KR101220232B1 - Image pictureing and mapping system for point with photophore for stone mark and methods thereof - Google Patents

Abstract

PURPOSE: An image photographing and drawing system and a method thereof are provided to easily recognize and take tile images of each spot indicated by a luminescence device for marker stones at an optimal altitude. CONSTITUTION: A system includes a luminescence device(110) for marker stones, an airplane(10), and a digital map drawing device(140). The luminescence device for marker stones emits light through a light-emitting module, and measures the altitude of the airplane by triangulation. A photographing time decision module receives the sensed values from a first sensor and a second sensor, and chooses a point of time for photographing while avoiding time when the first sensor senses an object and the second sensor does not. The airplane receives an ID and altitude in real time through an array antenna, and determines ID the direction which the altitude is from by using the array antenna. The airplane, using the received ID, determines the spot where the luminescence device for market stones is installed, and whether the received altitude is within the predetermined altitude range or not. The airplane takes tilt images toward the direction which a signal direction determination module has determined. A digital map drawing device maps the taken tilt images onto the spot determined by an ID determination module, and creates links between the tile images and the predetermined spot on a digital map. [Reference numerals] (110) Luminescence device; (111) Light emitting module; (112) Altimetry measurement module; (113) First RF module; (120) Photographing timing determination module; (131) Array antenna; (132) Second RF module; (133) Signal direction determination module; (134) ID determination module; (135) Altimetry determination module; (136) Slope image photographing module; (140) Digital map drawing device

Description

IMAGE PICTUREING AND MAPPING SYSTEM FOR POINT WITH PHOTOPHORE FOR STONE MARK AND METHODS THEREOF}

The present invention relates to an aerial image capturing and drawing system and a method thereof, and more particularly, to an image capturing and drawing system and a method for a spot attached to a surface light emitter.

Aerial images are taken at predetermined time intervals during flight of the aircraft mounted due to the limitation of the shooting range, each of which has an overlapping area, as well as geometric distortion. Orthogonal projection techniques using collinear conditional equations are widely used for the correction of geometric distortion in such images.

By the way, the orthographic projection technique is suitable for vertical aerial images, but not suitable for applying to aerial aerial images as it is. When the orthogonal projection is applied to the aerial tilt image, the terrain and the ground surface of the captured image are overly deformed. That is, since it is not an image of a shape viewed from an inclined direction when viewed from the air, there is a very unnatural feeling, and there is a problem in that it is not possible to recognize an actual main feature.

On the other hand, since the image drawing operation is performed over a large area, it is mainly based on the image photographed using an aircraft or a satellite.

Since it is impossible to cover all areas with just one shot, it is possible to subdivide the area, take several shots of aerial shots, and connect the captured images for detailed drawing.

However, in the process of synthesizing multiple images, each image has a resolution difference according to the change in the altitude of the aircraft, and various problems occur as if the photographing angle is shifted due to the change in orientation or posture of the aircraft. Above all, the problem arises that it is difficult to accurately determine the shooting location for the various subdivided areas. The aircraft calculates its current position using GPS. Since the aircraft is located at a high altitude rather than the ground, it is difficult to calculate the exact position. In particular, when using two GPS satellites, the position error becomes even worse.

As such, the image drawing work is scattered with various factors that lower the precision, and thus, various work for the preparation of the accurate map is required.

In particular, when producing digital maps, it is necessary to provide a variety of information in addition to the existence of simple terrain, roads, and structures, and there are no methods for providing accurate images and various images of various structures and tourist resources. .

Digital maps provide various images of famous tourist attractions, buildings, and specific structures.However, there are no methods to select and how to properly select a structure when producing such digital maps.

There is a need for a method of accurately recognizing, selecting, and photographing a specific point. In particular, such detail information requires an inclined image rather than an orthogonal image, and it is not easy to accurately and selectively photograph the inclined image.

That is, waterfalls, famous buildings, famous temples, etc., as well as tourists that are not easily captured in dense areas should be accurately captured and photographed inclined. There is a need for a method that allows an aircraft to accurately capture tilted images of many points at one time and capture tilted images at the most appropriate angle.

In the case of aerial shooting, if a shooting error occurs, it is necessary to go back and take pictures again and again, which may be a disadvantage in terms of cost and efficiency.

Meanwhile, in the case of aerial photography, a flight route is usually determined in advance, and when there are birds or various floating objects under the camera, there is a problem that the photographing is disturbed. That is, when a bird is photographed, the image cannot be obtained properly. At this time, the problem of taking a picture of the aircraft again by turning or taking off again after landing.

On the other hand, shooting orthogonal and inclined images with one aircraft requires multiple flights over the same area and is inefficient. Thus, there is a need for a structure for photographing ortho images and various tilt images at a time. In cameras with various functions, they need to be minimized as their volume increases.

Korea Patent Office Registered Patent Publication 10-1097898 Korea Patent Office Registered Patent Publication 10-1089361

It is an object of the present invention to provide an image capturing and drawing system for a spot to which a light emitter for pavement is attached.

It is another object of the present invention to provide an image capturing and drawing method for a spot on which a light emitter for pavement is attached.

According to an object of the present invention described above, the image capturing and drawing system for a point where a light emitter for a surface is attached includes: a light emitting module attached to a predetermined point and emitting light; an altitude measurement module for surveying an altitude of an aircraft by a triangulation method; A light emitter comprising: an ID and a first RF module for transmitting the altitude measured by the altitude measurement module; Receive a sensing value from the first sensor provided at the front end and the second sensor provided at the rear end for detecting the downward of the aircraft, the object is detected by the first sensor and the object is detected by the second sensor A photographing timing determining module that determines a photographing timing by avoiding a time point at which the photograph is not made; An array antenna, a second RF module for receiving the ID and altitude in real time through the array antenna, a signal direction determination module for determining a direction for receiving the ID and altitude using the array antenna, and the received An ID judging module for determining a point at which the light emitting indicator for light is attached using an ID, an altitude judging module for judging whether the received altitude is within a predetermined predetermined altitude range, and the altitude judging module receives the received altitude. An aircraft including a tilt image capturing module configured to photograph a tilt image in a direction determined by the signal direction determining module when it is determined to be within the altitude range; And a digital map drawing device for mapping the tilted image photographed by the tilted image capturing module to a point determined by the ID determining module and linking the tilted image of the point displayed on a digital map provided in advance. have.

In this case, the tilt image photographing module generates a photographing start / end signal at a time point at which photographing starts / ends, and the second RF module transmits the generated photographing start / end signal to the first RF module. The first RF module may be configured to receive the photographing start / end signal and the light emitting module may stop emitting light during a reception time of the photographing start / end signal.

The tilt image capturing module may be configured in a gimbal structure to maintain the photographing direction with respect to the point when the attitude of the aircraft is changed.

According to another aspect of the present invention, an image capturing and drawing method for a point to which a light emitter is attached is provided, the light emitting device attached to a predetermined point to emit light; Surveying the altitude of the aircraft by the triangulation method by the surface light emitter; Transmitting the ID and the measured altitude of the surface light emitter to the aircraft; Receiving the ID and altitude in real time through an array antenna provided in the aircraft; Determining a direction of receiving the ID and the altitude by using the array antenna in the aircraft; Determining a point at which the surface light emitter is attached by using the received ID in the aircraft; Determining whether the received altitude is within a predetermined predetermined altitude range in the aircraft; Receive a sensing value from the first sensor provided at the front end and the second sensor provided at the rear end for detecting the downward of the aircraft, the object is detected by the first sensor and the object is detected by the second sensor Determining a photographing timing by avoiding a time when no picture is taken; Photographing a tilted image at the determined photographing timing in the determined direction when the aircraft determines that the received altitude is within the predetermined predetermined altitude range; The digital map drawing apparatus may be configured to map the photographed tilted image to the determined point and to link the tilted image of the point displayed on the digital map provided in advance.

In this case, when it is determined that the received altitude is within the predetermined predetermined altitude range in the aircraft, the step of photographing the inclined image in the determined direction may include starting / recording at a time point at which the aircraft starts / ends shooting. A stop signal may be generated and transmitted to the light emitter for stone surface, and the light emitter for stone surface may be configured to stop light emission during a reception time of the photographing start / end signal.

According to the image capturing and drawing system for the point where the above-mentioned light emitting light emitter is attached, and the method thereof, by attaching the light emitting light emitting light at a critical point and using information about the ID and altitude provided by the light emitting light emitting light emitter, It has the effect of easily recognizing the spot and taking a tilted image at the optimum altitude.

In particular, by determining the direction of a specific point using the array antenna provided in the aircraft, there is an effect that can accurately determine the position of the specific point to adjust the shooting angle.

In addition, by providing a sensor in the front and rear of the aircraft to avoid the point of time when there is a photographing obstruction down the camera in the center of the aircraft, there is an effect that can eliminate the problem of having to retake the image.

In addition, since the aircraft has a frame structure capable of simultaneously shooting a vertical orthogonal image and an inclined image, there is an effect of efficiently photographing various images in one flight.

1 is a conceptual diagram of an image capturing and drawing system for a spot to which a light emitter for surface treatment according to the present invention is attached.
2 is a block diagram of an image capturing and drawing system for a point where a light emitter for a pavement is attached according to an exemplary embodiment of the present invention.
3 is a flowchart of an image photographing and drawing method for a point to which a light emitter for a pavement is attached according to an embodiment of the present invention.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

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

1 is a conceptual diagram of a tilted image photographing and drawing system for a point where a light emitter for a surface stone is attached according to the present invention.

Referring to FIG. 1, an image capturing and drawing system (hereinafter, referred to as an 'image capturing and drawing system') of a spot on which a light emitter for surface treatment is attached according to the present invention is a tilted image of an important point provided on a digital map. A surface light emitter is used as a configuration for photographing and drawing.

In FIG. 1, the surface light emitter 110 is attached to an upper portion of a building, and the aircraft 10 may receive a signal from the surface light emitter 110 to recognize an important point to which the surface light emitter 110 is attached.

In addition, the surface light emitter 110 measures and provides an inclination angle of the aircraft 10 using a triangulation method. The aircraft 10 is configured to take an image of the inclination at an optimal inclination angle determined for each surface light emitter 110 to be used on a numerical map.

In particular, the aircraft 10 can determine the position of a specific point by determining the signal direction of the surface light emitter 110 by using the array antenna provided in the aircraft 10. First of all, the shooting angle can be automatically and constantly adjusted in the aircraft 10 that is turning.

In addition, by determining the shooting timing by sensing the lower side of the aircraft 10, it is possible to solve the problem that a bird or the like obstructs the camera field of view.

2 is a block diagram of an image capturing and drawing system for a point where a light emitter for a pavement is attached according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the image capturing and drawing system 100 may be configured to include a light emitter 110 for a surface stone, an aircraft 10, and a digital map drawing device 140. Hereinafter, the detailed configuration will be described.

First, the surface light emitter 110 may be configured to include a light emitting module 111, an altitude measurement module 112, and a first RF module 113.

The light emitting module 111 may be configured to emit light by being attached to a point of important buildings, tourist attractions, natural objects, etc. on the numerical map. It is configured to visually identify or mark a specific point.

The altitude survey module 112 may be configured to survey the altitude of the aircraft 10 by a triangulation scheme. At this time, the altitude measurement module 113 measures the inclination angle of the ground and the aircraft 10. This inclination angle is to guide the shooting so as to shoot at the most optimal angle for each point when the inclination image in the aircraft 10.

The first RF module 113 may be configured to transmit the altitude surveyed by the ID and altitude survey module 112. Here, ID is a configuration for enabling the aircraft 10 to recognize each point as the ID of the light emitting device 110 for the surface of the stone.

Next, the aircraft 10 includes the array antenna 131, the second RF module 132, the signal direction determination module 133, the ID determination module 134, the altitude determination module 135, and the tilt image capturing module 136. It may be configured to include.

The array antenna 131 is an antenna that receives a signal from the light emitter 110 for staging.

Since the array antenna 132 may adjust the transmission / reception direction of the signal in a specific direction due to its characteristics, the array antenna 132 may know the reception direction of the signal.

The second RF module 132 may be configured to receive the ID and the altitude in real time through the array antenna 131.

The signal direction determination module 133 may be configured to determine a direction of receiving an ID and an altitude by using the array antenna 131. Thus, the direction of the predetermined point can be accurately recognized.

The ID determination module 134 may be configured to determine a point at which the light emitting unit 110 is attached using the received ID.

The altitude determination module 135 may be configured to determine whether the received altitude is within a predetermined predetermined altitude range. That is, it is determined whether the predetermined altitude is predetermined for each predetermined point such as a building or a tourist spot. This is to allow the inclination image to be taken at the optimal inclination angle.

The tilt image capturing module 136 may be configured to photograph the tilt image in the direction determined by the signal direction determining module 133 when the altitude determination module 135 determines that the previously received altitude is within a predetermined altitude range. .

In this case, the tilted image capturing module 136 may photograph the tilted image while turning the point omnidirectionally. Thus, the tilt image capturing module 136 is preferably configured in a gimbal structure to maintain the shooting direction for the point when the attitude of the aircraft 10 changes.

In addition, the tilt image capturing module 136 may be configured to automatically control the gimbal structure according to the signal direction of the signal direction determining module 133 to maintain a constant shooting direction.

Meanwhile, the tilt image capturing module 136 generates a photographing start / end signal at a time point at which photographing starts / ends, and sends a photographing start / end signal to the first RF module 113 through the second RF module 132. Transmit, and the light emitting module 111 may be configured to stop light emission for a reception time of the photographing start / end signal.

Next, the digital map drawing device 140 maps the tilted image photographed by the tilted image capturing module 136 with the point determined by the ID determining module 134 and tilts the spot displayed on the digital map provided in advance. It can be configured to link the image.

That is, the digital map drawing device 140 is configured to link the tilted image to each point on the digital map in order to provide various information on each point on the digital map when generating the digital map.

Thus, when using the digital map, the user may access a tilted image and other various information about a specific tourist spot or building.

3 is a flowchart of an image photographing and drawing method for a point to which a light emitter for a pavement is attached according to an embodiment of the present invention.

Referring to FIG. 3, the surface light emitter 110 attached to a predetermined point emits light (S110).

Next, the surface light emitter 110 measures the altitude of the aircraft 10 by the triangulation method (S120).

Next, the ID of the surface light emitter 110 and the previously measured altitude are transmitted to the aircraft 10 (S130).

Next, the ID and altitude are received in real time through the array antenna 131 provided in the aircraft 10 (S140).

Next, the aircraft 10 determines the direction of receiving the ID and altitude by using the array antenna 131 (S150).

Next, the aircraft 10 determines the point where the surface light emitter 110 is attached using the previously received ID (S160).

Next, it is determined whether the altitude previously received by the aircraft 10 is within a predetermined predetermined altitude range (S170).

Next, the photographing timing determination module 120 receives sensing values from the first sensor provided at the front end and the second sensor provided at the rear end, respectively, for detecting the downward direction of the aircraft 10, and the object is detected by the first sensor. Is detected and the photographing timing is determined by avoiding a time point when the object is not detected by the second sensor (S180).

Next, when it is determined that the previously received altitude within the aircraft 10 is within a predetermined predetermined altitude range, the inclination image is photographed at the determined shooting timing in the determined direction (S190).

Here, the aircraft starter 10 generates a shooting start / end signal at the time of starting / stopping the shooting, and transmits the shooting start / end signal to the light emitting emitter 110, and the light emitting emitter 110 during the reception time of the shooting start / stop signal. It may be configured to stop light emission.

Next, the numerical map drawing device 140 maps the previously taken tilt image with the determined point, and links the tilt image of the point displayed on the previously provided numerical map (S200).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims. There will be.

Claims (5)

A light emitting module comprising: a light emitting module attached to a predetermined point and emitting light; an altitude survey module for surveying an altitude of an aircraft by a triangulation method; and a first RF module for transmitting an ID and an altitude surveyed by the altitude survey module. ;
Receive a sensing value from the first sensor provided at the front end and the second sensor provided at the rear end for detecting the downward of the aircraft, the object is detected by the first sensor and the object is detected by the second sensor A photographing timing determining module that determines a photographing timing by avoiding a time point at which the photograph is not made;
An array antenna, a second RF module for receiving the ID and altitude in real time through the array antenna, a signal direction determination module for determining a direction for receiving the ID and altitude using the array antenna, and the received An ID judging module for determining a point at which the light emitting indicator for light is attached using an ID, an altitude judging module for judging whether the received altitude is within a predetermined predetermined altitude range, and the altitude judging module receives the received altitude. An aircraft including a tilt image capturing module configured to photograph a tilt image in a direction determined by the signal direction determining module when it is determined to be within the altitude range;
And a digital map drawing device for mapping the tilted image photographed by the tilted image capturing module to a point determined by the ID determining module and linking the tilted image of the point displayed on the digital map provided in advance. A video photographing and drawing system for a point where a light emitter for a surface stone is attached. The method of claim 1,
Generating a recording start / end signal at a time when the tilt image capturing module starts / ends recording;
The second RF module transmits the generated shooting start / end signal to the first RF module,
The first RF module receives the photographing start / end signal,
And the light emitting module stops light emission during the reception time of the photographing start / end signal. The method of claim 2, wherein the tilt image capture module,
And a gimbal structure configured to maintain a shooting direction with respect to the point when the posture of the aircraft is changed. Emitting light by the surface light emitter attached to a predetermined point;
Surveying the altitude of the aircraft by the triangulation method by the surface light emitter;
Transmitting the ID and the measured altitude of the surface light emitter to the aircraft;
Receiving the ID and altitude in real time through an array antenna provided in the aircraft;
Determining a direction of receiving the ID and the altitude by using the array antenna in the aircraft;
Determining a point at which the surface light emitter is attached by using the received ID in the aircraft;
Determining whether the received altitude is within a predetermined predetermined altitude range in the aircraft;
Receive a sensing value from the first sensor provided at the front end and the second sensor provided at the rear end for detecting the downward of the aircraft, the object is detected by the first sensor and the object is detected by the second sensor Determining a photographing timing by avoiding a time when no picture is taken;
Photographing a tilted image at the determined photographing timing in the determined direction when the aircraft determines that the received altitude is within the predetermined predetermined altitude range;
An image of a point to which the stony light emitter is attached, wherein the digital map drawing device maps the photographed tilted image to the determined point, and links the tilted image of the point displayed on a previously provided numerical map. How to shoot and draw. The method of claim 4, wherein when it is determined that the received altitude is within the predetermined predetermined altitude range, the photographing of the inclined image in the determined direction comprises:
Generating and transmitting a shooting start / end signal at the time point at which the aircraft starts and ends shooting, and emits light to the stone emitting light emitter, and the light emitting stone stops emitting light during the reception time of the shooting starting / stopping signal. Image capturing and drawing method for the point where the surface light emitter is attached.

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