KR101353612B1 - High-precision aerial photographing devices using the gps and ins - Google Patents

Abstract

The present invention relates to a high precision aerial photography apparatus and, more specifically, to a high precision aerial photography apparatus comprising: a base unit mounted to an aircraft; a position fixing unit arranged on the lower surface of the base unit; an imaging unit arranged on the position fixing unit to photograph the ground; a position measuring unit arranged on the position fixing unit to measure the location and altitude of the aircraft; an INS unit arranged on the base unit to detect the front and rear, and right and left gradients and direction of the aircraft; a control unit receiving detected information from the position measuring unit and the INS unit to control the position fixing unit, a rotation preventing unit, and the imaging unit according to the front and rear, and right and left gradients and direction of the aircraft; and a transparent cover arranged on the lower surface of the base unit to protect the position fixing unit, the imaging unit, the position measuring unit, the INS unit and the control unit. If the aircraft is tilted, the position fixing unit keeps the vertical position of the imaging unit. If the aircraft changes the direction of the flight, the position fixing unit prevents the rotation of the imaging unit. Accordingly, discarded images can be minimized and the deterioration of image quality can be prevented, thus obtaining high precision images.

Description

High-precision aerial photographing devices using the GPS and INS}

The present invention relates to an ultra-precision aerial photographing apparatus, and more particularly, even when the aircraft changes direction, it always photographs the vertical direction to prevent distortion of the captured image, minimizes the occurrence of perspective and the ground regardless of the shooting altitude of the aircraft. It is a high-precision aerial photographing device using GPS and INS that reduces the working time and facilitates the connection of photographed unit images while preventing the deterioration of image quality caused by the enlargement and reduction of the captured image. It is about.

Digital maps, generally called digital maps or digital maps, are photographed on the ground using aircraft, and the aerial photographs are processed to map the maps. If the aerial image is inaccurate, then the digital map cannot be precise.

In the prior art, when the ground is photographed in the aircraft, perspective is generated in the photographed image because the photographing apparatus is tilted or oriented in accordance with the tilt or direction of the aircraft.

In other words, if the aerial image is not photographed from the ground in the vertical position, the occurrence of perspective cannot be avoided in the displayed image, and if the photographing altitude is different, the unit area of the ground object included in the image is different so that the same ground object is displayed in the same size. In order to enlarge or reduce the aerial image. In this process, since image quality deterioration of the aerial photographed image occurs, it is difficult to obtain accurate images.

In particular, when the aircraft rotates in the direction of rotation, the shooting direction of the imaging device is also rotated together, so that the image P is rotated along the curved direction as shown in FIG. 1.

In the process of making the drawing image by connecting the aerial photographed image secured as described above, there is a problem in that a part of the image which is displaced at the time of connecting each image has to be discarded.

In addition, due to the characteristics of the digital image, when the image is rotated with a disorientated image, a deterioration in image quality occurs, which makes it difficult to obtain an accurate image.

Korea Patent Registration No. 10-0558367 (2006. 02. 28) "Digital Mapping System and Method Using GPS and INS"

The present invention has been made to solve the above-mentioned problems of the prior art, to minimize the perspective of the ground in the image taken from the aircraft, to prevent the image is distorted, the unit area of the ground in the image regardless of the height of the aircraft An object of the present invention is to provide an ultra-precision aerial photographing apparatus using GPS and INS capable of obtaining a constant ultra-precise image.

In order to achieve the above object, the present invention, the base portion is mounted to the aircraft; A first bracket provided on the bottom of the base portion, a second bracket installed inside the first bracket and rotating, a first driving part installed on a portion of the first bracket and rotating the second bracket; A posture fixing part including a rotation preventing part installed inside the second bracket and rotating, and a second driving part installed on a portion of the second bracket and rotating the rotation preventing part; A photographing unit mounted to a lower end of the anti-rotation part and having a camera body rotating by the anti-rotation part, and a zoom lens coupled to the lower end of the camera body and having an anti-shake function; A position measuring unit installed at an upper end of the anti-rotation unit and detecting a position and an altitude of the aircraft; A first eye that is disposed around the posture fixing part and is installed on the bottom of the base part to detect the tilt of the aircraft, and is disposed around the posture fixing part, which is installed on the bottom of the base part and is disposed on the left and right sides of the aircraft An INS unit having a second INS detecting a tilt and a third INS disposed around the posture fixing part and installed on a bottom surface of the base part to detect a traveling direction of the aircraft; A control unit which receives the information detected from the position measuring unit and the INS unit and controls the first driving unit, the second driving unit, the anti-rotation unit, and the zoom lens according to the front, rear, left, and right tilts and the moving direction of the aircraft. ; And a transparent cover installed on the bottom of the base part to protect the posture fixing part, the photographing part, the position measuring part, the INS part, and the control part. Including, but if the aircraft is inclined to maintain the vertical state of the photographing unit in the posture fixing, and if the direction of the aircraft changes the posture fixed to the GPS and INS characterized in that to prevent the rotation of the photographing unit It is achieved by the ultra-precision aerial photographing apparatus used.

According to the present invention, even if the aircraft is inclined, tilted, changed direction, the image to be photographed can always be taken in a vertical state, it is possible to prevent the image is rotated to shoot. Accordingly, it is possible to minimize the image discarded when connecting the image, to prevent the image quality deterioration, and to easily connect the image.

In addition, even if the altitude of the aircraft changes, it is possible to maintain the same unit area of the ground included in the image. Accordingly, the enlargement or reduction operation of the image can be omitted, the deterioration of image quality due to the enlargement or reduction operation can be prevented, and the production time of the digital map can be shortened.

In particular, it is possible to prevent deterioration of the image quality, thereby obtaining an ultra-precise image.

1 is a view listing the images taken in a conventional aircraft.
Figure 2 is an exploded perspective view of the ultra-precision aerial photography using GPS and INS according to an embodiment of the present invention.
Figure 3 is a perspective view of the combined excluding the cover in the ultra-precision aerial photography using GPS and INS according to an embodiment of the present invention.
4 is a front view of the ultra-precision aerial photographing apparatus using GPS and INS according to an embodiment of the present invention.
5 is an enlarged perspective view of the posture fixing unit and the photographing unit in the ultra-precision aerial photographing apparatus using GPS and INS according to an embodiment of the present invention.
Figure 6 is a side view showing a state in which the present invention operates when the aircraft is tilted back and forth.
7 is a front view showing a state in which the present invention operates when the aircraft is tilted left and right.
8 is a side view showing a state in which the present invention operates when the aircraft is inclined to the front, rear, left and right.
9 is a view listing the images taken in the present invention.

The preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings, in which the technical parts already known will be omitted or compressed for the sake of brevity.

As shown in Figure 2 to 8, the ultra-precision aerial photographing apparatus using GPS and INS according to an embodiment of the present invention, the base portion (1), posture fixing portion (2), photographing portion (3), position The measuring part 5, the eye part 4, the control part 6, and the cover 8 are included.

The base portion 1 is installed and fixed to the bottom of the aircraft (not shown) in a substantially disk form.

The posture fixing part 2 fixes the photographing part 3 vertically and prevents the photographing part 3 from rotating. The posture fixing part 2 includes the first bracket 21, the second bracket 24, and the first driving part 23. , An anti-rotation part 7 and a second driving part 26.

The first bracket 21 is integrally formed with a pair of frames having a shape of "a" on the upper end of the substantially oval strip, and screwed to the bottom of the base portion (1).

The second bracket 24 is disposed inside the first bracket 21 in the form of a substantially oval strip, and a first rotation shaft 22 is installed between the first bracket 21 and the second bracket 24.

Accordingly, the second bracket 24 is rotatable from the first bracket 21 about the first rotation shaft 22.

The first driving unit 23 may be any one selected from a step motor having a well-known gear and a server motor, and may include a reduction gear, and may be fixed around the first bracket 21, and the first rotating shaft 22 may be used. Is connected to rotate the first rotary shaft 22. Accordingly, when the first driving unit 23 operates, the first rotation shaft 22 and the second bracket 24 rotate together.

The anti-rotation part 7 is a step motor having a well-known gear, or the like, and is formed in a substantially cylindrical shape, and is disposed inside the second bracket and is disposed between the second bracket 24 and the anti-rotation part 7. The second rotating shaft 25 is provided.

Accordingly, the anti-rotation part 7 is rotatable about the second rotation shaft 25.

The second drive unit 26 may be any one selected from a well-known server motor having a gear or a reduction gear and a step motor, and fixed to the circumference of the second bracket 24 and connected to the second rotating shaft 25. 2 Rotate the rotating shaft 25. Accordingly, when the second driving unit 26 is operated, the second rotation shaft 25 and the rotation preventing unit 7 rotate together.

The photographing unit 3 photographs the ground from above and includes a camera body 31 and a zoom lens 32.

The camera body 31 is to photograph the ground in the air, is formed in a substantially rectangular parallelepiped, rotatably coupled to the lower end of the rotation preventing portion (7).

Accordingly, the camera body 31 is rotated by the rotation preventing portion (7).

The zoom lens 32 is coupled to the lower end of the camera body 31 using a zoom lens 32 and the like having a well-known image stabilization function, the operation is controlled by the controller 6 to be described later. A description thereof will be described later.

The position measuring unit 5 is fixed to the upper end of the anti-rotation unit 7 in a substantially hemispherical shape, is connected to the control unit 6 to be described later, and has a GPS (not shown) for detecting the position of the aircraft. Detect the altitude of the aircraft.

The position measuring unit 5 may measure or detect the position of the aircraft by using an LBS method of measuring altitude using a lazy and precisely measuring its own position using the location information of the mobile communication base station on the ground. The position of the aircraft may be measured or detected by receiving and analyzing the corresponding position information from a plurality of laser position indicators installed at predetermined unit distances.

Accordingly, the position measuring unit 5 may rotate together with the anti-rotation unit 7, detect the position and altitude of the aircraft, and include the detected information in the image P to be photographed.

The INS unit 4 detects the inclination and the traveling direction of the aircraft, and includes a first INS 41, a second INS 42, and a third INS 43.

The first I & S 41 is disposed around the posture fixing portion 2, and is installed on the bottom of the base portion 1 to detect the tilt of the aircraft.

Accordingly, the state in which the aircraft is inclined back and forth through the first I & S 41 can be measured.

The second I & S 42 is disposed around the posture fixing part 2, and is installed on the bottom of the base 1, and detects the left and right tilts of the aircraft.

Accordingly, the state in which the aircraft is tilted left and right through the second I & S 42 can be measured.

The third I & S 43 is disposed around the posture fixing portion 2, and is installed on the bottom of the base portion 1, and detects the traveling direction of the aircraft.

Accordingly, the traveling direction of the aircraft can be measured through the third I & S 43.

The control part 6 is installed in the bottom face of the base part 1, and the information detected from the position measuring part 5, the 1st NS41, the 2nd TS42, and the 3rd TS43 The control unit receives the first driving unit 23, the second driving unit 26, the anti-rotation unit 7, and the zoom lens 32. A description thereof will be described later.

The controller 6 may receive the detected information from the position measuring unit 5 and insert the detected information into the photographed image P. FIG. Accordingly, it is possible to obtain an image (P) including the position and altitude information of the aircraft.

The cover 8 is formed in a substantially transparent hemispherical shape to minimize the wind resistance, the posture fixing part 2, the photographing part 3, the position measuring part 5, the eye parts (4), the control unit (6) Screwed to the bottom of the base portion 1 to protect the.

Accordingly, the photographing unit 3 photographs the ground through the cover 8.

The first driving unit 23, the second driving unit 26, the anti-rotation unit 7, the imaging unit 3, the position measuring unit 5, the INS unit 4, and the control unit 6 are described above. Can be operated by receiving power, the wire for supplying power will be omitted in the drawings of the present invention.

Hereinafter, with reference to the accompanying drawings will be described the operation state of the ultra-precision aerial photographing apparatus using GPS and INS according to an embodiment of the present invention.

When the aircraft reaches a certain altitude after taking off the aircraft in the state in which the present invention is mounted on the bottom of the aircraft, photographing of the ground begins.

In this case, when the aircraft is tilted back and forth, the photographing angle of the photographing unit 3 may be changed.

For example, when the photographing angle of the photographing unit 3 is changed, perspective occurs in the image P, which is not suitable as an image P for producing an accurate map.

In other words, in order to produce an accurate electronic map, it must be photographed perpendicular to the ground.

Therefore, when the aircraft is tilted back and forth, the first I & S 41 detects this and the control unit 6 receives the detected information from the first I & S 41 to operate the second driver 26. For example, when the tip of the aircraft is inclined downward, the control unit 6 operates the second driving unit 26 to rotate the anti-rotation unit 7 in a direction opposite to the direction in which the aircraft is inclined to the tip, thereby photographing unit 3. ) Upright (see Figure 6).

In this case, when the aircraft is inclined to the left and right, the second I & S 42 detects this and the control unit 6 receives the detected information from the second I & S 42 to operate the first driver 23. For example, when the tip of the aircraft is inclined to the left side, the control unit 6 operates the first driving unit 23 to rotate the second bracket 24 in a direction opposite to the direction in which the aircraft is inclined to the left side, thereby photographing ( Make 3) upright. That is, when the first driving unit 23 operates, the second bracket 24, the photographing unit 3, and the position measuring unit 5 rotate together. (See FIG. 7).

Therefore, when the first driving unit 23 is operated, the second bracket 24, the photographing unit 3, and the position measuring unit 5 rotate together to prevent the position measuring unit 5 from tilting, whereby In section 5, the precise position and altitude of the aircraft can be detected.

If the aircraft is inclined to the front end and the right side of the aircraft, the first NS 41 and the second NS 42 detect this, and the control unit 6 detects the first NS 41 and the second NS ( The first driver 23 and the second driver 26 are operated by receiving the detected information from 42.

For example, if the tip of the aircraft is inclined downward and at the same time tilted to the right, the controller 6 operates the first driving unit 23 to rotate the second bracket 24 in the direction opposite to the direction in which the aircraft is inclined to the right. Simultaneously, the second driving unit 26 is operated to rotate the anti-rotation unit 7 in a direction opposite to the direction in which the aircraft inclines the tip. The imaging unit 3 is made vertical (see FIG. 8).

Therefore, even if the aircraft is inclined in any direction, the photographing unit 3 and the position measuring unit 5 can always be kept vertical.

Here, when the aircraft changes direction, the photographed image P is photographed while the photographed image P is rotated according to the direction of travel of the aircraft, as shown in FIG. 1.

As described above, many images P are discarded, and when the image P is rotated to join the images P, image quality deterioration occurs, making it difficult to produce an accurate electronic map.

However, according to the present invention, since the image capturing unit 3 is rotatable with the anti-rotation unit 7, it is possible to prevent the image P from being photographed while rotating.

For example, when the aircraft changes direction, the third I & S 43 detects this and the control unit 6 receives the detected information from the third I & S 43 to operate the rotation preventing unit 7. .

That is, when the aircraft turns to the left side, the control unit 6 operates the anti-rotation unit 7 to rotate the imaging unit 3 to the right to correspond to the angle at which the aircraft is twisted. Accordingly, the photographing unit 3 may be prevented from rotating to prevent the image P from being photographed while being rotated.

On the other hand, if the altitude of the aircraft is changed, the unit of the ground included in the image (P) taken by the imaging unit 3 is changed to enlarge the image (P) to join the image (P), the image (P) to enlarge If the image quality deterioration occurs, it is difficult to produce a precise electronic map.

However, when the altitude of the aircraft is changed, the position measuring unit 5 detects this and the control unit 6 receives the detected information from the position measuring unit 5 to operate the zoom lens 32.

That is, when the aircraft moves to a higher place, the controller 6 operates the zoom lens 32 to zoom in to match the unit area of the ground included in the image P to be photographed with the image P previously photographed. . If the aircraft moves to a lower place, the above-described zoom lens 32 is operated in reverse to match the image P to be photographed with the image P previously photographed.

Accordingly, even if the altitude of the aircraft is changed, the unit area of the ground included in the image P can be matched, and the image P can be prevented from being deteriorated because there is no need to enlarge or reduce the image P. The connection work of the image P is easy.

Therefore, the present invention can easily synthesize the image by minimizing the discarded image by preventing the photographing unit to rotate while maintaining the photographing unit at all times in a vertical state, and can prevent the image quality deterioration because there is no need to rotate the image precise Electronic map production is possible.

In addition, since the unit area of the ground included in the image can be kept constant at all times, the images can be connected without degrading the image quality.

In describing the present invention described above, the same reference numerals are used for the same configurations even if the embodiments are different, and the description thereof may be omitted if necessary.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Shall not be construed as being understood. Therefore, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. The present invention is not limited thereto.

One; Base portion 2; Posture
21; First bracket 22; The first rotating shaft
23; A first driving part 24; 2nd Bracket
25; Second rotating shaft 26; The second driver
3; Photographing unit 31; Camera body
32; Zoom lens 4; I & S
41; First NS 42; Second I & S
43; Third INS 5; Position measuring unit
6; Control unit 7; Anti-rotation part
8; cover

Claims (1)

A base unit mounted to the aircraft;
A first bracket provided on the bottom of the base portion, a second bracket installed inside the first bracket and rotating, a first driving part installed on a portion of the first bracket and rotating the second bracket; A posture fixing part including a rotation preventing part installed inside the second bracket and rotating, and a second driving part installed on a portion of the second bracket and rotating the rotation preventing part;
A photographing unit mounted to a lower end of the anti-rotation part and having a camera body rotating by the anti-rotation part, and a zoom lens coupled to the lower end of the camera body and having an anti-shake function;
A position measuring unit installed at an upper end of the anti-rotation unit and having a GPS to detect the position of the aircraft;
A first eye that is disposed around the posture fixing part and is installed on the bottom of the base part to detect the tilt of the aircraft, and is disposed around the posture fixing part, which is installed on the bottom of the base part and is disposed on the left and right sides of the aircraft An INS unit having a second INS detecting a tilt and a third INS disposed around the posture fixing part and installed on a bottom surface of the base part to detect a traveling direction of the aircraft;
A control unit which receives the information detected from the position measuring unit and the INS unit and controls the first driving unit, the second driving unit, the anti-rotation unit, and the zoom lens according to the front, rear, left, and right tilts and the moving direction of the aircraft. ; And
It is installed on the bottom surface of the base portion, the posture fixing, the photographing unit, the position measuring unit, the I & S unit and a transparent cover to protect the control unit; including;
When the aircraft is inclined, the posture fixing unit maintains the vertical state of the photographing unit, and when the direction of the aircraft is changed, the posture fixing unit prevents the photographing unit from rotating. Device.

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