may identify the position of the neighboring first position measuring apparatus which transmitted the ultrasonic wave through the reception sensitivity.

7th Step

The first control module 163 checks the position of the first detection module 161 having the highest sensitivity among the first detection modules 161 that have received the ultrasonic waves, and checks the laser light by the light receiving module 162. In accordance with the direction determined, it is checked from which direction the ultrasonic waves of the neighboring first position measuring device are transmitted.

More specifically, by checking the angle between the light receiving module 162 receiving the laser light and the first detection module 161 having the highest sensitivity of the ultrasonic wave, the neighboring first position measuring device is located north (laser). It can be seen how many degrees from the irradiation direction of the light toward the north), through which the first position measuring apparatus 100 can determine which direction the neighboring first position measuring apparatus is located.

On the other hand, the intensity of the ultrasonic wave transmitted from the ultrasonic transmitting device 170 is all constant. Therefore, the first position measuring apparatus 100 which receives the ultrasonic waves transmitted by the neighboring first position measuring apparatus may calculate the distance between the first position measuring instruments by checking the intensity of the reduced ultrasonic waves.

8th step

When the data regarding the position and the distance of the neighboring first position measuring device is confirmed in this process, the first control module 163 of each of the first position measuring device transmits it to the first control device 140, and the first control device. 140 stores the data in the first storage means 143.

9th Step

The measurer collects all of the first storage means 143 of the first position measuring device 100, inputs it to the image projector 30, and the image projector 30 inputs data to the first storage means 143. Based on this, the distance and direction between the first position measuring device 100 are checked, and coordinates x1 to x7 and y1 to y7 are generated for each boundary point P as shown in FIG. 5. At this time, since the first position measuring device 100 according to the present invention operates independently of the device for GPS measurement, the origin point (0, 0) of one boundary point (P) of the coordinates (x1 to x7, y1 to y7) is zero. Will generate the coordinates of the other boundary points.

10th step

The image projector 30 calculates the center point of the polygon using the coordinates (x1 to x7, y1 to y7) as a boundary point using [Equation 1].

11th Step

By matching the coordinates of the center point identified through [Equation 1] and the representative GPS coordinates of the topographical structure in the drawing image, a new feature image (B ') is applied to the drawing image.

12th Step

The second position measuring unit 200 installed on the roof of the topographical structure receives the ultrasonic waves transmitted from the first position measuring unit 100 to obtain a distance d2, and again transmits ultrasonic waves transmitted from the neighboring first position measuring unit 100 ′. After receiving the to obtain the distance (d3), and stores it in the second storage means (241).

13th Step

The image projector 30 receives the distance d1 between the corresponding first position measuring devices 100 and 100 ′ and the distances d2 and d3 transmitted by the second position measuring device 200 to obtain the height of the topographical structure ( h) is calculated and applied to the drawing image as link information of the new feature image (B ').

The updated image is stored in the digital map DB 10.

Claims (1)

Numerical map DB (10) that stores the drawing image including the feature image:
A support (110) comprising a support (111) seated on the ground and a support pipe (112) having a hollow partitioned up and down by the partition wall (113) and fixedly fixed to the support (111); The first through hole 121 is formed in the center of the ring shape, the first groove portion 122 is formed around the outer surface, the transparent body 123 is disposed around the inner surface, the upper end of the support 110 is the first through hole 121 The first head 120 is constructed while being inserted into): a gel injected into the upper hollow of the partition wall 113; Polarity of the magnetic material is generated opposite to each other, is inserted into the first through-hole 121 is installed to float on the water surface of the gel, the rotating sphere 130 is configured to be anchored 131 protruding downward to penetrate the gel ; A laser beam 150 arranged horizontally so as to aim the transparent body 123 and irradiating laser light therein, the laser 150 being installed in the rotary hole 130; Ultrasonic transmitting device 170 is built in the rotary sphere 130 while transmitting a certain frequency band and the ultrasonic wave of the intensity; A plurality of first sensing modules 161 disposed in a line along the first groove 122 to individually detect the ultrasonic waves, and the first head 120 facing the light gun 151 around the transparent body 123. Arranged in a line along the inner circumference of the plurality of light receiving modules 162 to individually detect the laser of the light gun 151, and check the first detection module 161 and the light receiving module 162 with the highest sensitivity. A first ultrasonic wave receiving device 160 composed of a first control module 163; And a control panel 142 for controlling the operation of the laser 150, the ultrasonic transmitter 170, and the first ultrasonic receiver 160, respectively detected by the first sensing module 161 and the light receiving module 162. A plurality of first position measuring devices (100, 100 ') comprising: a first control device (140) for storing the transmission position of the ultrasonic wave as data using the angle and the reception sensitivity of the ultrasonic wave and the laser beam:
The supporter 211 is installed on the roof of the topographical structure so that one end is exposed to the outer wall of the topographical structure, and the linker 212 which is circular and has a rail protrusion 212a formed along the circumference and is disposed at the one end of the topological structure 211. Fastening means 210 provided; A semicircular shape is formed, and a second groove portion 232 is formed at a circumference thereof, and a second through hole 231 having a rail groove 233 is formed on an inner surface thereof so as to be movable with the rail protrusion 212a. A second head 230 fixed to the fastening means 210; A second ultrasonic wave receiving device including a plurality of second sensing modules arranged in a line along the second groove part 232 to individually detect ultrasonic waves, and a second control module for identifying a second sensing module having the largest reception sensitivity; The second position measuring device 200 includes: a second control device 240 for controlling the operation of the second ultrasonic receiving device and storing the transmission position of the ultrasonic wave as data using the reception sensitivity detected by the second sensing module; And
The data is received from the first and second position measuring devices 100, 100 ', and 200, respectively, to complete the feature image B' having the first position measuring device 100 as the boundary point P, and the boundary point P. The center point computed by)) to the representative GPS coordinates of the corresponding terrain structure, and the height h of the terrain structure from the distances d1, d2, d3 between the first and second position measuring devices 100, 100 ′, 200. Link to the terrain image (B ') by calculating the image mapper 30 to update the image stored in the digital map DB (10):
Three-dimensional image mapping system for creating a three-dimensional digital map by extracting and synthesizing the information of each part of the aerial and terrestrial photographic image for the topographical structure.

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