KR102174824B1 - Image processing system of image information data changing in real time - Google Patents

Abstract

The present invention relates to an image processing system, and more specifically, to an image processing system which integrates and processes image information data in real time. The image processing system includes: an extraction unit which extracts a foreground area by separating the background and the foreground from an input image; a generator which extracts the features of the foreground region and generates a descriptor; a search unit that compares a descriptor with a database to search for information on an object; and a preprocessor which performs preprocessing including at least one of noise removal and image brightness remapping for the foreground area. According to the present invention, identification and analysis of a moving object can be effectively performed.

Description

Image processing system that integrates and processes image information data in real time {IMAGE PROCESSING SYSTEM OF IMAGE INFORMATION DATA CHANGING IN REAL TIME}

The present invention relates to an image processing system, and more particularly, to an image processing system that integrates and processes image information data in real time capable of analyzing image information that changes in real time about an object moving on the ground.

The orthogonal image is secured by correcting the aerial photograph, which is the central projection, by correcting it in the form of an orthogonal projection like a map. Here, the deviation correction is an operation of correcting the inclination (tilt) and the scale (photographing magnification), etc., generated when photographing using a camera.

These orthogonal images secure ground images by static aerial projection, extract an error-free orthogonal image using a digital elevation model (DEM) on the secured static aerial photography image, correct the color of the orthogonal image again, and aggregate the error. It is built through a series of processes that go through calibration and final quality inspection.

The numerical elevation model is essentially used in the process of producing an orthogonal photo image in order to correct the geometric distortion of the aerial projected photo image with the center projection. The extracted photographic image of the orthogonal image goes through a color correction process for correcting color, contrast, etc., and an image collection process for synthesizing a single-sheet image image with a neighboring image image.

The final orthogonal map image is completed through image processing including color correction and image aggregation of the orthogonal image secured by the regular projection, and precisely measured at each location on the ground corresponding to each point of the orthogonal map. It is common to synthesize coordinate information (location information).

However, since the aerial image, which is the data of such image processing, is taken by an aircraft located at a certain altitude from the ground, there is a limit to real-time analysis of an object moving on the ground.

In addition, due to the resolution of the image captured by the mounted camera, accurate identification of the target object is limited, and use of a camera with a high resolution may be considered, but in this case, there is a problem in that transmission is difficult due to an increase in data amount.

The matters described as background art above are only for improving understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

The present invention is to solve the problems of the prior art described above, and an object thereof is to provide an image processing system that integrates and processes image information data in real time in which identification and analysis of moving objects can be effectively performed.

In addition, another object of the present invention is to provide an image processing system that integrates and processes image information data in real time, which can prevent excessive shaking of a camera from surrounding vibrations or shocks using a buffer unit.

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

The configuration of the present invention to achieve the above object, the extraction unit for extracting a foreground area by separating the background and the foreground from the input image; A generator for generating a descriptor by extracting features of the foreground region; A search unit that compares the descriptor with a database and searches for information on an object; And a preprocessor configured to perform preprocessing including at least one of noise removal and image brightness remapping for the foreground region. It characterized in that it comprises a.

In an image processing system that integrates and processes image information data in real time according to an embodiment of the present invention, the generation unit includes: a first processing unit that generates an integrated image of a foreground area; A second processing unit for extracting at least one feature point by applying the integrated image to the approximate Hessian detector; And a third processing unit generating a descriptor for at least one feature point using a speed up robust features (SURF) algorithm. Including, wherein the extraction unit normalizes the extracted foreground area to a predetermined size and provides, and the search unit extracts the matching result using a multi-threshold method when comparing the descriptor with a database, and overlaps at a plurality of thresholds. It is desirable to construct a tree for each of the cases where there is a result and when there are no duplicate results.

In the image processing system for integrated processing of image information data in real time according to an embodiment of the present invention, the image input to the extraction unit is acquired by a camera installed in the photographing unit, and the photographing unit is a fixed bracket mounted on the bottom of the aircraft. ; A rotational detachable portion inserted to be detachably attached to the lower portion of the fixing bracket; A buffer unit coupled to the lower surface of the rotational detachable unit; And a camera coupled to a lower surface of the buffer unit. It is preferable to include.

In an image processing system for processing image information data in real time according to an embodiment of the present invention, the buffer unit includes: a buffer top plate coupled to a lower surface of the rotation/detachment unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including, the four upper plate extensions protruding toward a lower portion forming a'U'-shaped groove at the four corners of the buffer upper plate, and four lower plate extensions forming a'U'-shaped groove at the four corners of the buffer plate It protrudes and extends toward the top, and the upper plate extension part is disposed relatively inside the lower plate extension part, so that a predetermined space is formed in the portion where the upper plate extension part and the lower plate extension part face each other, and a predetermined space formed by the upper plate extension part and the lower plate extension part. It is preferable that the left and right elastic parts are inserted to provide elastic restoring force in the front and rear, left and right directions to the buffer upper plate and the lower buffer plate.

In an image processing system that integrates and processes image information data in real time according to an embodiment of the present invention, the rotation and detachment unit includes: a detachable body part that is coupled to an upper part of the buffer unit and made of a hard material; And a detachable fastening part coupled to the upper part of the detachable body part and made of an elastic material. Including, the detachable body portion, a detachable lower plate coupled to the upper portion of the buffer top plate; A detachable rotary shaft extending from the central portion of the detachable lower plate toward the upper part; And a rotation control unit mounted on an upper end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including, the detachable fastening portion, a detachable upper plate coupled to the upper portion of the detachable lower plate; A detachable telescopic part formed in a hemispherical shape on the upper part of the detachable top plate and disposed to surround the detachable rotary shaft; Detachable external force units formed on both sides of the detachable and retractable unit and capable of applying an external force so that the detachable and expandable unit can be retracted or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross on the upper portion of the detachable and elastic portion. It is preferable to include.

In an image processing system that integrates and processes image information data in real time according to an embodiment of the present invention, the rotation control unit includes: a rotation control body coupled to an upper end of a detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including, in one side of the first slider is equipped with an electromagnet that is magnetized when current flows, a magnetic material is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet It is preferable that the first slider and the second slider are fixed in contact with each other so that the first sphere and the second sphere are exposed to the outside of the rotation control body.

In the image processing system for integrated processing of image information data in real time according to an embodiment of the present invention, the fixing bracket includes: a fixed body coupled to a bottom of an aircraft and having an insertion space formed therein so that the detachable and detachable portion of the rotational detachable unit can be inserted; And a rotation receiving unit disposed at an upper end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including, a guide groove is formed in the central portion of the insertion space along the circumference thereof to accommodate the rotation guide portion, and a plurality of locking grooves are recessed in the inner surface of the rotation receiving portion to form the first sphere and the second sphere It is desirable that it is acceptable.

The present invention having the above configuration has an effect of effectively performing identification and analysis using image information that changes in real time by photographing an object moving on the ground.

In addition, since the present invention can attenuate vibrations or shocks applied to the camera from the outside by using the buffer unit, there is an effect of significantly reducing the error rate by preventing the camera from shaking in the process of working.

1 is a block diagram showing the overall configuration of an image processing system that integrates and processes image information data in real time according to an embodiment of the present invention.
2 is a block diagram showing each configuration of a generator according to an embodiment of the present invention.
3 is an exemplary view for explaining a state of extracting an object in an image processing system according to an embodiment of the present invention.
4 is an exemplary view for explaining a state in which brightness remapping is performed in a pre-processing process in an image processing system according to an embodiment of the present invention.
5 is an exemplary view for explaining a state in which feature point extraction is performed in an image processing system according to an embodiment of the present invention.
6 is an exemplary view for explaining a state in which similarity is measured using multiple thresholds in an image processing system according to an embodiment of the present invention.
7 is an exemplary view for explaining a state in which similarity is measured using a tree in an image processing system according to an embodiment of the present invention.
8 is a flowchart illustrating an image processing method of an image processing system according to an embodiment of the present invention.
9 is a flow chart showing a pre-processing method in an image processing method of an image processing system according to an embodiment of the present invention.
10 is a diagram illustrating an exemplary installation of a photographing unit according to an embodiment of the present invention.
11 is a view showing the overall appearance of the buffer unit according to an embodiment of the present invention.
12 is a view showing the overall appearance of the rotation and detachment unit according to an embodiment of the present invention.
13 is a view showing a view from above of the rotation and detachment unit according to an embodiment of the present invention.
14 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.
15 is a longitudinal sectional view showing a state of a fixing bracket according to an embodiment of the present invention.
16 is a view showing a view from below a fixing bracket according to an embodiment of the present invention.
17 is a view showing an exploded view of each configuration of the windshield according to an embodiment of the present invention.
18 is a cross-sectional view illustrating an exemplary operation of a windshield according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description have been omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

In addition, terms or words used in this specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors should appropriately explain the concept of terms in order to explain their own invention in the best way. Based on the principle that it can be defined, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

1 is a block diagram showing the overall configuration of an image processing system for integrated processing of image information data in real time according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating each configuration of a generator according to an embodiment of the present invention. It is a block diagram.

As shown, the image processing system according to the present invention may include an extraction unit 110, a preprocessor 120, a generator 130, and a search unit 140.

The extraction unit 110 may extract the foreground area by separating the background and the foreground from the input image captured and provided by the aircraft, and the extracted foreground area has a size designated in advance so that the extracted foreground area is at the same level as the size stored in the database. Can be normalized.

The generation unit 130 may extract features of the foreground region to generate a descriptor, and the search unit 140 may search for object information by comparing the descriptor with a database. Here, the aircraft can be manned or unmanned.

The input image may be captured using a camera 1400 mounted on a smart unmanned aerial vehicle, and an object moving on the ground may be photographed using the camera, and the captured image may be transmitted to a control vehicle.

The control vehicle can search for information on the type of the photographed object based on image information in the database that has been established in advance, and provide the searched information to the operator of the unmanned aerial vehicle to efficiently perform the mission.

The generation unit 130 may generate a descriptor by extracting features of the foreground region extracted from the input image captured by the aircraft by the extraction unit 110.

In addition, the generation unit 130 may include a first processing unit 131, a second processing unit 132, and a third processing unit 133.

The first processing unit 131 of the generation unit 130 may generate an integrated image of the foreground area. The second processing unit 220 may extract at least one feature point by applying the integrated image to the approximate Hessian detector. The third processing unit 230 may generate a descriptor for at least one feature point using a speed up robust features (SURF) algorithm.

The preprocessor 120 according to an exemplary embodiment may increase the ease and accuracy of generating the descriptor by performing preprocessing on the foreground region, and related information will be described in more detail below.

3 is an exemplary view for explaining a state of extracting an object in an image processing system according to an embodiment of the present invention.

As shown in (a) of FIG. 3, in order to recognize an object in an image captured by an aircraft, there must be no feature point in the background (background part). For this, feature points should be extracted only from the object.

In the illustrated embodiment, the object photographed by the aircraft is a ship, but this is only an example, and any object or feature that is moving on the ground can be applied to the present invention.

According to an embodiment, a background portion may be removed using a GrabCut algorithm, and an object as a foreground portion may be extracted. The GrabCut algorithm is an algorithm in which a user sets a rectangular window in an object area, not by automatic object extraction.

Accordingly, a rectangular window must be set in a foreground area to be extracted by a user, such as a rectangle drawn with a line around the object of FIG. 3A. An object that is a foreground region extracted using the GrabCut algorithm according to an embodiment is illustrated in FIG. 3B as an example.

4 is an exemplary diagram for explaining a state in which brightness remapping is performed in a pre-processing process in an image processing system according to an embodiment of the present invention.

As mentioned above, the image processing system according to the present invention generates a descriptor by extracting the foreground area by separating the background and the foreground from the input image captured by the aircraft and extracting the features of the foreground area. It may include a generating unit 130 and a search unit 140 for searching for object information by comparing the descriptor with a database.

In addition, the pre-processing unit 120 may further include a pre-processing unit 120 for enhancing the ease and accuracy of generating the descriptor by performing pre-processing on the foreground region. The preprocessing of the preprocessor 120 according to an exemplary embodiment may include at least one of removing noise in a foreground region and remapping the brightness of an image.

According to an embodiment, the preprocessor 120 may perform automatic image enhancement, and may estimate the representative brightness of the foreground region (Object Intensity Evaluation) using this method.

As illustrated in FIG. 4A, when the estimated representative brightness value of the foreground area is, for example, 0.4 or less, brightness remapping may be performed. The preprocessor 120 may improve the foreground area of FIG. 4A, which has a representative brightness value of 0.4 or less, into a bright image as shown in FIG. 4B by using brightness remapping.

According to an embodiment, feature points used for recognition are extracted from the extracted object. However, when the image of an object is dark, since feature point extraction is small, recognition performance may be affected.

In order to reduce such a problem, brightness remapping may be performed automatically when it is dark by estimating the brightness of the extracted object image. Here, the brightness estimation is performed using a cumulative histogram of the input image (CI. Reference of CDF) and a reference cumulative histogram (CR. Reference of CDF) as shown in Equation 1. In this case, the estimation range is in the range of 0.0 to 1.0, and the closer to 0.0, the darker the brightness of the object.

According to an embodiment, when the representative brightness of an image is less than 0.4, brightness may be improved in the Luminance channel by using Luminance Remapping of Equation 2.

는 밝기 리매핑이 수행된 결과이고,

는 입력 영상의 밝기 채널이고,

는 입력 영상에 대한 평균과 표준 편차를 나타내며,

는 기준이 되는 평균과 표준 편차이다.here,

Is the result of performing brightness remapping,

Is the brightness channel of the input image,

Represents the mean and standard deviation for the input image,

Is the standard mean and standard deviation.

5 is an exemplary view for explaining a state in which feature point extraction is performed in an image processing system according to an embodiment of the present invention.

After the pre-processing step by the pre-processing unit 120 mentioned above, for example, after removing the background and performing brightness remapping to extract excellent feature points by extracting an object that is a foreground background, as shown in FIG. Feature points can be extracted.

According to an embodiment, the feature points may be extracted based on a SURF algorithm that locally extracts the feature points. Compared to the existing SIFT (Scale Invariant Feature Transform) algorithm, the SURF (Speeded Up Robust Feature) algorithm has the advantage of being faster and showing similar performance.

5 is an entire image of a foreground area representing feature points extracted using a SURF algorithm. Each extracted feature point can be composed of, for example, 64 descriptors, which are used to recognize.

As shown in FIG. 5, in order to generate a descriptor, a feature point of a foreground region (or moving object) must be first extracted, and the feature point can be extracted using an approximated Hessian detector after generating an integral image. .

According to an embodiment, a descriptor may be generated using a SURF (Speed Up Robust Features) algorithm on a feature point extracted using an approximated Hessian detector.

6 is an exemplary view for explaining a state in which similarity is measured using multiple thresholds in an image processing system according to an embodiment of the present invention.

In the case of using one threshold value, since objects not related to the query image are mixed and searched, a multiple threshold method can be used to increase the accuracy of the search.

An object is searched using multiple thresholds according to an embodiment, and in the present invention, a query image may be searched using, for example, three thresholds (0.001, 0.004, 0.0001). The lower the threshold value (0.0001), the greater the number of feature points, and the greater the threshold value (0.001), the fewer the number of feature points.

According to an embodiment, multiple feature points may be used to select a number of candidates according to each feature point and extract candidates that appear in common among them.

As shown in (a) of FIG. 6, the result of matching T1, T2, and T3 based on the threshold value may be R1 (T1 ∩ T2 ∩ T3). In addition, R2 shown in FIG. 6 is a result of the number of lines, and when R2 is T1 ∩ T2 ∩ T3, the result of the intersection of R1 and R2 may be finally referred to as R. Here, the data formed in the set R may represent an error result by matching and an intersection result of a result by the number of lines.

In addition, in the case of (b) of FIG. 6, a result of the matching error and the number of lines at each threshold value according to an embodiment is shown, and the final overlapping results R may be 1 and 4.

7 is an exemplary diagram for explaining a state in which similarity is measured using a tree in an image processing system according to an embodiment of the present invention.

The tree structure is composed of an internal structure tree 710 and a terminal node tree 720.

According to an embodiment, when a multiple threshold is used, there may be a possibility that none of the multiple execution result (R) images are displayed. These results may or may not be related to (or similar) to the query image.

According to an embodiment, a case that exists in the database and outputs in two of the multiple threshold results but does not appear in one result may be a case in which the multiple execution result R cannot be selected.

In this way, even if the results are derived using the Multiple Threshold method, the accuracy is inferior, so a tree structure may be used to check the relevance of the query image to increase accuracy.

The structure of the tree according to an embodiment is divided into two cases of "when there is a duplicate result" and "when there is no duplicate result" at three thresholds, as shown in FIG. 7, and then the tree ( tree) and verifying the relationship with the query image, the accuracy can be improved.

A tree according to an embodiment can be divided into two cases, when a result exists in R (ThResult-123 != 0) and when a result does not exist (ThResult-123 == 0).

If the result of R does not exist, in the structure of the tree, ThResult-13 == 0: 0.001 result and 0.0001 result, if there is no result in intersection, ThResult-23 == 0: 0.004 result If there is no overlap between the results of and 0.0001, since there is nothing, a message "Not Matching" may be output.

On the contrary, even if ThResult-123 != 0 in FIG. 7 (when there is a duplicate result among the three thresholds), rather than immediately outputting and showing the result, a result with high accuracy can be derived by verifying whether the result is correct.

8 is a flowchart illustrating an image processing method of an image processing system according to an embodiment of the present invention.

First, an input image, which is an object image photographed by the aircraft, is provided (810). Since an image photographed through an aircraft is photographed at a high altitude, problems of image quality and image size may occur. In addition, interlace may occur depending on the performance of the camera.

Once the input image is input, the foreground area may be extracted by separating the background and the foreground from the input image by the extraction unit 110 (820 ). Here, the foreground region may be extracted using the GrabCut algorithm. GrabCut can be a process of removing the background from one image and extracting only the object for comparison with the database as described above.

By using the GrabCut algorithm, when a user designates an object area in one image, a foreground area different from the background, that is, the foreground area, can be extracted within the corresponding area. In addition, since the input image may have a different size from the image in the database, the size of the extracted foreground area may be normalized to a predetermined size.

For excellent search performance for the foreground image, there may be a preprocessing process capable of automatically improving the foreground area from which the background is removed (Auto Enhancement) (830). The pre-processing is a process of improving an image because it is difficult to extract a feature point when the image is dark.

For the foreground image after the pre-processing process, the generation unit 130 generates an integral image of the foreground area, applies the integral image to an approximate Hessian detector, extracts at least one feature point, and extracts at least one feature point. For this, a descriptor may be generated using a SURF (Speed Up Robust Features) algorithm (840).

The descriptor is compared with the database by the search unit 140, so that a degree of similarity with the database may be measured (850). For similarity measurement, a matching result may be extracted using the multiple threshold method described above. In addition, when using the multi-threshold method, a tree can be constructed for each of a plurality of thresholds with duplicate results and no duplicate results, and the accuracy of the matching results can be improved by verifying image matching using the tree. .

9 is a flowchart illustrating a preprocessing method in an image processing method of an image processing system according to an embodiment of the present invention.

Since an image captured by an aircraft (or unmanned aerial vehicle) is photographed at a high altitude, problems such as image quality and size occur. In the present invention, in order to achieve excellent search performance from a database, automatic image enhancement (auto enhancement) A pre-treatment process may be required.

As described above, when an input image is provided, a foreground region may be extracted from the input image using the GrabCut algorithm (920). The extracted foreground area is normalized to a size previously designated by the extraction unit 110 (930 ).

In this way, after separating the background and the foreground from the input image captured and provided by the aircraft, an automatic image improvement process is performed on the extracted foreground region (940). Automatic image enhancement is a process performed because it is difficult to extract feature points for the foreground area when the foreground area is dark.

First, a representative brightness of the extracted foreground region is estimated (Object Intensity Evaluation) (950).

According to an embodiment, when the estimated representative brightness value of the foreground area is 0.4 or less, the preprocessor 120 performs brightness remapping (960), thereby brightening the image of the foreground area.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It can be implemented using one or more general purpose computers or special purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

FIG. 10 is a view showing an exemplary installation of a photographing unit according to an embodiment of the present invention, and FIG. 11 is a view showing an overall view of a buffer unit according to an embodiment of the present invention.

The image input to the extraction unit 110 is acquired by a camera 1400 installed in the photographing unit 1000, and the photographing unit 1000 includes a fixing bracket 1300 mounted on the bottom of the aircraft A, It includes a rotational detachable unit 1200 that is inserted to be detachable under the fixing bracket, a buffer unit 1100 coupled to the lower surface of the rotary detachable unit, and a camera 1400 coupled to the lower surface of the buffer unit.

The buffer unit 1100 includes a buffer upper plate 1110 coupled to a lower surface of the rotational detachable unit 1200, a buffer lower plate 1130 disposed at a predetermined interval below the buffer upper plate, and the buffer upper plate and the buffer lower plate. It includes a buffer elastic portion (1120) that is mounted between the elastic restoring force in the vertical direction. A camera 1400 is coupled to a lower surface of the buffer lower plate 1130.

In the illustrated embodiment, the buffer upper plate 1110 and the buffer lower plate 1130 are formed in the shape of a square panel, but are not limited thereto, and may be formed in various shapes, and the buffer elastic part 1120 is also a coil spring. It is formed in a shape, but is not limited thereto.

The cushioning elastic part 1120 attenuates the shock or vibration applied to the camera 1400 from the aircraft A by providing an elastic restoring force in the vertical direction, thereby improving the accuracy of the camera.

In addition, four upper plate extensions 1111 forming a'U'-shaped groove are protruded toward the bottom at the four corners of the buffer upper plate 1110, and'U'-shaped grooves at the four corners of the buffer lower plate 1130 Four lower plate extension portions 1131 forming a protruding extend toward the upper portion.

That is, the upper plate extension part 1111 and the lower plate extension part 1131 are formed to protrude to face each other like teeth, and the upper plate extension part 1111 is relatively in the direction of the buffer elastic part 1120 than the lower plate extension part 1131. A predetermined space is formed closer to each other so that the upper plate extension part 1111 and the lower plate extension part 1131 face each other.

The left and right elastic parts 1140 are inserted into a predetermined space formed by the upper plate extension part 1111 and the lower plate extension part 1131. The left and right elastic parts 1140 have one side in contact with the'U'-shaped groove of the upper plate extension 1111 and the other side with the'U'-shaped groove of the lower plate extension 1131 to buffer the buffer upper plate 1110 Elastic restoring force is provided to the lower plate 1130 in the front and rear, left and right directions.

In other words, the shock absorbing lower plate 1130 and the camera 1400 coupled thereto are attenuated in the vertical direction by the shock absorbing elastic part 1120, and the vibration in the front and rear directions is attenuated by the left and right elastic parts 1140. .

Among the four upper plate extensions 1111, the two upper plate extensions 1111 and 4 upper plate extensions 1111 are arranged on one side of the buffer top plate 1110, the rest of which is placed on the other side of the buffer top plate 1110 The two upper plate extension portions 1111 are connected through the upper plate support portions 1112, respectively.

The upper plate support part 1112 and the lower buffer plate 1130 are connected through a height fixing part 1150, and as the height fixing part 1150 is adjusted, the separation distance between the buffer upper plate 1110 and the buffer lower plate 1130 is variable. Can be.

That is, the user can tighten or loosen the height fixing unit 1150 in consideration of the operating speed of the aircraft A and the weight of each part, and accordingly, the separation distance between the buffer top plate 1110 and the buffer bottom plate 1130 is It is variable so that the rigidity of the buffer elastic part 1120 can be adjusted.

At this time, the distance between the lower surface of the buffer upper plate 1110 and the uppermost end of the lower plate extension 1131 is preferably adjusted to be relatively narrower than the length of the left and right elastic parts 1140, and accordingly The churn is prevented.

12 is a view showing an overall appearance of a rotational detachable unit according to an embodiment of the present invention, and FIG. 13 is a view showing a view from above of the rotational detachable unit according to an embodiment of the present invention.

As shown, the rotational detachment unit 1200 is coupled to the upper portion of the buffer unit 1100, the detachable body part 1210 made of a hard material and the detachable body part 1210 made of a hard material and a detachable fastening part made of an elastic material ( 1220).

The detachable body part 1210 is made of a hard material having sufficient rigidity to support the buffer part 1100 coupled to the lower part such as metal and wood, and the detachable part 1220 is made of a flexible material having elasticity such as silicone. Done.

In the present invention, the detachable body 1210 and the detachable joint 1220 are made of different materials, so that the camera 1400 can be stored separately when not in use, and can be attached and utilized when using.

The detachable body part 1210 is mounted on a detachable lower plate 1211 coupled to the upper part of the buffer top plate 1110, a detachable rotary shaft 1212 extending from the center of the detachable lower plate toward the upper part, and a detachable rotary shaft. It includes a rotation control unit 1230 for controlling the rotation of the.

In this way, since the detachable body part 1210 is rotatable with respect to the detachable rotation shaft 1212, the viewing angle of the camera 1400 can be freely adjusted. Such rotation may be performed manually by a user, or may be automatically performed using a known configuration such as a motor or gear.

The detachable fastening part 1220 is a detachable upper plate 1221 coupled to the upper part of the detachable lower plate 1211, a detachable elastic part 1222 formed in a hemispherical shape on the upper part of the detachable upper plate and disposed to surround the detachable rotating shaft 1212, A detachable external force part 1223 that is formed on both sides of the detachable and expandable part and can apply external force so that the detachable and unfolded part, a rotation guide part 1224 protruding from the side of the detachable external force part, and a ten ( It includes a detachable perforation part 1225 that is perforated in a shape of a 十).

The user can hold the detachable external force part 1223 and apply a force so that the detachable external force part 1223 enters into the detachable stretchable part 1222, and at this time, the protruding rotation guide part 1224 is also removed and the detachable stretchable part 1222 ) It is possible to separate the detachable body part 1210 from the fixing bracket 1300 to be described later while coming in.

When inserting the detachable body part 1210 into the fixing bracket 1300, the above process is reversed and the rotation guide part 1224 is applied to the fixing bracket 1300 in a state where force is applied so that the detachable body part 1224 enters the inside of the detachable extension part 1222. Insert and release the detachable external force portion 1223 so that the rotation guide portion 1224 can protrude.

14 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.

As shown, the rotation control unit 1230 is coupled to the upper end of the detachable rotation shaft 1212 and the inside is empty rotation control body 1231, the first spring 1232 coupled to the inner left end of the rotation control body, 1 The first slider 1233 coupled to the end of the spring, the first sphere 1233 coupled to the end of the first slider and exposed to the outside of the rotation control body or accommodated inside the rotation control body, the inside of the rotation control body The second spring 1236 coupled to the right end, the second slider 1237 coupled to the end of the second spring, and the end of the second slider are coupled to the outside of the rotation control body or can be accommodated inside the rotation control body. It includes a second sphere 1238.

Since the first spring 1232 provides an elastic force to push the first slider 1233 to the right, the first sphere 1234 is partially or entirely exposed to the outside of the rotation control body 1231 unless a special external force is applied. Has been.

Likewise, since the second spring 1236 provides an elastic force to push the second slider 1237 to the left, the second sphere 1238 is partially or completely outside the rotation control body 1231 unless an external force is applied. It is exposed.

On the other hand, an electromagnet part 1235 that is magnetized when a current flows is mounted on one side of the first slider 1233, and on one side of the second slider 1237 facing one side of the first slider 1233 The magnetic body 1239 is mounted.

When a current flows through the electromagnet part 1235, the first slider 1233 and the second slider 1237 are fixed in contact, so that the first sphere 1234 and the second sphere 1238 are outside the rotation control body 1231. Can be fixed while exposed.

In other words, the first sphere 1234 and the second sphere 1238 are normally accommodated in the rotation control body 1231 by the first spring 1232 and the second spring 1236 or exposed to the outside. However, when a current flows through the electromagnet part 1235, the first slider 1233 and the second slider 1237 become hard like a single rod as the electromagnet part 1235 and the magnetic body 1239 are fixed in the attached state. Accordingly, the first sphere 1234 and the second sphere 1238 may be fixed in a state exposed to the outside.

FIG. 15 is a longitudinal sectional view showing a fixing bracket according to an embodiment of the present invention, and FIG. 16 is a view showing a fixing bracket viewed from below according to an embodiment of the present invention.

As shown, the fixing bracket 1300 is coupled to the lower portion of the aircraft (A), and a fixed body 1310 having an insertion space 1311 formed so that the detachable and fastening part 1220 of the rotary detachable part 1200 can be inserted. ) And a rotation receiving unit 1320 disposed at the top of the inner insertion space of the fixed body and accommodated so that the rotation control unit 1230 is rotatable.

That is, the fixing bracket 1300 is coupled to the lower surface of the aircraft (A), and the fixing bracket 1300 is fastened so as to be detachable and rotatable, and to the lower portion of the rotation and detachment unit 1200 The buffer unit 1100 is coupled, and the camera 1400 is coupled to the lower portion of the buffer unit 1100.

A guide groove 1312 is formed in the center of the insertion space 1311 along its periphery. The above-described rotation guide portion 1224 is accommodated in the guide groove 1312, and accordingly, the detachable body portion 1210 can rotate in a certain track without being separated from the fixing bracket 1300.

On the other hand, a plurality of locking grooves 1321 are recessed along the periphery of the inner surface of the rotation receiving part 1320. The first sphere 1234 and the second sphere 1238 are accommodated in the locking groove 1321 to have a fixed fixing force.

In other words, as the detachable body 1210 rotates, the detachable rotation shaft 1212 rotates, and the rotation control unit 1230 at the top also rotates, and the first sphere 1234 and the second sphere 1238 are caught. When accommodated in the groove 1321, it temporarily has a slight fixing force, and after the first sphere 1234 and the second sphere 1238 ride over the locking groove 1321, it will be accommodated in the other locking groove 1321 again. At times, it is possible to clearly recognize whether or not to rotate by forming a sense of moderation with the feeling of'clicking'.

If the viewing angle adjustment of the camera 1400 is completed and there is no need to rotate the detachable body 1210 any more, the first slider 1233 and the second slider 1237 flow through the electromagnet part 1235. Since the first sphere 1234 and the second sphere 1238 are fixed while being accommodated in the locking groove 1321, the detachable body portion 1210 does not rotate any more.

Although not shown, the electromagnet unit 1235 may be electrically connected to a general control unit of the aircraft A, a battery, etc., and operate so that current flows or does not flow depending on the situation. In addition, rotation of the camera 1400 and the detachable body 1210 may also be automatically performed using a known configuration such as a motor or gear.

17 is a view showing an exploded state of each configuration of a windshield according to an embodiment of the present invention, and FIG. 18 is a cross-sectional view illustrating an exemplary operation of the windshield according to an embodiment of the present invention.

As shown in FIG. 10, the windshield 1500 is mounted on the bottom of the aircraft A, and is disposed in front of the camera 1400 to prevent excessive wind injection into the camera 1400 when the aircraft A is operated. It acts as a barrier.

Specifically, the windshield part 1500 is a wind case 1530 having an empty interior and a perforated entry hole 1531 at the bottom, and a lower part that is installed to be movable up and down in the wind case to protrude to the outside or be accommodated inside The wind body 1510, a plurality of locking jaws 1511 protruding from the top of the front surface of the lower wind body, are disposed in front of the lower wind body and are installed to move up and down so that they can protrude to the outside or be accommodated inside. It includes a plurality of rails 1521 which are recessed in the upper wind body 1520 and the rear surface of the upper wind body and accommodate a plurality of locking projections 1511.

The end of the lower wind body 1510 is connected to the wind rotating motor 1540 and can rotate upward or downward, and a plurality of locking projections 1511 are accommodated in a plurality of rails 1521 to slide up and down. I can.

As shown, a plurality of locking projections 1511 are formed in a'T' shape so that they are not separated from the rail 1521, and the lower wind body 1510 is in a state where the locking projections 1511 are located at the lowest end of the rail 1521. When is further moved toward the lower side, the upper wind body 1520 is moved toward the lower side together with the lower wind body 1510 while the locking jaws 1511 are caught by the rail 1521.

Conversely, when the lower wind body 1510 is further moved toward the upper side while the locking protrusion 1511 of the lower wind body 1510 is located at the top of the rail 1521, the upper wind body 1520 becomes the lower wind body 1510 ) Is stacked in front of and stacked.

The present invention is configured by dividing the lower wind body 1510 and the upper wind body 1520 in this way, and configuring the upper wind body 1520 to move downward according to the downward movement of the lower wind body 1510 At the same time, the effect of preventing wind entry can be maximized.

In addition, the present invention can freely adjust the extent to which the lower wind body 1510 and the upper wind body 1520 are unfolded in consideration of the speed of the wind.

Meanwhile, in the lower wind body 1510, a plurality of vent holes 1512 are disposed to be spaced apart in the transverse direction, and a plurality of air grooves 1513 are disposed between the plurality of vent holes 1512.

The plurality of ventilation holes 1512 are formed in a long elliptical shape in the longitudinal direction, and some wind passes through the lower wind body 1510 and flows naturally backward, so that when strong wind occurs, the lower wind body 1510 is There is an effect of preventing a broken or excessive vibration from being transmitted to the aircraft (A) and the camera 1400.

The plurality of air grooves 1513 is formed in a'V' shape with a low center portion and high both ends, and four air grooves 1513 spaced apart in the longitudinal direction form a set. The plurality of air grooves 1513 guide and flow the wind hitting the lower wind body 1510 in the direction of the vent hole 1512.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is common in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be obvious to those with knowledge

110: extraction unit 120: pretreatment unit 130: generation unit
131: first processing unit 132: second processing unit 133: third processing unit
140: search unit 1000: photographing unit 1100: buffer unit
1110: buffer top plate 1111: top plate extension 1112: top plate support
1120: buffer elastic part 1130: buffer lower plate 1131: lower plate extension part
1140: left and right elastic parts 1150: height fixing portion 1200: rotation and detachment
1210: detachable body part 1211: detachable lower plate 1212: detachable rotary shaft
1220: detachable fastening part 1221: detachable top plate 1222: detachable telescopic part
1223: detachable external force part 1224: rotation guide part 1225: detachable perforation part
1230: rotation control unit 1231: rotation control body 1232: first spring
1233: first slider 1234: first sphere 1235: electromagnet part
1236: second spring 1237: second slider 1238: second sphere
1239: magnetic body 1300: fixing bracket 1310: fixing body
1311: insertion space 1312: guide groove 1320: rotation receiving part
1321: locking groove 1400: camera 1500: windshield
1510: lower wind body 1511: locking jaw 1512: ventilation hole
1513: air groove 1520: upper wind body 1521: rail
1530: wind case 1531: entrance hall 1540: wind rotating motor

Claims (1)

An extraction unit for separating the background and the foreground from the input image to extract a foreground area;
A generator for generating a descriptor by extracting features of the foreground region;
A search unit that compares the descriptor with a database and searches for information on an object; And
A preprocessor for performing preprocessing including at least one of noise removal and image brightness remapping for the foreground region; Including,
The generation unit,
A first processing unit that generates an integrated image of the foreground area; A second processing unit for extracting at least one feature point by applying the integrated image to the approximate Hessian detector; And a third processing unit generating a descriptor for at least one feature point using a speed up robust features (SURF) algorithm. Including,
The extraction unit normalizes and provides the extracted foreground area to a predetermined size, and the search unit extracts a matching result using a multiple threshold method when comparing the descriptor with a database, and when there are duplicate results in a plurality of thresholds And if there are no duplicate results, a tree is constructed for each,
The image input to the extraction unit is acquired by a camera installed in the photographing unit,
The photographing unit,
A fixing bracket mounted on the bottom of the aircraft; A rotational detachable portion inserted to be detachably attached to the lower portion of the fixing bracket; A buffer unit coupled to the lower surface of the rotational detachable unit; A camera coupled to the lower surface of the buffer unit; And a windshield mounted on the bottom of the aircraft and disposed in front of the camera. Including,
The buffer unit,
A buffer top plate coupled to the lower surface of the rotation and detachment unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including,
Four upper plate extensions forming a'U'-shaped groove protrude toward the bottom at the four corners of the buffer top plate, and four lower plate extensions forming a'U'-shaped groove protrude upward at the four corners of the buffer plate. It is extended, and the upper plate extension part is arranged relatively closer to the buffer elastic part direction than the lower plate extension part, so that a predetermined space is formed in the part where the upper plate extension part and the lower plate extension part face each other, The left and right elastic parts are inserted in the space to provide elastic restoring force to the buffer upper plate and the buffer lower plate in the front and rear, left and right directions.
The rotational detachable part,
A detachable body part that is coupled to the upper part of the buffer part and made of a hard material; And a detachable fastening part coupled to the upper part of the detachable body part and made of an elastic material. Including,
The detachable body portion, a detachable lower plate coupled to the upper portion of the buffer upper plate; A detachable rotary shaft extending from the central portion of the detachable lower plate toward the upper part; And a rotation control unit mounted on an upper end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including,
The detachable fastening part, a detachable top plate coupled to the upper part of the detachable lower plate; A detachable telescopic part formed on the upper part of the detachable top plate in a hemispherical shape and disposed to surround the detachable rotary shaft; Detachable external force units formed on both sides of the detachable and retractable unit and capable of applying an external force so that the detachable and expandable unit can be retracted or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross on the upper portion of the detachable and elastic portion. Including,
The rotation control unit,
A rotation control body coupled to the upper end of the detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including,
One side of the first slider is equipped with an electromagnet that becomes magnetized when current flows, a magnetic body is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet, the first slider and The second slider is fixed in contact so that the first sphere and the second sphere are fixed in a state exposed to the outside of the rotation control body,
The fixing bracket,
A fixed body coupled to the bottom of the aircraft and having an insertion space formed so that the detachable and detachable parts of the rotation and detachment may be inserted; And a rotation receiving unit disposed at an upper end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including,
A guide groove is recessed along the circumference of the insertion space to accommodate the rotation guide, and a plurality of locking grooves are recessed on the inner surface of the rotation receiving part to accommodate the first sphere and the second sphere. ,
The windshield part,
A wind case with an empty interior and a perforated entry hole at the bottom; A lower wind body that is installed to be movable up and down in the wind case and protrudes to the outside or can be received inside; A plurality of locking jaws protruding from the top of the front surface of the lower wind body; An upper wind body disposed in front of the lower wind body and installed to be movable up and down so as to protrude to the outside or be accommodated inside; And a plurality of rails recessed in the rear surface of the upper wind body and receiving a plurality of locking jaws. An image processing system that integrates and processes image information data in real time, comprising: a.

Images