KR102035045B1 - Image processing system for correcting errors in the image information data - Google Patents

Abstract

The present invention relates to an image processing system capable of error correction of precise image information data and, more specifically, to an image processing system configured to obtain precise image information data and to correct an error by preventing shaking of an observation camera even from an impact such as vibration transmitted from a vehicle while automatically correcting errors in numerical map data when a worker drives a vehicle and moves near a specific building and an input device is operated to allow a pair of observation cameras to capture a specific part of the building at the same time, if a control unit needs to correct the location information of the building by comparing data of captured buildings and numerical map data stored in memory.

Description

Image processing system for correcting errors in the image information data}

The present invention relates to an image processing system capable of correcting errors of precise image information data, wherein a pair of observation cameras operate on an input device while a worker drives a vehicle to move near a specific building. If you want to shoot at the same time, the control unit compares the digital map data stored in the memory of the building and the photographed data, if the location information of the building needs to be corrected, it is possible to automatically correct the error of the digital map data, but it is transmitted from the vehicle The present invention relates to an image processing system configured to prevent the shaking of an observation camera even when an impact such as vibration occurs, thereby enabling accurate acquisition and error correction of image information data.

In general, digital maps are digital data of aerial photographs, and are widely used in GIS, such as vehicle navigation, along with GPS.

On the other hand, when it is necessary to correct the location information of a numerical map such as a new building such as a building or a bridge due to reclamation or reclamation, after surveying the location of the building, the information of the surveyed building is input to the numerical map. To modify the data in the digital map.

However, in order to modify the digital map as described above, a process is very cumbersome, and an apparatus capable of easily modifying the digital map is required.

Thus, the Republic of Korea Patent No. 10-0888721 (name of the invention: a numerical map system capable of self-correction of terrain changes) has been disclosed, the prior patent document can measure the change in the terrain while moving by using a vehicle. A means for correcting error data on a digital map is disclosed.

However, since the observation camera is always exposed to the outside when measuring by using a vehicle, corrosion resistance may be a problem, and it is difficult to obtain accurate image information data due to vibration transmitted from the vehicle during measurement.

The present invention has been made to solve the above-described problems of the prior art, a pair of observation cameras at the same time to shoot a specific part of the building by operating the input device in a state in which the worker is driving to move the vehicle near a specific building In this case, the control unit compares the data of the photographed building with the digital map data stored in the memory and provides an image processing system that can automatically correct errors in the digital map data when the location information of the building needs to be corrected. There is a purpose.

In addition, when the vehicle is moved, the observation camera can be stored and stored inside the vehicle, and accurate image information data can be obtained and error correction can be prevented or minimized by preventing or minimizing the movement of the observation camera even when the observation camera is measured, such as vibrations transmitted from the vehicle. Another object is to provide an image processing system.

Technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description of the present invention. .

The present invention devised to solve the above problems of the prior art, the GPS unit 10 is provided in the vehicle (1) and outputs the coordinate data of the vehicle (1); An azimuth angle measuring device (20) provided in the vehicle (1) to measure the azimuth angle of the vehicle (1); A base 15 provided in the vehicle 1 through the buffer member 15a provided on the lower surface; A support 30 provided in the base 15; A fixed housing 250 which is seated and fitted inside the supporter 30, the buffer member 15a and the base 15 so as not to be separated; A rotation table 40 rotatably installed in the vertical direction on the support 30; A hinge 50 coupled to the pivot table 40 so as to cross and fix the pair of observation cameras 60 to be spaced apart from each other; First and second inclination measuring sensors (70, 80) provided on the rotating table (40) and the horizontal table (50) to measure the tilt of the rotating table (40) and the horizontal table (50); A first drive device 90 connected to the pivot table 40 to rotate the pivot table 40; A second driving device 100 connected to the horizontal bar 50 to rotate the horizontal bar 50; A third driving device 110 connected to the observation camera 60 to rotate the observation camera 60 in a horizontal direction; An angle measuring sensor 120 connected to the observation camera 60 for measuring an angle in a direction toward the observation camera 60; A memory 131 having numerical map data is provided and connected to the first and second tilt measurement sensors 70 and 80, the angle measurement sensor 120, the GPS unit 10, and the azimuth measurement device 20. A control unit (130) for controlling the first to third driving devices (90, 100, 110); An input device 140 which is one of a joystick or a keyboard connected to the control unit 130; A monitor 150 connected to the observation camera 60 to display an image photographed by the observation camera 60; In an image processing system capable of error correction of image information data including a pair of observation cameras 60 installed on the support 30, the fixed housing 250 on which the support 30 and the base 15 are seated. The silver penetrates the upper surface of the vehicle 1 by the lifting rod 520 having the shock absorbing portion 550 and the shake preventing portion 540 so as to be stored in the storage chamber 510 formed inside the vehicle 1. Is installed to be capable of raising and lowering; The shock absorbing portion 550 includes: a shock absorbing rod portion 551 coupled to the lifting rod 520 through the lifting hole formed at the center thereof; A buffer case 552 disposed to surround the buffer rubber part and fixedly coupled to an inner surface of the accommodation chamber 510; And a buffered rubber part 553 having a hollow shape in which an air is injected through the injection hole 554 disposed between the buffer rod part and the buffer case and into which air can be injected. Wherein, the upper end and the lower end of the buffer rod 551, respectively engaging end portion 551b is formed to protrude along the circumference of the buffer rod portion, the upper and lower ends of the buffer rubber portion 553, respectively, the end of the engaging portion A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 may be coupled to the buffer rod portion 551, and the coupling end portion 553a may have a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to wrap the shape, and a reinforcement layer 556 is inserted in the buffer rubber part 553 in contact with the buffer case along its longitudinal direction, and the shake prevention part 540 is A cylindrical shake prevention case 541 having an empty interior coupled to the side of the elevating rod 520; An anti-shake rod 542 mounted to penetrate one side of the anti-shake case to move from side to side; An anti-separation unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from being separated from the anti-shake case; A contact portion 544 coupled to the other end of the anti-shake rod to be in contact with the inner surface of the coordinate case; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the anti-separation part and the inner surface of the anti-shake case to provide an elastic restoring force to the anti-shake rod. Wherein, the separation prevention portion 543 and the contact portion 544 is arranged to be perpendicular to the anti-shake rod 542, the inner surface of the anti-shake case is coupled to the electromagnet portion 547 which is magnetized when current flows The connection plate 548 made of a magnetic material is coupled to one side of the separation prevention part 543 facing the inner surface of the anti-shake case, and 100 parts by weight of perfluoropolyether is attached to the lens surface of the observation camera 60. 10 to 18 parts by weight of perfluoromethyl vinyl ether, 6 to 12 parts by weight of perfluorophosphate, 8 to 14 parts by weight of tetrafluoroethylene, and 5 to 13 parts by weight of fluoroacrylamide, and a surface tension of 28 dyne / cm or less. It has a coating layer having a dynamic friction coefficient of 0.1 or less, and the upper surface of the vehicle (1) of the frequency of 8Khz ~ 13Khz, the frequency of 8Khz ~ 25Khz, the frequency of 15Khz ~ 25Khz and 27Khz ~ 44Khz Equipped with an ultrasonic generator 610 is sequentially repeated in frequency 30 seconds output, and disposed on the upper surface of the vehicle 1, the compressed air charged through the compressor for generating compressed air observation camera is located And a compressed air injector 620 having an air nozzle arranged to be sprayed in a direction and a variable air valve capable of controlling the flow of compressed air injected through the air nozzle and varying the amount of opening. An image processing system capable of correcting error of precise image information data is provided.

According to the image processing system capable of correcting errors of the precise image information data of the present invention, it is possible to automatically measure the position of a newly constructed building, etc. according to the terrain change, and to correct the error of the image information data, thereby ensuring the accuracy of information. It is effective.

In addition, according to the present invention, the observation camera can be stored and stored inside the vehicle when the vehicle is moved, thereby ensuring corrosion resistance of the observation device, and the vibration of the observation camera is prevented even when the observation camera is measured by shocks such as vibrations transmitted from the vehicle. By preventing or minimizing, it is possible to obtain accurate image information data and to correct errors.

In addition, according to the present invention, by providing a coating layer of a slippery material on the lens of the observation camera disposed on the upper surface of the vehicle, by periodically oscillating ultrasonic waves of the frequency disliked by pests, periodically by spraying compressed air toward the observation camera, By preventing the desorption of pollutants such as pests and dust in the external environment, accurate image information data can be obtained.

1 is a side cross-sectional view of an image processing system capable of error correction of precise image information data according to the present invention.
2 is a rear view of an image processing system capable of error correction of precise image information data according to the present invention;
3 is a plan view of an image processing system capable of error correction of precise image information data according to the present invention;
4 is a block diagram of an image processing system capable of error correction of precise image information data according to the present invention.
5 is an exemplary view showing a state of measurement using the observation camera of the image processing system capable of error correction of the precise image information data according to the present invention.
6 is an exemplary view showing a state in which an image processing system capable of error correction of precise image information data is lifted from a storage chamber of a vehicle according to the present invention.
Figure 7 is a detailed cross-sectional view of the anti-shake unit provided in the image processing system capable of error correction of the precise image information data according to the present invention.
8 is a detailed cross-sectional view of a buffer unit included in an image processing system capable of error correction of precise image information data according to the present invention.
9 is an exemplary view of an angle measuring sensor for explaining the application of the micro-vibration correction algorithm included in the image processing system capable of error correction of the precise image information data according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The present invention utilizes the configuration of the prior patent document Republic of Korea Patent No. 10-0888721 (name of the invention: digital map system capable of self-error correction for terrain changes) as it is. Therefore, the features and operation relations of the system configuration described below will be cited as the contents of the registered Patent No. 0888721, but will be described in detail later the configuration related to the main features of the present invention.

As shown in Figures 1 to 5, the present invention is provided with a GPS unit 10 for outputting the coordinate data of the vehicle (1); An azimuth angle measuring device (20) provided in the vehicle (1) to measure the azimuth angle of the vehicle (1); A base 15 fixed to the vehicle 1 through a buffer member 15a provided at a lower surface thereof; A support 30 provided in the base 15; A fixed housing 250 which is seated and fitted inside the supporter 30, the buffer member 15a and the base 15 so as not to be separated; A rotation table 40 rotatably installed in the vertical direction on the support 30; A horizontal bar (50) hinged to intersect the pivot table (40); A pair of observation cameras 60 rotatably mounted on the horizontal bar 50 so as to be spaced apart from each other; First and second inclination measuring sensors (70, 80) provided on the rotating table (40) and the horizontal table (50) to measure the tilt of the rotating table (40) and the horizontal table (50); A first drive device 90 connected to the pivot table 40 to rotate the pivot table 40; A second driving device 100 connected to the horizontal bar 50 to rotate the horizontal bar 50; A third driving device 110 connected to the observation camera 60 to rotate the observation camera 60 in a horizontal direction; An angle measuring sensor 120 connected to the observation camera 60 for measuring an angle in a direction toward the observation camera 60; The first and second tilt measuring sensors 70 and 80, the angle measuring sensor 120, the GPS unit 10, and the azimuth measuring device 20 are connected to the first and third driving devices 90, 100 and 110. A control unit 130 for controlling; An input device 140 connected to the control unit 130; The monitor 150 is connected to the observation camera 60 to display an image captured by the observation camera 60.

The GPS unit 10 is integrally provided in the vehicle 1 and outputs coordinate data of the vehicle 1, thereby indirectly measuring and outputting current coordinate data of the observation camera 60.

The azimuth measuring device 20 is integrally provided in the vehicle 1 so as to measure the orientation of the vehicle 1, so that the azimuth facing the observation camera 60 can be indirectly measured. In this case, the bearing means an angle in a direction toward which the front of the vehicle 1 faces with respect to the north direction.

The base 15 is composed of a rectangular metal plate, it is configured to support the load of the support (30). In addition, the cushioning member 15a of the lower surface of the base 15 is made of a rubber material, and is disposed to support a lower corner portion of the base 15, and both ends thereof are a roof surface of the vehicle 1 and the base 15. It is fixed to the lower surface of the, respectively, to absorb the shock generated during the driving of the vehicle 1, to prevent damage to the first to third drive device (90, 100, 110) including the observation camera 60 by the impact.

The support 30 is formed in a rod shape vertically long, is fixed to the upper surface of the base (15).

The pivot 40 is installed so that the hinge shaft 41 provided in the horizontal direction at the proximal end is rotatably coupled to an intermediate portion of the support 30 to extend toward the rear of the support 30.

The horizontal stage 50 is connected to the support shaft 42 provided in the front end of the pivot 40, the intermediate portion is rotatably connected to the pivot 40 and the T-shape, the support shaft 42 Both ends are installed to rotate in the vertical direction.

The observation camera 60 is configured to automatically adjust the focus, and is provided with a telephoto lens, the lower portion is provided with a rotating shaft 61 in the vertical direction can be rotated in the left and right directions on both sides of the horizontal bar 50 Is installed.

As a unique configuration of the present invention, on the lens surface of the observation camera 60, 10 to 18 parts by weight of perfluoromethylvinyl ether, 6 to 12 parts by weight of perfluorophosphate, and tetrafluoroethylene based on 100 parts by weight of perfluoropolyether. 8 to 14 parts by weight and 5 to 13 parts by weight of fluoroacrylamide, and has a coating layer having a surface tension of 28 dyne / cm or less and a dynamic friction coefficient of 0.1 or less.

The coating layer of the lens of the observation camera 60 is preferably applied to a thickness of 20 to 40nm, it is difficult to perform the protective function of the lens itself when the coating layer is applied to a thickness of less than 20nm, the coating layer to a thickness of more than 40nm This is because the light transmittance deteriorates when applied.

In addition, the coating layer is formed of a material having a surface tension of 28 dyne / cm or less and a dynamic friction coefficient of 0.1 or less, by forming a coating layer of the lens with a material having a low surface tension and high slip, Not only can the contamination be prevented, but the light transmission rate can be improved.

Therefore, the lens of the observation camera 60 is a material having a low surface tension and a high slip, and as a coating layer is provided, the foreign material is not easily attached to the lens while protecting the lens from the external environment, and the light transmittance is increased. There is an advantage in that more accurate image data can be obtained.

The first tilt measurement sensor 70 and the second tilt measurement sensor 80 use a general tilt sensor, and the first tilt measurement sensor 70 is provided on the pivot table 40 and the second tilt measurement The sensor 80 is provided on the horizontal stage 50, respectively, and measures the angle of inclination of the rotary stage 40 and the horizontal stage 50 with respect to the horizontal plane, and outputs the measured tilt data.

The first drive device 90 is provided with a drive shaft 91 that is rotated by a drive motor (not shown), the drive shaft 91 is a hinge shaft 41 of the pivot table 40 in a state fixed to the support 30 Is connected to), it is configured to adjust the tilt of the rotating table 40 by rotating the drive shaft with a drive motor.

The second drive device 100 is provided with a drive shaft 101 is rotated by a drive motor (not shown), the drive shaft 101 in the state fixed to the horizontal stage 50, the support shaft of the pivot 40 Is connected to 42, is configured to adjust the inclination of the horizontal stage 50 by rotating the drive shaft with a drive motor.

The third drive device 110 is provided with a drive shaft 111 is rotated by a drive motor (not shown), the drive shaft 111 is a rotation shaft 61 of the observation camera 60 in a state fixed to the horizontal stage (50). Is connected to the), by rotating the rotary shaft 61 with a drive motor to rotate the observation camera 60 in the left and right directions, it is configured to adjust the direction of the observation camera (60). In this case, the third driving device 110 is connected to each observation camera 60, respectively, and is configured to separately adjust the direction of each observation camera 60.

The angle measuring sensor 120 is respectively coupled to the rotation axis 61 of each observation camera 60, each observation camera relative to the angle of each observation camera 60, that is, the front direction of the horizontal stage 50 It measures and outputs the angle (theta) 1 and (theta) 2 of the direction which (60) faces.

The control unit 130 includes a memory 131 loaded with numerical map data, a horizontal control unit 132 for controlling the pivot table 40 and the horizontal table 50 to maintain a horizontal state, and the observation camera ( A direction control unit 133 for adjusting the direction of the 60 and the angle sensor 120 is connected to calculate the angle of the observation camera 60 to calculate the relative position of the building (2) that the camera is shooting Receives data output from the relative position calculator 134, the GPS unit 10, the azimuth measurement device 20, and the relative position calculator 134, and compares and analyzes the numerical map data mounted in the memory 131. A comparison decision unit 135 for modifying the map data is provided.

The horizontal control unit 132 receives the output signals of the first and second inclination measuring sensors 70 and 80, monitors the inclination of the pivot table 40 and the horizontal bench 50, and When the horizontal stage 50 is inclined with respect to the horizontal, the first and second driving devices 90 and 100 are controlled to control the rotating stage 40 and the horizontal stage 50 to maintain a horizontal state.

When the operator inputs a control signal through the input device 140, the direction controller 133 controls the third driving device 110 to control the direction of the observation camera 60 according to the control signal. Function to adjust.

At this time, the operator manipulates the direction of each observation camera 60 separately, and controls each observation camera 60 to photograph the same part of the building (2).

The relative position calculation unit 134 is connected to the angle measurement sensor 120 connected to each observation camera 60 and receives and calculates the angle data output from the angle measurement sensor 120. Since the interval is known in advance, as shown in FIG. 5, when the angle of the observation camera 60 is adjusted to photograph the same point of the building 2, the relative position calculation unit 134 is operated by the angle measuring sensor 120. By receiving the output angle data (θ1, θ2) and using triangulation method, the relative position between the building (2) and the observation camera (60) that each observation camera (60) is photographing at the same time can be measured and output. Can be.

The comparison determination unit 135 includes coordinate data of the vehicle 1 output from the GPS unit 10, azimuth data output from the azimuth measurement device 20, and a relative output from the relative position calculator 134. The position data is calculated to measure the coordinates of the building 2 simultaneously photographed by a pair of observation cameras 60 based on the position of the vehicle 1, and the coordinates and the numerical map of the surveyed building 2. Compare and analyze data and correct errors in digital map data.

Referring to the function of measuring the coordinates of the building 2 of the comparison determination unit 135 in detail, as shown in Figure 5, the operator using the input device 140, the observation camera 60 By controlling the two observation cameras 60 to simultaneously photograph the right corner of the target building 2, when the operation command is input, the comparison determination unit 135 is the GPS unit 10 and the azimuth measuring device Coordinate data and azimuth data of the vehicle 1 output from 20 are received.

At this time, since the support 30, the pivot 40, and the horizontal 50 are fixed to the vehicle 1, the coordinates and azimuth data of the vehicle 1 are calculated and provided to the horizontal 50. The coordinates and azimuths of the observed cameras 60 can be known.

In addition, the comparison determination unit 135 measures the coordinates and azimuth data of the observation camera 60 measured in this way, and the relationship between each observation camera 60 output from the relative position calculation unit 134 and the right corner of the building 2. By calculating the position data, the coordinates of the right corner of the building 2 can be surveyed.

In addition, it is also possible to measure the total width and area of the building 2 by repeating this process and measuring the coordinates of each corner portion of the building 2.

When the function of correcting the numerical map data error of the comparison determination unit 135 is described in detail, the comparison determination unit 135 substitutes the coordinate data of the building 2 surveyed through the above-described process into the numerical map data. The search results are confirmed to confirm the abnormality of the digital map data. That is, the digital map data is searched for, and the data of the building 2 is not input or the coordinates of the building 2 on the numerical map data and the coordinates of the building 2 surveyed through the above-described process are If it does not match, it is determined that there is an error in the numerical map data, and the correction is automatically performed by inputting the coordinate data of the building 2 into the numerical map or re-entering the coordinates of the building 2.

In this case, the operator may additionally input other data such as the name of the building 2 using the input device 140.

The input device 140 includes a joystick for adjusting the angle of the camera and a keyboard for inputting other data.

The monitor 150 is configured to simultaneously display an image photographed by each observation camera 60 and digital map data by using a screen division method. Therefore, the operator can visually check the image displayed on the monitor 150, and control each observation camera 60 to accurately photograph the same point of the building (2).

Therefore, the operator stops the vehicle 1 around the building 2 to be observed, and then turns on the control unit 130, the horizontal control unit 132 is the first and second inclination measuring sensor In response to the signals of 70 and 80, the first and second drive units 90 and 100 are controlled to maintain the horizontal stage 40 and the horizontal stage 50 in a horizontal state, and the operator inputs the input unit 140. Observation cameras such that the observation camera 60 accurately captures specific spots easily identified by the naked eye, such as the same point, that is, the same window, door, or corner, of the building 2 using After adjusting the direction of 60, when a control command is input to the control unit 130 using the input device 140, the control unit 130 has a function of surveying the coordinates of the building 2, and Coordinate and numerical map data of building 2 are compared and corrected.

In the present embodiment, an example of correcting an error in the numerical map data for the building 2 is illustrated. However, if necessary, it may be used to correct an error in the numerical map data relating to a road or other civil engineering structure.

Numerical map system capable of self-correction of terrain changes configured as described above allows the operator to adjust the observation camera 60 to photograph one point of the building 2, and then input a control command to the building (2). By checking the numerical map data for the automatic correction of numerical map data errors, it is very convenient to use and has the exact advantages.

In addition, since the operator can adjust the direction of the observation camera 60 while visually checking the image taken by the observation camera 60 and displayed on the monitor 150, there is an advantage that the reliability is very high.

The shock absorbing member 15a is provided below the base 15 to absorb the shock generated when the vehicle 1 is moved, thereby driving the first to third drives including the observation camera 60 by the shock. There is an advantage to prevent damage to the device (90, 100, 110).

In addition, the operator stops the vehicle 1 around the building 2 to be observed, and then turns on the control unit 130, the horizontal control unit 132 is the first and second tilt measuring sensor 70, In response to the signal of 80, the first and second driving devices 90 and 100 are controlled to maintain the horizontal stage 40 and the horizontal stage 50 so that the vehicle 1 inclines according to the ground state. Even if the quality level 50 is always maintained in a horizontal state, there is an advantage that can be measured accurately.

9 is an exemplary view of an angle measuring sensor for explaining the application of the micro-vibration correction algorithm included in the image processing system capable of error correction of the precise image information data according to the present invention.

On the other hand, as a unique configuration of the present invention, a distance sensor (not shown) for sensing the distance information between the observation camera 60 and the measurement object and disposed inside or outside the observation camera 60; An angle measuring sensor 120 for sensing rotation angle information based on the position of the observation camera 60; And a relative position calculator 134 that calculates three-dimensional coordinates or reference coordinates of the measurement object based on the distance information and rotation angle information.

The relative position calculator 134 calculates a three-dimensional coordinate or a reference coordinate of the measurement object by using a micro-vibration correction algorithm for correcting an error caused by the vibration of the measuring device or the measuring device.

The relative position calculator 134 may include an auxiliary delay unit including a position and angle correction algorithm, a delay circuit, and a low pass filter (LPF) for measuring the attitude angle of the measurement object. A nonlinear correction algorithm for correcting the nonlinear change in frequency may be further provided.

The driving method of the fine vibration correction algorithm is as follows.

The conventional displacement measuring device is a method of measuring by using a support such as a pedestal, there is no dimensional error due to fine vibration can receive accurate data. However, due to the vibration transmitted from the vehicle while the vehicle is turned on as in the present invention, the observation camera makes it difficult to receive accurate position data due to an error caused by fine shaking.

Accordingly, the present invention can apply the following micro-vibration correction algorithm to compensate for the error of the position data generated by the micro-vibration caused by external factors. The micro-vibration correction algorithm uses a method of creating and rotating four hinge points.

9 is an exemplary view for explaining the application of the micro-vibration correction algorithm according to an embodiment of the present invention, coil1 and coil3 are used for pitching driving (coil1 + coil3 = pitching driving), coil2 And coil4 are used for yawing driving (coil2 + coil4 = Yawing driving). In other words, by using the mechanism to maximize the micro-vibration correction effect by rotating the entire angle measuring sensor 120 to the pitch, yaw corresponding angle, the actuator momentum and sensitivity is Equation 1

6 is an exemplary view illustrating a state in which an image processing system capable of correcting error of precise image information data is lifted from a storage chamber of a vehicle.

In the state based on this configuration, the present invention, as shown in Figure 6, the support 30 is raised to the upper portion of the vehicle 1 to be accommodated to enable safe storage while allowing the entire support 30 in the vertical direction In addition to being able to move up and down, the vibration transmitted from the inside and outside of the vehicle can be attenuated to function more smoothly and accurately.

In this case, although not shown, a separate cover may be provided to cover the top surface of the vehicle 1 that is opened when the observation camera 60 and the like are completely stored, thereby protecting various surveying instruments of the present invention and its accessory configurations.

The fixed housing 250 is seated and fitted therein so as not to be detached from the support 30, the buffer member 15a, and the base 15 supporting the observation camera 60. The fixed housing 250 on which the support 30 and the base 15 are seated penetrates the upper surface of the vehicle 1 by a lifting rod 520 having a buffer part 550 and an anti-shake part 540. It is installed so as to be raised and lowered to be accommodated in the storage chamber 510 formed inside the vehicle (1).

That is, the fixed housing 250 is coupled to the lifting rod 520 to move up and down in the same direction as the moving direction of the lifting rod 520 by the driving of the lifting motor 530. When the fixed housing 250 protrudes above the upper surface of the vehicle, the observation camera 60 is naturally exposed to the outside of the vehicle, and the observation camera 60 can be measured when the elevating rod 520 stops driving.

The lifting rod 520 has an anti-shake unit 540 and a buffer unit 550 on its outer circumferential surface, and the lifting rod 520 has a smaller diameter than that of the storage space of the storage chamber 510. Since a space is formed between the inner surface of the chamber 510 and the outer circumferential surface of the elevating rod 52, only the elevating rod 520 alone lacks support and vibration attenuation of the fixed housing 250 mounted with the observation equipment. Actions and functions of the anti-shake unit 540 and the buffer unit 550 will be described later.

7 is a detailed cross-sectional view of an anti-shake unit provided in an image processing system capable of correcting errors of precise image information data according to the present invention.

Referring to FIG. 7, the shake preventing part 540 includes a shake preventing case 541, a shake preventing rod 542, a breakaway preventing part 543, a contact part 544, a friction part 545, and a shake preventing spring ( 546).

The anti-shake case 541 is coupled to the side of the lifting rod 520 is formed in a hollow cylindrical shape. In the illustrated embodiment, the shake preventing case 541 is represented as being coupled to the lifting rod 520, but is not limited to this, it can be mounted in various numbers according to the needs of the invention.

The anti-shake rod 542 is coupled to move from side to side through the through hole formed in one side of the anti-shake case 541. At one end of the anti-shake rod 542, the anti-shake rod 542 is prevented from being separated from the anti-shake case 541, the separation prevention portion 543 is coupled, the other end of the anti-shake rod 542 A contact portion 544 that may contact the inner surface of the receiving chamber 510 is coupled.

The release preventing part 543 and the contact part 544 are disposed to be perpendicular to the anti-shake rod 542 and disposed to face each other. That is, the anti-shake rod 542, the separation prevention portion 543 and the contact portion 544 is disposed in the overall 'H' shape.

A friction part 545 is coupled to one surface of the contact part 544 to increase a friction force with an inner surface of the accommodation chamber 510. In particular, the friction part 545 may be formed in a form in which a plurality of hemispherical protrusions are associated with each other to further increase the friction force.

In other words, the general straight friction part is poor in contact due to the shape of the inside of the case, so that a sufficient friction force cannot be obtained, whereas a large number of hemispherical friction parts 545 according to the present invention can be brought into contact with any part in any situation. It is configured to obtain frictional force.

More specifically, the friction part 545 may include a mixture of 5 to 7 parts by weight of aramid fiber, 4 to 5 parts by weight of polyimide fiber, and 20 to 30 parts by weight of calcined lime and aluminum oxide abrasive, based on 100 parts by weight of epoxy resin. It may be configured to include 30 parts by weight.

The friction part 545 configured as described above may achieve the effect of being in contact with the inner surface of the receiving chamber 510 and preventing the lifting rod 520 from moving at a designated position. The friction part 545 may be provided with abrasion resistance of the contact part 544. Can be.

Here, the epoxy resin constituting the friction part 545 means a resin material having two or more epoxy groups in a molecule and a thermosetting resin produced by polymerization of an epoxy group, and has excellent mechanical properties and great adhesion in terms of material when cured. There are characteristics.

The arimid fiber and the polyimide fiber serve as a reinforcing material of the epoxy resin, and serve to increase friction by forming irregular protrusions on the surface of the friction part 545. When the aramid fiber is less than 5 parts by weight, the polyimide fiber is less than 4 parts by weight, the reinforcement function and the frictional force increasing function is insignificant, and if the aramid fiber is more than 7 parts by weight and the polyimide fiber is more than 5 parts by weight, the function is greatly affected. It does not reach the price competitive cause.

The slaked lime serves as a filler and is configured to determine the overall cushioning effect of the friction portion 545. If the slaked lime is less than 20 parts by weight, the friction part is excessively hardened and hardly adhered to the surface. If the slaked lime is more than 30 parts by weight, the friction part is too soft and can easily fall.

The aluminum oxide abrasive is a structure for additionally providing roughness to the friction portion 545, and the aluminum oxide abrasive is less than 20 parts by weight, the roughness effect is insignificant, if the aluminum oxide abrasive is more than 30 parts by weight, the friction portion is too rough Can damage other components.

The anti-shake spring 546 is disposed between the release preventing part 543 and the inner surface of the anti-shake case 541 to provide an elastic restoring force to the anti-shake rod 542. That is, when there is basically no external force, the separation prevention part 543 acts to move to the inside of the anti-shake case 541 by the anti-shake spring 546.

On the other hand, the inner surface of the anti-shake case 541 is coupled to the electromagnet portion 547 which is magnetized when a current flows, and on one side of the anti-separation portion 543 facing the inner side of the anti-shake case 541. The connecting plate 548 made of magnetic material is bonded.

The electromagnet portion 547 is configured to be electrically connected to the battery of the vehicle. When a current flows in the electromagnet portion 547, the electromagnet portion 547 and the connecting plate 548 contact with each other, and the electromagnet portion 547 contacts the current. If it does not flow, the electromagnet portion 547 and the connecting plate 548 is configured to be spaced apart.

In other words, when the current does not flow in the electromagnet portion 547, the anti-shake spring 546 is pulled, and thus the contact portion 544 and the friction portion 545 are kept in the maximum inserted state, and thus the anti-shake portion 340. Since the whole is separated from the inner side surface of the storage chamber 510, the vertical movement of the lifting rod 520 is not affected.

On the contrary, when the current flows through the electromagnet portion 547, the elastic restoring force of the anti-shake spring 546 is overcome by the electromagnet portion 547 and the connecting plate 548, and the contact portion 544 and the friction portion 545 are accommodated. Since the inner surface of the chamber 510 is in contact with, the lifting rod 520 may be fixed without moving.

That is, in the present invention, during the vertical movement of the elevating rod 520 is operated so that no current flows to the electromagnet portion 547 of the anti-shake unit 540, the shake when the movement of the elevating rod 520 is stopped The electric current flows through the electromagnet portion 547 of the prevention portion 540 so that the friction portion 545 of the anti-shake portion adheres to the inner surface of the storage chamber 510, thereby not only attenuating the vibration transmitted from the vehicle, but also observing it. It may function to facilitate stationary support of the support 30 supporting the camera 60.

8 is a detailed cross-sectional view of a buffer unit included in an image processing system capable of correcting errors of precise image information data according to the present invention.

Referring to FIG. 8, the shock absorbing portion 550 is disposed to surround the shock absorbing rod portion 551, the shock absorbing rubber portion, which is coupled to allow the lifting rod 520 to penetrate through a lifting hole formed at the center thereof, and contains a receiving chamber. A buffer case 552 fixedly coupled to the inner side of the 510 and disposed between the buffer rod part and the buffer case, and the inside into which air can be injected through the injection hole 554 mounted on one side of the buffer rod part is empty. And a cushioning rubber part 553 in the form of a ring.

The buffer rod portion 551 and the buffer case 552 are both formed in a hollow cylindrical shape, therebetween are connected to each other by a buffer rubber portion 553. That is, the buffer rubber part 553 is disposed in the shape of a donut with an empty space surrounding the buffer rod part 551.

The rigidity of the buffer rubber part 553 may be adjusted by adjusting the amount of air filled in the buffer rubber part 553 through the injection hole 554. In other words, the present invention is to adjust the stiffness in consideration of the size and type of the lifting rod and the receiving chamber, the external environment, etc. to prevent the vibration is effectively transmitted without affecting the vertical movement of the lifting rod 520. Can be.

A locking end portion 551b may protrude along the circumference of the buffer rod portion 551 at the upper end and the lower end of the buffer rod portion 551, respectively. The locking end portion 551b extends outwardly of the buffer rod portion 551, and then is formed to extend perpendicularly in the longitudinal direction of the buffer rod portion 551.

Coupling end 553a corresponding to the shape of the locking end 551b is formed at both ends of the upper end and the lower end of the cushioning rubber part 553 so that the buffering rubber part 553 may be coupled to the buffering rod part 551. To help.

The locking end portion 551b and the coupling end portion 553a prevent the cushioning rubber portion 553 from releasing from the buffering rod portion 551 when the air pressure inside the buffering rubber portion 553 decreases, and at the same time, the buffering rubber portion When the air pressure inside the filter 553 is too high, the buffer rubber part 553 is prevented from being thrown out of the buffer rod part 551.

A circular rope 555 may be inserted into the coupling end portion 553a disposed at both ends of the buffer rubber part 553 so as to be wrapped in a ring shape along the circumference of the buffer rod part 551.

The rope 555 strongly compresses the coupling end portion 553a of both ends of the buffer rubber part 553 to the buffer rod part 551 to increase the sealing force of the air injected into the buffer rubber part 553. .

In addition, the reinforcing layer 556 is preferably inserted into the buffer rubber part 553 in contact with the buffer case 552 along its longitudinal direction. The reinforcing layer 556 is made of a material of a hardness that is relatively higher than the hardness of the buffer rubber portion 553 serves to prevent the buffer rubber portion 553 from being damaged.

The reinforcing layer 556 may be formed in a manner in which a layer layer of any one of acetate, acryl, vinylon, and gold and silver yarns and the iron wire is reinforced on the fabric, and a thin elastic layer is added thereon to be bonded thereto.

On the other hand, as a unique feature of the present invention, the frequency of 8Khz ~ 13Khz, the frequency of 8Khz ~ 25Khz, the frequency of 15Khz ~ 25Khz and the frequency of 27Khz ~ 44Khz on the upper surface of the vehicle (1) is repeated in sequence of 30 seconds The output ultrasonic generator 610 may be mounted.

The ultrasonic generator 610 may be driven on-off by the control unit 130, the frequency of 8Khz ~ 13Khz, the frequency of 8Khz ~ 25Khz, the frequency of 15Khz ~ 25Khz and the frequency of 27Khz ~ 44Khz in units of 30 seconds It may be repeatedly outputted in sequence, however, the above frequencies may be randomly output in a range of 10 seconds to 60 seconds according to the season and the day and night.

In the present invention, the frequency of 8Khz ~ 13Khz is effective to prevent the access of crawling pests, the frequency of 8Khz ~ 25Khz is effective for preventing the access of summer pests, such as mosquitoes, the frequency of 15Khz ~ 25Khz of the cockroach Effective for preventing the access of pests, the frequency of 27Khz ~ 44Khz can be said to be useful for the prevention of access to small kinds of pests.

As described above, in the present invention, the ultrasonic generator 610 is provided to sequentially or randomly output frequencies having different frequency bands, thereby preventing various pests or insects from approaching the observation camera 60 to the lens surface. In addition to preventing adhesion, it helps to acquire accurate image data.

On the other hand, the present invention is disposed on the upper surface of the vehicle 1, the air nozzle which is arranged to be sprayed in the direction in which the observation camera is located, the compressed air charged through the compressor for generating compressed air, and the air nozzle It may be provided with a compressed air injector 620 having a variable air valve that can control the flow of compressed air is injected through the variable opening degree.

By periodically or randomly spraying compressed air in the direction in which the observation camera 60 is disposed through the compressed air injector 620, it is easy to remove dust, moisture, and other contaminants attached to the observation camera 60. And it performs a function to prevent the access of pests to enable more accurate image data acquisition.

According to the present invention, 5-10% by weight of Cinnamomum sieboldii extract, 5-10% by weight of Agastache rugosa extract, 40-60% by weight aqueous cyclodextrin solution, on the housing surface of the observation camera 60, if necessary, 20-30% by weight of Cinnamomum camphora extract, 5-10% by weight of Kaempferiagalanga extract, 1-3% by weight of Angelica dahurica extract, 1-2% by weight of Cnidium officinale extract The coating liquid can be applied.

The cyclodextrin aqueous solution is used to increase the water solubility of the pest control solution, the stability and sustainability, the eclampsia, gugyang, broiler, Sanjaja, white paper, cheongung extract is an extract extracted from plants as well as storage pests, sanitary pests, It also has a repellent or insecticidal effect on dry pests. That is, in addition to mosquitoes, there is an effect that can prevent the access of various pests, such as flies, mites, scorpions, centipedes, spiders.

As such, the present invention not only includes an ultrasonic generator 610 and a compressed air sprayer 620 on the upper surface of the vehicle, but also includes a pest preventing coating solution in the housing of the observation camera 60 to prevent pest access and removal of contaminants. It can be maximized.

In addition, the present invention can be stored by storing the observation camera inside the vehicle during the movement of the vehicle to ensure the corrosion resistance of the various observation-related equipment, the lifting rod 520 in the impact, such as vibrations transmitted from the vehicle when measuring the observation camera Due to the functions of the anti-shake unit 540 and the buffer unit 550 attached thereto, there is an advantage that accurate image information data can be obtained and error correction can be prevented or minimized by preventing the shake of the observation camera.

The present invention has been described above in connection with specific embodiments of the present invention, but this is only an example and the present invention is not limited thereto. Those skilled in the art can change or modify the described embodiments without departing from the scope of the present invention, and within the equivalent scope of the technical spirit of the present invention and the claims to be described below. Various modifications and variations are possible.

10: GPS unit 15: base
20: azimuth measuring device 30: support
40: rotating table 50: horizontal table
60: observation camera 130: control unit
140: input device 150: monitor
250: fixed housing 510: storage chamber
520: lifting rod 530: lifting motor
540: buffer portion 540: anti-shake portion
610: ultrasonic generator 620: compressed air jet

Claims (1)

A GPS unit 10 provided in the vehicle 1 and outputting coordinate data of the vehicle 1; An azimuth angle measuring device (20) provided in the vehicle (1) to measure the azimuth angle of the vehicle (1); A base 15 provided in the vehicle 1 through the buffer member 15a provided on the lower surface; A support 30 provided in the base 15; A fixed housing 250 which is seated and fitted inside the supporter 30, the buffer member 15a and the base 15 so as not to be separated; A rotation table 40 rotatably installed in the vertical direction on the support 30; A hinge 50 coupled to the pivot table 40 so as to cross and fix the pair of observation cameras 60 to be spaced apart from each other; First and second inclination measuring sensors (70, 80) provided on the rotating table (40) and the horizontal table (50) to measure the tilt of the rotating table (40) and the horizontal table (50); A first drive device 90 connected to the pivot table 40 to rotate the pivot table 40; A second driving device 100 connected to the horizontal bar 50 to rotate the horizontal bar 50; A third driving device 110 connected to the observation camera 60 to rotate the observation camera 60 in a horizontal direction; An angle measuring sensor 120 connected to the observation camera 60 for measuring an angle in a direction toward the observation camera 60; A memory 131 having numerical map data is provided and connected to the first and second tilt measurement sensors 70 and 80, the angle measurement sensor 120, the GPS unit 10, and the azimuth measurement device 20. A control unit (130) for controlling the first to third driving devices (90, 100, 110); An input device 140 which is one of a joystick or a keyboard connected to the control unit 130; A monitor 150 connected to the observation camera 60 to display an image photographed by the observation camera 60; In the image processing system capable of error correction of the image information data including a pair of observation cameras 60 provided on the support 30,
The fixed housing 250 on which the support 30 and the base 15 are seated penetrates the upper surface of the vehicle 1 by a lifting rod 520 having a buffer part 550 and an anti-shake part 540. It is installed so as to be raised and lowered so that it can be stored in the storage chamber 510 formed inside the vehicle (1);
The shock absorbing portion 550 includes: a shock absorbing rod portion 551 coupled to the lifting rod 520 through the lifting hole formed at the center thereof; A buffer case 552 disposed to surround the buffer rubber part and fixedly coupled to an inner surface of the accommodation chamber 510; And a ring-shaped buffer rubber part 553 disposed between the buffer rod part and the shock absorbing case and having an empty hollow inside through which the air can be injected through the injection hole 554 mounted on one side of the buffer rod part. Wherein, the upper end and the lower end of the buffer rod 551, respectively, the locking end portion 551b is formed to protrude along the circumference of the buffer rod portion, the upper and lower ends of the buffer rubber portion 553, respectively, the engaging end portion A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 may be coupled to the buffer rod portion 551, and the coupling end portion 553a may have a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to wrap the shape, and a reinforcement layer 556 is inserted in the buffer rubber part 553 in contact with the buffer case along its length direction.
The anti-shake unit 540 includes a cylindrical anti-shake case 541 having an empty interior coupled to the side of the elevating rod 520; An anti-shake rod 542 mounted to penetrate one side of the anti-shake case to move from side to side; An anti-separation unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from being separated from the anti-shake case; A contact portion 544 coupled to the other end of the anti-shake rod to be in contact with the inner surface of the coordinate case; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the anti-separation part and the inner surface of the anti-shake case to provide an elastic restoring force to the anti-shake rod. Wherein, the separation prevention portion 543 and the contact portion 544 is arranged to be perpendicular to the anti-shake rod 542, the inner surface of the anti-shake case is coupled to the electromagnet portion 547 which is magnetized when current flows The connection plate 548 made of a magnetic material is coupled to one side of the separation prevention part 543 facing the inner surface of the anti-shake case.
On the lens surface of the observation camera 60, 10 to 18 parts by weight of perfluoromethylvinyl ether, 6 to 12 parts by weight of perfluorophosphate, 8 to 14 parts by weight of tetrafluoroethylene, and fluorine based on 100 parts by weight of perfluoropolyether 5 to 13 parts by weight of acrylamide, having a surface tension of 28 dyne / cm or less and having a coating layer having a dynamic friction coefficient of 0.1 or less,
On the upper surface of the vehicle (1) is equipped with an ultrasonic generator 610, which is sequentially output in the frequency of 8KHz ~ 13Khz, the frequency of 8KHz ~ 25Khz, the frequency of 15KHz ~ 25Khz and the frequency of 27KHz ~ 44Khz in 30 seconds unit ,
An air nozzle disposed on an upper surface of the vehicle 1 and arranged to be capable of spraying compressed air charged through a compressor for generating compressed air in a direction in which the observation camera is located, and compressed air injected through the air nozzle; An image processing system capable of correcting error of precise image information data, characterized in that it is equipped with a compressed air injector 620 having a variable air valve capable of controlling the flow but varying the opening amount.

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