KR102074710B1 - Image processing system having function of real time correction to distortion image - Google Patents

Abstract

The present invention relates to an image processing system capable of quickly correcting image distortion and, more specifically, to an image processing system which, during field terrain survey for correcting a map image, generates distortion portion correction data including an image of a terrain feature and survey value information of surrounding terrain features for distortion portion correction; precisely measures the terrain feature with a camera and a laser device to precisely correct distortion of the map image; always makes a distance from the terrain feature, which is an object to be measured, to the upper and lower transmission/reception units of a survey unit equal to a distance from the terrain feature to the camera to acquire a precise distance and a video image; and prevents movement of the camera even if shock such as vibration is transferred from a vehicle to acquire precise image information data and realize precise distortion correction. Moreover, an objective of the present invention is to provide an image processing system capable of preventing or minimizing fine movement of the camera and a transceiver even if shock is generated such as vibration transferred from a vehicle during measurement of the camera while the vehicle is moved, thereby minimizing generation of a distorted image while acquiring precise image information data. According to the present invention, the image processing system comprises a map image generation and distorted portion display device and a terrain feature measurement device.

Description

Image processing system having function of real time correction to distortion image

The present invention relates to an image processing system capable of quickly correcting image distortion. The present invention relates to a distortion correction data including an image of a feature for correcting distortion during surveying of a site feature for correction of a drawing image, and measurement numerical information of a principal feature. And the distance between the top and bottom transmitting and receiving parts of the measurement unit from the feature, which is the object to be measured, can be corrected more accurately by making the measurement of the feature by the camera and the laser device more accurate. By making the distance from the feature to the camera the same, it is possible to obtain more accurate distance measurement and video image, but it is possible to acquire accurate image information data and correct distortion by preventing camera shake even from the shock such as vibration from the vehicle. To an image processing system configured to It is about.

In general, mapping is performed by generating a drawing image using aerial photographs. Because aerial photography has the advantage of being able to photograph the surface at high resolution, it can generate large-area drawing images at a relatively low cost.

On the other hand, there is a disadvantage that the viewing angle of the aerial photograph is relatively wide, and distortion occurs outside the center of the image. Therefore, it is difficult to grasp detailed shapes of buildings and roads when generating drawing images from aerial photographs due to the distortion.

Therefore, distortion of the drawing image must be corrected before cartography. One such method of distortion correction is to estimate the amount of error that causes distortion, and to correct the distortion based on the amount of error. This method estimates the amount of error and corrects the distortion with a precision appropriate for the high resolution of aerial photography. There is a very difficult problem to do.

Another method of distortion correction is a method of removing distortion of a drawing image by using an existing map as a reference. However, since the map created in the past is to be used as a comparison target, there is a disadvantage that it is impossible to correct the distortion based on the current terrain, road, building, and the like.

Therefore, the drawing image is made by using the aerial image image, the generated drawing image is compared with the existing digital map or the standard map to search the distortion part of the drawing image, and the distortion is generated by generating correction data by the feature measuring apparatus. There is a need for the development of techniques that allow the production of calibrated maps.

Prior art in accordance with the above requirements, Korean Patent Registration No. 10-1223741 (name of the invention: geodetic and surveying system of the field topography for distortion correction of the image image) is a drawing image generation and distortion portion display device, drawing image A device for measuring distortion of a field may be provided to generate distortion correction data including an image of a feature for correcting distortion and measurement numerical information of a main surface of the terrain. The configuration is disclosed.

In the prior art as described above, in order to measure a feature for a wide area, it is necessary to geodetic and survey a feature while moving a feature measuring device mounted on a vehicle. In general, when the feature measuring device is mounted on a vehicle, the camera's shooting direction and the laser device's measuring direction are perpendicular to the vehicle's driving direction. If the measurement direction of the laser device is not perpendicular to the feature, there is a problem that the image image by the camera and the measurement value by the laser device are not accurate.

Therefore, in the related art, Korean Patent No. 1608288 (Name of invention: a digital map generating device for synthesizing coordinate information on a drawing image) has a laser beam transmitting / receiving unit for a boundary stone for obtaining location information about a road, and descends when driving. By raising during non-measurement driving, the laser beam transceiver for the building raises during measurement driving and descends during non-measurement driving to ensure the stability of the vehicle while ensuring accurate location information on roads and buildings. Disclosed are techniques for producing accurate digital maps.

However, the above-described prior art maintains the first transmitter / receiver of the first distance measuring device and the second transmitter / receiver of the second distance measuring device at right angles to the feature, thereby increasing the accuracy of the measured value of the feature to some extent. However, the distance from the feature to be measured to the first transmitter / receiver and the second transmitter / receiver is different depending on the inclination of the road surface, so that the measured values of the first distance measuring device and the second distance measuring device may not exactly match. There is a problem that it is difficult to accurately measure the distance.

In addition, since the devices for maintaining the horizontal level of the first transmitter and receiver are independently configured, the structure of the apparatus is complicated, the control is cumbersome, and the first and second distance measuring devices may be damaged by vibration and shock. there was.

Therefore, the distance from the feature to be measured to the first transmitter / receiver of the first distance measuring device and the second transmitter / receiver of the second distance measuring device is always the same, thereby enabling more accurate distance measurement. While there is a need for the development of a technology for securing driving safety while preventing the first and second distance measuring devices from being damaged by vibration and shock.

In particular, since the vehicle photographs or scans a survey target while driving on the ground, it is difficult to acquire precise image information data because the camera and the transmission / reception unit are not completely fixed to the vehicle or the camera shakes finely due to vibration transmitted from the vehicle. There was a limitation, and there is a demand for a technique to solve this problem.

The present invention has been made to solve the above-described problems of the prior art, the distortion portion correction data including the image of the feature for the distortion correction during the measurement of the field terrain for correction of the image image and the measurement numerical information of the main surface feature Function to create a feature, and to measure the feature by the camera and the laser device more accurately, to correct the distortion of the drawing image more precisely, and to measure the distance from the feature to the transmitter The aim of the present invention is to provide an image processing system capable of quickly correcting image distortion, so that the distance from the feature to the camera is always the same, so that more accurate distance measurement and image can be obtained.

In addition, the present invention is capable of quickly correcting image distortion capable of obtaining accurate image information data by preventing or minimizing minute shaking of the camera and the transceiver even when the camera is measured during movement of the vehicle, such as vibrations transmitted from the vehicle. Another purpose is to provide a system.

The present invention has been made to solve the problems of the prior art and to achieve the above object, the map data storage unit 120 is stored aerial image or digital map or standard map data; A drawing image converter 110 for producing the aerial image as a drawing image; A distortion retrieving unit (130) for comparing and analyzing the drawing image with the digital map or the standard map to find a distortion portion and a new feature of the drawing image; A distorted portion display unit 140 for displaying the distorted portion and the position of the new feature using distorted portion display coordinates including at least one of a GPS coordinate, a latitude and longitude coordinate, and an address coordinate; A distorted portion display coordinate storage unit 150 for storing the distorted portion display coordinates through an SD card, a micro SD card, a RAM, or a storage medium including a hard disk; And a first communication unit which transmits the distorted portion display coordinates through mobile communication or Wi-Fi. A picture image generating and distorting part display device 100 consisting of a camera and a camera 230 for simultaneously photographing all directions of 360 degrees; A second communication unit 210 which receives the distorted part display coordinates from the first communication unit using the mobile communication or Wi-Fi; An information recognizing unit 220 for reading the information of the distorted part display coordinates received by the second communication unit; GPS receiver 240; A reference point generator 250 generating a reference point using at least one of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates; A measurement feature for selecting a corresponding feature for distortion correction using an image of a feature corresponding to the distorted part display coordinate received from the second communication unit or a distorted part display coordinate stored in the storage medium and an image captured by the camera Water selector 260; A surveying unit 270 which generates surveying numerical information of the measured feature and relative surveying numerical information of surrounding features by using a laser device including upper and lower transmitting and receiving units based on the reference point; A distortion portion correction data generation unit 280 for generating distortion portion correction data by adding the measurement value information to an image image taken by the camera; And a distortion correction data storage unit 290 for storing the distortion correction data on an SD card or a hard disk. The camera 230 and the vehicle mounting apparatus 300 further comprising the upper and lower transmission and reception units 272 and 273, wherein the base plate 320 of the vehicle mounting apparatus, one side of the vehicle (1) It is attached to the upper end of the measuring table 518 of the coupling module 510 to be coupled to the base plate through the support 329, the coupling module 510, the measuring table 518, the first horizontal coupling panel 511, First coupling bolt 512, second horizontal coupling panel 514, second coupling bolt 515, coupling nut 610, vertical support 517, upper support 513, lower support 516, shaking Surveyor having a prevention unit 540 and the air resistance plate 620, which is attached to the lower end of the base plate 320 The first horizontal coupling panel 511 is coupled to the upper region of the table 518, and the second horizontal coupling panel 514 is coupled to the lower region of the surveying table 518. The first coupling bolt 512 extending to one side and the second coupling bolt 515 extending to one side of the second horizontal coupling panel 514 are respectively inserted through insertion holes formed in the vehicle body of the vehicle 1. Inserted and fixed to the coupling nut 610 in the interior of the vehicle 1, positioned between the first horizontal coupling panel 511 and the second horizontal coupling panel 514 to support both in the vertical direction Vertical support 517 is formed, the vertical support 517 is a weight percentage based on the total alloy weight, Ni of 18.0 to 30.0, Cr of 16.0 to 55.0, Mo of 2.0 to 6.0, Cu of 1.0 to 2.4, 0.4 To 2.7 W, 2.0 to 6.0 Mn, 2.0 to 4.0 Al, 0.01 to 0.03 C, 0.1 to 0.5 Ru, 0.4 to 0.6 Zr, 0.2 to 0.4 Ti, 0.1 to 0 It is formed of an alloy containing a V of .2, P of 0.01 to 0.04, S of 0.01 to 0.04, and Fe of 8.0 to 15.0, the first horizontal coupling panel is installed on the upper end of the first horizontal coupling panel 511 The upper support portion 513 to suppress the upward movement of the 511 and the lower support portion 516 is installed on the lower end of the second horizontal coupling panel 514 to suppress the downward movement of the second horizontal coupling panel 514 And an anti-shake unit 540 formed between the vertical support unit 517 and the surveying unit 518, and preventing shaking of the surveying unit 518, wherein the anti-shake unit 540 includes a surveying unit. A cylindrical shake prevention case 541 having an empty interior coupled to the side of the 518; 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 side 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 545, the electromagnet portion 547 is magnetized when the current flows to the inner surface of the anti-shake case The connection plate 548 formed 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 the first horizontal coupling panel 511 and the second horizontal coupling panel are coupled to each other. The air resistance plate 620 is coupled to the other side of the cover 514 to cover the front, one side and the rear of the coupling module 510, a plurality of air flow path 621 is formed to reduce the resistance of the air flowing in from the outside It includes, the surveying table 518 is installed to be located in the upper portion in the range of 60 ~ 80cm than the lower surface of the wheel of the vehicle 1, the lower portion of the surveying table 518 is provided with a shock absorbing wheel 519 suddenly of the vehicle Damage to the survey table 518 and coupling module 510 during the vertical movement Zirconium oxychloride, tin chloride, titanium tetraisopropoxide and nitric acid are mixed and stirred on the lens surface of the camera 230, and then distilled water is added to react to form a mixture. To a zirconia-tin dioxide-titanium dioxide composite oxide sol prepared by substituting with ethanol for evaporation to form a coating solution formed by adding a glycidoxypropyl trimethoxysilane silane coupling agent and distilled water. It provides an image processing system capable of quickly correcting image distortion, characterized in that.

In addition, the vehicle mounting apparatus of the present invention, the base plate is fixed to the upper end of the surveying table 518 coupled to one side of the vehicle; A side slider slidably installed in the left and right sides of the base plate; A side linear actuator for sliding the side sliders left and right; A pitching motor mounted to the side slider; A pitching bracket coupled to a pitching motor shaft of the pitching motor; A rolling motor mounted to the pitching bracket; A rolling bracket coupled to the rolling motor shaft of the rolling motor; Upper and lower linear actuators coupled to upper and lower portions of the rolling bracket; An up and down lifting platform lifted by the up and down linear actuators; Upper and lower yawing motors mounted on the upper and lower lifting platforms; A camera mount coupled to the front surface of the rolling bracket; A suspension yawing motor mounted to the camera mount; Upper and lower yawing brackets coupled to the yawing motor shafts of the upper and lower yawing motors and equipped with the upper and lower transceiving units; It may be configured to include a suspension yawing bracket that is coupled to the yawing motor shaft of the stopping yawing motor, the camera is mounted.

According to an image processing system capable of quickly correcting image distortion of the present invention, it is possible to generate distortion portion correction data including an image of a feature for correcting distortion during surveying of a site feature for correction of a drawing image and measurement numerical information of a principal surface feature. Function to make the measurement of the feature by the camera and the laser device more accurate, and to correct the distortion of the drawing image more accurately, and at the same time, the distance from the feature to the measurement unit to the upper and lower transmitting and receiving units of the surveying unit, By always equalizing the distance from the feature to the camera, more accurate distance measurement and video images can be obtained.

In addition, according to the present invention, there is an effect that can minimize the generation of the distorted image while acquiring precise image information data by preventing or minimizing the minute shaking of the camera and the transceiver even when the vehicle is moved, such as vibration transmitted from the vehicle.

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

1 is an exemplary view for explaining the configuration and operation of an image processing system capable of quickly correcting image distortion according to the present invention.
2 is a block diagram of a drawing image generation and distortion portion display apparatus of an image processing system capable of quickly correcting image distortion according to the present invention.
3 is a block diagram of a feature measuring apparatus of an image processing system capable of quickly correcting image distortion according to the present invention.
Figure 4 is a perspective view showing an exploded side slider and side linear actuator, pitching motor of the vehicle mounting apparatus according to the present invention.
5 is an exploded perspective view showing a pitching bracket, a rolling motor and a rolling bracket, a platform and an upper and lower linear actuators of the vehicle mounting apparatus according to the present invention.
Figure 6 is a perspective view showing an exploded lifting platform, camera mounting base, yaw motor, yaw bracket of the vehicle mounting apparatus according to the present invention.
Figure 7 is a perspective view showing a non-measurement driving state of the vehicle mounting apparatus according to the present invention.
8 is a perspective view showing a state in which the transceiver unit and the camera of the laser device of the on-vehicle device according to the present invention moved to the side.
Figure 9 is a perspective view showing a state in which the transmitting and receiving unit and the camera of the laser device of the on-vehicle device rotated to the measurement position.
Figure 10 is a side view showing a state measured while driving up the ramp of the vehicle mounting apparatus according to the present invention.
Figure 11 is a side view showing a state measured while driving down the slope of the vehicle mounting apparatus according to the present invention.
12 is a rear view showing a state where the feature side of the on-vehicle device according to the present invention measured while driving the high side slope.
FIG. 13 is a rear view showing a state in which a feature side of the vehicle mounting apparatus according to the present invention is measured while traveling on a low side slope; FIG.
14 is an exemplary view showing a state of measuring and photographing the boundary stone and the building of the vehicle mounting apparatus according to the present invention at the same time.
15 is a plan view showing a horizontal rotation operation when the traveling direction of the vehicle of the vehicle mounting apparatus according to the present invention changes.
Figure 16 is a front view showing a coupling module of the vehicle mounting apparatus according to the present invention.
Figure 17 is a side view showing a coupling module of the vehicle mounting apparatus according to the present invention.
18 is a detailed cross-sectional view of the anti-shake unit provided in the coupling module of the vehicle mounting apparatus according to the present invention.
19 and 20 are exemplary views showing a state in which an image processing system capable of quickly correcting image distortion according to the present invention photographs or scans a feature while the vehicle is moving.

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 present specification and claims should not be construed as being limited to the ordinary or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own inventions. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that it can be defined. 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 uses the configuration of the prior patent document Republic of Korea Patent No. 10-1721467 (name of the invention: an image processing apparatus having a correction function of the distorted image after shooting) as it is. Therefore, the features and operation relations of the system configuration described below will be cited as the contents of the Patent No. 10-1721467, but will be described in detail with respect to the configuration related to the main features of the present invention at the rear end.

1 to 3 illustrate an embodiment of an image processing system capable of quickly correcting image distortion according to the present invention.

As illustrated in FIG. 1, an image processing system having a function of correcting a distorted image after shooting according to the present embodiment includes a drawing image generating and distorting part display apparatus 100 and a feature measuring apparatus 200. .

The drawing image generation and distortion portion display apparatus 100 generates a drawing image using the aerial image received from the aircraft 10 and compares the produced drawing image with a stored digital map or a standard map to generate distortion. Search for the part. Distortion occurs to inform the measuring device 200 of the portion (terrain 20) to be corrected.

As illustrated in FIG. 2, the drawing image generating and distorting part display device 100 includes a drawing image converter 110, a map data storage part 120, a distortion search part 130, and a distortion part display part 40. , The distortion part display coordinate storage unit 150 and the first communication unit 160.

The drawing image converter 110 performs a function of producing an aerial image as a drawing image. In other words, the aerial image of the photograph is converted into a drawing image composed of points, lines, and faces. Here, the drawing image means converting to a data format compatible with existing map data.

The map data storage unit 120 refers to a storage unit in which existing map data is stored. That is, digital maps or standard map data that are useful for existing reference are stored. Here, the map data stored in the map data storage unit 120 is in a data format compatible with the drawing image data.

The distortion search unit 130 performs a function of comparing the digital image or the standard map stored in the drawing image and the map data storage unit 120 to find the distortion portion of the drawing image.

Since the drawing image is an image generated on the basis of the aerial image, the drawing image has a distortion portion generated by the shooting distortion generated during the aerial image shooting. Also, the drawing image is an image generated at present, and thus the existing map stored in the map data storage unit 120. The data may include information about new features that do not exist. Therefore, it is necessary to correct the distortion generated by the photographing distortion and to include the degree of the new feature in the map.

The distortion search unit 130 compares the drawing image with the data stored in the map data storage unit 120 to search for the distortion portion generated by the photographing distortion, and does not exist in the map data stored in the map data storage unit 120. Perform a function to search for a new feature.

The distorted part display unit 140 displays the distorted part and the new feature by using the one or more left points of the GPS coordinate, latitude and longitude coordinates, and the address coordinate as the distorted part and the new feature searched by the distortion retrieval unit 130. Display using coordinates.

In this case, the distorted portion display coordinates refer to coordinates indicating the positions of the distorted portion and the new feature described above for the field geodetic surveying. As described above, each of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates may be displayed or may be generated by combining these coordinates.

The distorted part display coordinate storage unit 150 performs a function of storing the distorted part display coordinates. To this end, the distorted portion display coordinate storage unit 150 is configured to include a storage medium 151 using a movable SD card, a micro SD card, and the like. Alternatively, when transmitting the distorted portion display coordinates to the feature measuring apparatus 200 through a communication network as described below, a fixed storage medium such as a RAM or a hard disk may be used.

The first communication unit 160 performs a function of communicating with the feature measuring apparatus 200. To this end, the first communication unit 160 may include a mobile communication module or a Wi-Fi module. The first communication unit 160 transmits the distorted part display coordinates to the feature measuring apparatus 200 through the mobile communication network or the Wi-Fi wireless network.

As shown in FIG. 3, the feature measuring apparatus 200 includes a second communication unit 210, a tone recognition unit 220, a camera 230, a GPS receiver 240, a reference point generator 250, and a measurement. A feature selection unit 260, a surveying unit 270, a distortion correction data generator 280, and a distortion correction data storage unit 290 are included.

The second communication unit 210 receives the distorted part display coordinates by communicating with the drawing image generating and distorting part display device 100.

The information recognizing unit 220 recognizes the distorted part display coordinates stored in the storage medium 221.

The feature measuring apparatus 200 may receive the distorted part display coordinates through a mobile communication network, and may read the distorted part display coordinates stored in the storage medium 221.

The camera 230 may capture an image in all directions of 360 degrees. As a unique configuration of the present invention, zirconium oxychloride, tin chloride, titanium tetraisopropoxide and nitric acid are mixed and stirred on the lens surface of the camera 230, and then distilled water is added to react to form a mixture. Water was evaporated in the mixture, and then substituted with ethanol to form a coating solution prepared by adding a glycidoxypropyl trimethoxysilane silane coupling agent and distilled water to a zirconia-tin dioxide-titanium dioxide composite oxide sol prepared as a solid. It can be provided with a coating layer.

That is, titanium tetraisopropoxide, zirconium oxychloride, tin chloride, and nitric acid were added to the lens of the camera 230 in a ratio of 1: 0.2 to 0.3: 0.2 to 0.3: 0.3 to 0.5 in a molar ratio. After mixing and stirring for 5 to 20 minutes, distilled water is added in a molar ratio of 1:95 to 105 in a molar ratio to the titanium tetraisopropoxide, and 3 to 12 at a temperature of 55 to 65 ° C (preferably 60 ° C). Zirconia prepared by reacting for a period of time (preferably 6 to 8 hours) to produce a mixture, and adjusting the water in the mixture to a solid content of 35 to 50% by evaporating water using a rotary concentrator and then replacing it with methanol or ethanol. 30 minutes to 3 hours by adding distilled water for hydrolysis of the glycidoxypropyl trimethoxysilane silane coupling agent and the glycidoxypropyl trimethoxysilane silane coupling agent to the tin dioxide-titanium dioxide composite oxide sol. In the reaction, the weight ratio of glycidoxypropyl trimethoxysilane silane coupling agent added to the complex oxide sol and distilled water is 1: 0.1 to 0.5, and glycidoxypropyl trimethoxysilane added to the group complex oxide sol. The silane coupling agent and the distilled water may be provided with a coating layer after coating and curing the coating solution in a range of 30 to 70 parts by weight based on 100 parts by weight of the composite oxide sol.

When the coating solution using the zirconia-tin dioxide-titanium dioxide composite oxide sol is applied to the camera (CAM) lens as described above, the lens has a high refractive index, excellent surface hardness and high transmittance. For example, in the production of zirconia-tin dioxide-titanium dioxide composite oxide sol, although the total molar ratio of zirconia and tin dioxide is constant, the addition ratio of zirconia and tin dioxide has a great influence on the refractive index of the coating film. The refractive index of the composition having an added molar ratio of 0.8: 0.2: 1.0 is 1.825 or more.

In addition, samples made of only tin dioxide and titanium dioxide showed low transmittances of 80% or less in the visible range, while samples made of three components of zirconia, tin dioxide, and titanium dioxide showed 92% or more of visible light transmittance. It has a high visible light transmittance, there is an advantage that can obtain a clearer and accurate photographed image.

The GPS receiver 240 generates GPS coordinates, and the reference point generator 250 generates a survey reference point using the GPS coordinates. When surveying, the survey coordinates and positional relationship are found based on this reference point.

The measurement feature selection unit 260 checks an image of the surrounding feature using the camera 230 and generates a drawing image and a distortion received from a display device 100 through a communication network or stored in the storage medium 221. Select the feature to correct the distortion using the partial display coordinates.

In order for the measurement feature selection unit 260 to select a feature for distortion correction, the measurement feature selector 260 stores image information including coordinate information about the feature, and the image for the feature corresponding to the distortion part display coordinates. Compare the images taken with the camera to determine whether they are the same or similar. After that, if it is determined that the same or similar, it is determined that the feature that needs to correct the distortion portion of the feature.

The surveying unit 270 generates measurement numerical information up to the measurement feature based on the reference point using the selected measurement feature as the laser device 271. The laser device 271 includes upper and lower transceivers 272 and 273.

In this case, the surveying unit 270 may generate not only surveying numerical information of the selected surveying feature but also surveying numerical information of the feature that may be a relative measurement standard of the surroundings. This is because a map having an accurate position and distance on the map is created only when the relative position relation with the surrounding features is known when the map is produced. Therefore, when correcting the distortion part, not only the feature where the distortion occurred, but also surveying information of the feature that is useful for other reference.

Subsequently, the distortion portion may be accurately corrected on the entire drawing image by using the survey balance information of the feature in which the distortion occurs and the survey numerical information of the surrounding feature.

The distortion portion correction data generation unit 280 generates the distortion portion correction data by including survey resin information in the image of the feature selected for distortion correction and including survey numerical information of surrounding features as described above. That is, the measurement numerical information is merged into the image as well as the survey balance information of the feature corresponding to the distortion portion, and the measurement information of the surrounding features is included therein to generate distortion correction data for correction of the distortion portion.

The distortion correction data storage unit 290 is configured to include a storage match 221 to store the distortion correction data. The storage match can be a storage medium such as an SD card or a hard disk.

The feature measuring apparatus 200 shows an example mounted on a vehicle in order to be able to quickly and accurately measure the features of a wide range of areas with maneuverability.

As shown in FIG. 4, upper and lower transmission / reception units 272 of the camera 230 of the feature measuring apparatus 200 and the laser device 271 of the surveying unit 270 constituting the feature measuring apparatus 200. , 273 is mounted on the vehicle through the vehicle mounting apparatus 300.

In the following description, the coupling, connection, and attachment of each component may be made by a conventional screwing method, and thus, specific illustration and description of the coupling, connection, and attachment structure will be omitted.

In addition, the driving direction of the vehicle is described as the x-axis, the left and right directions of the vehicle as the y-axis, and the vertical direction as the z-axis, and the rotation about the x-axis is 'rolling' and the rotation about the y-axis Pitching (pitching), and rotating around the z-axis is described as' yawing (yawing).

The vehicle mounting apparatus 300 includes a base plate 320 fixed to an upper end of a surveying table 518 coupled to one side of the vehicle; A side slider 330 slidably installed in left and right directions on the base plate 320; A side linear actuator 340 for driving the side slider 330 in left and right directions; A pitching motor 350 mounted to the side slider 330; A pitching bracket 360 coupled to the pitching motor shaft 351 of the pitching motor 350; A rolling motor 370 mounted to the pitching bracket 360; A rolling bracket 380 coupled to the rolling motor shaft 371 of the rolling motor 370; Vertical linear actuators 390 and 400 coupled to upper and lower portions of the rolling bracket 380; Up and down lifting platforms 410 and 420 which are lifted by the up and down linear actuators 390 and 400; Upper and lower yawing motors 430 and 440 mounted on the upper and lower lifting platforms 410 and 420; A camera mounting bracket 450 coupled to the front surface of the rolling bracket 380; Suspension yawing motor 460 mounted to the camera mount 450; Upper and lower yawing brackets 470 and 480 coupled to the yawing motor shafts 431 and 441 of the upper and lower yawing motors 430 and 440 to which the upper and lower yawing brackets 272 and 273 are mounted; It may be configured to include a suspension yawing bracket 490 is coupled to the yawing motor shaft 461 of the suspension yawing motor 460 to which the camera 230 is mounted.

The base plate 320 is provided with a plurality of fixing pieces 321 on the lower surface of the fixing bolt 321 and the fixing bolts penetrating the fixing piece 321 and the rail 310 in the state of passing the rail 310 through the fixing piece 321. (Not shown) and the fixing nut (not shown) fastened thereto may be fixed to the rail 310.

The side slider 330 includes a horizontal part 331 on which the pitching motor 350 is mounted, and a vertical part 332 vertically coupled to the main flat part 331.

A pair of guide rods 333 fixed to the upper surface of the base plate 320 and the lower surface of the horizontal portion 331 in order to slidably install the side slider 330 to the side, A guide piece 334 guided to the pair of guide rods 333 may be provided.

By inserting a slide bearing (not shown) between the guide rod 331 and the guide piece 332, it is preferable to configure the side sliding operation of the side slider 330 smoothly.

The side linear actuator 340 is fixed to the driving screw 341 and the lower surface of the horizontal portion 331 of the side slider 330 is rotatably supported on the base plate 320 to the drive screw 341. It includes a drive nut 342 is screwed, and a drive motor 343 mounted to the base plate 320 to drive the drive screw 341.

The pitching motor 350 is mounted to the horizontal portion 331 of the side slider 330 and has a pitching motor shaft 351 protruding laterally through the vertical portion 332. The pitching motor shaft 351 of the pitching motor 350 is provided with a flange portion 352 for coupling the pitching bracket 360.

The pitching bracket 360 is formed at right angles to the pitching motor shaft coupling portion 361 and the pitching motor shaft coupling portion 361 to which the pitching motor shaft 351 of the pitching motor 350 is coupled. It consists of a rolling motor mounting portion 362 on which the motor 370 is mounted.

The rolling motor 370 is mounted to the rolling motor mounting part 362 of the pitching bracket 360, and has a rolling motor shaft 371 protruding forward through the rolling motor mounting part 362. The rolling bracket 380 is formed at right angles to the rolling motor shaft coupling portion 381 and the rolling motor shaft coupling portion 381 to which the rolling motor shaft 371 is coupled, and the upper and lower linear actuators respectively disposed on the upper and lower surfaces thereof. 390 and 400 and the camera mounting unit 450 is composed of a combined coupling portion 382 is coupled.

The up and down linear actuators 390 and 400 are mounted on the upper and lower surfaces of the composite coupling part 382, respectively, and have lifting motors having hollow motor shafts 392 and 402 on which inner thread parts 393 and 403 are formed. 391 and 401, and lift drive screws 394 and 404 having male thread portions 395 and 405 which are screwed into the female thread portions 393 and 403.

The lifting drive screws 494 and 404 are formed at upper and lower ends, respectively, and flange parts 396 and 406 are coupled to the upper and lower lifting tables 410 and 420.

The upper and lower lifting platforms 410 and 420 are connected to the upper plate 411 and 421 and the lower plate 412 and 422 disposed up and down at a predetermined interval, and to connect the upper plate 411 and 421 and the lower plate 412 and 422. 413 and 423 are formed in a U-shape, and are provided with connecting pieces 414 and 424 coupled to upper and lower ends of the elevating driving screws 394 and 404, respectively.

The upper and lower yawing motors 430 and 440 are mounted on the upper plates 411 and 421 of the upper and lower lifting platforms 410 and 420, and the upper and lower yawing motor shafts 431 and 441 penetrating the upper plates 411 and 421. ).

The camera mount 450 is connected to the upper plate 451 and the lower plate 452 and the upper plate 451 and the lower plate 452 are arranged at a predetermined interval and coupled to the rolling bracket 380 It is composed of a plate 453.

The stopping yaw motor 460 is mounted on the top plate 451 of the camera mounting stand 450 and includes a yawing motor shaft 461 penetrating the top plate 451. The upper and lower yawing brackets 470 and 480 are horizontally supported between the upper and lower plates 411 and 421 and the lower and lower plates 412 and 422 of the upper and lower lifting platforms 410 and 420, respectively. 441). The suspended yawing bracket 490 is supported to be horizontally rotated between the upper plate 451 and the lower plate 452 of the camera mounting stand 450 and is coupled to the yaw motor shaft 461.

The pitching motor 350, the rolling motor 370, the upper and lower yawing motors 430 and 440, and the stopping yawing motor 460 may be controlled by a horizontal sensor and a control means. The horizontal sensor may be installed on the upper and lower yawing brackets 470 and 480 and the suspended yawing bracket 490, respectively, and the upper and lower yawing brackets 470 and 480 and the stopping yawing bracket 490 are always the same in level. So you can install only one. The control means may consist of a desktop computer or a notebook computer on which the control program is installed. In this case, the computer keyboard may configure the input unit and the monitor may configure the display unit.

Since the horizontal sensor and the control means are by a conventional control method, detailed illustration and description thereof will be omitted. In addition, a HAD or SSD mounted in a computer and an SD card or USB memory connected to a USB terminal or a card reader can be used as a storage device.

Hereinafter, the operation of the vehicle mounting apparatus 300 will be described.

First, the non-survey running mode will be described. Referring to FIG. 7, in the non-measuring driving mode, the side slider 330 is moved to the left side by the side linear actuator 340, and the pitching motor 350 and the pitching bracket 360 are sequentially coupled to the side slider 330. , Rolling motor 370, rolling bracket 380, up and down linear actuators (390, 400), up and down lifting platform (410, 420), up and down yawing motor (430, 440), camera mounting bracket 450, stop The yaw motor 460, the upper and lower yawing brackets 470 and 480, the suspension yawing bracket 490, and the upper and lower transmission / receiving units 272 and 273 mounted on the upper and lower yawing brackets 470 and 480 and the stopping yawing bracket ( The cameras 230 mounted on the 490 are all positioned on the baseplate of the vehicle.

At this time, since the upper and lower linear actuators 390 and 400 remain horizontally laid down, the entire apparatus is positioned low near the base plate of the vehicle, so that the entire apparatus is stably maintained in the non-surveying driving mode. It is possible to prevent the device, particularly the upper and lower transmission and reception units 272 and 273 and the camera 230 from being damaged by the impact.

Next, the measurement mode will be described. When the driving motor 343 constituting the lateral linear actuator 340 rotates in the clockwise direction in the non-surveying driving mode of FIG. 7, the driving screw 341 and the side slider 330 coupled to the driving motor 343 are coupled to each other. The side slider 330 is moved in the right direction of the vehicle while being guided by the guide rod 333 and the guide piece 334 by the screw action of the driven nut 342 (see FIG. 8).

In this state, when the pitching motor 350 mounted on the side slider 330 rotates in the counterclockwise direction, the pitching bracket 360 and the rolling motor 370 and the rolling bracket sequentially coupled to the pitching bracket 360 are formed. 380), up and down linear actuators (390, 400), up and down platform 410, 420, up and down yawing motors (430, 440), camera mount 450, suspension yaw motor 460, up and down yawing brackets 470 and 480, the stopping yaw bracket 490, and the upper and lower transmitting and receiving units 272 and 273 mounted on the upper and lower yawing brackets 470 and 480, and the camera 230 mounted to the stopping yaw bracket 490 It rotates counterclockwise so that the upper transmission / reception portion 272 is on the upper side, the lower transmission / reception portion 273 is on the lower portion, and the camera 230 is located at the middle (see Fig. 9).

In this state, the upper and lower transmission and reception units 272 and 273 transmit a laser beam, and the transmitted laser beam is reflected by hitting the boundary stone between the feature and the roadside and received by the upper and lower transmission and reception units 272 and 273 to receive the laser device 271. Surveying unit 270 including the) generates survey numerical information such as the distance to the feature and the boundary stone.

In this case, when the vehicle surveys while driving on an upward slope (see FIG. 10) and when surveying while driving on a downward slope (see FIG. 11), the vehicle is mounted on the upper and lower yawing brackets 470 and 480 and the stopping yaw bracket 490. Or the control means controls the pitching motor 350 according to the inclination detected by the horizontal sensor mounted on any one of them, and the pitching bracket 360 rotates according to the rotation of the pitching motor 350. Rolling motor 370 sequentially coupled to the pitching bracket 360, rolling bracket 380, up and down linear actuators (390, 400), up and down lifting platform (410, 420), up and down yawing motor (430, 440), Upper and lower transmission / reception units 272 mounted on the camera mount 450, the suspension yaw motor 460, the upper and lower yawing brackets 470 and 480, the suspension yawing bracket 490, and the upper and lower yawing brackets 470 and 480. , 273) and the camera 230 mounted on the suspended yawing bracket 490 are rotated to be horizontal. (See solid lines in FIGS. 10 and 11).

In addition, when the vehicle surveys while driving on a side slope with a high height on the feature side (see FIG. 12) and when driving while driving a side slope with a low height on the feature side (see FIG. 13), the horizontal sensor is used. The rolling motor 370 is rotated by the control of the control means according to the detected inclination, and thus the rolling bracket 380 and the vertical linear actuators 390 and 400 coupled to the rolling bracket 380 and the vertical lifting platform 410 accordingly. 420, upper and lower yawing motors 430 and 440, camera mounting bracket 450, suspended yaw motor 460, upper and lower yawing brackets 470 and 480, suspended yawing bracket 490, and upper and lower yawing brackets The upper and lower transceiving units 272 and 273 mounted at 470 and 480 and the camera 230 mounted to the stopping yaw bracket 490 rotate to maintain horizontality.

Therefore, the upper and lower transceiving units 272 and 273 and the camera 230 constituting the laser device 271 of the survey unit 270 are always kept horizontal so that a more accurate survey can be performed and distortion can be corrected accurately. do.

On the other hand, in the process of surveying the vehicle while driving on the road, the height of the lower end of the feature 20 may vary, and the height of the boundary stone 30 may also vary depending on the characteristics of the road and the local characteristics. In this case, the hollow motor shaft 392 having the female thread parts 393 and 403 is operated by operating the lifting motors 391 and 401 constituting the upper and lower linear actuators 390 and 400 by manual operation of the surveyor. The upper and lower yawing brackets 470 coupled to the upper and lower lifting platforms 410 and 420 by elevating the upper and lower lifting platforms 410 and 420 by elevating driving screws 394 and 404 having 402 and male threads 395 and 405. , 480 and the height of the upper and lower transmission / reception units 272 and 273 mounted thereto may be adjusted to more accurately measure.

In addition, when the vehicle inevitably needs to change the driving direction due to an obstacle while driving the road, the upper and lower yawing brackets 470 and 480 by the upper and lower yawing motors 430 and 440 and the stopping yawing motor 460 and the stopping yawing bracket ( 490 and the upper and lower transmission / reception units 272 and 273 and the camera 230 mounted thereon may be perpendicular to the feature 20 and the boundary stone 30, thereby enabling more accurate surveying.

16 is a front view showing a coupling module of the vehicle mounting apparatus according to the present invention, Figure 17 is a side view showing a coupling module of the vehicle mounting apparatus according to the present invention.

In the present invention, the coupling module 510 functions to collect image data by accurately photographing a survey target without shaking while the vehicle mounting apparatus 300 or the base plate 320 installed in the vehicle 1 moves. To this end, the coupling module 510 of the present invention includes a surveying stage 518, a first horizontal coupling panel 511, a first coupling bolt 512, a second horizontal coupling panel 514, and a second coupling bolt 515. And a coupling nut 610, a vertical support 517, an upper support 513, a lower support 516, an anti-shake unit 540, and an air resistance plate 620.

Attaching the measuring table 518 to the lower end of the base plate 320 of the vehicle mounting apparatus 300, and combined with the first horizontal coupling panel 511, the second horizontal coupling panel 514 to the measuring table 518 It is fixed to the vehicle 1 while maintaining the.

Here, the base plate support portion 329 may be further provided to cover the joint portion of the base plate 320 and the measuring table 518, the base plate support portion 329 is a flexible, such as natural rubber, rubber compound It is formed of a material to help the hinge movement of the base plate 320 is possible.

For example, the base plate support 329 is based on an elastomer of ethylene-propylene-diene terpolymer (EPDM) and has a phase of 100 phr (parts by weight relative to 100 parts by weight of the elastomer (s)). It may be formed from a crosslinked rubber composition comprising a change material (PCM).

Wherein the phase change material (PCM) is dispersed in the crosslinked composition and provided with a protective means capable of preventing dispersion at temperatures above its melting point, the composition breaking at 23 ° C. according to standard ASTM D 412. It is preferable that the strength exceeds 3 MPa and the elongation at break exceeds 100%.

The first horizontal coupling panel 511 and the second horizontal coupling panel 514 each have a hollow that is vertically open at the center thereof, and the surveying rod 518 is fitted to the hollow to couple the horizontal coupling panel 511 and the second horizontal coupling panel 514. At this time, the first horizontal coupling panel 511 is coupled to the upper region of the surveying table 518, the second horizontal coupling panel 514 is coupled to the lower region of the surveying table 518 to maintain a double horizontal body Will also strengthen the bond.

On the other hand, the upper end portion of the first horizontal coupling panel 511 is formed with a top support portion 513 having a triangular pyramid shape whose cross section is open upward to suppress the upward movement of the first horizontal coupling panel 511 when the vehicle moves. Can be performed.

In addition, a lower support portion 516, which has a triangular pyramid shape whose cross section is open upward, is also formed at the lower end of the second horizontal coupling panel 514 to suppress the downward movement of the second horizontal coupling panel 514 when the vehicle moves. Can be performed.

The first horizontal coupling panel 511 and the second horizontal coupling panel 514 may be formed of a high strength plastic or a high strength lightweight alloy, and the upper support part 513 and the lower support part 514 are strongly attached to the survey table 518. While being fixedly coupled, the first horizontal coupling panel 511 and the second horizontal coupling panel 514 are preferably formed of an elastic material to absorb shocks transmitted from the second horizontal coupling panel 514.

That is, the upper support part 513 and the lower support part 514 are thermoplastic polyether ester elastomers (TPEE) 10 to 15 with respect to 100 parts by weight of a polymer formed by polymerizing 20 to 30 parts by weight of vinyl acetate monomer with respect to 100 parts by weight of ethylene. It can be formed by including a weight part, 8 to 10 parts by weight of azodicarbonamide and 4 to 5 parts by weight of glyoxal.

Herein, when the vinyl acetate monomer constituting the polymer is less than 20 parts by weight, the crystallinity is excessively high, and the hardness of the elastic part is too high. When the vinyl acetate monomer is more than 30 parts by weight, the flexibility is too high, and the elastic part is not in place and is slid and folded. Can be generated.

In addition, the thermoplastic polyether ester elastomer (TPEE) adds hardness to the elastic part. When the thermoplastic polyether ester elastomer is less than 10 parts by weight, the effect of reinforcing hardness is insignificant, and the thermoplastic polyether ester elastomer is more than 15 parts by weight. There is a problem that the melt index is lowered, the workability is lowered.

In addition, azodicarbonamide (azodicarbonamide) is to impart an additional elastic force to the elastic portion, and when the azodicarbonamide is less than 8 parts by weight, the elastic force addition effect is insignificant, and when the azodicarbonamide is more than 10 parts by weight to the elastic force It will worsen price competitiveness without further impact.

In addition, glyoxal is azodicarbonamide that traps gas generated at a certain temperature or more and imparts high temperature viscoelasticity to the elastic part. If glyoxal is less than 4 parts by weight, the mechanical properties of the elastic part may be insufficient. If the oxal is greater than 5 parts by weight, the foaming pressure may be excessively large, which may cause the elastic part to burst.

Meanwhile, the first coupling bolt 515 extends to one side of the first horizontal coupling panel 511 and the second coupling bolt 515 extends to one side of the second horizontal coupling panel 514. do. The first coupling bolt 515 and the second coupling bolt 515 are inserted through the insertion hole formed in the vehicle body of the vehicle 1, respectively, is fixedly coupled to the coupling nut 610 in the interior of the coupling module 510 ) To be attached to the vehicle stably.

Referring to FIG. 16, two vertical support portions 517 are formed between the first horizontal coupling panel 511 and the second horizontal coupling panel 514 to support both in the vertical direction.

The vertical support 517 is 4.3 to 8.7% by weight of aluminum (Al), 1.0 to 4.2% by weight of copper (Cu), 0.1 to 0.2% by weight of magnesium (Mg), 0.2 to 0.3% by weight of titanium (Ti ), 0.15 to 1.7 weight percent silicon (Si), 0.18 to 1.9 weight percent nickel (Ni), 0.17 to 2.1 weight percent zirconium (Zr), 0.01 to 0.05 weight percent carbon (C), 0.01 to 0.04 weight It may be formed of a high strength zinc-aluminum alloy comprising% phosphorus (P) and the balance zinc (Zn).

When the vertical support 517 is formed of the same alloy as described above, since it has a high compressive strength in the range of 712 ~ 728Mpa, the first horizontal coupling panel 511 together with the upper support 513 and the lower support 514. And a rigidity that prevents the second horizontal coupling panel 514 from moving in the vertical direction, and also enhances corrosion resistance of the vertical support 517 itself against external contaminants.

In this case, the entire vertical support portion 517 may be formed of the above alloy, and according to the necessity of the invention, the housing case forming a space therein and a plurality of supports for supporting the upper and lower portions thereof may be formed of the above alloy. It will be possible. Here, the former has the advantage of high support strength, the latter has the advantage of reducing the manufacturing cost.

Referring to FIG. 17, the first horizontal coupling panel 511 and the second horizontal coupling panel 514 are coupled to the other side to cover the front, one side, and the rear surface of the coupling module 510, and include a plurality of air flow paths. 621 is formed to show the air resistance plate 620 to reduce the resistance of the air flowing in from the outside.

In the present invention, the vehicle-mounted device 300 is attached to one side of the vehicle to move with the vehicle, when the low-speed driving is not affected by the flow of external air in accordance with the vehicle speed, the vehicle-mounted device 300 is There is a risk of shaking.

Accordingly, in the present invention, the air resistance plate 620 having a plurality of air flow paths 621 is formed on the side thereof to minimize shaking of the vehicle mounting apparatus 300 due to air resistance, thereby ensuring more accurate image data. To make it possible. The air resistance plate 620 may be formed of the same material as the vehicle, and may be formed of any material as long as the material is flexible enough to disperse the flow of air according to the necessity of the invention.

On the other hand, if the vehicle 1 passes through the speed bumps or grooves during the movement, the vehicle can be shaken greatly up and down, and the lower end of the surveying stand 518 installed in the vehicle hits the ground and shakes or breaks. .

Therefore, in the present invention, the surveying stand 518 is installed so as to be positioned above the lower surface of the wheel of the vehicle in the range of 60 to 80 cm, and the lower end of the surveying table 518 is provided with a shock absorbing wheel 519 to sharpen the vehicle. Even when the surveying unit 518 reaches the floor during the vertical movement, it is configured to prevent damage to the surveying unit 518 and the coupling module 510.

In addition, the lower end portion of the surveying station 518 connected to the buffer wheel 519 is formed of a heavy metal heavy than the upper and lower parts, so that the lower portion of the surveying table 518 serves as the 'weight' of the surveying table 518 Can be. Therefore, even if there is a risk that the household survey module 130 is shaken due to the shaking of the vehicle, the lower part of the surveying station 518 serves as the 'weight' of the surveying station 518, that is, the center of gravity of the surveying station 518 by performing a function of holding the center of gravity. Can always be kept vertical.

The lower portion of the measuring table 518 is coated on the surface by using a material including 25 to 40 parts by weight of styrene resin, 10 to 25 parts by weight of vinyl-based resin, and 20 to 30 parts by weight of paraffin based on 100 parts by weight of polyurethane. It is possible, this is to give a wear-resistant function that can minimize the wear by the soil, rocks, etc., along with the waterproof function to prevent the lower portion of the weighing station 518 to be wetted by the water.

The lower portion of the surveying station 518 may be selected from within the range of 1/5 ~ 1/6 of the length of the entire surveying station 518 may be formed of a heavy metal material.

18 is a detailed cross-sectional view of the anti-shake unit provided in the coupling module of the vehicle mounting apparatus according to the present invention.

Referring to FIG. 18, the anti-shake part 540 includes an anti-shake case 541, an anti-shake rod 542, an anti-separation part 543, a contact part 544, a friction part 545, and an anti-shake spring ( 546).

The anti-shake case 541 is coupled to the side of the measuring table 518 and is formed in a hollow cylindrical shape. In the illustrated embodiment, the shake prevention case 541 is represented as two coupled to the surveying table 518, 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 The contact portion 544, which may contact the inner side surface of the vertical support portion 517, is engaged.

The release preventing part 543 and the contact part 544 are arranged to be orthogonal 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 'H' shape as a whole.

A friction part 545 is coupled to one surface of the contact part 544 to increase frictional force with an inner surface of the vertical support part 517. 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 contacted at 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 fibers, 4 to 5 parts by weight of polyimide fibers, 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 contact the inner surface of the vertical support part 517 to achieve the effect of preventing the lifting rod 322 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 portion 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. The epoxy resin has excellent mechanical properties and a large adhesive strength 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 frictional force 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 part 545, and the aluminum oxide abrasive is less than 20 parts by weight, the roughness effect is insignificant, and when the aluminum oxide abrasive is more than 30 parts by weight, the friction part is too rough Can damage other components.

The anti-shake spring 546 is disposed between the anti-separation 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 a battery of the vehicle or the anti-shake unit 540 is provided therein, when the current flows in the electromagnet portion 547 and the connecting plate ( 548 is in contact with each other, and if the current does not flow in the electromagnet portion 547, the electromagnet portion 547 and the connecting plate 548 are configured to be spaced apart from each other.

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 as far as possible, so that the anti-shake portion 540 is provided. Since the whole is away from the inner side of the vertical support 217, it does not affect the movement of the surveying table 518, and no current flows in the electromagnet 547 when the vehicle is not operated for surveying or is put in a garage. It can be manipulated so as not to.

On the contrary, when the vehicle is operated for surveying, the electric current flows through the electromagnet portion 547, and the elastic restoring force of the anti-shake spring 546 is overcome by the electromagnet portion 547 and the connecting plate 548. In addition, since the contact portion 544 and the friction portion 545 are in strong contact with the inner surface of the vertical support portion 217, the surveying table 518 may be fixed without moving.

That is, in the present invention, when the surveying table 518 is bound to the vehicle and moves for surveying, the friction part 545 of the shake preventing unit is vertical to allow current to flow through the electromagnet unit 547 of the shake preventing unit 540. In close contact with the inner side of the support 217, not only attenuates the vibration transmitted from the vehicle, but also provides a fixed support of the coupling module 510 attached to the base plate 320 of the on-vehicle device supporting the camera 230. It can function to facilitate.

19 and 20 are exemplary views illustrating a state in which an image processing system capable of quickly correcting image distortion according to the present invention photographs or scans a feature while the vehicle is moving.

As described above, the present invention uses the coupling module 510 to strongly fix the vehicle mounting apparatus 300 to one side of the vehicle, and to prevent the shaking of the surveying table 518, thereby accurately controlling the camera 230 during the movement of the vehicle. Accurate data of the feature 20 can be secured.

In addition, the front, side, and rear of the coupling module 510 at the bottom of the base plate 320 on which the vehicle mounting apparatus 300 is seated are covered with the air resistance plate 620, so that the external air may be driven even during constant speed driving or high speed driving. The resistance due to the inflow is minimized through the air passage 621, thereby preventing the minute shaking of the coupling module 510 and the vehicle-mounted device 300 functions to ensure accurate image data.

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 An output ultrasonic generator (not shown) may be mounted.

The ultrasonic generator can be repeatedly outputted in the order of frequency of 8KHz ~ 13Khz, 8KHz ~ 25Khz, 15KHz ~ 25Khz frequency and 27KHz ~ 44KHz in 30 seconds unit, but according to the season and day and night The frequencies may be output repeatedly at random in the range of 10 seconds to 60 seconds.

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, the present invention includes an ultrasonic generator and outputs the frequencies having different frequency bands sequentially or randomly to prevent various insects or insects from approaching the camera 230 and to prevent adhesion to the lens surface. Helping to acquire precise image data.

On the other hand, the present invention is disposed on the upper surface of the vehicle (1), through the air nozzle is arranged to be able to spray the compressed air charged through the compressor for generating compressed air in the direction of the camera position, and through the air nozzle It may be provided with a compressed air injector (not shown) having a variable air valve that can control the flow of the compressed air is injected, the variable opening degree.

By periodically or randomly spraying compressed air in the direction in which the camera 230 is disposed through the compressed air injector, it is easy to remove dust, moisture, and other contaminants attached to the camera 230, and By performing the function of preventing access, it is possible to acquire more precise image data.

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 of cyclodextrin aqueous solution, and cranial to the housing surface of the camera 230 as necessary (Cinnamomum camphora) extract 20 to 30% by weight, Kaempferiagalanga extract 5 to 10% by weight, 1 to 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 of the pests, the brain, gugyang, broiler, Samjaja, white paper, cheongung extract is an extract extracted from the plant 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 and the like.

As described above, the present invention may not only include an ultrasonic generator and a compressed air sprayer on the upper surface of the vehicle, but also provide a pest preventing coating solution in the housing of the camera 230 to maximize the access of the pest and removal of contaminants.

As described above, the present invention prevents or minimizes the shaking of the camera by a function such as an anti-shake unit 540 and an air resistance plate 620 attached to the surveying stand 518 even when the camera receives a vibration such as vibration from the vehicle. There is an advantage in that accurate image information data acquisition and error correction are possible.

The present invention has been described above with reference to 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 to which the present invention pertains may 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.

1: vehicle
10: aircraft 20: feature
100: drawing image generating and distorted part display device
110: drawing image conversion unit 120: map data storage unit
130: distortion search unit 140: distortion part display unit
150: display part of the distortion part storage coordinates 151: storage medium
160: the first communication unit 200: feature measuring device
210: second communication unit 220: information recognition unit
221: storage medium 230: camera
240: GPS receiver 250: reference point generator
260: measurement feature selection unit 270: surveying unit
271: laser device 272, 273: transceiver
280: Distortion correction data generation unit 290: Distortion correction data storage unit
300: vehicle mounting device 310: rail
320: base plate 329: base plate support
330: side slider 340: side linear actuator
350: pitching motor 360: pitching bracket
370: rolling motor 380: rolling bracket
390, 400: Up and down linear actuator
410, 420: up and down platform 430, 440: up and down yawing motor
450: camera mount 460: suspended yawing motor
470, 480: upper and lower yawing bracket 490: suspended yawing bracket
510: coupling module 511: first horizontal coupling panel
512: first coupling bolt 513: upper support
514: second horizontal coupling panel 515: second coupling bolt
516: lower support 517: vertical support
518: surveying table 519: cushioning wheel
540: anti-shake unit 541: anti-shake case
542: anti-shake rod 543: separation prevention
544: contact portion 545: friction portion
546: anti-shake spring 547: electromagnet
548: connecting plate 610: coupling nut
620: air resistance plate 621: air flow path

Claims (1)

A map data storage unit 120 for storing aerial image or digital map or standard map data; A drawing image converter 110 for producing the aerial image as a drawing image; A distortion retrieving unit (130) for comparing and analyzing the drawing image with the digital map or the standard map to find a distortion portion and a new feature of the drawing image; A distorted portion display unit 140 for displaying the distorted portion and the position of the new feature using distorted portion display coordinates including at least one of a GPS coordinate, a latitude and longitude coordinate, and an address coordinate; A distorted portion display coordinate storage unit 150 for storing the distorted portion display coordinates through an SD card, a micro SD card, a RAM, or a storage medium including a hard disk; And a first communication unit which transmits the distorted portion display coordinates through mobile communication or Wi-Fi. A drawing image generating and distorting part display device 100 comprising:
A camera 230 for taking images in all directions at 360 degrees simultaneously; A second communication unit 210 which receives the distorted part display coordinates from the first communication unit using the mobile communication or Wi-Fi; An information recognizing unit 220 for reading the information of the distorted part display coordinates received by the second communication unit; GPS receiver 240; A reference point generator 250 generating a reference point using at least one of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates; A measurement feature for selecting a corresponding feature for distortion correction using an image of a feature corresponding to the distorted part display coordinate received from the second communication unit or a distorted part display coordinate stored in the storage medium and an image captured by the camera Water selector 260; A surveying unit 270 which generates surveying numerical information of the measured feature and relative surveying numerical information of surrounding features by using a laser device including upper and lower transmitting and receiving units based on the reference point; A distortion portion correction data generation unit 280 for generating distortion portion correction data by adding the measurement value information to an image image taken by the camera; And a distortion correction data storage unit 290 for storing the distortion correction data on an SD card or a hard disk.
Further comprising a vehicle-mounted device 300 for mounting the camera 230, the upper and lower transmission and reception units (272, 273),
The base plate 320 of the vehicle mounting apparatus is attached to the upper end of the measuring table 518 of the coupling module 510 to be coupled to one side of the vehicle 1 through a base plate support 329,
The coupling module 510, the measuring table 518, the first horizontal coupling panel 511, the first coupling bolt 512, the second horizontal coupling panel 514, the second coupling bolt 515, the coupling nut ( 610, a vertical support 517, an upper support 513, a lower support 516, an anti-shake unit 540, and an air resistance plate 620.
The first horizontal coupling panel 511 is coupled to the upper region of the surveying table 518 attached to the lower end of the base plate 320, and the second horizontal coupling panel 514 is coupled to the lower region of the surveying table 518. ,
The first coupling bolt 512 extending to one side of the first horizontal coupling panel 511 and the second coupling bolt 515 extending to one side of the second horizontal coupling panel 514 are respectively provided in the vehicle 1. Inserted through the insertion hole formed in the vehicle body of the) is fixedly coupled to the coupling nut 610 in the interior of the vehicle (1),
Two vertical support portions 517 are disposed between the first horizontal coupling panel 511 and the second horizontal coupling panel 514 to support them in the vertical direction, and the vertical support portion 517 is a vertical support portion ( 217) is 4.3 to 8.7 wt% aluminum (Al), 1.0 to 4.2 wt% copper (Cu), 0.1 to 0.2 wt% magnesium (Mg), 0.2 to 0.3 wt% titanium (Ti), 0.15 to 1.7 Wt% silicon (Si), 0.18 to 1.9 wt% nickel (Ni), 0.17 to 2.1 wt% zirconium (Zr), 0.01 to 0.05 wt% carbon (C), 0.01 to 0.04 wt% phosphorus (P ) And a balance of high strength zinc-aluminum alloys containing zinc (Zn),
It is installed on the upper end of the first horizontal coupling panel 511 and the upper support portion 513 to suppress the upward movement of the first horizontal coupling panel 511, and is installed on the lower end of the second horizontal coupling panel 514 Forming a lower support part 516 to suppress downward movement of the second horizontal coupling panel 514,
Is formed between the vertical support portion 517 and the surveying table 518, including a shake preventing portion 540 to prevent shaking of the surveying table 518,
The anti-shake unit 540 includes a cylindrical anti-shake case 541 which is coupled to an empty side coupled to the side of the survey table 518; 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 side 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 545, the electromagnet portion 547 is magnetized when the current flows to the inner surface of the anti-shake case The connection plate 548 formed of a magnetic material is coupled to one side of the separation prevention part 543 facing the inner surface of the anti-shake case.
Is coupled to the other side of the first horizontal coupling panel 511 and the second horizontal coupling panel 514 to cover the front, one side and the rear of the coupling module 510, a plurality of air flow path 621 is formed It includes an air resistance plate 620 to reduce the resistance of the air flowing from the outside,
The surveying table 518 is installed to be located in the upper portion of the range of 60 ~ 80cm than the lower surface of the wheel of the vehicle 1, the lower portion of the surveying table 518 is provided with a shock absorbing wheel 519 surveying during rapid vertical movement of the vehicle To prevent damage to the 518 and the coupling module 510,
Zirconium oxychloride, tin chloride, titanium tetraisopropoxide and nitric acid are mixed and stirred on the lens surface of the camera 230, and then distilled water is added to generate a mixture, and water in the mixture is evaporated. And a coating layer formed of a coating solution prepared by adding a glycidoxypropyl trimethoxysilane silane coupling agent and distilled water to a zirconia-tin dioxide-titanium dioxide composite oxide sol prepared by substituting with ethanol to obtain a solid content. Image processing system that can quickly correct image distortion.

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