KR101591996B1 - Operating method of picture image processing with similarity picture image position adjust for image processing - Google Patents

Operating method of picture image processing with similarity picture image position adjust for image processing Download PDF

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Publication number
KR101591996B1
KR101591996B1 KR1020150105180A KR20150105180A KR101591996B1 KR 101591996 B1 KR101591996 B1 KR 101591996B1 KR 1020150105180 A KR1020150105180 A KR 1020150105180A KR 20150105180 A KR20150105180 A KR 20150105180A KR 101591996 B1 KR101591996 B1 KR 101591996B1
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South Korea
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camera
image
module
altitude
aircraft
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KR1020150105180A
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Korean (ko)
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장용호
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(주)미도지리정보
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    • G03B17/568
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C2011/00

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

The present invention relates to an image capture apparatus for capturing an image captured by an aerial photographing camera due to inertia when a flight attitude is changed due to flight speed control and turning of an airplane equipped with an aerial photographing camera for photographing a ground image, If an error occurs in the image and the altitude change occurs due to the change in the air flow, a difference in magnification occurs in the captured image, so that an error occurs in the combined image. And a control unit for controlling the camera so as to prevent an error caused by an angle change and a difference in magnification from being imaged on the photographed image and to update the photographed image in real time by transmitting the photographed image without any error so as to improve the reliability of the photographed image. The present invention relates to an image processing method for image recognition, Jipieseu module that measures an operation coordinate; A position recognition module for controlling the operation of the camera by checking the altitude and the horizontal state while interlocking with the altimeter and the horizontal sensor; camera; A vertical holding portion including a second rotating shaft rotatable in a range of 180 degrees at the same plane perpendicular to the first rotating shaft rotating in a range of 180 degrees in one direction, an inertial flow restraining portion suppressing the inertial force, An equilibrium holding unit including a camera horizontal height holding unit for lifting and lowering the camera; An editing module for synthesizing the neighboring aerial photographing images and linking the position coordinate information confirmed by the GPS module to the aerial photographing images; A memory for storing an aerial photographing image; And a communication module for transmitting the synthesized aerial photographing image in real time; And a communication module for receiving an aerial photographing image in real time; A drawing module for drawing an aerial shot image; And a processing module for receiving a re-photographing request signal including the position coordinates and transmitting the re-photographing request signal to the photographing device via the communication module 210. [

Description

[0001] The present invention relates to an image processing method, and more particularly,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an image processing method for recognizing a similar image position adjusting image for an image processing apparatus for photographic images by orthographic projection, and more particularly, When the flight attitude is changed due to the adjustment of the flying speed of the installed aircraft or the turning of the aircraft, the projection angle of the air camera is changed due to the inertia, so that an error occurs in the orthogonal projected image and when the altitude change Since the projection magnification difference occurs in the projected photographic image, it is possible to protect the aviation camera in real time from the flight inertia and the altitude change of the aircraft, that an error occurs in the photographed image in the image processing system, To avoid orthographic projection errors The image processing apparatus of the present invention is an image processing apparatus that improves the reliability of aggregated ground photographic images by transmitting the orthographic projection image images obtained without error in real time to the image processing system and adjusting the partial positions so that the error image images are replaced with the orthographic projected similar images. And more particularly, to a method of image processing for position-adjusted image recognition.

The orthoimage is obtained by correcting the center projected aerial photograph by correcting it in the form of orthographic projection like a map. In this case, the deviation correction is a technique of correcting the inclination (slope) and the scale (photographing magnification) generated at the time of photographing.

Such an orthographic image or orthographic projection secures a photographic image of the ground using an orthographic aerial projection, extracts an error-free orthographic projection photographic image by utilizing a digital elevation model (DEM) on the acquired orthographic aerial projected image, It is constructed by a series of processes of correcting the color of the photographic image, collecting or synthesizing, correcting errors such as distortion and deviation, and final quality inspection.

The aerial projection for securing ortho projected image (photo image) overlaps more than 60% in the vertical direction by the airline route, while securing the projected image by overlapping more than 30% in the horizontal direction.

On the other hand, the digital elevation model is used in the process of correcting the geometrical distortions of the center projected and aerial projected photographic images and producing the map image with orthographic projected photographic images.

Then, the photographic image of the extracted orthoimage is subjected to a color correction process for correcting color, contrast and the like, and an image collection process for synthesizing the image of a single unit with the neighboring image.

The final orthoimage map image is completed through the image processing including the color correction of the orthoimage image acquired by the ortho aerial projection and the image collection.

The ortho projection process using the aircraft during the process of securing the orthoimage map image is one of the most important processes in the production of the orthoimage map image as it is the process that is started first and affects the difficulty of the subsequent process.

In other words, it is important to secure a technology that allows an aerial camera mounted on an aircraft to vertically project the ground to orthogonally project a designated position on the ground without error.

An aircraft generally experiences unexpected fluctuations, vibration, rolling, etc. due to changes in air flow, climate change, flight speed control, altitude adjustment, turning, etc. Such fluctuations and vibrations affect the aerial photographing camera, And thus it is difficult to secure an orthogonal projection image.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram illustrating an image processing system for image-based image position adjustment image recognition for image processing according to an embodiment of the prior art; FIG.

Hereinafter, with reference to the accompanying drawings, the aerial projection will be described as follows. A high-performance camera 130 having a high magnification and high resolution installed on an aircraft P proceeds to a ground projection of an area intended for several times per second at a certain altitude, Among the aerial projected images collected through the ground projection, the orthotropic optimal aerial projected images are selected and utilized for the photographic map production.

Since the aircraft P is a device that travels at a certain speed in the sky (sky), the attitude of the aircraft P may vary depending on the altitude and steering angle of the aircraft P, the atmospheric pressure and the climate change, Since the change of the posture of the gas causes a change in the projection angle of the camera 130, the camera 130 can not correctly project the intended position of the ground without error, and the camera 130 can not accurately project the image When producing a map, there was a problem in that optical map images contained optical errors.

Conventionally, the camera 130 is connected to the aircraft of the aircraft P in a pivotal manner so that the gravity direction of the camera 130 is adjusted by the self weight of the camera 130 even if the vehicle rotates (rotates) So that the state can be maintained independently of the gas.

However, even if the camera 130 is fixed independently of the airplane P, inertia affects the camera 130 due to speed control or steering adjustment of the airplane P, There was a problem. That is, when the speed of the aircraft P suddenly decreases or the aircraft P suddenly turns, the camera 130 rotates in a different direction from the airframe of the aircraft P due to its own inertia, This has led to the problem of not being able to shoot the intended object.

The influence of the inertia on the camera 130 according to the operation behavior of the aircraft P causes the camera 310 to project an unintended object or cause an optical error to make it difficult to accurately collect the aerial image, There has been a problem in that it is impossible to produce detailed and detailed image map image because an error occurs in a photo map image produced based on an aerial projection image. In addition, there is a problem that economical and temporal loss occurs because an airplane (P) has to re-operate the airplane due to the re-flight of the aircraft while the projected section fails to project as planned.

In addition, since the aircraft can not quickly cope with an altitude change of an aircraft that is unexpectedly generated due to a change in air flow, climate change, etc., there is a problem in that it is difficult to secure an image image in which the aerial projected image is orthogonally projected at the same scale (photographing magnification).

Therefore, it is necessary to develop a technology to secure the image of the image projected on the same axis with unexpected change of altitude while quickly responding to the inertia caused by the speed control and turning of the aircraft.

Korea Patent Registration No. 10-1106576 (2012. 01. 10.) "Drawing System of Aerial Photographing Image to Minimize Optical Error"

In order to solve the problems and necessities of the prior art as described above, the present invention independently maintains the current posture during photographing by eliminating or canceling the influence of the flight posture, the inertia due to the altitude change and the photographing magnification, , The video image of the planned point is acquired accurately at the same shooting magnification without error and is provided to the image processing system in real time so that the video image containing the error is adjusted to be replaced with the orthographic projected similar video image, And to provide an image processing method for position-adjusted image recognition for similar video objects.

According to another aspect of the present invention, there is provided an image processing method for recognizing an image of a similar image, the apparatus comprising: a GPS module for measuring and calculating current GPS position coordinates while communicating with the satellite (A) 110); The horizontal position of the aircraft and the altitude at which the aircraft P is currently located are checked in conjunction with the altimeter of the aircraft P and the horizontal sensor, A location recognition module 120 for controlling the operation of the mobile terminal 100; A camera 130 installed on the aircraft P and photographing the ground by a corresponding control signal; A first rotating shaft 1410 provided at a lower end of the camera 130 and installed on a part of the upper part of the pillar 1610 of the camera supporting part 1600 having a circular rod shape and rotating in a range of 180 degrees in one direction, A vertical holding part 1400 including a second rotating shaft 1440 rotating in a range of 180 degrees at a right angle position of the same plane where the first rotating shaft 1410 is located; An inertial flow suppressing part 1500 formed at the lower end of the pillar 1610 to suppress the inertial force acting on the aircraft P to change the flying speed of the airplane P and to turn in a direction, And a camera horizontal height holding unit 1700 mounted on the camera mounting bracket and controlled by the position recognizing module 130 that analyzes the detection signal of the electronic height observing unit 1702 to raise and lower the camera mounting bracket, (140); And outputs the ortho-projected aerial photographing image connected to the camera 130. The aerial photographed images of the neighboring regions are connected and synthesized with each other, and the position coordinate information confirmed by the geos module 110 is linked to the aerial photographing image An editing module 150 for editing an image; A memory 160 for storing an aerial photographing image orthogonally projected by the camera 130 and an aerial photographing image synthesized by the editing module 150 in an assigned area; A communication module (170) for inputting an aerial photographing image synthesized from the editing module (150) and wirelessly transmitting the aerial photographing image in real time while communicating with a ground drawing device (200); A photographing apparatus 100 installed on the aircraft P with a photographing device 100 mounted thereon; And a communication module (210) for communicating with the communication module (170) of the photographing apparatus (100) and receiving the synthesized aerial photographing image in real time; An imaging module 220 for receiving and processing an aerial photographing image received by the communication module 210; A processing module for analyzing the aerial photographing image received by the communication module 210 to extract position coordinates of a position where re-photographing is required and transmitting the same to the photographing apparatus 100 via the communication module 210 together with a re- (200) having a display unit (230); Wherein the camera horizontal height holding unit 1700 is installed on one side of the upper surface of the camera mounting bracket 1620 and detects the altitude of the camera 130 and transmits the camera altitude to the position recognizing module 120 A detecting unit 1702: a center holding shaft 1704 protruding upward from the central axis of the upper surface of the camera mounting bracket 1620 and having a circular rod shape; One or more height adjustment motor units 1710 vertically installed on the upper surface of the camera mounting bracket 1620 and having a hollow motor shaft 1708 having an internal thread 1706 formed on an inner peripheral surface thereof, And the upper end of the male threaded portion 1712 is engaged with the lower end portion of the columnar weight 1610. The upper end of the male threaded portion 1712 is engaged with the lower end portion of the female threaded portion 1706 of the columnar body 1610, A camera altitude tracking motor unit 1720 including an altitude adjusting screw 1714 screwed on the camera altitude adjusting screw 1714; And the column weight 1610 is drawn in and out of the center holding axis 1704 in a slid state at a position corresponding to a position where the center holding axis 1704 is provided, A center holding shaft hole 1722 formed upwardly with a size corresponding to the length of the shaft 1704; The height adjustment screw 1714 is inserted and drawn in a screwed state at a position corresponding to a position where the height adjustment screw 1714 is installed and the height adjustment screw 1714 is formed to have a height corresponding to the length of the height adjustment screw 1714 Female threaded portion 1724; (P) is started by the position recognition module (120), the camera altitude tracking motor unit (1720) is provided with a camera altitude tracking motor unit The camera mounting bracket 1620 detects the one-direction rotation number of the altitude adjustment motor unit 1710 while repeating the upward and downward movements of the camera mounting bracket 1620 one or more times at least one time between the uppermost position and the lowermost position, A first step of calculating the average best position, the average waiting position, and the average lowermost position and moving the camera mounting bracket 1620 to an average waiting position; A second step of loading a flight altitude value input by the position recognition module 120 and monitoring the camera altitude detection unit 1702 to detect a camera altitude value; A third step of moving the camera mounting bracket 1620 to the average lowest position if the flying altitude value input by the position recognition module 120 is greater than the detected camera altitude value; A fourth step of moving the camera mounting bracket 1620 to the average highest position when the flying altitude value input by the position recognition module 120 is smaller than the detected camera altitude value; If the altitude value inputted by the position recognition module 120 is equal to the detected altitude value of the camera, the camera mounting bracket 1620 is moved to the average waiting position and if the navigation of the aircraft P is continued, A fifth step of feeding back to the second step; May be included.

The present invention having the above-described configuration can reduce the effect of the shooting magnification due to the inertia and the scale of the camera even if the attitude or altitude change caused by the operation of the aircraft occurs in the airborne camera mounted on the airplane, And a real-time replacement update (update) by adjusting the position of the video image and the error video image, thereby improving the reliability and accuracy of the image-processed video image.

FIG. 1 is a functional block diagram illustrating an image processing system for recognizing a similar image object position adjustment image for image processing according to an embodiment of the related art.
FIG. 2 is a functional block diagram illustrating an image processing system for recognizing a similar image object position adjustment image for image processing according to an embodiment of the present invention.
3 is an assembled state perspective view illustrating the configuration of the balance holding portion according to one embodiment of the present invention,
4 is an exploded perspective view of a vertical holding part and an inertial holding suppressing part which constitute the balance holding part according to an embodiment of the present invention,
FIG. 5 is an exploded perspective view of a camera horizontal height holding unit constituting a balance holding unit according to an embodiment of the present invention,
6 is an exploded perspective view and a partially enlarged view of an inertial flow restricting portion constituting an equilibrium retaining portion according to an embodiment of the present invention,
7 is a partial cross-sectional view for explaining the overall configuration of the balance holding portion according to one embodiment of the present invention,
FIG. 8 is an explanatory diagram illustrating a state in which a section in which an error of an aerial image is imaged by image processing according to an embodiment of the present invention,
And
9 is a flowchart illustrating an image processing method for recognizing a similar image position adjustment image for an image processing apparatus according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and particular embodiments are illustrated in the drawings and will be described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a functional block diagram for explaining an image processing system for recognizing a similar image position adjustment image for image processing according to an embodiment of the present invention. FIG. 3 is a block diagram illustrating a configuration of a balance maintaining unit according to an embodiment of the present invention. FIG. 4 is an exploded perspective view of a vertical holding part and an inertial holding suppressing part that constitute the balance holding part according to an embodiment of the present invention. FIG. 5 is an exploded perspective view of the vertical holding part and the inertial holding suppressing part, FIG. 6 is an exploded perspective view and partially enlarged view of an inertial flow restraining portion constituting the balance holding portion according to an embodiment of the present invention, and FIG. 7 is a cross- Fig. 8 is a partial cross-sectional view for explaining the entire configuration of the balance holding part according to the embodiment, FIG. 2 is a diagram illustrating an image of a region in which an error of an aerial image is re-imaged by an image processing and performing an updating image processing in real time.

Hereinafter, with reference to all of the accompanying drawings, an image processing system for recognizing a similar image object position adjustment image for image processing includes a photographing apparatus 100 and a drawing apparatus 200.

In the following description, projection and photographing are described as being the same meaning, and they are selectively used in accordance with the context.

The photographing apparatus 100 includes a GPS module 110 installed on an aircraft P and communicating with the satellite A to receive position information according to current GPS position coordinates, A position recognition module 120 for checking the current altitude and attitude information of the aircraft P while being interlocked with the altimeter and the horizontal sensor or the like, A balance holding unit 140 for fixing the camera 130 and the camera 130 to the aircraft P, a camera unit 130 for receiving and editing the aerial image captured (projected) by the camera 130, An editing module 150 for confirming the positional information or coordinate information of the aerial photographing image and linking the corresponding positional information or coordinate information to the aerial photographing image, a memory 160 for storing the aerial photographing image from the editing module 150, The memory 160, And a communication module 170 for transmitting the aerial photograph image stored in the area.

Although the drawing apparatus 200 is preferably installed on the ground, the drawing apparatus 200 can be installed inside the aircraft and includes a communication module 210 for receiving the aerial photographing image transmitted from the photographing apparatus 100, A drawing module 220 for converting a shot image into a drawing process and completing a drawn image serving as a background of a digital map, a display module 220 for displaying the state of the aerial shot image received by the communication module 210, And the positional information or coordinate information of the region where the aerial photograph image, which is classified as bad, including the optical error is included, is extracted and the resampling request And a processing module 230 for transmitting the request signal to the photographing apparatus 100 via the communication module 210 together with the request signal.

The GPS module 110 communicates with the GPS only satellite A and computes and outputs current GPS position information or coordinate information. The calculated position information (coordinate information) is stored in the camera 130 And the image is processed so as to be linked and recorded with the corresponding aerial photographing image.

Since the technique of checking and outputting the current GPS position coordinates while communicating with the satellite A is a publicly known technology and well-known technology, the operation principle of the GPS module 110 and the position information ) Will not be described in detail.

The position recognition module 120 confirms the current altitude, the operating speed and the horizontal state of the aircraft P while communicating with an altimeter, a horizontal sensor, a speedometer, a navigation device, and the like provided in the aircraft P, ) Of the camera 130 according to the state of flight of the camera 130. FIG.

The position recognition module 120 records and stores the optimum photographing altitude and position information set by the photographer or the operator in the allocated area and transmits the position information of the airplane P while communicating with the altimeter, Altitude, position information, and the like in real time, and controls the operation of the camera 130 when the altitude, the position, and the like are reached.

The position recognition module 120 checks the horizontal state of the airplane P while communicating with the horizontal sensor provided in the airplane P in real time. When the horizontal state of the airplane P reaches the stable range, 130 to control and monitor so that the ground is vertically orthogonally projected.

That is, the camera 130 communicates with an altimeter, a horizontal sensor, and the like provided on the aircraft P, while the position recognition module 120 communicates with the horizontal sensor, It is advantageous to accurately secure the ground image at the designated position by using the camera 130 installed on the aircraft P flying at high speed.

The camera 130 is installed in a part of the lower side of the aircraft P and is a conventional aerial photographing device capable of shooting the ground at a long distance by photographing the object by the corresponding control, and requires to shoot at a high resolution.

The balance holding unit 140 is a device that fixes the camera 130 to the aircraft P and allows the camera 130 to always face the ground in the gravity direction regardless of the flying state of the aircraft P, (Orthographic projection).

The balance holding unit 140 may control the shooting height of the camera 130 to be horizontal while controlling the shooting angle of the camera 130 so as to prevent the shooting angle of the camera 130 from suddenly changing when the airplane P abruptly changes its speed, And controls the camera 130 to shoot at the same magnification, and unnecessary portions are photographed in addition to the designated position, thereby preventing errors from being included in the aerial image to be processed.

More specifically, the balance holding unit 140 will be described in detail below.

The editing module 150 receives the one or more aerial photographing images (aerial images) captured by the camera 130, analyzes the coordinate information (positional information) of the respective aerial images and adjusts them to the same magnification, And the aerial images are synthesized and edited.

The editing module 150 outputs the photographed aerial image in real time and presents it to the photographer (operator, manager). The photographer controls the editing module 150 to select the optimized aerial image and connect And finally edit it with a large aerial image of.

The editing module 150 for this purpose can be applied to an application (app, application, application program) having an image editing function and is generally known. In one embodiment, a known and common software such as Adobe Photoshop .

The memory 160 stores the aerial image captured by the camera 130 and the large aerial image synthesized and edited by the editing module 150 in the allocated area.

The memory 160 may be in a built-in state, but may be in the form of a removable USB memory, or may be in the form of a conventional external hard disk or an external solid state drive (SSD).

The communication module 170 real-time wirelessly transmits the aerial image stored in the editing module 150 or the memory 160 to the imaging apparatus 200 located on the ground based on the corresponding control signal. Location information (coordinate information) confirmed by the GPS module 110 is linked or combined with the aerial image transmitted by the communication module 170.

The communication module 210 of the drawing apparatus 200 transmits the aerial image and the position information (coordinate information) transmitted from the photographing apparatus 100 in real time to the communication module 170 of the photographing apparatus 100, And can be transmitted and received in a packet data unit consisting of 1000 byte data, and it is quite natural that the size of the packet unit data can be added or subtracted in a standardized state if necessary. Since the convenience of standardization is well known, a detailed description will be omitted.

The drawing module 220 of the drawing apparatus 200 receives an aerial photographing image that is connected to the communication module 210 and edited and integrated by the editing module 150, The image is processed by image processing, and the image processing by the image processing is carried out by a general drawing operation generally known.

In the image processing of the rendering module 220, an image processing technique of a conventional image processing apparatus can be applied, and the image processing apparatus can perform a drawing image based on the inputted aerial image to finally complete a drawing image suitable for the background of the digital map.

The drawing module technology of the image processing for drawing on the basis of a photographic image or a video image such as an aerial image is a publicly known technique, so that a description of a mechanical device, a detailed drawing process, and the like applied to the drawing will be omitted here .

The processing module 230 of the drawing apparatus 200 identifies an unclear section of a missing section or a drawn image out of the aerial images synthesized by the image processing and outputs a resampler request signal To the photographing apparatus 100. Transmission of the reshoot request signal (request signal) is performed through the communication modules 170 and 210. [

As described above, the synthesized aerial image transmitted from the photographing apparatus 100 to the drawing apparatus 200 in real time is used as the drawing image, and the drawing module 220 converts the synthesized aerial image into an image We proceed with drawing while confirming.

If the missing aerial image or the aerial image that is difficult to identify is identified in this process, the location (coordinate) information linked to the aerial image is confirmed, and the ground aerial photographing referred to by the corresponding location information (coordinate information) is further requested .

The information on the position (coordinates) required for re-photographing may not be confirmed or confirmed by the processing module 230. If the position (coordinate) information for the position where the re-photographing is required can be confirmed, (Coordinate) information of the neighboring other aerial image through the information of the position (coordinate) of the neighboring aerial image if the position (coordinate) information can not be confirmed, Information can be tracked and transmitted.

The processing module 230 confirms the information of the section in which the missing aerial image or the re-radiographic image is requested and transmits the position (coordinates) of the section to the photographing apparatus 100, and the photographing apparatus 100 retakes Analyzes the received information, and outputs the position (coordinate) information.

The aircraft P moves to the position (coordinate) information requiring re-photographing according to the corresponding control signal, and flews to the area while maintaining the same altitude and the speed of the operation. The camera 130 receives the control signal, The air photographing is carried out to acquire the aerial image again.

The editing module 150 re-captures the re-captured aerial image acquired (acquired) as shown in FIG. 6, and re-captures the re-captured aerial image at a corresponding position of the large aerial image So that a large-scale aerial image without error is finally completed.

The final composite large aerial image completed by the image processing is stored in the allocated area of the memory 160 in a state including the corresponding time information and is transmitted to the communication module 210 of the drawing apparatus 200 through the communication module 170 And the communication module 210 transfers the image to the drawing module 220, so that the image processing performed by the drawing module 220 is performed by the drawing module 220.

Digital image processing (DSP) technology can be applied to such image processing.

3 to 6 but will be described in detail with reference to all of the drawings, the balance holding part 140 is integrally fixed to the lower end of the base of the aircraft P, for example, and includes a vertical holding part 1400, An inertial flow restraining part 1500, a camera support part 1600 and a camera horizontal height holding part 1700.

The vertical holding part 1400 maintains the camera supporting part 1600 in a vertical state at all times so that the camera 130 directly faces downward. The vertical holding part 1400 includes a first rotating shaft 1410, a first rotating hole 1420, A second coaxial shaft 1440, a second rotation hole 1450, and a vertical holding body 1460.

The first coaxial shaft 1410 is fixedly mounted on the outer circumferential surface of the pillar weight 1610 in the accompanying drawings and is formed in a shape in which two or more protrusions are protruded. The pivot shaft 1610 is positioned on a straight line, The column weight 1610 can always be positioned on the vertical line with respect to the direction of the door.

The first rotation hole 1420 is formed in the shape of a hole passing through the straight line at a position where the first rotation axis 1410 is inserted into the rotation (rotation) state, and is formed of two or more.

The swivel body 1430 is formed in a straight line in the first rotating hole 1420 and is shown in a circular shape in the accompanying drawings, but it is quite natural that the swivel body 1430 can be formed in a polygonal shape. Further, the pivot body 1430 forms an inner diameter sufficient for the outer peripheral surface of the pillar weight 1610 to be inserted and moved.

The second coaxial shaft 1440 is fixedly installed on the outer peripheral surface of the rotary body 1430 so as to protrude in both directions on a straight line perpendicular to the horizontal direction and a straight line formed by the first rotary shaft 1410.

The second rotation hole 1450 is formed in the shape of a hole that passes straight through the second rotation shaft 1440 at a position where the second rotation shaft 1440 is inserted in the rotation (rotation) state, and is formed of two or more.

The vertical holding body 1460 is formed in a straight line so that the second rotating hole 1450 is formed in a rectangular shape in the accompanying drawings, but any one of a polygonal shape and a circular shape of a triangular shape or a pentagonal shape or more It is quite natural that it can be shaped.

The inertial flow restraining part 1500 is formed on the upper part of the camera supporting part 1600 to suppress the inertial flow and includes a guide slot 1510, a sliding part 1520, a separation preventing part 1530, (1540), and a fixed bracket part (1550).

The guide slot 1510 is formed in a groove shape having a first length value 11 shorter than the length of the column weight 1610 in the same direction as the length direction of the column weight 1610 at the upper end of the column weight 1610 It is relatively preferable to consist of three or more, and four.

The guide slot 1510 includes a first guide groove 1512 and a second guide groove 1514. The cross-sectional shape of the guide slot 1510 is similar to that of the 'W' character in English.

The first guide groove 1512 is opened at a width corresponding to the first width W1 toward the outer peripheral surface of the column weight 1610 and has a depth corresponding to the first depth value D1 Forming a length corresponding to the first length value 11 and opening upward.

The second guide groove 1514 is formed at a rear portion of the first guide groove 1512 with a second width W2 that is wider than the first width W1, And is partially opened along the direction of the outer circumferential surface of the column weight 1610 by passing through the first guide groove 1512 by a first width value W1.

Both end portions corresponding to the second width value W2 of the second guide groove 1514 form a second depth value D2 and the middle portion penetrating the first guide groove 1512 and partially opened is the third depth value D2, The depth value D3 is formed and the back surface has a flat shape.

That is, the front surface of the second guide groove 1514 forms a second depth value D2 at both end portions in the width direction and forms a third depth value D3 while reducing the depth value toward the middle portion The front surface is inclined downward toward the center when viewed in cross section, and the rear surface is flat.

The sliding portion 1520 is slid in the vertical direction along the guide slot 1510 which is inserted into the guide slot 1510 and slides in the vertical direction and forms the length in the vertical direction. The sliding portion 1520 includes the first sliding portion 1522, A sliding portion 1524, and a rotation fixing protrusion 1526. The cross-sectional shape is generally similar to the 'W' shape in English.

The first sliding portion 1522 is inserted into the first guide groove 1512 to be slid. The width of the first sliding portion 1522 is a third width W3 which is smaller than the first width W1, Is a fourth depth value (D4) which is any one value selected from 1.5 times to 3 times the depth value (D1), and the length is a length of one of the first depth value (D1) And a second length value 12, which is a value.

Here, the second length value 12 is preferably 1/5 times the first length value 11 in order to effectively suppress the inertial flow. If the value is less than 1/5 times, the movement of the camera 130 becomes large and the effect of restraining the inertial flow can be reduced. If the value is more than 1/5 times, the inertial flow restraining effect may not be generated.

The second sliding portion 1524 is inserted into the second guide groove 1514 and slidably inserted therein. The width of the second sliding portion 1524 is a fourth width W4 of a value smaller than the second width W2, A second length value 12 equal to the length of the sliding portion 1522 is formed and the first sliding portion 1522 is fixedly coupled to the central portion of the front surface to form an integrated body.

The depth of the second sliding portion 1524 forms a fifth depth value D5 that is smaller than the second depth value D2 at both ends in the width direction, A sixth depth value D6 that is a value smaller than the third depth value D3 is formed.

The pivotal locking protrusion 1526 is formed at one side of the front surface of the first sliding portion 1522 in a semicircular shape and protrudes from a central portion of the center and has a through hole 1528 penetrating the center portion. But it may be formed in a position shifted toward one side or any one side of the upper side, the lower side, the left side, and the right side, or may be protruded with the same dimension as the third width value W3 Of course.

The dimensions of the respective parts constituting the guide slot 1510 are formed to be larger than the dimensions of the respective parts constituting the sliding part 1520 so that the sliding part 1520 is inserted into the guide slot 1510, Since the cross section of the guide slot 1510 and the sliding portion 1520 is configured to be similar to the 'W' shape of English, the contact area is increased to increase the retention of the lubricant, so that the sliding portion 1520 Is safely positioned without being detached from the guide slot 1510.

The first sliding portion 1522 and the second sliding portion 1524 are formed such that the sliding portion 1520 is inserted into the guide slot 1510 and the sliding lubricant is sufficiently lubricated It is quite natural that one or more lubrication grooves are formed in the longitudinal direction on each surface so that the lubricating oil can smoothly slide while staying.

The separation preventing portion 1530 is configured to block the upper open portion of the guide slot 1510 and to block the first blocking portion 1532 and the second blocking portion 1534.

The first blocking portion 1532 is formed in the same shape as the first guide groove 1512 and has a length of a third length value 13 corresponding to 1/10 of the first length value 11, And the corresponding dimensional values at the portions in contact with the lower end face are different from each other.

That is, the portion contacting the upper end face of the first blocking portion 1532 may be equal to or greater than 1.01 times the first width value W1 and the first depth value D1, Which is relatively preferable. On the other hand, the portion contacting the lower end surface of the first blocking portion 1532 may be a 0.9-fold value of the first width value W1 and the first depth value D1 or a tilt angle of 1/100, , And it is relatively preferable to configure the dimension corresponding to the value of 0.9 times.

The second blocking portion 1534 has the same shape as the second guide groove 1514 and has the same length as that of the first blocking portion 1532. The second blocking portion 1534 has a dimension corresponding to a portion contacting the upper end surface and a portion contacting the lower end surface The state in which there is a difference is also the same as the first blocking portion 1532.

The first shielding portion 1532 and the second shielding portion 1534 extend downward from the upper surface to the lower end surface, and the dimension of the first shielding portion 1532 and the second shielding portion 1534 may be reduced by 0.9 times or decreased by a taper of 1/100.

Therefore, it is highly desirable that the release preventing portion 1530 is inserted and fixedly installed in the guide slot 15101 by the downwardly inclined portion in an interference fit manner.

The flow restraining piston portion 1540 includes a fluid 1541, a piston body portion 1542, a flow restraining rod portion 1543, a rotation coupling portion 1544, a rotation coupling hole 1545, a rotation coupling thread portion 1546, A membrane 1547, a flow hole 1548, and a mechanical seal 1549. [

The piston body portion 1542 is closed and has a cylindrical shape and is embedded with the fluid 1541 filled therein. Fluid 1541 is a fluid and viscous liquid and can be a petroleum product.

The flow restraining rod portion 1543 has a circular rod shape, a pivot joint portion 1544 is formed at one end, and a piston film 1547 is formed at the other end.

The piston membrane 1547 is installed inside the piston body portion 1542 and moves between the fluids 1541 filled in the piston body portion 1542 while moving along the inner longitudinal direction of the piston body portion 1542, The flow restraining rod portion 1543 is installed in a shape connected from the inside to the outside through a mechanical seal 1549 provided on one longitudinal side surface of the piston powder portion 1542.

One or more flow holes 1548 through which the fluid 1541 can move are formed in the piston membrane 1547 and a rotation coupling hole 1545 is formed in the rotation coupling portion 1544.

Since the bolts and nuts are used to fasten and tighten the bolts and the bolts inserted into the through holes 1528 and the bolts and the nuts at the same time in the through holes 1528, And is fixedly installed in a rotating (rotating) state. Therefore, the sliding portion 1520 and the flow restriction piston portion 1540 are fastened and fixed in a rotating (rotating) state.

The fixing bracket portion 1550 includes a first fixing protrusion 1552, a first fixing hole 1553, a second fixing protrusion 1554, a second fixing hole 1555, a fixing screw portion 1556, a fixing member 1558, .

The first fixing protrusions 1552 are formed in a plate shape while one end portion is formed in a straight line shape. The first fixing protrusions 1552 are fixed to a portion of the other longitudinal side surface of the flow-restraining piston portion 1540, and the other end portion is circular, 1 fixing holes 1553 are formed.

The first fixing protrusions 1552 may be formed as one or a plurality as shown in the figure.

The second fixing protrusions 1554 are formed in the same or similar shape as the first fixing protrusions 1552 and the second fixing holes 1555 are formed at the center portion and one end portion of the fixing protrusions 1555, And is fixedly installed on one side surface.

The fixing screw portion 1556 is composed of a bolt and a nut and is threaded through the first fixing hole 1553 and the second fixing hole 1555 so that the first fixing protrusion 1552 and the second fixing protrusion 1554 are fastened .

The other side surface of the fixing piece 1558 is fixed to one side of the inner wall surface of the vertical holding body 1460.

The camera supporting part 1600 has a rod shape and includes a vertical weight holding part 1400 and an inertial flow restricting part 1500 at an upper part thereof and includes a pillar weight 1610 and a camera mounting bracket 1620.

The pillar weight 1610 is elongated in the lengthwise direction of the upper and lower sides and the guide slot 1510 is formed at the upper end of the pillar 1610 to provide the inertial flow restricting part 1500. In the lower part where the guide slot 1510 is formed, A vertical holding portion 1400 is formed.

The column weight 1610 forms the first rotation axis 1410 at a position corresponding to 1/3 to 1/6 of the entire length of the column weight 1610, Thereby forming a vertical direction in the downward direction.

It is highly desirable that the first counter shaft 1410 is formed at a position corresponding to 1/4 times the column weight 1610 because it facilitates the downward vertical formation.

The camera mounting bracket 1620 has a disk shape, and one side is fixed to the lower end of the column weight 1610, and the camera 130 is fixed to the other side.

Therefore, the pillar weight 1610 is attached to the first rotating shaft (not shown) installed at a position corresponding to 1/3 to 1/6 of the entire length by its own weight, the weight of the camera mounting bracket 1620 and the weight of the camera 130 1410), the vertical direction is maintained.

Since the second rotating shaft 1440 rotates (rotates) 180 degrees in one direction by the first rotating shaft 1410 and rotates (rotates) 180 degrees in the other direction that is at an angle of 90 degrees on the plane by the second rotating shaft 1440, So that the column weight 1610 always forms a vertical direction.

The pillar weight 1610 and the pivoting body 1430 are shown in the form of a cylindrical or cylindrical outer shape in the attached drawing and the outer shape of the vertical holding body 1460 is shown as a rectangular tube, It is quite natural that a polygonal image having an upper, a quadrangular, or a pentagonal shape can be formed.

The formation of the octagonal columnar or octagonal columnar shape of the column weight 1610, the rotary body 1430 and the vertical holding body 1460 is advantageous in terms of manufacturing, production, management, and maintenance, There is an advantage that is easy to use.

The camera horizontal height holding unit 1700 allows the camera 130 to shoot at a predetermined level (horizontal height) by the corresponding control signal of the position recognition module 120.

The aircraft P can not maintain the altitude constantly in a horizontal state due to various causes such as air flow change, wind effect, atmospheric pressure change, etc., even when there is no adjustment for altitude change during flight, rolling phenomenon. Hereinafter, the phenomenon in which the aircraft P swings up and down during flight is referred to as a rolling phenomenon.

On the other hand, since the camera 130 has a high magnification and there is a difference in magnification of the image image photographed due to the difference in distance from the subject, when the distances to the subject are the same, the image images photographed at the same magnification are secured. That is, when the aircraft P is flying at the same altitude, the photographic image of the camera projected on the ground is secured at the same magnification.

The camera 130 installed on the aircraft P has a magnification different from that of the image obtained by photographing the ground due to the rolling of the aircraft P. The camera horizontal height maintaining unit 1700 rotates the aircraft P The altitude of the camera is maintained horizontally so that the aerial image captured on the ground is photographed in real time at the same magnification and updated (updated).

The camera horizontal height holding unit 1700 includes a camera height detecting unit 1702, a center holding shaft 1704, an altitude adjusting motor unit 1710, an altitude adjusting screw 1714, a centering shaft hole 1722, 1724). The altitude adjusting motor unit 1710 and the altitude adjusting screw 1714 constitute a camera altitude tracking motor unit 1720.

The camera altitude detection unit 1702 is an altimeter for detecting altitude and includes a barometric altimeter that uses a change in pressure according to altitude, a wave altimeter that uses time reflected and inputted by emitting a pulse wave, It is relatively preferable to use a geomagnetic sensing altimeter in which the intensity of geomagnetism is calculated to calculate the altitude, and it is relatively preferable to detect the intensity of geomagnetism composed of semiconductor elements And therefore, a detailed description thereof will be omitted.

The camera altitude detection unit 1702 is fixed to one side of the upper surface (upper side) of the camera mount bracket 1620 and detects the current altitude of the camera 130 and transmits the detected altitude to the position recognition module 120, To the altitude adjustment motor unit 1710 constituting the camera altitude tracking motor unit 1720. The altitude adjustment motor unit 1720 is provided with a control signal generating unit 1720 for generating a control signal for setting the altitude at which the ground image is captured.

The center holding shaft 1704 is made of the same material as the column weight 1610 and has a circular rod shape and is installed and fixed in a state of protruding upward in the central axis portion of the upper surface of the camera mounting bracket 1620. A method in which the center holding shaft 1704 is fixedly mounted on the central axis portion of the upper surface of the camera mounting bracket 1620 is generally known, and a detailed description thereof will be omitted.

The height adjustment motor unit 1710 includes a hollow motor shaft 1708 vertically installed on the upper surface of the camera mounting bracket 1620 and having a female screw portion 1706 formed on the inner circumferential surface thereof, Three are shown, but it is quite natural that they can be added or subtracted as needed.

The altitude adjustment motor unit 1710 may be any one of a server motor, a step motor, a linear motor, and the like. It is preferable to use a variable reluctance (VR) stepping motor, which rotates once by 720 pulse signals, It is well suited to keeping horizontal altitude fast and accurate.

There are variable reluctance (VR) type, permanent magnet (PM) type and hybrid type (HB) type of step motors.

Variable Reluctance Type (VR) step motors have a gear-shaped rotor made of an electronic material, and have a configuration and an operation of sucking and repelling the electromagnetic force generated in the stator coil and rotating according to the rotation of the stator Since it is generally known, further detailed description will be omitted.

Permanent Magnetic Type (PM) A stepping motor is a type that attracts and repels electromagnetic force generated by a stator coil by using a rotor made of a permanent magnet. The rotor rotates in accordance with the rotation of the stator, and the detent torque is generated even when the rotor is in a non-magnetic state. The operation principle of the rotor is the same as that of the VR type, and the construction and operation thereof are generally well known.

Hybrid type stepping motor is a combination of VR type and PM type. It is composed of a magnet that has a magnetic pole in the thrusting direction and uses a gear shape made of an electronic material in the rotor. The stator winding And the rotor rotates by the magnetic pole rotation of the stator, so that a detent torque is generated even in the case of the non-magnetic force, and the constitution and action are generally well known, so that detailed description will be omitted do.

The three altitude adjustment motor units 1710 are highly desirable for quickly and accurately controlling the horizontal height of the camera because the camera 130 is quickly raised or lowered by the corresponding control signal of the position recognition module 120 .

In addition, one or more altitude adjusting motor units 1710 are provided, but since they have the same configuration and functions, only one of them will be described.

The height adjustment motor unit 1710 has a motor base 1707 at the lower end and a camera mounting bracket 1620 is fixed by fastening a mounting bolt 1709 penetrating the motor base 1707 to the camera mounting bracket 1620. [ As shown in Fig.

The height adjustment motor unit 1710 rotates the hollow motor shaft 1708 left or right according to a corresponding control signal from the position recognition module 120. At this time, The altitude adjusting screw 1714 fixedly mounted on the main body 1706 turns left or right together.

The height adjustment screw 1714 is formed to have a male screw portion 1712 on the entire outer surface of the bar shaft and the lower end portion of the male screw portion 1712 is screwed to the female screw portion 1706, When the hollow motor shaft 1708 of the motor shaft 1708 is rotated clockwise or counterclockwise.

The upper portion of the height adjustment screw 1714 or the upper portion of the male screw portion 1712 is screwed to the height adjustment female screw portion 1724 formed on the lower end surface of the pillar 1610, Or by right turn, the column is further raised or lowered.

The camera height tracking motor unit 1720 includes an altitude adjusting motor unit 1710 and an altitude adjusting screw 1714.

Although not shown in detail in the accompanying drawings, a stopping protrusion is formed at the lower end of the central holding shaft hole 1722, and a locking protrusion corresponding to the stopping protrusion is formed at the upper end of the centering shaft 1704, Do.

Therefore, after the center holding shaft 1704 is inserted into the center holding shaft hole 1722, the center holding shaft 1704 is separated from the center holding shaft hole 1722 by the driving of the camera height tracking motor unit 1720, . However, the center holding shaft 1704 moves up and down within the center holding shaft hole 1722 by driving the camera height tracking motor unit 1720.

7, the equilateral holding portion 140 is inclined with respect to the plane of the aircraft P when the airframe of the aircraft P is tilted with respect to the plane of the aircraft P The weight of the camera mounting bracket 1620 and the weight of the camera 130 or the weight of the camera supporting part 1600 and the vertical state of the current state by the vertical holding part 1400 continue The camera 130 can accurately photograph the designated position on the ground regardless of the posture of the aircraft P.

On the other hand, when inertia (dotted line arrow) is applied to the camera 130 due to the speed control of the aircraft P or the directional turning (solid arrow), the camera support portion 1600 is inclined with respect to the vertical holding portion 1400 The portion moves in the direction of inertia action (the left direction in the drawing) and the upper end portion of the vertical holding portion 1400 moves in the opposite direction (the right direction in the drawing).

At this time, the piston membrane 1547 of the flow suppressing piston portion 1540, which is shown on the upper right in the drawing and constitutes the inertial flow restricting portion 1500, flows in the piston body portion 1542 while moving to the right, 1541 move to the left through the flow hole 1548. At this time, the fluid 1541 can move through the flow hole 1548, so that the piston film 1547 is confronted with a large resistance.

At the same time, the inertial flow restraining part 1500 shown on the upper left in the drawing moves in the opposite direction to the inertial flow restraining part 1500 positioned on the right side, so that the piston film 1547 faces the same large resistance.

Adjusting the magnitude of the resistance formed in the piston membrane 1547 by the size and number of the fluid bore 1548 formed in the piston membrane 1547 can be accomplished by precise calculation and testing to determine the optimum size and number of the fluid bore 1548 It is natural that it can be decided, and a detailed description will be omitted.

As a result, when the aircraft P suddenly turns to the right direction (solid line arrow), the camera 130 to be rotated to the left due to the action of the inertia (dotted arrow) stops its rotation by the resistance of the fluid 1541 , Thereby reducing the shooting error rate.

Here, the mass of the fluid 1541 may be configured to correspond to the mass of the camera 130 in order to effectively restrict the movement of the camera 130. The mass of the fluid 1541 is larger than the mass of the camera 130 so that the state in which the strong force of the fluid 1541 moves the camera 130 is not generated and when the mass of the fluid 1541 is difficult to control, It is preferable to adjust the size and the number of the first lens 1548.

In addition, when the aircraft P is restored to its equilibrium, the piston membrane 1547 is configured to move smoothly through the fluid 1541.

On the other hand, even if the aircraft P does not have any adjustment for altitude change during flight, it can not maintain the altitude constantly in a horizontal state due to various causes such as air flow change, wind influence, When a rolling phenomenon occurs, the camera altitude detection unit 1702 quickly detects the altitude change of the camera 130 and notifies the position recognition module 120 of the altitude change.

The position recognition module 120 outputs the control signal to the altitude adjustment motor unit 1710 so that the altitude of the camera 130 is kept horizontal so that the altitude adjustment motor unit 1710 rotates left or right, So that the image height of the camera 130 is kept horizontal so that the image of the ground image can be taken at the same magnification without error and updated in real time.

FIG. 8 shows a state in which an erroneous portion or an area in a large aerial photograph image synthesized by image processing is aerial photographed again and partially synthesized in real time.

9 is a flowchart illustrating an image processing method for recognizing a similar image position adjustment image for an image processing apparatus according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The details of the present invention will be described below with reference to the drawings. In the following description, the GPS module 110, the position recognition module 120, the camera 130, the balance holding unit 140, the editing module 150, And an imaging apparatus 200 including a communication module 210, an imaging module 220 and a processing module 230. The image processing apparatus 200 includes a communication module 210, an imaging module 220, The operation method of the image processing system for recognition determines whether the aircraft P starts flying (flight) by the position recognition module (S1010).

When it is determined by the position recognition module that the aircraft starts to operate, the camera elevation tracking motor unit 1720 constituting the balance maintaining unit is controlled to raise the camera mounting bracket 1620 one or more times between the uppermost position and the lowermost position (S1020), and the average value is calculated by detecting the unidirectional rotation number of the altitude adjustment motor unit in the process of moving up and down the running section (S1020).

Here, the one direction may be a traveling that travels in a direction of either the traveling traveling along the ascending path and the traveling traveling along the descending path, and the traveling directions are all included, and the method of calculating the average value is generally And using a well-known arithmetic mean method. That is, both the detected number of rotations and the number of rotations detected while ascending the travel section are ascertained and calculated to obtain an average value. To increase the accuracy, a value that is round tripped at least three times is detected, .

The position recognition module analyzes the rotation number of rotation of the altitude adjustment motor unit for the one-way travel movement calculated by the arithmetic average method and calculates the average best position value at which the camera installation bracket moves to the highest position. The average waiting position value, and the average lowest position value at which the camera mounting bracket moves to the lowest position, respectively, and controls the camera mounting bracket to move to the average standby position (S1030).

Here, the value of the average highest position, the value of the average waiting position, and the value of the lowermost position can be given as tolerance values within the range of 5% of the total number of rotations for the segment traveling.

The position recognition module is inputted and stored in advance. The aircraft recognizes the flight altitude value, which is the normal altitude designated (set) for projection while the aircraft is operating, and also monitors and confirms the camera altitude detection unit 1702 at step S1040.

Even if the aircraft is operated normally by setting the flight altitude, the flight altitude may be changed from time to time due to various causes such as change of air flow change pressure.

Here, the state in which the position recognition module confirms the flight altitude value of the aircraft is explained as the state in which the aircraft operates the set flight altitude normally.

In operation S1050, it is determined whether the flight altitude value is greater than the camera altitude value by comparing the actual altitude value detected by the aircraft with the flight altitude normally detected by the position recognition module.

The position recognition module detects the flight altitude value of the aircraft from the altimeter installed on the aircraft, and the camera altitude value is detected from the camera altitude detector.

If it is determined that the altitude value detected by the position recognition module is larger than the detected altitude value of the camera, the corresponding control signal for moving the camera mounting bracket to the calculated average lowest position is transmitted to the camera altitude tracking motor unit or the altitude adjustment motor unit 1710 (S1060).

In operation S1070, it is determined whether the flight altitude value is smaller than the camera altitude value by comparing the actual altitude value detected when the aircraft operates the set altitude altogether by the position recognition module.

When it is determined that the altitude value detected by the position recognition module is smaller than the detected altitude of the camera, the control signal for moving the camera mount bracket to the calculated average altitude position is transmitted to the camera altitude tracking motor unit or the altitude adjustment motor unit (S1080).

In operation S1090, it is determined whether the flight altitude value and the camera altitude value are the same value by comparing the actual altitude value detected by the aircraft with the flight altitude normally detected by the position recognition module.

If it is determined that the altitude value detected by the position recognition module is equal to the detected altitude value of the camera, the corresponding control signal for moving the camera mounting bracket to the calculated average waiting position is transmitted to the camera altitude tracking motor unit or the altitude adjustment motor unit (S1100).

If it is determined by the position recognition module that the aircraft continues to operate, or if it is determined that the operation is to be continued, the process returns to the second step (S1040). If it is determined that the operation continues, (S1110).

In the configuration of the present invention as described above, even when the aircraft normally operates the set flight altitude, the flight altitude may naturally fluctuate due to a difference in air flow or atmospheric pressure, and the change in the flying altitude value may be detected by the camera altitude value detected by the camera altitude detection unit The camera 130 maintains a constant altitude at all times, so that the photographic image projected on the ground is projected at the same magnification (scale) so that the projection magnification can be precisely controlled.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

100: photographing apparatus 110:
120: position recognition module 130: camera
140: balance holding unit 150: editing module
160: memory 170, 210: communication module
200: drawing device 220: drawing module
230: processing module 1400: vertical holding part
1500: inertial flow restraining part 1600: camera supporting part
1700: Camera horizontal height holding unit

Claims (1)

A GPS module 110 for communicating with the satellite A and calculating the current GPS position coordinates; The horizontal position of the aircraft and the altitude at which the aircraft P is currently located are checked in conjunction with the altimeter of the aircraft P and the horizontal sensor, A location recognition module 120 for controlling the operation of the mobile terminal 100; A camera 130 installed on the aircraft P and photographing the ground by a corresponding control signal; A first rotating shaft 1410 provided at a lower end of the camera 130 and installed on a part of the upper part of the pillar 1610 of the camera supporting part 1600 having a circular rod shape and rotating in a range of 180 degrees in one direction, A vertical holding part 1400 including a second rotating shaft 1440 rotating in a range of 180 degrees at a right angle position of the same plane where the first rotating shaft 1410 is located; An inertial flow restraining part 1500 which is formed at the lower end of the pillar 1610 and suppresses an inertial force acting on the aircraft P to change the flying speed of the aircraft P and to turn in a direction, A camera mounting bracket 1620 fixed to the camera 130 and having a disk shape and a camera mounting bracket 1620 installed between the lower end of the pillar 1610 and the camera mounting bracket 1620, The position detection module 120, which analyzes the detection signal, And a camera horizontal height holding part (1700) for lifting and lowering the camera mounting bracket. And outputs the ortho-projected aerial photographing image connected to the camera 130. The aerial photographed images of the neighboring regions are connected and synthesized with each other, and the position coordinate information confirmed by the geos module 110 is linked to the aerial photographing image An editing module 150 for editing an image; A memory 160 for storing an aerial photographing image orthogonally projected by the camera 130 and an aerial photographing image synthesized by the editing module 150 in an assigned area; A communication module (170) for inputting an aerial photographing image synthesized from the editing module (150) and wirelessly transmitting the aerial photographing image in real time while communicating with a ground drawing device (200); A photographing apparatus 100 installed on the aircraft P with a photographing device 100 mounted thereon; And
A communication module (210) for communicating with the communication module (170) of the photographing apparatus (100) and receiving the synthesized aerial photographing image in real time; An imaging module 220 for receiving and processing an aerial photographing image received by the communication module 210; A processing module for analyzing the aerial photographing image received by the communication module 210 to extract position coordinates of a position where re-photographing is required and transmitting the same to the photographing apparatus 100 via the communication module 210 together with a re- (200) having a display unit (230); , ≪ / RTI &
The camera horizontal height holding unit 1700
A camera height detection unit 1702 installed at one side of the upper surface of the camera mounting bracket 1620 for detecting an altitude of the camera 130 and transmitting the detected altitude to the position recognition module 120; A center holding shaft 1704 installed in an upwardly projecting state on the center shaft portion and having a circular rod shape; One or more height adjustment motor units 1710 vertically installed on the upper surface of the camera mounting bracket 1620 and having a hollow motor shaft 1708 having an internal thread 1706 formed on an inner peripheral surface thereof, And the upper end of the male threaded portion 1712 is engaged with the lower end portion of the columnar weight 1610. The upper end of the male threaded portion 1712 is engaged with the lower end portion of the female threaded portion 1706 of the columnar body 1610, A camera altitude tracking motor unit 1720 including an altitude adjusting screw 1714 screwed on the camera altitude adjusting screw 1714; Lt; / RTI >
The column weight 1610 is drawn in and drawn out in a slidable state at a position corresponding to a position where the center holding axis 1704 is provided while being a lower center axis portion of the column weight 1610, A center holding shaft hole 1722 formed upwardly in a size corresponding to the length; The height adjustment screw 1714 is inserted and drawn in a screwed state at a position corresponding to a position where the height adjustment screw 1714 is installed and the height adjustment screw 1714 is formed to have a height corresponding to the length of the height adjustment screw 1714 Female threaded portion 1724; The image processing method of claim 1,
When it is determined that the operation of the aircraft P is started by the position recognition module 120, the camera height tracking motor unit 1720 is driven so that the camera mounting bracket 1620 moves up and down between the uppermost position and the lowermost position. The average waiting position, and the average lowermost position are calculated, and the camera mounting bracket 1620 and the camera mounting bracket 1620 are mounted on the camera mounting bracket 1620 To a mean waiting position;
A second step of loading a flight altitude value input by the position recognition module 120 and monitoring the camera altitude detection unit 1702 to detect a camera altitude value;
A third step of moving the camera mounting bracket 1620 to the average lowest position if the flying altitude value input by the position recognition module 120 is greater than the detected camera altitude value;
A fourth step of moving the camera mounting bracket 1620 to the average highest position when the flying altitude value input by the position recognition module 120 is smaller than the detected camera altitude value;
If the altitude value inputted by the position recognition module 120 is equal to the detected altitude value of the camera, the camera mounting bracket 1620 is moved to the average waiting position and if the navigation of the aircraft P is continued, A fifth step of feeding back to the second step; And an image processing method for recognizing a similar image position adjustment image for the image processing apparatus.
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CN108571949B (en) * 2018-06-15 2023-12-22 上海筑邦测控科技有限公司 Sedimentation detection system
CN108829123A (en) * 2018-07-18 2018-11-16 广西师范大学 A kind of quadrotor control method, system and device
CN109451272A (en) * 2018-11-15 2019-03-08 浙江云来集科技有限公司 A kind of unmanned plane overlength distance image delivering system
KR101948543B1 (en) 2018-11-29 2019-02-15 네이버시스템(주) Precision image processing system for synthesis position information and projection image
KR102047840B1 (en) * 2019-09-11 2019-11-22 (주)미도지리정보 Aerial camera system capable of securing center focus
KR102065750B1 (en) * 2019-11-11 2020-01-13 주식회사 지오스토리 Image processing system for synthesis position information and projection image
KR102074713B1 (en) * 2019-11-14 2020-02-07 주식회사 삼인공간정보 Image processing system

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