KR102103357B1 - System for real time revising coordinate in the numerical map - Google Patents

Abstract

The present invention relates to a numerical information update system for revising numerical coordinates linked to a numerical map according to a movement of a GPS receiver, capable of revising the numerical coordinates of the corresponding numerical map on a real-time basis by immediately identifying the numerical coordinates of each point during a process of collecting a collected image that is a background of the numerical map. The present invention provides the numerical information update system comprising an image collecting device (200) and a numerical map revising device (100). The image collecting device (200) includes: a camera (210); an image check information DB (230); an image check module (220); an image adjusting module (260); an image sending module (250); a GPS numerical coordinate DB (270); a GPS receiving module (280); and a numerical coordinate revising module (290). The numerical map revising device (100) and includes: a collected image processing module (110); a collected image DB (130); an object analysis module (120); an object change identification module (140); a video section search module (150); an image information editing module (170); a link information editing module (170′); and a video image revising module (180).

Description

Numerical information update system that corrects numerical coordinates linked to a digital map in real time {SYSTEM FOR REAL TIME REVISING COORDINATE IN THE NUMERICAL MAP}

The present invention relates to a numerical information update system that corrects a numerical coordinate linked to a digital map according to the movement line of a GPS receiver. In the process of collecting a collection image that is a background of a digital map, the numerical coordinates of each point are immediately checked and applied. It relates to a technology capable of real-time correction of numerical coordinates on a digital map.

In general, a digital map is completed by synthesizing additional information about coordinate values, name and GPS coordinates corresponding to each point, on a background image on which a ground image is displayed.

Since the background image is produced by combining images photographed from various aerial photographing angles, the distance between the ground objects displayed on the background image may be different from the actual ground object spacing, and in such a condition, the coordinate information remains in the background image. When synthesized, there was a fundamental error in which the map coordinate values applied to the ground objects of the drawings were different from the actual coordinate values of the corresponding ground objects.

In addition, since digital maps produced based on data such as photographed images have a high cost and business burden for collection, it is practically impossible to collect and update images based on digital maps multiple times every year. Did.

Therefore, even if there is a change in the terrain of any region, the section corresponding to the region with the terrain change in the existing digital map image was forced to maintain the shape and information before the change, so users can use the numerical value based on the image in the field. There was a difficulty in using the map precisely.

Moreover, in order to apply the precise numerical coordinate position of the target object to the digital map in the area where the individual changes, the numerical coordinate must be inserted into the numerical map after measuring the numerical coordinate directly in the area, so that each time the individual map changes There was a practical difficulty in correcting, and a numerical information correction system is required to easily solve this.

[Prior Art Document] Patent registration No. 10-1128411 (announced on March 27, 2012)

The present invention has been devised to solve the above-mentioned problems of the prior art, and it is possible to check in real time the exact numerical coordinates corresponding to the numerical coordinates of the existing numerical map without directly visiting the ground point of the subject with the change and measuring the numerical coordinates. Therefore, it is an object of the present invention to provide a numerical information update system for real-time correction of numerical coordinates linked to a numerical map, which can be very easily performed.

In addition, the present invention adopts a structure in which the camera is freely lifted, fixed, swiveled, and angled so that it is possible to shoot from the top of the ground as much as possible when acquiring a new collected image from the beginning. Another object is to provide a numerical information update system that can be updated and stored as a digital map.

The present invention, devised to solve the above-described problems of the prior art, is a similar range in which a specified number of pixels or more are designated in a constituent pixel of a left or right vertical axis (YA) of a new collection image made by classifying a panoramic image at regular horizontal intervals. If the color of the image is displayed continuously, the camera 210 sets the pixels as an identification mark of the new collected image; An image check information DB 230 for storing check information composed of check marks of a horizontal axis (XA) designated in the existing collected image; When the number of pixels having a specified number of pixels or more in a designated pixel of the designated horizontal axis (XA) in the new collected image is continuously displayed, the corresponding pixels are set as a new checkmark, and the new collected image in the image check information DB 230 Search for the check information corresponding to the designated horizontal axis (XA), and compare the new check mark and the check information to check whether the output color, color position, and color length of the corresponding pixel match, and estimate the individual change of the new collected image An image check module 220; Before comparing the new check and the check information on the image check module 220, the difference between the position of the identification mark of the existing collected image and the position of the identification mark of the new collected image is checked, and the position of the new check mark is equal to the difference between the two. An image adjustment module 260 for adjusting; An image sending module 250 that transmits a new collected image estimated with individual change as image data; A GPS coordinate DB 270 for storing existing numerical coordinates linked to an existing numerical map; A GPS receiver module 280 for measuring numerical coordinates; And linking and outputting the existing numerical coordinates to the existing numerical map, and linking and outputting the new numerical coordinates measured by the GPS receiving module 280 to the new collected image collected by the camera 210, and collecting the new numerical coordinates. The same point in the image is set as the first reference point (SP) and the second reference point (SP '), and one point in the existing numerical coordinate axis composed of the existing numerical coordinates is set as the first coordinate point (CP), and the new numerical coordinate In the new numerical coordinate axis consisting of the first coordinate point (CP) and the same coordinate point as the second coordinate point (CP '), based on the first and second reference points (SP, SP'), the new numerical coordinate axis and the existing numerical value Numerical coordinate correction module 290 that checks the error (d) between the first and second coordinate points (CP, CP ') by synthesizing the coordinate axes, and then transmits the new numerical coordinates through the image sending module 250 if it is greater than the specified difference. ); An image collection device 200 having a, and the basis of the image data A collection image processing module 110 that checks information to check the ID of the image collection device 200 and the identification information of the new collection image; A collection image DB 130 that stores existing collection images; Check the color of each pixel in the image of the new collected image, classify a group of color pixels within a similar range specified in the new collected image as one object, and collect the new collected image in the collected image DB 130 An object analysis module 120 for storing images in link with the images; The collection image DB 130 searches for a new collection image and an existing collection image linked to each other, sets a plurality of checkpoints within a range of objects classified in the existing collection image, and checks the existing collection image in the new collection image. If the pixel color of the point that matches the point is determined and determined, and if the checkpoint check determines that the checkpoint color of the specified number or more does not match, the object is estimated to be changed, and the corresponding pixel of the new collected image The object change that tracks the cluster of pixels continuously outputting color and designates the cluster as a change range (NB), and transfers and outputs the existing and new collection images in which the change range (NB) is displayed to the input / output module 190. Confirmation module 140; An input / output module 190 for generating image synthesis data by editing the change range NB displayed on the existing collected image, and inputting a confirmation signal for the change range NB; A digital map DB 160 that stores an existing digital map; An image section search module 150 for checking the determined signal and searching for the corresponding existing digital map in the digital map DB 160; An image information editing module 170 checking a section to be edited corresponding to the change range NB from the existing digital map and synthesizing the corresponding image of the change range NB to the edit target area according to the image synthesis data; A numerical map that deletes the text linked to the editing target section, links the new text input from the input / output module 190 to the editing target section, and compares the existing numerical coordinates and the new numerical coordinates to edit one numerical coordinate. Link information editing module (170 ') to link to; And a digital map update module 180 for updating and storing the edited digital map in the digital map DB 160, and real-time correcting the numerical coordinates linked to the digital map, including the digital map correction device 100. To provide a numerical information update system.

In addition, the present invention, in order to obtain the new collected image, the camera 210, the camera driver 1000 for lifting, fixing, turning, and angle adjustment on the lower surface of the aircraft; further comprises a, the camera driver 1000 is A disk-shaped fixed plate portion 1110 fixed to the bottom of the aircraft, a fixed column 1120 protruding from the center of the fixed plate portion 1110, and a floating column 1130 assembled to the fixed column 1120, It is formed of a rotating column (1140) assembled to the lower end of the floating column (1130), and a camera fixed box (1150) mounted on the rotating column (1140) to mount the camera (210), the fixed column (1120) ) And a plurality of springs 580 to support the weight of the flow column 1130 between the flow column 1130, the fixed column 1120 is formed in a cylindrical shape with the upper and lower ends open, the upper end boss ( 1112), the inside of the fixed column (1120) elevating motor (1200) It is provided attached to the fixed plate portion 1110, the vertical movement of the lifting rod 520 by the driving of the lifting motor 1220 to enable the lifting and lowering of the flow column 1130, the lifting rod 520 is When the stopper 560 is applied to the locking jaw LITM formed on the inner surface of the fixed column 1120 by having a plurality of stoppers 560 having a triangular pyramid or a triangular cross section on its side, addition of the lifting rod 520 Preventing the descent, the lifting rod 520 is provided with a shock absorber 550 and a shake prevention unit 540 on its side, respectively, when the driving of the lifting motor 1200 is stopped, the lifting rod 520 is fixed column ( 120) fixed to the inner side of the but minimizes the shaking, the buffer portion 550, the buffer rod portion 551 is coupled so that the lifting rod 520 through the lifting hole formed in the center; A buffer case 552 disposed to surround the buffer rod portion and fixedly coupled to the inner surface of the fixed column 1120; And a buffer rubber portion 553 having an empty ring shape, which is disposed between the buffer rod portion and the buffer case and through which the air can be injected through the injection hole 554 mounted on one side of the buffer rod portion. It is provided, the upper and lower ends of the buffer rod portion 551, respectively, the locking end portion 551b is formed to protrude along the periphery of the buffer rod portion, and the upper and lower ends of the buffer rubber portion 553 respectively have locking end portions. A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 can be coupled to the buffer rod portion 551, and the coupling end portion 553a has a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to be wrapped in a shape, and a reinforcing layer 556 is inserted along the longitudinal direction of the buffer rubber part 553 contacting the buffer case, and the anti-shake part 540 is , An inner hollow cylinder coupled to the side of the lifting rod 520, an anti-shaking case 541; An anti-shake rod 542 mounted through one side of the anti-shake case so as to be movable left and right; A release preventing unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from separating from the anti-shake case; A contact portion 544 that is coupled to the other end of the anti-shake rod and can be in contact with the inner surface of the fixed column 1120; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the departure preventing portion and the inner surface of the anti-shake case to provide elastic restoring force to the anti-shake rod. Is provided, the departure prevention portion 543 and the contact portion 544 is disposed to be orthogonal to the anti-sway rod 542, the inner surface of the anti-sway case is coupled with an electromagnet portion 547 that is magnetized when current flows In addition, a connection plate 548 made of a magnetic material is coupled to one side of the departure preventing portion 543 facing the inner surface of the shake prevention case, and a rotating motor 1134 is built in the interior of the flow column 1130. , The driving motor 1133 is formed on the rotating motor 1134, and a rotating column 1140 is formed on the upper portion of the floating column 1130 to be rotatable via a bearing 1134, and the rotating column 1140 ) Is formed on the bottom surface of the rotating shaft 1142 to which the driven gear 1141 is coupled, and the camera fixing box 1150 rotated in the vertical direction is formed on the rotating pillar 1140 around the rotating hinge 1151. The rotating pillar (1140) and the camera fixing box (1 Between 150), a rotating motor 1170 is formed, and the rotating motor 1170 is formed with a rotating cam 1171 rotated in contact with one surface of the camera fixing box 1150, and the camera fixing box ( A camera communication antenna 1180 is formed on one outer surface of 1150, a second controller 1181 is formed to control the operation of the rotating motor 1170 and the camera communication antenna 1180, and the camera 210 60 to 79% by weight of an alcohol solvent mixed with one or more selected from the group consisting of isopropyl alcohol, methyl alcohol, and ethyl alcohol, and ethyl hydroxyethyl, carboxymethylethyl, resorcinol resin and hydroxyl 20 to 39% by weight of one or more polymer resins mixed with one or more selected from the group consisting of hydroxyethyl, and one selected from the group consisting of dimethylsiloxane, dihexylphthalate, dioctylphthalate and stearic acid, or It is preferable to provide a coating layer formed by applying 0.1 to 3% by weight of each of the additives mixed with the above and applying the mixed coating solution.

According to the present invention, when a new collected image is acquired, a structure that allows free lifting, fixing, turning, and angle adjustment of the camera is adopted to obtain a more accurate collected image so that it can be photographed directly above the ground, thereby obtaining a highly reliable numerical map. By updating and saving the data, there is an effect of minimizing the updating of the digital map in the future.

In addition, according to the present invention, by comparing the digital coordinates measured in the process of collecting the background image of the digital map with the numerical coordinates of the existing digital map, the correct numerical coordinates for the subject region with the change can be applied to the updated digital map. In order to avoid this, it is possible to avoid the hassle of having to measure the numerical coordinates by directly visiting the individual area, thereby minimizing the number of manual operations, personnel input, and work costs associated with updating the numerical map.

1 is a block diagram showing a numerical information update system according to the present invention.
2 is a block diagram showing an image collection device according to the present invention.
3 is an exemplary view schematically showing a state in which a GPS numerical coordinate measured in an image collection process according to the present invention is applied to an image.
FIG. 4 is a partially enlarged view showing an enlarged collection range (RL) of FIG. 3 directly below.
Figure 5 is an exemplary view showing a state of comparing and adjusting the numerical coordinates measured in the collection process and the numerical coordinates of the existing digital map.
6 is a perspective view of a camera driver equipped with a camera according to the present invention.
7 is a cross-sectional view of a fixed pillar provided with a camera driver in which a camera according to the present invention is mounted.
8 is a cross-sectional view of a shake prevention unit in a fixed pillar provided with a camera driver according to the present invention.
9 is a cross-sectional view of a buffer part in a fixed pillar provided with a camera driver in which a camera according to the present invention is mounted.
10A to 10C are exemplary views showing an operating state of a camera driver in which a camera according to the present invention is mounted.
11 is a flow chart showing each step of the digital map processing method according to the present invention.
12 is an exemplary view schematically showing a state in which the image collection device performs first analysis of the collected image.
13 is an exemplary view showing setting of identification information of a collected image.
14 is an exemplary view showing a state in which the collected image of FIG. 12 is adjusted to a pixel position of a reference value.
15 is an exemplary view showing a state of object classification processing a collection image that forms the basis of a digital map.
16 is an exemplary view showing a variation of the existing collected image and the new collected image.
17 is an exemplary view showing a state in which a digital map is modified for each section according to a digital map processing method according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in the present specification and claims should not be construed as being limited to ordinary or lexical meanings, and the inventor appropriately explains the concept of terms to explain his or her invention in the best way. Based on the principle that it can be defined, it should be interpreted as meanings and concepts consistent with the technical spirit of the present invention. Therefore, the configuration shown in the embodiments and drawings described in this specification is only one of the most preferred embodiments of the present invention and does not represent all of the technical spirit of the present invention. It should be understood that there may be equivalents and variations.

1 is a block diagram showing a numerical information update system according to the present invention.

The numerical information updating system according to the present invention is installed in a specific area, and the image collection device 200 for photographing the area in real time and the digital map correction device for receiving and processing the collected image taken by the image collection device 200 ( 100). The camera 210 included in the image collection device 200 can be rotated, elevated, angled, and fixed at a certain location, and can collect images from various regions from various angles.

The digital map correction apparatus 100 is an apparatus for correcting and updating an image (new collection image) collected from the image collection apparatus 200 compared to an image (existing collection image) of an existing digital map, an image collection apparatus ( 200) a collection image processing module 110 that receives a new collection image, an object analysis module 120 that classifies objects included in the new collection image and generates object information, and stores and collects the new collection image and object information. The managed collection image DB 130 compares the new collected image with the existing collected image to check whether the object has changed, and the object change confirmation module 140 to check whether the subject has changed, and check the link information of the corresponding section. Edit the image information of the image section search module 150, the digital map DB 160 that stores and manages the corresponding digital map including link information, and the digital map corresponding to the subject to change. The image information editing module 170, the link information editing module 170 'for editing the link information of the numerical map corresponding to the subject to change, and the numerical map corrected based on the edited image information and the link information. It includes a numerical map update module 180 for updating to the map DB 160, and an input / output module 190 that allows an operator to manually check whether an object has changed.

In addition, each module and DB included in the digital map correction apparatus 100 and the image collection apparatus 200 may be controlled by the control module 190 'provided in the digital map correction apparatus 100.

FIG. 2 is a block diagram showing an image collection device according to the present invention, and FIG. 3 is an exemplary view schematically showing a state in which GPS numerical coordinates measured in the image collection process according to the present invention are applied to an image. FIG. 3 is a partial enlarged view showing an enlarged collection range RL directly underneath, and FIG. 5 is an exemplary view showing a comparison and adjustment of the numerical coordinates of the existing digital map and the numerical coordinates measured in the collection process.

The image collection device 200 performs a function of collecting a new image by photographing a specific area or a designated area, and sending the collected image in which the variation of the individual is estimated to the numerical map correction device 100.

The image collection device 200 includes a camera 210 for collecting a new image by photographing a specific area or a designated area, an image check module 220 for firstly checking whether an individual in the new collection image changes, and a new collection Numerical map of the image check information DB (230) for storing and managing the reference information that is the comparison target of the image, an image adjustment module (260) for adjusting the new collected image according to the reference information, and the collected image estimated as an object change target The image sending module 250 sent to the correction device 100, the GPS coordinate DB 270 storing numerical coordinate information for each point, the GPS receiving module 280 measuring the current GPS numerical coordinate, and the existing numerical coordinate And a numerical coordinate correction module 290 for comparing and correcting new numerical coordinates.

The camera 210 provided in the image collection device 200 is attached to the camera fixing box 1150 and suspended on the bottom of the aircraft. In the housing of the camera, the image check module 220 and the image check information DB 230 An image adjustment module 260, an image transmission module 250, a GPS coordinate DB 270, a GPS receiving module 280, and a numerical coordinate correction module 290 may be built in.

The GPS coordinate DB 270 functions to store numerical coordinate information linked to an existing digital map. Here, as shown in FIG. 3 (a), the numerical coordinate information is linked to an existing numerical map, so that numerical coordinates for each point of the numerical map can be confirmed. For reference, when the digital map is updated due to an individual change, the GPS coordinate DB 270 is also updated with the corrected digital coordinate. The GPS receiving module 280 may use a known GPS receiver.

The numerical coordinate correction module 290 measures the GPS numerical coordinates (new numerical coordinates) in real time according to the measured movement line of the aircraft, that is, the GPS reception module 280, and corrects them after comparison with the existing numerical coordinates. In aerial photography, image distortion occurs as you move farther away from the shooting target located directly below the aircraft.

However, as will be described later, in the present invention, the camera 210 has a structure adopted to allow free lifting, turning, rotation, fixation, and angle adjustment, and thus, the object image located in the vertical range PL directly below the aircraft A is precisely used. Can be collected, and numerical coordinates can be applied accurately.

Therefore, the numerical coordinate correction module 290 regards the vertical vertical range PL within a certain radius as a valid collection image and numerical coordinates around a point directly below the aircraft and applies it to the numerical map correction. Subsequently, the numerical coordinate correction module 290 applies the collected new numerical coordinates to the new collection image to generate as shown in FIG. 3B. As shown in FIG. 4, the coordinates in the existing numerical map and the numerical coordinates in the newly collected image are compared with each other to adjust the position. Detailed description of the numerical coordinate correction module 290 will be described later.

6 is a perspective view of a camera driver equipped with a camara according to the present invention.

In the present invention, in order to obtain the new collected image, the camera 210 is further provided with a camera driver 1000 for lifting, fixing, turning, and adjusting the angle from the lower surface of the aircraft. That is, the camera driver 1000 is provided to minimize the output of the ground plane and the side surface to the collected image during aerial photography, and the camera 210 mounted on the camera driver 1000 takes into account the speed of the aircraft. By doing so, the ground object to be photographed is photographed by a video recording method.

The camera driver 1000 is assembled to a fixed plate portion 1110 of a disk shape fixed to the bottom of the aircraft, a fixed column 1120 protruding from the center of the fixed plate portion 1110, and the fixed column 1120 It is formed of a moving column (1130), a rotating column (1140) assembled at the lower end of the floating column (1130), and a camera fixed box (1150) mounted on the rotating column (1140) to mount the camera (210). do.

The camera 210 of the present invention is 60 to 79% by weight of an alcohol solvent mixed with one or more selected from the group consisting of isopropyl alcohol, methyl alcohol, and ethyl alcohol on the surface of the lens, ethyl hydroxyethyl, and carboxy 20 to 39% by weight of a polymer resin in which one or more selected from the group consisting of methyl ethyl, resorcinol resin and hydroxyethyl, and dimethylsiloxane, dihexyl phthalate, dioctyl phthalate and stearic acid are selected. It may be provided with a coating solution formed by applying 0.1 to 3% by weight of each of the additives mixed with one or more, respectively, and coating the mixed coating solution.

The coating layer of the lens of the camera 210 is preferably applied to a thickness of 30 to 60nm, which is difficult to perform the protective function of the lens itself when the coating layer is applied to a thickness of less than 30nm, the coating layer is applied to a thickness of more than 60nm This is because the light transmittance deteriorates.

As described above, the coating layer of the camera 210 is formed of a material having a surface tension of 34 dyne / cm or less and a dynamic friction coefficient of 0.05 or less. By forming a coating layer of the lens with a material having low surface tension and high slip, the lens To protect, and to prevent contamination by foreign matter on the lens surface, as well as to improve the problem that the light transmittance is lowered, it is possible to obtain a more precise collected image.

7 is a cross-sectional view of a fixed pillar provided with a camera driver mounted with a camera according to the present invention.

The fixing plate portion 1110 has a cylindrical boss 1112 protruding from the center of the lower surface thereof, and the fixing column 1120 is formed in a cylindrical shape with the upper and lower ends open, and the lower end is screwed to the boss 1112. The inside of the fixed column (1120) is provided with a lifting motor 1200 is attached to the lower surface of the fixed plate portion 1110, the vertical movement of the lifting rod (520) by the driving of the lifting motor 1220 flow column (1130) The lifting rod 520 is provided with a plurality of stoppers 560 having a triangular pyramid or a triangular cross section in its lower region, and the locking jaw (LITM) formed on the inner surface of the fixed column 1120 If the stopper 560 is caught in, it is possible to prevent the additional drop of the lifting rod 520.

In addition, the outer surface of the fixed column 1120 is provided with a first controller 1121 capable of wired or wireless communication, and through the first controller 1121 according to a control command input from the control module 190 ' The driving of the elevating motor 1200 may be controlled by wired or wireless. Accordingly, by controlling the elevating motor 1200 through the first controller 1121, the height of the camera 210 can be finally adjusted while elevating and lowering the floating column 1130 relative to the fixed column 1120. Is done.

At this time, provided with a plurality of springs 580 to support the weight of the flow column 1130 between the fixed column 1120 and the flow column 1130, to assist in the fine lifting and lowering of the flow column 1130, In high-speed aviation, loss of the rotating column 1140 and the camera fixing box 1150 coupled to the floating column 1130 and the floating column 1130 due to strong external pressure may be prevented. The spring 580 may be formed of a material having excellent stiffness compared to the elastic force, thereby preventing a sudden rise and fall of the flow column 1130 and increase the binding force between the fixed column 1120 and the flow column 1130.

On the other hand, the lifting rod 520 is provided with a shock absorber 550 and a shake prevention unit 540 on its side, respectively, when the driving of the lifting motor 1200 is stopped, the lifting rod 520 of the fixed column 120 It is fixed to the inner surface, but minimizes the shaking to assist in obtaining a precise collection image, which will be described below.

8 is a cross-sectional view of a shake prevention unit in a fixed pillar provided with a camera driver according to the present invention.

In the present invention, 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. Including.

The anti-shake case 541 is coupled to the side of the lifting rod 520 and is formed in a hollow cylindrical shape. The anti-shake rod 542 is coupled to be able to move left and right through a through hole formed in one side of the anti-shake case 541. On one side end of the anti-shake rod 542, an anti-separation part 543 that prevents the anti-shake rod 542 from separating from the anti-shake case 541 is coupled, and at the other end of the anti-shake rod 542 A contact portion 544 that can contact the inner surface of the fixed column 1120 is coupled.

The departure preventing portion 543 and the contact portion 544 are disposed to be orthogonal to the anti-sway rod 542 and are disposed to face each other. That is, the anti-sway rod 542, the anti-separation portion 543 and the contact portion 544 are generally arranged in an 'H' shape.

A friction portion 545 is coupled to one surface of the contact portion 544 to increase the friction force with the inner surface of the fixed column 1120. In particular, the friction portion 545 is formed in a plurality of hemispherical projections are associated with each other can achieve the effect of further increasing the frictional force. In other words, the general straight friction portion is poor in contact according to the shape of the inside of the case, so that sufficient frictional force cannot be obtained, whereas the plurality of hemispherical friction portions 545 according to the present invention can be contacted in any situation in any situation. It is configured to obtain friction.

More specifically, the friction portion 545 is 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 slaked lime and aluminum oxide abrasive 20 to 100 parts by weight of the epoxy resin It may be configured to include 30 parts by weight. The friction portion 545 configured as described above may be in contact with the inner surface of the fixed column 1120 to achieve an effect of preventing the lifting rod 520 from moving at a designated position, and may be provided with abrasion resistance of the contact portion 544 You can.

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

Meanwhile, an electromagnet portion 547 that is magnetized when current flows is coupled to the inner surface of the shake prevention case 541, and one side of the escape prevention portion 543 facing the inner surface of the shake prevention case 541. The connecting plate 548 made of a magnetic material is coupled.

The electromagnet portion 547 is configured to be electrically connected to the battery inside the aircraft, and when an electric current flows through the electromagnet portion 547, the electromagnet portion 547 and the connection plate 548 contact, and the electromagnet portion 547 If no current flows, the electromagnet portion 547 and the connecting plate 548 are configured to be spaced apart. In other words, when the current does not flow through the electromagnet portion 547, since the anti-shake spring 546 is in a pulled state, the contact portion 544 and the friction portion 545 maintain the maximum inlet state, so the anti-shake portion 340 Since the whole is away from the inner surface of the fixed column 1120, it does not affect the vertical movement of the lifting rod 520.

In contrast, when current flows through the electromagnet portion 547, the elastic restoring force of the anti-sway 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 fixed. Since it is in contact with the inner surface of the pillar 1120, the lifting rod 520 may be strongly fixed without moving.

That is, in the present invention, the vertical movement of the lifting rod 520 is operated so that current does not flow through the electromagnet portion 547 of the anti-shake portion 540, and the shaking when the movement of the lifting rod 520 stops. By applying a current to the electromagnet portion 547 of the prevention portion 540, the friction portion 545 of the anti-shake portion is securely fixed to the inner surface of the fixed column 1120, thereby not only damping vibration transmitted from the aircraft, There is an advantage that can assist in fixing the posture of the floating column 1130 connected to the fixed column (1120).

9 is a cross-sectional view of a buffer part in a fixed pillar provided with a camera driver in which a camera according to the present invention is mounted.

In the present invention, the buffer part 550 is a buffer rod part 551 that is coupled to allow the lifting rod 520 to pass through the lifting hole formed in the center, and is arranged to surround the buffer rubber part, and the fixed pillar 1120. The buffer case 552 fixedly coupled to the inner surface of the buffer ring is disposed between the buffer rod part and the buffer case, and an empty ring inside through which the air can be injected through the inlet 554 mounted on one side of the buffer rod part It includes a buffer rubber portion 553 of.

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

The stiffness of the buffer rubber portion 553 can be controlled by adjusting the amount of air filled in the buffer rubber portion 553 through the injection hole 554. In other words, the present invention adjusts the stiffness in various ways in consideration of the size or material of the lifting rod and the fixed column 1120, the external environment, etc., thereby effectively transmitting vibration without affecting the vertical movement of the lifting rod 520. Since it prevents, it also helps to prevent the shaking of the flow column (1130).

The engaging end portions 551b may be formed to protrude along the circumference of the buffer rod portion 551 at upper and lower ends of the buffer rod portion 551, respectively. The engaging end portion 551b is formed to extend outwardly of the buffer rod portion 551 and then extend perpendicularly in the longitudinal direction of the buffer rod portion 551. At both ends of the upper and lower ends of the buffer rubber portion 553, coupling end portions 553a corresponding to the shape of the engaging end portions 551b are formed, so that the buffer rubber portion 553 is coupled to the buffer rod portion 551. Make it possible.

The engaging end portion 551b and the engaging end portion 553a prevent the buffer rubber portion 553 from falling out of the buffer rod portion 551 when the air pressure inside the buffer rubber portion 553 is reduced, and at the same time, the buffer rubber portion (553) When the air pressure inside is too high, the buffer rubber portion 553 is prevented from being bounced out of the buffer rod portion 551.

It is preferable that a circular rope 555 is inserted into the inside of the coupling end 553a disposed at both ends of the buffer rubber part 553 so as to wrap it in a ring shape along the periphery of the buffer rod part 551. The rope 555 strongly compresses the coupling ends 553a of both ends of the buffer rubber part 553 to the buffer rod part 551 to increase the sealing force of air injected into the buffer rubber part 553. .

In addition, it is preferable that the reinforcing layer 556 is inserted in the interior of 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 having a hardness higher than that of the buffer rubber portion 553, and 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 is reinforced with any one of acetate, acrylic, vinylon, and gold silver yarns, and a wire layer is added to the fabric, and a thin elastic layer is added thereto.

As described above, the present invention is provided with buffer portions 550 on both sides of the lifting rod 520, but does not affect the up and down movement of the lifting rod 520, while the movement of the lifting rod 520 is stopped, from the aircraft It minimizes the transmitted vibration and helps to prevent the fine shaking of the flow column 1130.

10A to 10C are exemplary views showing an operating state of a camera driver in which a camera according to the present invention is mounted.

Meanwhile, a rotating motor 1134 is built in the flow column 1130, and a driving gear 1133 is installed in the rotating motor 1134. In addition, a rotating column 1140 is installed on an upper portion of the flow column 1130, and a rotating shaft 1142 is protruded on a bottom surface of the rotating column 1140, and a driven gear is disposed at an end of the rotating shaft 1142. 1114 is installed, and the driven gear 1141 is coupled or geared with the lifting rod 520 in the flow column 1130.

The rotating shaft 1142 is rotatably installed through a bearing 1134 installed on one surface of the flow column 1130. Therefore, by controlling the rotation of the rotating motor 1134, it is possible to adjust the rotation angle of the rotating column 1140. In this case, it can be said that the control of the rotary motor 1134 is performed by the first controller 1121. That is, when the rotating motor 1134 is rotated, the driving gear 1133 is rotated, and the driven gear 1141 gear-coupled to the driving gear 1133 is rotated together to receive a rotational force through the rotating shaft 1142. It can be said that 1140 is rotated.

In addition, a lower surface of the rotating column 1140 is opened, and a camera fixing box 1150 equipped with a camera installation groove 1152 is rotatably installed around a rotating hinge 1151. In addition, a rotating motor 1170 is installed between the rotating column 340 and the camera fixing box 1150, and the rotating motor 1170 is rotated while being rotated in contact with one surface of the camera fixing box 1150. The cam 1171 is provided. Therefore, when the rotating motor 1170 is driven, the rotating cam 1171 is rotated, and the rotating cam 1171 is rotated in contact with the camera fixing box 1150, so that the camera fixing box 1150 and the camera ( 210) is to be rotated in the vertical direction.

In addition, an angle-adjustable camera 210 is installed in the camera installation groove 1152 to be freely rotated within a 180-degree range, and a camera communication antenna 1180 is installed on one outer surface of the camera fixing box 1150, A second controller 1181 is installed below it. At this time, the camera communication antenna 1180 wirelessly communicates with the control module 190 'of the digital map correction device 100 to transmit a control signal to the second controller 1181.

The camera driver 1100 having such a configuration is to take a video of the ground on the ground while the aircraft is flying, and the camera 210 is freely angled, swiveled, height adjusted and fixed while zoom-in, zoom- Out is possible, and can be driven to include an image captured from above the ground as much as possible.

That is, the camera driver 1100 according to the present invention can be finely adjusted in the X, YZ direction of the shooting direction of the camera by the lifting rod 520 and a number of motors, and also fixed to perform the role of the central axis when the camera is moving up and down By preventing the shaking of the lifting rod 520 in the pillar 1120, it is possible to accurately acquire an image while minimizing the fine vibration of the camera 210, and eventually acquire a precise new collection image necessary for updating the digital map. It becomes possible.

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 are sequentially repeated in 30 second increments on the bottom surface of the fixed plate part 1110 The output ultrasonic generator 570 may be further mounted.

The ultrasonic generator 570 may be repeatedly output in a frequency of 8Khz to 13Khz, a frequency of 8Khz to 25Khz, a frequency of 15Khz to 25Khz, and a frequency of 27Khz to 44Khz in units of 30 seconds, but only in season and day and night. Accordingly, the above frequency may be repeatedly output in a range of 10 seconds to 60 seconds.

In the present invention, the frequency of 8Khz ~ 13Khz is effective to prevent the access of various pests, the frequency of 8Khz ~ 25Khz is effective for preventing access of settling birds, and the frequency of 15Khz ~ 25Khz is for preventing access of summer migratory birds. Effective, the frequency of 27Khz ~ 44Khz can be said to be useful for preventing winter migratory birds. That is, in the present embodiment, the ultrasonic generator 570 is provided to sequentially or randomly output frequencies having different frequency bands to prevent various pests or algae from approaching the area around the camera 210, thereby preventing pests in the collected image or It has the advantage of preventing the phenomenon of algae being photographed, and ensuring a precise collection image continuously.

11 is a flow chart showing each step of the digital map processing method according to the present invention, FIG. 12 is an exemplary view schematically showing how the image collection device performs primary analysis of the collected image, and FIG. 13 is a flowchart of the collected image. It is an exemplary diagram showing the setting of identification information, and the numerical map correction and update processing method according to the present invention will be described in order by referring to this.

S10; Image information collection stage

The image collection device 200 is installed on an aircraft and photographs the ground according to a conventional aerial photography method. In this embodiment, the image collection device 200 collects images of a specific area or a designated area in a panoramic form while rotating in a designated rotation range. The camera 210 of the image collection device 200 is mounted on the bottom of the aircraft, and after descending and fixing, angle adjustment of the camera is completed, and a specific area or a designated area can be continuously photographed while rotating. The image collected by the camera 210 is not a collection image taken at a certain shooting angle unit, but may be referred to as a video continuously photographed while the camera 210 rotates.

Subsequently, as shown in (a) of FIG. 12, the vertical pixel axis (hereinafter referred to as the “longitudinal axis (YA)”) located at the front end of the rotation direction of the camera 210 is checked. For example, as shown in Fig. 12A, when the camera 210 rotates horizontally to the left, the left vertical axis YA of the collected image is checked.

As described above, since the camera 210 rotates at a constant speed and photographs an image of a specific area or a designated area in a panoramic form in real time, it is impossible to check a shooting angle for each collected image. As described above, the camera 210 of the present invention is configured to prevent vibration transmitted from an aircraft, but since the collected image at the same shooting angle may be slightly changed due to strong wind flowing in from the outside, 100% the same collected image is tracked It is difficult to completely recollect it. Therefore, the camera 210 checks the pixels of the vertical axis YA in real time, sets them as identification information of the corresponding collected image, and stores them in the image check information DB 230.

Meanwhile, the identification information of the new collected image is set in the unit of the shooting range of the camera 210. That is, when the camera 210 photographs a specific area or a designated area once, an image of one screen as shown in (a) of FIG. 9 is collected. Therefore, from the corresponding image, the left vertical axis YA at the left end and the right vertical axis at the right end (not shown) can be checked at a time, and the camera 210 collects one horizontal space range of the right vertical axis from the left vertical axis YA. Determined by the range. Therefore, the camera 210 checks the vertical axis YA in units of the horizontal interval, and as shown in FIG. 13, the vertical axis YA of the first collected image P1 and the vertical axis of the second collected image P2 ( YA ') is determined, and based on this, identification information of the first and second collected images P1 and P2 is set.

With respect to the pixel check of the vertical axis YA, as shown in Fig. 12B, if the colors of the similar range in which more than a specified number of pixels are continuously displayed are set, the corresponding pixels are set as one identification mark. More specifically, FIG. 12 (b) shows the vertical axis (YA) of the drawing (a), wherein the blue series (Y1), the gray series (Y2), and the gray series (Y3) have a predetermined number of pixels. It is continuously outputting abnormally. Therefore, the blue series (Y1) and the gray series (Y2) and the gray series (Y3) are set as identification marks constituting the identification information of the corresponding collection image.

For reference, the identification mark includes information such as color, pixel position, and number of pixels, and if other colors are less than a specified number of pixels during continuity check of the similar color, the identification mark is set as the identification mark of the similar color family. . Here, the color similarity range, the number of pixels to be set as the identification mark, and the number of pixels of other colors that are ignored in the similar color family are variously changed and operated according to the shooting resolution of the camera 210 or the characteristics of the region to which the image is collected. Will be able to.

S20; Check target confirmation step

The image check module 220 checks the check mark while checking the horizontal axis (XA) of the designated location in the new collected image collected by the camera 210. The check mark, like the identification mark of the vertical axis (YA), checks the color for each pixel of the horizontal axis (XA) to check the similar colors continuously output over a specified number of pixels. You can.

For example, as shown in FIGS. 12A and 12C, when a specific horizontal axis XA is selected in a new collected image, the image check module 220 checks the pixels of the horizontal axis XA to specify Check the color family that continuously outputs a similar number of pixels over a specified number of pixels. The specific horizontal axis (XA) of the new collection image identifies the gray series (X1), the red series (X2), the green series (X3), the white series (X4), and the gray series (X5). The image check module 220 sets the checked color series as a check mark of a new collection image, and stores check information composed of the check mark in the image check information DB 230.

Eventually, the image check module 220 compares the vertical axis (YA) of the image collected by the camera 210 with the identification information stored in the image check information DB 230 to check the new collected image to be checked, and when it is confirmed, The check information of the collected image is retrieved from the image check information DB 230.

FIG. 14 is an exemplary view illustrating a state in which the collected image of FIG. 12 is adjusted to a pixel position of a reference value, and will be described with reference to this.

S30; Acquisition image check step

The image check module 220 compares check information with a designated horizontal axis (XA) of a new collected image identified as a check target. That is, it can be said that the check mark of the check information is compared with the color series group of the corresponding horizontal axis XA to check whether the color series group matches the check mark. Of course, checking whether the check mark and the color family match is a check of whether the color, the position of the color, and the length of the color match.

On the other hand, the camera 210 is installed in the aircraft in operation, there may be a change in shooting color due to weather, climate, and the like. Therefore, it is preferable to stop the check and repeat the check after a specified date if all the collected images and the check information do not match or the match rate is less than a certain value in all the collected image checks of the image collection device 200 rotated by one cycle.

In addition, there may be a minute change in the collected image due to the shaking of the camera 210. Therefore, the image adjustment module 260 compares the collected new collected images with the identification information, and as shown in FIG. 14 (a), identifies the color family and identification information of the collection longitudinal axis (YA) in the collected images. When the position of the mark is confirmed by the difference of one pixel, as shown in FIG. 14B, the check information is confirmed by comparing the position of the collection horizontal axis XA by one pixel adjustment operation.

Of course, as shown in the present embodiment, if the positions of the color series group and the identification mark are identified by a plurality of pixel differences, the check information can be confirmed by comparing with an operation adjusted by the corresponding pixel difference.

S40; Individual change estimation collection image transmission step

As a result of checking the collected image check information of the image check module 220, if the color series group of the horizontal axis (XA) and the check mark of the check information match more than a specified ratio, the collected image is considered to have no individual change, and is less than the specified ratio. If they match, it is estimated that there is a change in the object in the collected image, and then transmits it to the digital map correction device 100 through the image transmission module 250. Here, if the location of the collected image to be sent is adjusted in units of pixels by the image adjustment module 260, the image transmission module 250 may transmit data for the adjusted image.

For reference, the transmission or reception of the image data may be performed in real time by wireless communication in a dedicated frequency from an aircraft in flight, and after the aerial photography is finished, the photographer uses the image data storage module (not shown) as a digital map correction device (100). ).

S50; GPS measurement steps

The GPS receiving module 280 measures the numerical coordinate, which is the current location, in real time. Since the description of the numerical coordinate measurement is already known, a detailed description thereof will be omitted in this specification.

S60; Numerical coordinate confirmation step

The numerical coordinate correction module 290 searches the GPS coordinate DB 270 to check the existing numerical coordinates of the current location. The existing numerical coordinates are linked to the existing numerical map and output as shown in FIG. 3 (a). On the other hand, the numerical coordinate correction module 290 links the new collected image and the new numerical coordinate confirmed by the camera 210 to output as shown in FIG. 3 (b).

When the existing numerical coordinates are linked and the new collection image linked to the existing numerical map and the new numerical coordinates is confirmed, as shown in FIG. 4 (a), the specific point in the existing numerical map is set as the first reference point SP, and As shown in (b) of 4, this same point is set as the second reference point (SP ') and set in the new collected image. In addition, one point in the existing numerical coordinate axis composed of the existing numerical coordinates is the first coordinate point CP, and the same coordinate point as the first coordinate point CP in the new numerical coordinate axis composed of the new numerical coordinates is the second coordinate. Hold it with a point (CP ').

Subsequently, the numerical coordinate correction module 290 synthesizes the existing numerical coordinate axis and the new numerical coordinate axis based on the first and second reference points SP and SP 'as shown in FIG. 5, and the first and second coordinate points CP and CP. The difference between ') is confirmed. As a result, it was confirmed that there is an error of' d 'between the existing numerical coordinates and the new numerical coordinates. Therefore, the position in the new collection image indicated by the new numerical coordinates and the existing numerical coordinates indicate It is confirmed that there is a difference in the position in the existing digital map. At this time, the numerical coordinate correction module 290 ignores the error if the error is less than the specified difference, and transmits the new numerical coordinate together with the new collection image to the numerical map correction device 100 if the error is less than the specified difference.

S70; Acquisition image confirmation step

Subsequently, the collection image processing module 110 of the digital map correction apparatus 100 receiving the image data from the image collection apparatus 200 identifies the ID of the image collection apparatus and the collected image through the basic information of the received image data. Performs the function of checking information. In this embodiment, since the image collection device 200 photographs various regions, the number of them is also large. Therefore, an ID is set for each image collection device 200, and the collected image processing module 110 checks the ID and classifies the originating camera and photographing area of the corresponding image data.

FIG. 15 is an exemplary view showing the classification of individuals processing the collected image that forms the basis of the digital map, FIG. 16 is an exemplary view showing the variation of the existing collected image and the new collected image, and FIG. 17 is a numerical value according to the present invention This is an example diagram showing how to modify a digital map for each section according to the map processing method.

S80; Color range identification step

The object analysis module 120 performs a function of grasping a corresponding collected image of image data in units of pixels. As shown in FIG. 15, since the color of the digital map is determined in units of pixels and output through an image device such as a monitor, the object analysis module 120 determines whether the pixel at the designated location outputs the specified color.

S90; Object classification stage

Subsequently, the object analysis module 120 checks the output color in units of pixels, and performs a function of identifying and classifying objects output on the collected image. At this time, the object classification is performed based on the color and the pixel position of the corresponding color, and it is preferable not to check the specific shape of the object. Therefore, the object analysis module 120 classifies a group of color pixels within a designated similar range as one object.

In the embodiment of the present invention, objects such as buildings, bridges, structures, rivers, etc. indicated by the digital map have already been confirmed in location, color, and range. In other words, it can be said that the object is identified in the collected image that is the basis of the digital map and then processed as a digital map. The existing collected image is stored in the collected image DB 130, and the new collected image that the object analysis module 120 identifies and classifies the object is stored in link with the existing collected image stored in the collected image DB 130. do.

S100; Individual change check step

Subsequently, the object change confirmation module 140 searches for an existing collection image and a new collection image linked to each other in the collection image DB 130 to check whether the object has changed.

FIG. 16 (b) is an existing collection image of the digital map, and FIG. 16 (a) is a new collection image linked to the existing collection image. In this embodiment, B1, B2, B3, B4, B5, and B6 are among the stored object information linked to the existing collection image. The object information includes information on the color of each pixel, the position of the object, and the range of the object as described above, and thus is used as a criterion for determining whether the new collected image is changed.

The object change confirmation module 140 sets a point of a relatively vivid color within the range of the object identified by the object analysis module 120 as check points (B11, B31), as shown in FIG. 15 (b). Then, it is checked whether the color matches the pixel or the pixel within the designated range at the same position as the checkpoints B11 and B31 in the existing collected image. In this embodiment, the B11 checkpoint is located within the range of the B1 object image linked to the existing collected image, and the B31 checkpoint is located within the range of the B3 object image linked to the existing collected image.

In the new collection image shown in (a) of FIG. 16, the individual change confirmation module 140 checks a pixel at the same location as the checkpoints B11 and B31 or a pixel within a specified range. Here, the color of the B11 checkpoint is a light green family, and the color of the B31 checkpoint is a dark brown family. As a result of the confirmation of the individual change confirmation module 140, pixels at the same position as the checkpoints B11 and B31 are a tan-based group, and do not match the colors of the four B11 checkpoints and the B31 checkpoints, respectively. Eventually, the object change confirmation module 140 confirms that there is a change in B1, which is the target object of the B11 checkpoint, and B3, which is the target object of the B31 checkpoint. By tracking the cluster of output pixels, the cluster is identified as a range in which changes are made.

In the present embodiment, the individual change confirmation module 140 identifies and designates a change range NB, which is a pixel range of the tan series, as shown in FIGS. 16A and 17A, respectively. The existing collected image and the new collected image in which the change range NB is displayed are transferred to the input / output module 190 and output. The operator in charge checks the designated change range (NB) in the new collected image output to the input / output module 190 to check whether the change range (NB) is correctly specified, and corrects or confirms the contents and inputs a confirmation signal to confirm the individual change. It can be delivered to the module 140. Here, the operator in charge, through the input / output module 190, as shown in (b) of FIG. 17, synthesizes the change range (NB) at the corresponding point in the existing collection image, checks whether there is interference with the immutable object, and interferes. If it is confirmed that there is no, the final image synthesis data can be generated and included in the final signal.

The operator in charge inputs a control signal to the control module 190 'to check the actual captured image of the new collected image in the confirmation process, and the control module 190' enters the corresponding image collection device 200 according to the control signal. Transmit the operation signal. Of course, the image collecting device 200 receiving the operation signal transmits image data, which is an actual captured image of the new collected image, to the control module 190 'of the digital map correction device 100, and the control module 190' The image data is output to the input / output module 190.

For reference, the control module 190 'controls the operation of the overall elevation, fixation, rotation, and angle adjustment of the camera 210, but commands the first controller 1121 or the second controller 1181 to fix the pillar. (1120), the flow column 1130, it can perform a function to control the operation of the rotating column 1140 in detail.

S110; Target Digital Map Search Phase

Subsequently, the image section search module 150 receiving the confirmation signal from the individual change confirmation module 140 searches the corresponding digital map in the digital map DB 160.

S120; Information editing stage

The image information editing module 170 and the link information editing module 170 'check the section corresponding to the change range NB in the numerical map searched by the image section search module 150, and check the image information and the link information respectively. Will be edited.

That is, the image information editing module 170 checks the position, size, color, etc. of the change range NB, and edits the corresponding section of the digital map to the color and size of the change range NB based on this. For reference, the image information editing module 170 confirms the image synthesis data obtained by synthesizing the change range (NB) on the existing collected image, which is the background of the digital map, from the composite signal, and maps the determined change range (NB). Synthetic edits in the target area.

Then, the link information editing module 170 'deletes all link information such as text linked to the edit target area, receives new text input by the operator from the input / output module 190, and links it to the edit target area. That is, the text such as the building name, park name, and bridge name linked to the area before editing is deleted, and text such as the building name, park name, and bridge name of the newly edited conversion range NB is entered and linked. In addition, the link information editing module 170 'links new numerical coordinates with errors received from the image collection device 200 and existing numerical coordinates, ignoring the new numerical coordinates through field survey or comparison with other numerical coordinates, or It is decided to update with the new numerical coordinates, and the determined numerical coordinates are finally linked to the corresponding point on the numerical map.

S130; Information update stage

Finally, the digital map update module 180 updates and stores the digital map edited by the image information editing module 170 and the link information editing module 170 'in the digital map DB 160. Meanwhile, the collected image DB 130 updates and stores the collected image constituting the background of the newly updated digital map as the existing collected image, and compares it with the new collected image received from the image collecting device 200 afterwards. Can function.

The present invention has been described above with reference to specific embodiments of the present invention, but this is for illustration only and the present invention is not limited thereto. A person having ordinary knowledge in the technical field to which the present invention pertains can change or modify the described embodiments without departing from the scope of the present invention, and within the equal scope of the technical idea of the present invention and the claims to be described below. Various modifications and variations are possible.

100; Digital map correction device 110; Collected image processing module
120; Entity analysis module 130; Collected image DB
140; Individual change confirmation module 150; Video section search module
160; Numeric map DB 170; Image information editing module
170 '; Link information editing module 180; Numerical map update module
190; I / O module 190 '; Control module
200; An image collecting device 210; camera
220; Image check module 230; Image check information DB
250; Image sending module 260; Image adjustment module
520: lifting rod 540: shake prevention unit
550: shock absorber 560: stopper
570: ultrasonic generator 580: spring
1000: camera driver 1110: fixed plate
1120: fixed column 1130: floating column
1140: rotating column 1150: camera fixed box
1200: elevating motor

Claims (1)

When the number of pixels above a specified number of pixels in the left or right vertical axis (YA) of a new collected image made by classifying a panorama-type image at regular horizontal intervals continuously displays colors of a specified similar range, the pixels are identified as a new collected image. A macro setting camera 210; An image check information DB 230 for storing check information composed of check marks of a horizontal axis (XA) designated in the existing collected image; When the number of pixels having a specified number of pixels or more in a designated pixel of the designated horizontal axis (XA) in the new collected image is continuously displayed, the corresponding pixels are set as a new checkmark, and the new collected image in the image check information DB 230 Search for the check information corresponding to the designated horizontal axis (XA), and compare the new check mark and the check information to check whether the output color, color position, and color length of the corresponding pixel match, and estimate the individual change of the new collected image An image check module 220; Before comparing the new check and the check information on the image check module 220, the difference between the position of the identification mark of the existing collected image and the position of the identification mark of the new collected image is checked, and the position of the new check mark is equal to the difference between the two. An image adjustment module 260 for adjusting; An image sending module 250 that transmits a new collected image estimated with individual change as image data; A GPS coordinate DB 270 for storing existing numerical coordinates linked to an existing numerical map; A GPS receiver module 280 for measuring numerical coordinates; And linking and outputting the existing numerical coordinates to the existing numerical map, and linking and outputting the new numerical coordinates measured by the GPS receiving module 280 to the new collected image collected by the camera 210, and collecting the new numerical coordinates. The same point in the image is set as the first reference point (SP) and the second reference point (SP '), and one point in the existing numerical coordinate axis composed of the existing numerical coordinates is set as the first coordinate point (CP), and the new numerical coordinate In the new numerical coordinate axis consisting of the first coordinate point (CP) and the same coordinate point as the second coordinate point (CP '), based on the first and second reference points (SP, SP'), the new numerical coordinate axis and the existing numerical value Numerical coordinate correction module 290 that checks the error (d) between the first and second coordinate points (CP, CP ') by synthesizing the coordinate axes, and then transmits the new numerical coordinates through the image sending module 250 if it is greater than the specified difference. ); An image collection device 200 having a,
A collection image processing module 110 that checks basic information of the image data and checks ID of the image collection device 200 and identification information of a new collection image; A collection image DB 130 that stores existing collection images; Check the color of each pixel in the image of the new collected image, classify a group of color pixels within a similar range specified in the new collected image as one object, and collect the new collected image in the collected image DB 130 An object analysis module 120 for storing images in link with the images; The collection image DB 130 searches for a new collection image and an existing collection image linked to each other, sets a plurality of checkpoints within a range of objects classified in the existing collection image, and checks the existing collection image in the new collection image. If the pixel color of the point that matches the point is determined and determined, and if the checkpoint check determines that the checkpoint color of the specified number or more does not match, the object is estimated to be changed, and the corresponding pixel of the new collected image The object change that tracks the cluster of pixels continuously outputting color and designates the cluster as a change range (NB), and transfers and outputs the existing and new collection images in which the change range (NB) is displayed to the input / output module 190. Confirmation module 140; An input / output module 190 for generating image synthesis data by editing the change range NB displayed on the existing collected image, and inputting a confirmation signal for the change range NB; A digital map DB 160 that stores an existing digital map; An image section search module 150 for checking the determined signal and searching for the corresponding existing digital map in the digital map DB 160; An image information editing module 170 checking a section to be edited corresponding to the change range NB from the existing digital map and synthesizing the corresponding image of the change range NB to the edit target area according to the image synthesis data; A numerical map that deletes the text linked to the editing target section, links the new text input from the input / output module 190 to the editing target section, and compares the existing numerical coordinates and the new numerical coordinates to edit one numerical coordinate. Link information editing module (170 ') to link to; And a digital map update module 180 for updating and storing the edited digital map in the digital map DB 160, and;
In order to obtain the new collected image, the camera 210, the camera driver (1000) for lifting, fixing, turning, angle adjustment on the lower surface of the aircraft;
The camera driver 1000 is assembled to a fixed plate portion 1110 of a disk shape fixed to the bottom of the aircraft, a fixed column 1120 protruding from the center of the fixed plate portion 1110, and the fixed column 1120 It is formed of a moving column (1130), a rotating column (1140) assembled at the lower end of the floating column (1130), and a camera fixed box (1150) mounted on the rotating column (1140) to mount the camera (210). Become,
A plurality of springs 580 for supporting the weight of the flow column 1130 is provided between the fixed column 1120 and the flow column 1130,
The fixed column 1120 is formed in a cylindrical shape with the upper and lower ends open, and the upper end is screwed to the boss 1112, and an elevating motor 1200 is attached to the fixed plate part 1110 inside the fixed column 1120. It is provided, but the vertical movement of the lifting rod 520 by driving of the lifting motor 1220 enables the rising and falling of the flow column 1130,
The lifting rod 520 is provided with a plurality of stoppers 560 having a triangular pyramid or a triangular cross section on its side, and the stopper 560 is applied to a locking jaw (LITM) formed on the inner surface of the fixed column 1120, Prevent the additional drop of the lifting rod 520,
The lifting rod 520 is provided with a shock absorber 550 and a shake prevention unit 540 on its side, respectively, and when the driving of the lifting motor 1200 is stopped, the lifting rod 520 is fixed to the inner surface of the fixed column 1120. Securely attached to it, but minimize its shaking,
The shock absorber 550 includes: a shock absorber rod 551 coupled to allow the lift rod 520 to pass through the lift hole formed in the center; A buffer case 552 disposed to surround the buffer rod portion and fixedly coupled to the inner surface of the fixed column 1120; And a buffer rubber portion 553 having an empty ring shape, which is disposed between the buffer rod portion and the buffer case and through which the air can be injected through the injection hole 554 mounted on one side of the buffer rod portion. It is provided, the upper and lower ends of the buffer rod portion 551, respectively, the locking end portion 551b is formed to protrude along the periphery of the buffer rod portion, and the upper and lower ends of the buffer rubber portion 553 respectively have locking end portions. A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 can be coupled to the buffer rod portion 551, and the coupling end portion 553a has a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to be wrapped in a shape, and a reinforcing layer 556 is inserted along the longitudinal direction inside the buffer rubber part 553 contacting the buffer case,
The anti-shake portion 540 includes a cylindrical anti-shake case 541 coupled to the side of the elevating rod 520; An anti-shake rod 542 mounted through one side of the anti-shake case so as to be movable left and right; A release preventing unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from separating from the anti-shake case; A contact portion 544 that is coupled to the other end of the anti-shake rod and can be in contact with the inner surface of the fixed column 1120; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the departure preventing portion and the inner surface of the anti-shake case to provide elastic restoring force to the anti-shake rod. Is provided, the departure prevention portion 543 and the contact portion 544 is disposed to be orthogonal to the anti-sway rod 542, the inner surface of the anti-sway case is coupled with an electromagnet portion 547 that is magnetized when current flows The connection plate 548 made of a magnetic material is coupled to one side of the departure preventing portion 543 facing the inner surface of the shake prevention case,
A rotating motor 1134 is built in the interior of the flow column 1130, a driving gear 1133 is formed in the rotation motor 1134, and a bearing 1134 is provided on the upper portion of the flow column 1130. A rotating column 1140 is formed to be rotatable, and a rotating shaft 1142 is formed on a bottom surface of the rotating column 1140 to which a driven gear 1141 is coupled, and is rotated up and down on the upper portion of the rotating column 1140 The camera fixed box 1150 is formed around a rotating hinge 1151, a rotating motor 1170 is formed between the rotating pillar 1140 and the camera fixed box 1150, and the rotating motor 1170 A rotating cam 1171 rotated in contact with one surface of the camera fixing box 1150 is formed, and a camera communication antenna 1180 is formed on one outer surface of the camera fixing box 1150, and the rotating motor ( 1170) and the second control through the camera communication antenna (1180) The controller 1181 is formed,
On the lens surface of the camera 210, 60 to 79% by weight of an alcohol solvent mixed with one or more selected from the group consisting of isopropyl alcohol, methyl alcohol, and ethyl alcohol, and ethylhydroxyethyl, carboxymethylethyl, and reso 20-39% by weight of a polymer resin in which one or more selected from the group consisting of a sinol resin and hydroxyethyl, and one or more selected from the group consisting of dimethylsiloxane, dihexylphthalate, dioctylphthalate and stearic acid A numerical information update system for real-time correction of numerical coordinates linked to a numerical map, characterized by comprising a coating layer formed by applying 0.1 to 3% by weight of each of the above mixed additives and applying a mixed coating solution.

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