KR101831429B1 - Apparatus for air shooting able to get the image of blind spot and to control resolution automatically - Google Patents

Abstract

The present invention relates to a ground-level blind spot image collection type aerial photographing apparatus with a function of automatically adjusting the image resolution at each photographing altitude. The ground-level blind spot image collection type aerial photographing apparatus includes a DB, a recording module, a driving module, a section module, and an editing module. When adjusting the size of a photographing target in accordance with the photographing altitude, the ground-level blind spot image collection type aerial photographing apparatus enables smooth integrated editing of photograph images by automatically matching the image resolution; collects the blind spot images generated at each photographing angles and automatically edits the collected blind spot images; photographs and collects desired images by rotating a photographing module around vertical and horizontal axes in accordance with the location and position of an aerial apparatus by using a driving module; prevents the driving module driving the photographing module from interfering the photographing operation of the photographing module to always collect and photograph the desired images regardless of the position and location of the aerial apparatus; and includes a protection cover and a cover opening and closing means to protect the photographing module and the driving module in a non-photographing flight operation.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image capturing type aerial photographing apparatus having an image capturing type aerial photographing apparatus,

More particularly, the present invention relates to an image capture type aerial photographing apparatus capable of automatically adjusting the resolution of an object to be photographed according to a photographing altitude, And it is possible to automatically compile and edit the blind spot image generated by the shooting angle by the driving module. By the driving module, the photographing module is rotated in the vertical axis direction and the horizontal direction according to the position and posture of the aircraft, So that the driving module for driving the photographing module does not act as an interferer for the photographing of the photographing module so that a desired photographing image can always be photographed and collected irrespective of the position and attitude of the airplane, To protect the shooting and driving modules during non-shooting flight Shooting relates to a highly specific resolution image acquisition type air shooting ground blind spot devices with automatic adjustment functions.

To create a map, you need to collect photographic images that are basic information. The collection of photographed images is done through aerial photography. Generally, the aerial photographing sets the flight path of the aircraft, attaches the camera to the aircraft, and shoots the target area while flying.

When an aerial photograph is taken, when an interferometer having a certain area such as a bird or a vinyl passes through the lower part of the camera, an object enters the photographed image due to the interference of the camera in the photographing angle of the camera, .

The fact that this error occurred can only be known after landing the aircraft, and as a result, if there is an erroneous shot image, the aircraft must be taken off again to take the shot again.

Also, the aerial photographing is limited in the area of the photographing according to the altitude, and the size of the photographing object changes due to the change of the perspective of the photographing object according to the altitude, so the resolution must be adjusted in the process of editing the photographing image. It is difficult and time consuming.

On the other hand, the photographed image for map production is photographed by an aircraft located at a certain altitude from the ground. Therefore, except for the ground water located in the vertical direction of the aircraft, it is inevitably taken to include the side surface of the ground water adjacent thereto. Namely, the "Gangnam Cheil Building" of the white underline located at the upper left of FIG. 11 and the "Pouring Industry" of the white underline located at the upper right and the "Meritz Tower" of the white underline located at the lower left Part) but also to the side.

In order to produce a map, a plurality of captured images must be connected to each other as described above. In this process, a captured image captured at another location is partially applied. As a result, as shown in the three buildings in FIG. 11, the three maps formed by the conventional map production method are tilted in different directions despite the same map.

Therefore, the map user has difficulty in interpreting the map to an unfamiliar area, and accordingly, the map is inconvenient to use.

Korean Patent Registration No. 10-0946250 (registered on Mar. 02, 2010) discloses an image processing system for inserting an identification code of an aerial photographic image for editing processing of an aerial photographic image for digital map production (Hereinafter referred to as " Prior Art 2 "), and Korean Patent No. 10-0942278 (registered on Feb. 02, 2010) Quot;).

However, since the cameras attached to the aircraft are kept in a completely fixed state, the prior arts have limitations that can not be avoided when an interferer appears, and the aircraft itself has to change the route in order to avoid it.

As a prior art for solving such a problem, Korean Registered Patent No. 10-1723641 (Registered on Mar. 30, 2013. 03. 30) registers the resolution automatically when the size of the object to be photographed according to the shooting height is adjusted, (Hereinafter referred to as " Prior Art 3 "), which collects and automatically edits a blind spot image generated for each angle, and has a function of automatically adjusting the resolution of the photographing altitude.

However, in the prior art 3, since the cradle constituting the driving module is formed in a semicircular shape that surrounds the main body of the photographing module, and a plurality of cameras are disposed over the entire outer peripheral surface of the main body, There is a problem that the driving module interferes with the camera because the driving module interferes with the camera and there is a problem that the driving module and the photographing module can not be protected because the driving module and the photographing module are always exposed.

Accordingly, it is possible to photograph and collect a desired image by rotating the camera in the vertical axis and the horizontal axis according to the position and attitude of the aircraft, and at the same time, the driving module for driving the photographing module does not act as an interferer for photographing the camera, It is required to develop a technique for protecting the photographing module and the driving module at the time of non-photographing flight while allowing a desired photographing image to be always captured and collected regardless of the attitude.

Korean Registered Patent No. 10-0946250 (Registered on Mar. 2, 2010) "Image processing system for inserting identification code of aerial shot image for editing processing of aerial shot image for digital map production" Korean Registered Patent No. 10-0942278 (Registered on Feb. 02, 2010) "Editing and Precision Aerial Photography System for Photographed Image for Digital Map Production" Korean Registered Patent No. 10-1723641 (Registered on Mar. 30, 2013) "Image acquisition type aerial photographing device having a function of automatic adjustment of resolution according to shooting altitude"

Accordingly, it is an object of the present invention to provide an image processing apparatus and an image processing method capable of automatically integrating and editing a captured image by automatically adjusting a resolution of an image pickup object according to an image pickup height, The photographing module can be rotated and horizontally rotated according to the position and attitude of the aircraft to photograph and collect the desired photographing image while the driving module for driving the photographing module does not act as an interferer for the photographing of the photographing module, Which is capable of automatically capturing and capturing a desired image regardless of the attitude of the photographing device, and also capable of automatically controlling the resolution of the photographing module and the driving module Collecting type aerial photographing apparatus.

According to an aspect of the present invention, there is provided an image processing apparatus including: an image generation unit that generates image data of a captured image generated by an imaging module, data of an edited image generated by an editing module synthesizing and editing a captured image, A data DB for respectively storing data of the ground image linked to the main section; A photographing module for photographing the ground in a digital format; A driving module for adjusting the photographing direction, the photographing angle, the photographing direction, and the photographing angle of the photographing module according to the speed, altitude, acceleration change and horizontal position change of the aircraft; A section of the section including the rectangular possible zone is classified into data of the main section and the ground water image of the ground water spanning the main section is extracted from the corresponding photographing image A section module for extracting and linking to a corresponding main section to generate data; The size and resolution of the ground image changed according to the altitude change of the aircraft are adjusted to the size and the resolution at the reference altitude and data of the shot image and the main section and the corresponding ground image are retrieved from the data DB, And an editing module for editing the image data according to a set process and generating the edited image data, wherein the driving module comprises: a fixed frame fixed to the bottom of the aircraft; A Z-axis rotation table disposed below the fixing table; An X-axis rotation table disposed below the Z-axis rotation table; A Y-axis rotation table disposed below the X-axis rotation table; Z-axis driving means for rotating the Z-axis rotating table about the Z-axis with respect to the table; An X-axis driving means for rotating the X-axis rotation axis about the Z-axis rotation axis in the X axis; And Y-axis driving means for rotating the Y-axis rotary table in the Y-axis direction with respect to the X-axis rotary table, wherein the fixing table includes a housing main body having a lower surface spaced apart from the bottom surface of the aircraft, And a mount whose upper end is fixed to the bottom surface of the aircraft and whose lower end is fixed to the housing main body, wherein the Z-axis rotation axis includes a Z-axis rotation axis body formed as a horizontal plate, and a Z- Axis synchronous mount, wherein the X-axis rotational axis includes an X-axis rotational axis body formed as a horizontal plate, and an X-axis motor shaft coupling member vertically coupled to an upper surface center of the X- And a Y-axis synchronous mounting piece vertically coupled to a lower rear end of the X-axis rotatable main body, wherein the Y-axis rotatable base includes a Y-axis rotatable main body formed of a disc, And a Y-axis motor shaft coupling piece vertically coupled to a center of an upper surface of the main body, wherein the Z-axis driving means includes a Z-axis motor mounted vertically to a lower surface of the housing cover, And a Z-axis motor shaft coupled to a top center of the Z-axis swivel body, wherein the Z-axis driving means further includes a Z-axis synchronous motor mounted vertically on a lower surface of the housing lid, And a braking piece coupled to a lower end of the operating rod and adapted to be engaged with an upper surface of the Z-axis rotating body, wherein the X-axis driving means includes a Z- An X-axis motor mounted horizontally on a lower surface of a swivel body, and an X-axis motor shaft provided at the X-axis motor and having a tip coupled to the X-axis motor shaft coupling piece, Wherein the X-axis synchronizing means comprises: a solenoid mounted horizontally on the right side of the X-axis synchronous mounting member; and an operating rod provided on the solenoid, And a Y-axis motor coupled to the Y-axis motor, wherein the Y-axis driving unit includes a Y-axis motor mounted horizontally on a lower surface of the X-axis rotation axis body, Wherein the Y-axis motor shaft includes a Y-axis motor shaft coupled to the Y-axis motor shaft coupling element, and the Y-axis driving mechanism includes a Y-axis synchronous motor mounted on a left surface of the Y- A solenoid having a right end mounted on a left side of the festival synchronizing mounting member, an operating rod provided on the solenoid, and a braking member coupled to a front end portion of the operating rod and bonded to the Y- A protective cover for protecting the photographing module and the drive module, and a cover opening / closing means for opening / closing the protective cover, wherein the protective cover is disposed at the front and rear sides, A first cover and a second cover which are formed in a semicylindrical shape surrounding the front and rear portions of the Z, Y, Z, and Y photographic modules, respectively, And first and second cover supporting means for rotatably supporting upper and lower ends on the front and rear ends of the housing main body in the forward and backward directions, respectively, wherein the first and second cover supporting means are provided on both front and rear sides of the housing main body 1 and a second fixed hinge piece, first and second movable hinge pieces formed at an upper middle portion of the first and second covers, and first and second fixed hinge pieces and first and second movable hinges, And the first and second hinge pins And the cover opening and closing unit is the inside of the housing body is mounted in the front-rear direction of the horizontal inner peripheral surface of the first half and the cost to each other spiral direction opposite to the second half claim having a hollow motor shaft having first and second internally threaded portions cover opening and closing motor and; First and second screws passing through a peripheral wall of the housing main body and having first and second male screw portions that are respectively screwed to the first and second internal thread portions 422; First and second connecting pieces connected to the front end of the first screw and the rear end of the second screw and having first and second elongated elongated holes; First and second operation arms protruding from an upper inner circumferential surface of the first and second covers; And first and second connection pins fixed to the first and second operation arms and inserted into the first and second long holes, The present invention provides an image capture type aerial photographing apparatus.

According to the present invention, there is provided an image capturing type aerial photographing apparatus having a function of automatically adjusting the resolution of a photographing altitude according to the photographing height, comprising a data DB, a photographing module, a driving module, a section module and an editing module, It is possible to automatically integrate and edit the image by adjusting the resolution automatically at the time of adjustment, collect the blind spot images generated by the shooting angle, and automatically edit the images. By means of the drive module, So that the driving module for driving the photographing module does not act as an interferer for the photographing of the photographing module so that the desired photographing image is always photographed and collected regardless of the position and attitude of the airplane And a protection cover and a cover opening / closing means, There can protect the recording module and the drive module.

1 to 10 illustrate a preferred embodiment of an image acquisition type aerial photographing apparatus of a ground-level blind spot having an automatic adjustment function of the resolution according to the photographing altitude according to the present invention,
FIG. 1 is a schematic view showing an aerial photographing of an aircraft according to an aerial photographing process.
2 is a block diagram illustrating an image capture type aerial photographing apparatus for performing an aerial photographing process,
Figure 3 schematically illustrates an ideal photographic image for a map production,
FIG. 4 is a view schematically showing a state in which an image capture type aviation photographing apparatus processes a photographed image according to an aerial photographing process;
5 is a perspective view of the photographing module and the drive module with the protective cover removed,
6 is a perspective view showing a state in which the photographing module and the drive module are protected by a protective cover,
7 is a perspective view showing a state in which a protective cover for protecting the photographing module and the drive module is unfolded,
8 is an exploded perspective view of the photographing module and the drive module,
9 is a longitudinal sectional view showing a state in which the protective cover is closed,
10 is a vertical sectional view showing a state in which the protective cover is opened,
11 is an image showing a captured image of a video captured by conventional aerial photographing.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an airborne photographing type aerial photographing apparatus having a function of automatically adjusting the resolution of a photographing altitude according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view showing an aerial photographing of an aircraft according to an aerial photographing process, and FIG. 2 is a block diagram showing an aerial photographing type photographing apparatus for performing an aerial photographing process.

In order to carry out the aerial photographing process of this embodiment, the airplanes A, A ', and A', which are in operation, take aerial photographs of the ground. Various ground objects B1 to B5 are formed on the ground, A ") of the image capturing type aerial photographing apparatus collects a digital photographing image on the ground. At this time, the photographed image includes rectangular areas Z1, Z2, and Z3 (hereinafter referred to as 'Z') that are not photographed according to the positions of the aircraft A, A ', A' The rectangular possible zone (Z) means a zone that can be covered by ground water during aerial photographing.

Therefore, in the aerial photographing process of the present embodiment, the image capturing type aerial photographing apparatus performs editing processing with the best resolution and image quality while minimizing the blind spot formed in the photographed image, thereby completing an edited image of a useful function capable of making a map.

The image capturing type aerial photographing apparatus for this purpose includes data of the photographed image photographed and generated by the photographing module 120 and data of an edited image generated by the editing module 160 by synthesizing and editing the photographed image, A data DB 110 for storing data of the main sections AR1 and AR2 (see FIG. 5) and data of the ground image linked to the main sections AR1 and AR2, respectively; A photographing module 120 for photographing the ground in a digital format; A driving module 200 for adjusting the photographing direction, the photographing angle, the photographing direction and the photographing angle of the photographing module 120 according to the speed, elevation, acceleration, and horizontal positional change of the aircraft A; The captured image is divided into sections with a constant lattice spacing and the section in which the rectangular possible zone Z is included is classified into data of the main sections AR1 and AR2, A section module 180 for extracting a ground water image for the ground water (B1 to B5) from the corresponding shot image and linking the ground water image to the corresponding main section (AR1, AR2) to generate data; An editing module 160 for retrieving the photographed image and data of the main sections AR1 and AR2 and corresponding ground image data in the data DB 110 and editing the data according to the set process to generate data of the edited image 160 Wherein the editing module 160 searches an arbitrary shot image in the data DB 110 to select a background shot image as the basis of the edited image, The data of the main sections AR1 and AR2 located at the GPS coordinates of the section and the data of the ground image of the main sections AR1 and AR2 are retrieved from the data DB 110 And the ground image that spans the rectangular possible zone Z is also linked to the corresponding main section AR1 and AR2 by editing and replacing the rectangular possible zone Z with the corresponding main sections AR1 and AR2 in the above- Ground water image And generates the background image taken by replacing editing the editing image.

Also, the size and resolution change of the ground water image according to the altitude h1, h2, h3 of the aircraft A are adjusted to coincide with the ground image size and resolution at the reference altitude. Accordingly, as shown in FIG. 1, the airplane A can always collect and store a constant shot image even in frequent altitude changes during flight, and can quickly and easily produce an image that is a background of a reliable map.

The configuration, structure, and operation of the driving module 200 will be described below.

In addition, the aircraft A includes a speedometer 130 for measuring the speed of the aircraft A, an altimeter 140 for measuring the altitude, an acceleration sensor 170 for checking the acceleration change of the aircraft A, And a gyroscope 170 'for checking a horizontal direction and a slope change of the acceleration sensor 170. The driving module 200 includes a speedometer 130, an altimeter 140, an acceleration sensor 170 and a gyroscope 170 170 'in real time while adjusting the photographing position of the photographing module 120 in real time.

The airplane A includes a GPS module 150. The editing module 160 classifies and generates shot images based on the GPS coordinates determined by the GPS module 150. The main sections AR1 and AR2 ) It is also classified by GPS coordinates.

FIG. 3 is a view schematically showing an ideal photographing image for making a map according to the present invention, and FIG. 4 is a schematic view showing an image capturing type aerial photographing apparatus processing an image taken according to an aerial photographing process according to the present invention. Fig.

The aerial photographing process based on the image capturing aerial photographing apparatus described above will be described in more detail.

First, the driving module 200 calculates the speed, altitude, acceleration change, and tilt change of the aircraft A while communicating with the speedometer 130, the altimeter 140, the acceleration sensor 170 and the gyro spokes 170 ' . In addition, the image acquisition type aerial photographing device communicates with the GPS module 150, and confirms the GPS coordinates of the aircraft A.

Hereinafter, the speed information, altitude information, acceleration change information, tilt change information, and GPS coordinate information of the aircraft A are collectively referred to as 'flight information'.

Next, the driving module 200 controls the photographing module 120 to photograph the photographing module 120 in accordance with the flight information so that the photographing module 120 continuously photographs the same section on the ground even in the airplane A in flight Adjust the direction.

The photographing module 120 includes a hemispherical main body 121 and a plurality of cameras 122 arranged on the outer surface of the main body 121 at regular intervals.

Therefore, the camera 122 of the photographing module 120 can maintain the optimum aerial photographing while minimizing the afterimage effect even in the airplane A flying at high speed, thereby collecting the photographing images with higher precision.

Next, the camera 122 in the main body 121 that receives the driving force of the driving module 200 rolls the ground in a predetermined cycle, and the editing module 160 specifies the GPS coordinates of the aircraft A at the shooting time And stores it in the data DB 110 as data of the shot image. The photographed image shown in FIG. 5 can be collected by the photographing of the camera 122.

A plurality of cameras 122 of the photographing module 120 of the present embodiment are configured and a plurality of cameras 122 photographs the ground at the same time at the same time so that there exist a plurality of photographing image data that are named with the same GPS coordinates . Therefore, the captured image data is also named with the GPS coordinates and the identification code of each camera 122 together.

The camera 122 is disposed over the entire surface of the main body 121 so that when all the cameras 122 disposed on the main body 121 simultaneously shoot the image, Even the photographing to the bottom of the aircraft A can be made. Therefore, only the camera 122, which is positioned within the range specified during the rolling of the main body 121, captures images of only a certain range below the aircraft A, so as to capture the images.

Next, the section module 180 divides the photographed image into sections with a certain lattice spacing, and divides the section including the rectangular possible zone (Z) in the section into data of the main sections AR1 and AR2 , The ground water images for the ground bodies B1 to B5 spanning the main sections AR1 and AR2 are extracted from the corresponding shot images and linked to the corresponding main sections AR1 and AR2 to generate data, , And AR2 and data of the ground image are stored in the data DB 110. [

Here, the section module 180 divides the photographed image into a grid form on the basis of the GPS coordinates or at a specific interval, combines the section including the specified rectangular possible zone (Z) in the thus created divided section The main sections AR1 and AR2 are classified into main sections AR1 and AR2, and the main sections AR1 and AR2 can be determined by the photographer's own selection.

For example, as shown in FIG. 3, the rectangular zones Z1, Z2, and Z3 may be located between the ground objects B1 to B4, as shown in FIG. 4, 4 (a), Z1 'and Z3' are blind zones, whereas Z1 'is not a blind spot, and Z1' 'and Z1' 'in FIG. 4 (b) Z2 "is a blind spot, whereas" Z3 "is not a blind spot. However, if the aircraft (A, A ") is located in the upper right room and the ground is photographed in spite of the fact that it is a rectangular area, it can be confirmed that the rectangular area is also photographed in the complete zone (Z1 ', Z3").

Therefore, the photographer classifies the sections including the rectangular possible zones in the range corresponding to the GPS coordinates of the shot image data into the main sections AR1 and AR2, and generates them as data.

On the other hand, even if only a part of the ground image linked to the main sections AR1 and AR2 is included, the section module 180 generates the whole of the ground image as data of the ground image. For example, since the main section AR1 in FIG. 4A includes a part of the B1 'and B2' terrestrial images, the main section AR2 in FIG. 4 (b) Contains a portion of the B4 "groundwater image, so the AR1 main section links the B1 'and B2' groundwater images, and the AR2 main section links the B4" groundwater images.

Next, the editing module 160 searches an arbitrary photographed image in the data DB 110 to select a background photographed image as the basis of the edited image.

The background shot image is a background image of an edit image for integrating and integrating the images on a part-by-part basis, and therefore, selection can be made by automatically selecting a photographer or a predetermined interval.

In this embodiment, in order to make the drawing shown in FIG. 3 an editing image, a photographed image shown in FIG.

Next, the editing module 160 searches for a section including the rectangular possible region in the above-mentioned desktop photographing image, and compares the data of the main sections AR1 and AR2 in the other shot images located in the GPS coordinates of the section with the data And the data of the terrestrial images of the sections AR1 and AR2 are retrieved from the data DB 110, respectively.

Z2 "and Z3" in the case where the photographed image shown in Fig. 4 (b) is selected as the background photographing image, the rectangular possible zones Z1 ", Z2 & A major section corresponding to AR1 in the main sections (AR1, AR2) equal to the GPS coordinates of the section is retrieved in the drawing of Fig. 4 (a). In addition, the ground image images (B1 ', B2') linked to the corresponding main section (AR1) are also searched together.

For reference, the main section corresponding to AR2 searches only the photographed image in the drawing (b) of FIG. 4, which is selected as the background photographed image, not the other photographed image, and thus maintains the image of the background photographed image.

Next, the editing module 160 replaces the rectangular possible zone with the corresponding main section in the above-mentioned desktop photographing image, and replaces the existing ground image spanning the rectangular possible zone with the ground image linked to the main section. Thereby generating the edited image of the above-mentioned desktop shot image.

FIG. 5 is a perspective view showing a state in which the photographing module and the drive module are protected by a protective cover, FIG. 6 is a perspective view showing a state in which a protective cover for protecting the photographing module and the drive module is unfolded, 9 is a perspective view showing the Z-axis rotation operation, FIG. 10 is a perspective view showing the X-axis rotation operation, and FIG. 11 is a perspective view showing the X- Fig. 12 is a longitudinal front view showing the operation of the protective cover. Fig.

In the following description, the Z axis refers to the vertical axis, the X axis refers to the longitudinal axis of the aircraft A, and the Y axis refers to the lateral axis of the aircraft A. [

In the following description, a joint structure of a typical screw fastening system is omitted from illustration and description.

The driving module 200 is for adjusting the photographing direction of the photographing module 120 in correspondence with the position and the flight attitude of the aircraft A and includes a fixing table 210 fixed to the bottom of the aircraft A; A Z-axis rotation table 220 disposed below the fixing table 210; An X-axis rotation table 230 disposed below the Z-axis rotation table 220; A Y-axis rotation table 240 disposed below the X-axis rotation table 230; Z-axis driving means (250) for rotating the Z-axis rotation table (220) in the Z-axis direction with respect to the table (210); An X-axis driving means (260) for rotating the X-axis rotation table (230) about the Z-axis rotation table (220) in the X axis; And Y-axis driving means 270 for rotating the Y-axis rotation table 240 in the Y-axis direction with respect to the X-axis rotation table 230.

The fixing table 210 is for fixing the driving module 200 to the bottom surface of the aircraft A and includes a housing main body 211 spaced downward from the bottom surface of the aircraft A and having a bottom opened, And a mount 213 whose upper end is fixed to the bottom surface of the aircraft A and whose lower end is fixed to the housing main body 211.

The housing main body 211 and the housing cover 212 can be detachably coupled to each other by fastening a bolt passing through the housing cover 212 to a bolt fastener formed on a lower end surface of the housing main body 211, The mount 213 can be fixedly coupled to the bottom surface of the aircraft A and the upper surface of the housing main body 211 by a conventional screw fastening method by forming flange portions 214 and 215 at upper and lower ends, A specific illustration and description thereof will be omitted.

The Z axis rotation table 220 includes a Z axis rotation table main body 221 formed as a horizontal plate and an X axis synchronizing mounting piece 222 coupled to a lower surface of the Z axis rotation table body 221 vertically.

The X-axis rotation table 230 includes an X-axis rotation table main body 231 formed as a horizontal plate, an X-axis motor shaft coupling piece 232 vertically coupled to the upper surface center of the X-axis rotation table main body 231, And a Y-axis synchronous mounting piece 233 vertically coupled to the lower rear end of the X-axis swivel body 231.

The Y-axis swivel base 240 includes a Y-axis swivel base body 241 formed of a disk and a Y-axis motor shaft coupling piece 242 vertically coupled to the upper center of the Y-axis swivel base body 241.

The Z-axis driving means 250 includes a Z-axis motor 251 vertically mounted on the lower surface of the housing cover 212 and a Z-axis motor 252 disposed on the Z-axis motor 251, And a Z-axis motor shaft 252 coupled to the center of the upper surface of the Z-axis motor shaft 252.

The Z-axis driving means (250) further includes a Z-axis synchronizing means (253) mounted vertically on the lower surface of the housing cover (212).

The Z-axis synchronizer 253 includes a solenoid 254 vertically mounted on the lower surface of the housing lid 212, an actuating rod 255 provided on the solenoid 254, And a braking piece 256 coupled to the upper surface of the Z-axis rotation body 221.

The Z-axis motor 251 can be mounted on the lower surface of the housing cover 212 by a conventional screw fastening method by forming a flange at the upper end. The Z-axis motor shaft 252 is screw- Axis rotatable main body 221. The Z-axis rotatable main body 221 is rotatably mounted on the Z-axis rotatable main body 221,

The solenoid 254 of the Z-axis synchronizer 253 may be mounted on the lower surface of the housing lid 212 by a conventional screw fastening method by forming a flange portion at the upper end.

The X-axis driving means 260 includes an X-axis motor 261 horizontally mounted on the lower surface of the Z-axis rotation body 221, and an X- And an X-axis motor shaft 262 coupled to the piece 232.

The X-axis driving unit 260 further includes an X-axis synchronizing unit 263 mounted on the X-axis synchronizing mounting piece 222.

The X-axis synchronization unit 263 includes a solenoid 264 mounted horizontally on the right side of the X-axis synchronizing mount piece 222, an operation rod 265 provided on the solenoid 264, And a braking piece 266 coupled to the front end of the X-axis motor shaft coupling piece 232 to be engaged with the X-axis motor shaft coupling piece 232.

The X-axis motor 261 can be mounted on the lower surface of the Z-axis swivel body 221 by a screw-engaging method by forming a flange at the upper end of the outer circumferential surface, and the X- Axis motor coupling member 232 by the fastening method.

The solenoid 264 of the X-axis synchronizer 263 can be mounted on the X-axis synchronizing mounting piece 222 by forming a flange at the tip of the X-axis synchronizer 263 by a conventional screw fastening method.

The Y-axis driving unit 270 includes a Y-axis motor 271 horizontally mounted on the lower surface of the X-axis rotation body 231 and a Y-axis motor 271 disposed on the Y- And a Y-axis motor shaft 272 coupled to the engagement piece 242.

The Y-axis driving unit 270 further includes a Y-axis synchronizing unit 273 mounted on the left side of the Y-axis synchronizing mounting piece 233. [

The Y-axis synchronizer 273 includes a solenoid 274 mounted on the left side of the Y-axis synchronizing mounting piece 233 at the right end thereof, a working rod 275 provided in the solenoid 274, And a braking piece 276 coupled to the front end of the Y-axis motor shaft coupling piece 242 and bonded to the Y-axis motor shaft coupling piece 242.

The Y-axis motor 271 is mounted on the lower surface of the X-axis rotating body 231 by a screw coupling method. The Y-axis motor shaft 272 has a flange portion formed at an upper end of the Y- And can be coupled to the Y-axis motor shaft coupling piece 242 by a fastening method.

The solenoid 274 of the Y-axis synchronizer 273 can be mounted on the left side of the Y-axis synchronizing mount 233 by forming a flange at the right end of the Y-axis synchronizer 273 by a conventional screw fastening method.

The contact surfaces of the braking piece 256 and the Z-axis swivel body 221 and the contact surfaces of the braking piece 266 and the X-axis motor shaft coupling piece 232 and the contact surfaces of the braking piece 276 and the Y-axis motor shaft coupling piece 242, A coating layer having a large frictional force can be formed on the contact surface of the contact surface to increase frictional force.

The Z axis rotation table 220 and the X axis rotation table 230 and the Y axis rotation table 240 are provided in a state of being in a neutral state, that is, in a state of coinciding with the Z axis of the three-dimensional rectangular coordinate, the X axis and the Y axis, The operating rods 255, 265 and 275 of the solenoids 254, 264 and 274 constituting the X-axis synchronizing motor 263 and the Y-axis synchronizing motor 273 move forward and the brakes 256 266 and 276 are in close contact with the Z-axis rotation body 221 and the X-axis motor shaft coupling piece 232 and the Y-axis motor shaft coupling piece 242, respectively, so that the Z-axis rotation table 220 and the X- And the Y-axis swivel base 240 can not be rotated arbitrarily.

The Z-axis rotation of the Z-axis rotation table 220 by the Z-axis driving means 250 and the X-axis rotation of the X-axis rotation table 230 by the X- The solenoids 254, 264, and 274 constituting the Z-axis synchronizer 253, the X-axis synchronizer 263, and the Y-axis synchronizer 273 when the Y-axis rotation of the Y- And the braking pieces 256, 266, and 276 coupled to the front ends of the bosses 255, 265, and 275 of the X-axis motor shaft coupling piece 232 and the Y- The brakes are released so that the Z-axis rotation table 220, the X-axis rotation table 230, and the Y-axis rotation table 240 can be rotated.

The Z-axis motor 251, the X-axis motor 261 and the Y-axis motor 271 are driven by the Z-axis motor 251 in a state where the Z-axis rotation of the Z- The flight information of the aircraft A is checked while communicating with the speedometer 130, the altimeter 140, the acceleration sensor 170 and the gyroscope 170 ', and when the set values are inputted in the flight information, The photographing module 120 is rotated three-dimensionally.

When the Z-axis motor 251 is operated and the Z-axis motor shaft 252 is rotated in the state where the Z-axis rotation of the Z-axis rotation shaft 220 is released by the Z-axis synchronizing motor 253, An X-axis rotation table 230, a Y-axis rotation table 240 and an X-axis rotation means 260 (hereinafter, referred to as an X-axis rotation table) ), The Y-axis driving means 270 and the photographing module 120 rotate about the Z-axis.

When the X-axis motor 261 is operated and the X-axis motor shaft 262 is rotated in the state where braking to the X-axis rotation table 230 by the X-axis synchronizing motor 263 is released, The Y-axis rotation unit 240, the Y-axis motion unit 270, and the imaging module 120, which are coupled to the X-axis rotation unit 230 by rotation about the X-axis, Is rotated about the X axis.

When the Y-axis motor 271 is operated and the Y-axis motor shaft 272 is rotated in the state where the braking to the Y-axis rotation table 240 by the Y-axis synchronizing motor 273 is released, The combined Y-axis swivel 240 is rotated with respect to the Y-axis so that the imaging module 120 coupled to the lower portion of the Y-axis swivel 240 rotates about the Y-axis.

With this operation, the photographing module 120 can perform Z-axis rotation, X-axis rotation, and Y-axis rotation, and Z-axis rotation, X-axis rotation, and Y-axis rotation can be performed separately Lt; / RTI >

When the Z axis rotation of the Z axis rotation table 220, the X axis rotation of the X axis rotation table 230 and the Y axis rotation of the Y axis rotation table 240 are left according to the flight information, The Y-axis rotation table 230 and the Y-axis rotation table 240 are maintained in the braked state by the Z-axis synchronizing 253, the X-axis synchronizing 263 and the Y-axis synchronizing 273.

The Z axis rotation axis 220 and the X axis rotation axis 230 and the Y axis rotation axis 230 according to the Z axis synchronization signal 253, the X axis synchronization signal 263, and the Y axis synchronization signal 273 described above in accordance with the flight state of the aircraft A, The Z-axis rotation table 220 and the X-axis rotation table 230 and the Y-axis rotation table 230 by means of the Z-axis driving means 250 and the X-axis driving means 260 and the Y- The rotating operation of the shaft rotating table 240 is repeated, so that the photographing direction of the photographing module 120 is maintained in a stable state even if a sudden change in the flight posture occurs.

In addition, since the components of the driving module 200 do not become an interferer at the time of photographing by the photographing module 120, desired photographing can be performed without error.

The driving module 200 includes a Z-axis rotating table 220, an X-axis rotating table 230, a Y-axis rotating table 240, a Z-axis driving means 250, (260), and Y-axis driving means (270).

A protective cover 300 for protecting the photographing module 120 and the driving module 200 and a cover opening and closing means 400 for opening and closing the protective cover 300.

The protective cover 300 protects the driving module 200 and the photographing module 120 during non-photographing flight.

The protective cover 300 is disposed on the front and rear sides and includes the Z-axis rotation unit 220, the X-axis rotation unit 230, the Y-axis rotation unit 240, the Z- First and second covers 310 and 320 formed in a semicylindrical shape for covering the front half and the rear half of the football driving means 260, the Y-axis driving means 270 and the photographing module 120, And first and second cover supporting means 330 and 340 for rotatably supporting the upper ends of the covers 310 and 320 on the front and rear ends of the housing main body 211 in the forward and backward directions, respectively.

The first and second covers 310 and 320 may be made of a plastic material.

The first and second covers 310 and 320 may be formed of a pair of front and rear reflective angle cylinders. In this case, however, it is preferable to configure the first and second covers as a semi-cylindrical shape in order to minimize the air resistance generated during the flight of the aircraft A Do.

Accordingly, it is preferable that the housing main body 211 and the housing cover 212 constituting the fixing table 210 also have a circular cross section.

The first and second covers 310 and 320 are composed of semicircular cylindrical portions 311 and 321 and semicircular plate portions 312 and 322 integrally formed at the lower ends of the semicircular cylindrical portions 311 and 321, A Z axis rotation unit 220, an X axis rotation unit 230, a Y axis rotation unit 240, a Z axis synchronization unit 250, an X axis synchronization unit 260, a Y axis synchronization unit 270, And the upper and lower halves of the main body 120 are covered and protected.

The first and second cover supporting means 330 and 340 include first and second fixed hinge pieces 331 and 341 formed on both front and rear sides of the housing body 211, The first and second movable hinge pieces 332 and 342 and the first and second fixed hinge pieces 331 and 341 and the first and second movable hinge pieces 331 and 341, 332, and 342. The first and second hinge pins 333 and 343 hinge together.

The first and second hinge pins 333 and 343 may be formed in the form of a conventional pin, or may be formed in the form of a bolt and a nut as shown in the drawing.

The cover opening / closing means 400 includes a hollow main body 211 having a first and a second internal thread portions 421 and 422 which are horizontally mounted in the front and rear direction inside the housing main body 211, A cover opening and closing motor 410 equipped with a motor shaft 420; And first and second male threaded portions 431 and 441 which are respectively screwed to the first and second female threaded portions 421 and 422. The first and second male threaded portions 431 and 441, (430, 440); The first and second connection pieces 450 and 460, which are respectively coupled to the front end of the first screw 430 and the rear end of the second screw 440 and include first and second elongated first and second long holes 451 and 461, )and; First and second operation arms 470 and 480 protruding from the upper inner circumferential surfaces of the first and second covers 310 and 320; And first and second connection pins 490 and 500 fixed to the first and second operation arms 470 and 480 and inserted into the first and second long holes 451 and 461.

The cover opening and closing means 400 closes the first and second covers 310 and 320 that constitute the protective cover 300 during the non-photographing flight so that the Z-axis rotation unit 220, the X-axis rotation unit 230, The driving module 200 and the photographing module 120 are enclosed by wrapping the shaft rotating table 240, the Z-axis driving means 250, the X-axis driving means 260, the Y- The first and second covers 310 and 320 which constitute the protective cover 300 are opened and the Z-axis rotation table 220, the X-axis rotation table 230, The Y axis rotation unit 240, the Z axis synchronization unit 250, the X axis synchronization unit 260, the Y axis synchronization unit 270, and the imaging module 120 are exposed (see FIG. 6).

Through holes 216 and 217 through which the first and second screws 430 and 440 pass are formed in a peripheral wall of the housing main body 211.

Closing operation of the protective cover 300 by the cover opening / closing means 400 will be described below.

Here, the case where the first female screw portion 421 and the first male screw portion 431 are formed as a right spiral and the second female screw portion 422 and the second male screw portion 441 are formed as left spiral will be described.

9, when the hollow motor shaft 420 of the cover opening / closing motor 410 rotates in the counterclockwise direction when viewed from the right side, the first female screw portion 421 and the second female screw portion 421 The first screw 430 advances forward (in the left direction in the figure) by the screw action (right-hand screw action) of the first male screw portion 431 and the second female screw portion 422 and the second male screw portion 441 The second screw 440 is advanced rearward (rightward in the drawing) by the screw action (left-hand thread) of the first screw 440.

As the first screw 430 advances, the first cover 310 connected to the elongated hole 451 of the first connecting piece 450 coupled to the distal end of the first screw 430 by the first connecting pin 490 The first movable hinge piece 332 formed at the upper end of the first cover 310 is pushed toward the front of the first fixed hinge piece 331 of the housing body 211, Since the first cover 310 is hinged to the first hinge pin 333 by the first hinge pin 333, the first cover 310 is rotated upward about the first hinge pin 333.

The second cover 320 connected to the elongated hole 461 of the second connecting piece 460 connected to the rear end of the first screw 440 by the second connecting pin 500 as the second screw 440 advances, And the second movable hinge piece 342 formed on the upper end of the second cover 320 is pushed in the second fixed hinge 342 of the housing main body 211, The second cover 320 is rotated upward about the second hinge pin 343 because the second cover 320 is hinged to the second member 341 by the second hinge pin 343. [

Accordingly, the first and second covers 310 and 320 are opened and the Z axis rotation unit 220, the X axis rotation unit 230, the Y axis rotation unit 240, the Z axis synchronization unit 250, ), The Y-axis driving means 270 and the photographing module 120 are exposed and ready for photographing (see FIG. 10).

Conversely, when the hollow motor shaft 420 of the cover opening / closing motor 410 rotates clockwise as viewed from the right in the state where the protective cover 300 is opened as shown in FIG. 10, the first female screw portion The first screw 430 is retracted rearward (rightward in the drawing) by the screw action (right-hand screw action) of the first female screw portion 421 and the first male screw portion 431, The second screw 440 is retracted forward (leftward in the drawing) by the screw action (left-hand thread) of the screw portion 441.

As the first screw 430 is retreated, the first cover 310 connected to the elongated hole 451 of the first connecting piece 450 coupled to the distal end of the first screw 430 by the first connecting pin 490 The first movable hinge piece 332 formed at the upper end of the first cover 310 is pulled out from the first fixed hinge piece 331 of the housing main body 211, The first cover 310 is rotated downward about the first hinge pin 333 because the first cover 310 is hinged to the first hinge pin 331 by the first hinge pin 333.

The second cover 320 connected to the elongated hole 461 of the second connecting piece 460 connected to the rear end of the first screw 440 by the second connecting pin 500 as the second screw 440 is retreated, And the second movable hinge piece 342 formed on the upper end of the second cover 320 is pulled out from the second fixed hinge 342 of the housing main body 211, The second cover 320 is rotated downward about the second hinge pin 343 because the second cover 320 is hinged to the second member 341 by the second hinge pin 343. [

Accordingly, the first and second covers 310 and 320 are closed and the Z-axis rotation unit 220, the X-axis rotation unit 230, the Y-axis rotation unit 240, the Z- 260, the Y-axis driving means 270, and the photographing module 120 are not exposed (see FIG. 9).

While specific embodiments of the invention have been illustrated and described, it will be obvious that the invention may be varied in many ways by a person of ordinary skill in the art. Such modified embodiments should not be individually understood from the technical idea or viewpoint of the present invention, but should be included in the claims attached hereto.

110: data DB 120: photographing module
160: Editing module 180: Section module
200: driving module 210:
220: Z-axis swivel 230: X-axis swivel
240: Y-axis swivel 250: Z-axis swivel
260: X-axis driving means 270: Y-axis driving means
300: protective cover 310, 320: first and second cover
330, 340: first and second cover supporting means
400: cover opening / closing means 410: cover opening / closing motor
420: motor shaft 421, 422: first and second female threads
430, 440: first and second screws 431, 441: first and second male threads
450, 460: first and second connecting pieces 451, 461: first and second long holes
470, 480: first and second operating arms 490, 500: first and second connecting pins

Claims (1)

Data of the edited image generated by synthesizing and editing the captured image by the editing module 160, data of the main sections AR1 and AR2, A data DB 110 for respectively storing data of the ground image linked to the sections AR1 and AR2; A photographing module 120 for photographing the ground in a digital format; A driving module 200 for adjusting the photographing direction, the photographing angle, the photographing direction and the photographing angle of the photographing module 120 according to the speed, elevation, acceleration, and horizontal positional change of the aircraft A; The captured image is divided into sections with a constant lattice spacing and the section in which the rectangular possible zone Z is included is classified into data of the main sections AR1 and AR2, A section module 180 for extracting a ground water image for the ground water (B1 to B5) from the corresponding shot image and linking the ground water image to the corresponding main section (AR1, AR2) to generate data; The size and resolution of the ground water image changed in accordance with the change of the altitudes h1, h2 and h3 of the aircraft A are adjusted to the size and resolution at the reference altitude and the captured image and the main sections AR1, And an editing module (160) for searching the data of the corresponding ground image and the data of the corresponding ground image, and for editing the data according to the set process to generate data of the edited image,
The driving module 200 includes a fixing table 210 fixed to the bottom surface of the aircraft A; A Z-axis rotation table 220 disposed below the fixing table 210; An X-axis rotation table 230 disposed below the Z-axis rotation table 220; A Y-axis rotation table 240 disposed below the X-axis rotation table 230; Z-axis driving means (250) for rotating the Z-axis rotation table (220) in the Z-axis direction with respect to the table (210); An X-axis driving means (260) for rotating the X-axis rotation table (230) about the Z-axis rotation table (220) in the X axis; And Y-axis driving means (270) for rotating the Y-axis rotation table (240) in the Y-axis direction with respect to the X-axis rotation table (230)
The fixing table 210 includes a housing main body 211 which is spaced downward from the bottom surface of the aircraft A and whose lower surface is opened, a housing cover 212 which is covered with the lower end opening of the housing main body 211, And a mount 213 fixed to the bottom surface of the aircraft A and having a lower end fixed to the housing body 211,
The Z axis rotation table 220 includes a Z axis rotation table main body 221 formed as a horizontal plate and an X axis synchronizing mounting piece 222 vertically coupled to the lower surface of the Z axis rotation table main body 221,
The X-axis rotation table 230 includes an X-axis rotation table main body 231 formed as a horizontal plate, an X-axis motor shaft coupling piece 232 vertically coupled to the upper surface center of the X-axis rotation table main body 231, And a Y-axis synchronous mounting piece 233 vertically coupled to the lower rear end of the X-axis swivel body 231,
The Y axis rotation table 240 includes a Y axis rotation table main body 241 formed of a disk and a Y axis motor shaft coupling piece 242 vertically coupled to the upper surface center of the Y axis rotation table main body 241,
The Z-axis driving means 250 includes a Z-axis motor 251 vertically mounted on the lower surface of the housing cover 212 and a Z-axis motor 252 disposed on the Z-axis motor 251, And a Z-axis motor shaft 252 coupled to the center of the top surface of the Z-
The Z-axis driving means (250) further includes a Z-axis synchronizer (253) mounted vertically to the lower surface of the housing cover (212)
The Z-axis synchronizer 253 includes a solenoid 254 vertically mounted on the lower surface of the housing lid 212, an actuating rod 255 provided on the solenoid 254, And a braking piece (256) coupled to the upper surface of the Z-axis rotation body main body (221)
The X-axis driving means 260 includes an X-axis motor 261 horizontally mounted on the lower surface of the Z-axis rotation body 221, and an X- And an X-axis motor shaft 262 coupled to the piece 232,
The X-axis driving means 260 further includes X-axis synchronizing means 263 mounted on the X-axis synchronizing mounting piece 222,
The X-axis synchronization unit 263 includes a solenoid 264 mounted horizontally on the right side of the X-axis synchronizing mount piece 222, an operation rod 265 provided on the solenoid 264, And a braking piece (266) coupled to the front end of the X-axis motor shaft coupling piece (232)
The Y-axis driving unit 270 includes a Y-axis motor 271 horizontally mounted on the lower surface of the X-axis rotation body 231 and a Y-axis motor 271 disposed on the Y- A Y-axis motor shaft 272 coupled to the engagement piece 242,
The Y-axis driving means 270 further includes a Y-axis synchronizing 273 mounted on the left side of the Y-axis synchronizing mounting piece 233,
The Y-axis synchronizer 273 includes a solenoid 274 mounted on the left side of the Y-axis synchronizing mounting piece 233 at the right end thereof, a working rod 275 provided in the solenoid 274, And a braking piece (276) coupled to the front end of the Y-axis motor shaft coupling piece (242)
A protective cover 300 for protecting the photographing module 120 and the driving module 200 and a cover opening and closing means 400 for opening and closing the protective cover 300,
The protective cover 300 is disposed on the front and rear sides and includes the Z-axis rotation unit 220, the X-axis rotation unit 230, the Y-axis rotation unit 240, the Z- First and second covers 310 and 320 formed in a semicylindrical shape for covering the front half and the rear half of the football driving means 260, the Y-axis driving means 270 and the photographing module 120, And first and second cover supporting means (330, 340) for rotatably supporting the upper ends of the covers (310, 320) in the forward and backward directions on the front and rear ends of the housing main body (211)
The first and second cover supporting means 330 and 340 include first and second fixed hinge pieces 331 and 341 formed on both front and rear sides of the housing body 211, The first and second movable hinge pieces 332 and 342 and the first and second fixed hinge pieces 331 and 341 and the first and second movable hinge pieces 331 and 341, (333, 343) for hinging the first and second hinge pins (332, 342)
The cover opening / closing means 400 includes a hollow main body 211 having a first and a second internal thread portions 421 and 422 which are horizontally mounted in the front and rear direction inside the housing main body 211, A cover opening and closing motor 410 equipped with a motor shaft 420; And first and second male threaded portions 431 and 441 which are respectively screwed to the first and second female threaded portions 421 and 422. The first and second male threaded portions 431 and 441, (430, 440); The first and second connection pieces 450 and 460, which are respectively coupled to the front end of the first screw 430 and the rear end of the second screw 440 and include first and second elongated first and second long holes 451 and 461, )and; First and second operation arms 470 and 480 protruding from the upper inner circumferential surfaces of the first and second covers 310 and 320; And first and second connection pins (490, 500) fixed to the first and second operation arms (470, 480) and inserted into the first and second long holes (451, 461) The image acquisition type aerial photographing device of the ground blind spot having the automatic adjustment function of the resolution of the shooting altitude.

Images