KR102224173B1 - Mobile mapping system for producing topographical map data with movement multi sensor moudle - Google Patents

Abstract

The present invention relates to a mobile mapping system for producing three-dimensional topographic data through a mobile multi-sensor module, which can acquire the position of an object to be observed such as the topography of the road, as an image, synchronize the same and then increase the precision of a charge-coupled device (CCD) camera and a laser scanner while driving on a target structure, to generate three-dimensional topographic data. More particularly, the purpose of the present invention is to provide a mobile mapping system for producing three-dimensional topographic data through a mobile multi-sensor module, which comprises a GPS receiver, an INS, a CCD camera, a laser scanner, a multiplexer, an MMS control unit, and a wireless Internet module, thereby building an integrated system by synchronizing the CCD camera, the GPS receiver, and the INS provided on the top of a vehicle, can update the same through compatibility with existing topographic data, can add a ground reference point to a post-processing process, thereby increasing the accuracy of the GPS receiver/the INS, and can create, in real time, three-dimensional topographic data converted into the three-dimensional coordinates of an object by using measured image coordinates while driving in the vehicle, thereby transmitting topographic data updated in real time to a user terminal.

Description

Mobile mapping system that generates 3D terrain data through a mobile multi-survey sensor module {MOBILE MAPPING SYSTEM FOR PRODUCING TOPOGRAPHICAL MAP DATA WITH MOVEMENT MULTI SENSOR MOUDLE}

The present invention provides a mobile multi-surveying sensor module that acquires and synchronizes the position of an object to be observed, such as road terrain, as an image, and then increases the precision of a CCD camera and a laser scanner while driving a target structure to generate 3D terrain data. It relates to a mobile mapping system that generates three-dimensional terrain data through.

The Mobile Mapping System is a system that can quickly acquire spatial telegrams while moving by attaching various sensors to a moving medium such as a vehicle, and is usually used to build a road facility database for an urban information system.

Up to now, in Korea, internet portal companies used a mobile mapping system to provide Road View service, but this was only a simple video service, that is, the exact location at the time of video shooting. There was a problem in that it was not possible to update the image and coordinates for smooth linkage with the existing terrain data provided through the total station because there was no equipment that could be acquired.

And, while driving in a vehicle, there is no configuration that generates 3D terrain data converted into 3D coordinates of an object using the measured image coordinates in real time, so you have to go to a specific place and manually update the terrain data separately. , It takes a lot of work time, and there is a problem in that it is not possible to quickly provide the updated terrain data in real time to the user.

Currently, the application and use of a mobile mapping system for building a map with precision in relation to the operation of an autonomous vehicle is being emphasized. Although the CCD camera and laser scanner are less affected by the vibration of the vehicle, the accuracy is improved, but the photographing And there is a need for a mobile mapping system that can freely adjust the angle of measurement and freely detachable according to the situation.

Korean Registered Patent Publication No. 10-0538339 (announced on December 21, 2005)

The present invention conceived to solve the above-described problems of the prior art, it is possible to build an integrated system by synchronizing the CCD camera, GPS receiver, and INS configured on the top of the vehicle, it is compatible with the existing terrain data and can be updated, By adding a ground reference point to the post-processing process, the accuracy of GPS/INS can be improved, and while driving in a vehicle, the 3D terrain data converted into 3D coordinates of the object can be generated in real time using the measured image coordinates. Accordingly, an object of the present invention is to provide a mobile mapping system capable of transmitting updated terrain data in real time to a user terminal.

In addition, the present invention is provided with a buffer unit for supporting a CCD camera or laser scanner, it is possible to secure the precision of the data acquired by less influence from the vibration of the vehicle, furthermore, the shooting angle and the measurement angle of the CCD camera or laser scanner Another object is to provide a mobile mapping system that can be freely adjusted and detachable according to the situation.

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. .

According to an aspect of the present invention for solving the problems of the prior art described above, after being mounted on a vehicle, determining a three-dimensional position of an object, acquiring and synchronizing the position of the object to be observed as an image, a target structure In a mobile mapping system for generating 3D terrain data comprising a mobile multi-surveying sensor module that generates 3D terrain data while driving, the mobile multi-surveying sensor module includes: A GPS receiver located at and receiving a GPS satellite signal to calculate a location; INS (Inertial Navigation Systems), which is located on one side of the GPS receiver and calculates the current position, speed, and direction of travel by measuring the angular acceleration/acceleration of the vehicle and performing continuous integration over time; It is located on one side of the INS and is installed in plural while looking at the east, west, south, and north directions, and by detecting the light reflected from the object, the intensity of the light is converted into an amount of electric charge, which is then converted into electrons and accumulated to store the subject of light. A CCD (Change Coupled Device) camera for storing an image of an object by converting the image into an electric signal after selecting the contrast and color; A laser scanner positioned at one side of the CCD camera, acquiring a two-dimensional relative position through a laser, and measuring a two-dimensional coordinate value as a three-dimensional coordinate as the vehicle moves; It is located inside the vehicle and is connected to the GPS receiver, INS, CCD camera, and laser scanner, and distributes data of multiple channels received from the GPS receiver, INS, CCD camera, and laser scanner under the control of the MMS control unit and synchronizes it to a single channel. Multiplex; It is connected to the GPS receiver, INS, CCD camera, laser scanner, and multiplex, controls the overall operation of each device, stores the image captured by the CCD camera by assigning the image number and shooting number, and sends a synchronization signal to the multiplex. , After measuring the image coordinates on the numerical image data transmitted from the multiplex, the 3D coordinates of the object are calculated through the measured image coordinates, and the MMS control unit controls to generate 3D terrain data through mobile mapping data processing. ; And a wireless Internet module located at one side of a laser scanner at the top of the vehicle, driven under the control of an MMS control unit, and transmitting 3D terrain data in real time to a user terminal, wherein the vehicle includes A support coupled to the upper surface; A fixing bracket coupled to the upper portion of the support; Rotatable detachable portion coupled to be detachable to the insertion space of the fixing bracket and rotatable; And a buffer unit coupled to an upper portion of the rotation and detachment unit, wherein the CCD camera or laser scanner is coupled to an upper surface of the buffer unit, and the buffer unit includes: a buffer top plate coupled to a lower portion of the CCD camera or laser scanner; A buffer lower plate that is spaced apart from each other at a predetermined interval on the lower part of the buffer upper plate; 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 downward to form 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 part 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. The left and right elastic parts are inserted to provide an elastic restoring force to the buffer upper plate and the buffer lower plate in the front and rear, left and right directions. And a detachable fastening part that is coupled to a lower part of the detachable body part and made of an elastic material. Including, the detachable body portion, a detachable upper plate coupled to the lower portion of the buffer lower plate; A detachable rotary shaft extending from the central portion of the detachable top plate toward the lower side; And a rotation control unit mounted at a lower end of the detachable rotary shaft to control the rotation of the detachable rotary shaft. Including, the detachable fastening portion, a detachable lower plate coupled to the lower portion of the detachable upper plate; A detachable stretchable portion formed in a hemispherical shape under the detachable lower 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 retractable unit can be folded 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 in the lower portion of the detachable and stretchable portion. Including, the rotation control unit, the rotation control body coupled to the lower end of the detachable rotation shaft and 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 the 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 the 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 The first slider and the second slider are fixed in contact and fixed while the first sphere and the second sphere are exposed to the outside of the rotation control body, and the fixing bracket is coupled to the upper part of the support, and the detachable and detachable part is inserted. A fixed body having an insertion space formed therein to be able to be; And a rotation receiving unit disposed at a lower 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 so that the first sphere and the second sphere are formed. It may be accommodated, the support, a support lower plate coupled to the upper portion of the vehicle; A support upper plate spaced apart from the upper part of the support lower plate; A plurality of adjustment bars whose lower end is rotatably coupled to the upper surface of the support lower plate, and the upper end is rotatably coupled to the lower surface of the support upper plate; And a tilt sensor coupled to one side of the support top plate to detect inclination. Including, the adjustment bar, the inside of the empty adjustment case; An elevating rod having an upper end protruding from an upper hole of the adjustment case and a lower end coupled to the elevating motor; An elevating motor mounted on the inner lower surface of the adjustment case to move the elevating rod up and down; A first spherical head formed on the upper end of the lifting rod; And a second spherical head coupled to the lower portion of the adjustment case. It provides a mobile mapping system for generating 3D terrain data through a mobile multi-surveying sensor module comprising a.

In the present invention, the multiplex 15 has a main body 151 configured in the shape of a square box to support each device, and a PPS signal output from a GPS receiver and an INS at one side of the rear end of the main body as an input port (IN). The PPS input/output port 152 that receives input through and outputs to the MMS control unit through the output port (Out), and the GPS message output from the GPS receiver is input through the input port (IN), and through the output port (Out). The GPS input/output port 153 that outputs to the MMS control unit is connected to the CCD camera, and the camera trigger port (154) that sends a photographing signal to the CCD camera, and the photographing lens control part of the CCD camera are connected to shoot. A photographing lens control port (Lens) 155 that adjusts the direction while exposing the lens according to the position of the object, and the MMS control unit connected to the MMS control unit to control the input/output operation of each port according to the command signal transmitted from the MMS control unit. It is preferably composed of a port 156.

In the present invention, the MMS control unit 16 measures the image coordinates on the numerical image data transmitted from the multiplex, and then calculates the 3D coordinates of the object through the measured image coordinates. It is preferable to be included and configured.

In the present invention, the 3D coordinate calculation module 161 sets the reference coordinates of the X-axis and the Y-axis in the numerical image data, and then overlaps the pixel coordinate system to set the reference coordinates of the numerical image. ), and the coordinates of the target image among the numerical images in the state that the reference coordinates of the numerical images are set, and the coordinates of the target image measured through the digital image coordinates surveying unit are 3D coordinates of the object. It is preferably composed of a three-dimensional coordinate conversion unit (161c) to be calculated.

According to another aspect of the present invention devised to solve the problems of the prior art described above, the step of calculating the current position of an object by receiving a GPS satellite signal from a GPS receiver (S10), and Inertial Navigation Systems (INS) Device), measuring the angular acceleration/acceleration of the vehicle, and calculating the current position, speed, and direction by performing continuous integration over time (S20), and the light reflected from the object by the CCD (Change Coupled Device) camera. By sensing, converting the intensity of light into an amount of electric charge, converting it into electrons, accumulating it, catching the subject as the contrast and color of the light, converting the image into an electric signal, and storing the image of the object (S30), and a laser scanner Acquiring a two-dimensional relative position through a laser in the (Laser Scanner), and measuring the two-dimensional coordinate values as three-dimensional coordinates as the vehicle moves (S40), and the control of the MMS control unit in the multiplex Under the steps of distributing multi-channel data received from the GPS receiver, INS, CCD camera, and laser scanner and synchronizing it to a single channel (S50), and after measuring the image coordinates from the numerical image data transmitted from the multiplex in the MMS control unit. , Computing the three-dimensional coordinates of the object through the measured image coordinates, controlling to generate three-dimensional terrain data through mobile mapping data processing (S60), and a user terminal through a wireless Internet module under the control of the MMS control unit. It provides a method of generating 3D terrain data through a mobile mapping system having a mobile multi-survey sensor module, characterized in that comprising the step of transmitting the 3D terrain data in real time (S70).

In the present invention, calculating the three-dimensional coordinates of the object through the measured image coordinates includes calculating the distance of the shooting baseline formed by two CCD cameras looking at the object of the target image as the center, and looking at the object of the target image. The angle of the CCD camera in the east direction to look at, the angle of the CCD camera in the west direction to look at the object of the target image, the angle of the CCD camera in the east direction and the CCD camera in the west direction from the object of the target image, the object of the target image and the CCD camera in the east direction It is formed including the step of calculating the sight line between, the target image object and the east direction CCD camera, and calculating the three-dimensional coordinates (X _j , Y _j , Z _j ) of the target image object. desirable.

According to the mobile mapping system that generates 3D terrain data through the mobile multi-surveying sensor module of the present invention, it is compatible with the existing terrain data and can be updated and integrated by synchronizing the CCD camera, GPS receiver, and INS configured on the top of the vehicle. A system can be built, and the accuracy of GPS/INS can be improved by adding a ground reference point to the post-processing process, and a three-dimensional transformed into three-dimensional coordinates of an object using the measured image coordinates while driving in a vehicle. Since it is possible to generate terrain data in real time, it is possible to transmit the updated terrain data in real time to a user terminal.

In addition, according to the present invention, it is possible to secure the precision of the data acquired by being less affected by the vibration of the vehicle by providing a buffer unit for supporting the CCD camera or the laser scanner. The angle can be freely adjusted, and the CCD camera or laser scanner can be freely attached and detached depending on the situation, which has the effect of bringing ease of equipment storage.

1 is a perspective view showing the configuration of a mobile mapping system for generating 3D terrain data through a mobile multi-surveying sensor module according to the present invention.
Figure 2 is a block diagram showing the components of the GPS receiver according to the present invention.
3 is a block diagram showing components of a multiplex according to the present invention.
Figure 4 is a block diagram showing the components of the MMS control unit according to the present invention.
Figure 5 is a block diagram showing the components of the three-dimensional coordinate calculation module according to the present invention.
Figure 6 is a block diagram showing the components of the mobile mapping data processing unit according to the present invention.
7 is an exemplary diagram showing the calculation of the three-dimensional coordinates of an object through the image coordinates measured by the analytic space forward intersection engine of the three-dimensional coordinate calculation module according to the present invention.
8 is a process of determining a three-dimensional position of an object while driving a vehicle equipped with a mobile mapping system according to the present invention, obtaining and synchronizing the position of an object to be observed as an image, and generating three-dimensional terrain data. One embodiment shown,
9 is an exemplary view showing a state in which a buffer part, a rotation and detachment part, a fixing bracket, and a support are installed on the upper part of the vehicle according to the present invention.
Figure 10 is an exemplary view showing the state of the adjustment bar according to the present invention.
11 is a perspective view of a buffer unit according to the present invention.
12 is a cross-sectional view of a rotational detachable part according to the present invention.
Figure 13 is a rear view of the detachable rotation according to the present invention.
14 is an exemplary view showing an internal view of the rotation control unit according to the present invention.
15 is a longitudinal sectional view of the fixing bracket according to the present invention.
16 is a plan view of a fixing bracket according to the present invention.
17 is an exemplary view showing a state in which each configuration of the windshield according to the present invention is disassembled.
18 is an exemplary view showing a state in which the windshield according to the present invention is operated from the upper part of the vehicle.
19 is a flowchart of a method of generating 3D terrain data through a mobile mapping system equipped with a mobile multi-survey sensor module 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, terms or words used in the specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors 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. Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention. It should be understood that there may be equivalents and variations.

1 is a perspective view showing the configuration of a mobile mapping system for generating 3D terrain data through a mobile multi-surveying sensor module according to the present invention.

The mobile mapping system is mounted on a vehicle, and after determining a three-dimensional position of an object, acquiring and synchronizing the position of the object to be observed as an image, and driving the target structure, it generates a three-dimensional terrain data. A measurement sensor module (Movement Multi Sensor Moudle) 10 is provided.

The mobile multi-surveying sensor module 10 includes a GPS receiver 11, an INS 12, a CCD camera 13, a laser scanner 14, a multiplex 15, an MMS control unit 16, and a wireless Internet module 17. ) Can be included.

First, the GPS receiver 11 is located at the top of the vehicle and performs a function of calculating a location by receiving a GPS satellite signal, and is composed of a GPS antenna 111 and a GPS receiving module 112.

2, the GPS receiving module 112 calculates a user's location and speed using navigation data received from a GPS satellite, and a GPS antenna connected to the GPS receiving module receives a GPS satellite signal through a position tracking algorithm. At the same time as tracking, it is configured to track all visible satellite signals within a short time since it is possible to obtain information about the relative positions of other GPS satellites from that GPS satellite by tracking only one satellite signal.

The GPS receiving module 112 receives the GPS satellite signal and calculates the position and speed information, which is basically used for navigation and tracking of a mobile object, and is calculated with an accuracy of µs (microseconds).

Next, the INS (Inertial Navigation Systems, Inertial Navigation System) 12 is located on one side of the GPS receiver, and it measures the angular acceleration/acceleration of the vehicle, and performs continuous integration over time to determine the current position, speed, and direction of travel. It performs a function of calculation, which uses an internal gyro sensor to create a reference table that maintains a constant posture with respect to the inertial space, configures a precise accelerometer on it, and installs it on the top of the vehicle.

Since the navigation solution provided by the INS 12 is an integral solution, it is impossible to obtain a clean navigation solution from which noise, which is a high frequency component, is removed, but has a characteristic of correcting an accurate navigation solution for a short time. In addition, it is hardly affected by external environmental factors, can provide continuous navigation solutions, can be used as a single navigation device, and the speed of providing navigation solutions is usually very high, from 50Hz to 10kHz, so it can be used for navigation and control of high-motion antibodies. There can be.

The INS 12 may be composed of a strap-down inertial navigation system (SDINS) in which an inertial sensor is directly attached to the upper body of the vehicle without a stabilizer structure, and the strap-down inertial navigation system is structurally simple, The power consumption is low, the price is inexpensive, and the small-sized system is formed with low weight and it is easy to maintain.

In addition, in order to provide precise posture information to the INS 12, an inertial measurement unit (IMU) may be configured on one side of the top of the vehicle, which measures and records the vehicle's speed, direction, and gravity. You can do it.

Next, the CCD (Change Coupled Device) camera 13 is located on one side of the INS, and is installed in plural while looking east, west, north, south, and converts the intensity of light into an amount of electric charge by sensing the light reflected from the object. It creates and accumulates electrons, catches the subject with the contrast and color of light, converts the image into an electric signal, and stores the image of the object.

The CCD camera 13 has a focal length of 7.5 m, a cell size of 4.4 μm×4.4 μm or 4.6 μm×4.6 μm, a resolution of 1600×1200, and a shutter speed. May have a characteristic of 1 µs to 65 µs, and a well-known CCD camera configuration and function may be employed.

The CCD camera 13 may be composed of one each in the east, west, south, and north directions, and is coupled to and supported on the upper portion of the buffer unit 400, and the coupling configuration with the buffer unit 400 will be described later. do.

On the other hand, in the lens of the CCD camera 13 according to the need of the invention, titanium tetraisopropoxide, zirconium oxychromide, tin chloride, and nitric acid in a molar ratio of 1: 0.2 to 0.3: 0.2 to 0.3 : After mixing in a ratio of 0.3 to 0.5 and stirring for 5 to 20 minutes, distilled water is added in a molar ratio of 1: 95 to 105 with respect to the titanium tetraisopropoxide, and 55 to 65°C (preferably 60°C ) At a temperature of 3 to 12 hours (preferably 6 to 8 hours) to form a mixture, and the water in the mixture is evaporated using a rotary concentrator, and then replaced with methanol or ethanol to produce a solid content of 35 to 50%. Glycidoxypropyl trimethoxysilane silane coupling agent and distilled water for hydrolysis of the glycidoxypropyl trimethoxysilane silane coupling agent were added to the prepared zirconia-tin dioxide-titanium dioxide complex oxide sol And reacted for 30 minutes to 3 hours, but the weight ratio of the glycidoxypropyl trimethoxysilane silane coupling agent and distilled water added to the complex oxide sol is 1:0.1 to 0.5, and the glyci added to the complex oxide sol The doxypropyl trimethoxysilane silane coupling agent and distilled water may be provided with a coating layer after curing by applying a coating solution in the range of 30 to 70 parts by weight based on 100 parts by weight of the complex oxide sol.

As described above, when a coating solution using a zirconia-tin dioxide-titanium dioxide composite oxide sol is applied to a CCD camera lens, the lens has a high refractive index, excellent surface hardness, and high transmittance. For example, in the preparation of a zirconia-tin dioxide-titanium dioxide composite oxide sol, even if the total molar ratio of zirconia and tin dioxide is constant, the addition ratio of zirconia and tin dioxide greatly affects the refractive index of the coating film, and zirconia: tin dioxide: titanium dioxide: The refractive index of the composition having an addition molar ratio of 0.8:0.2:1.0 is 1.825 or more.

In addition, samples made with only tin dioxide and titanium dioxide have a low transmittance of 80% or less in the visible light range, but samples made with three components of zirconia, tin dioxide and titanium dioxide have a visible light transmittance of 92% or more. Since it has a high visible light transmittance, there is an advantage in that a sharper and more precise photographed image can be obtained.

Next, the laser scanner 14 is located at one side of the CCD camera, acquires a two-dimensional relative position through a laser, and measures two-dimensional coordinate values as three-dimensional coordinates as the vehicle moves. It performs a function, and a known laser scanner can be applied in the present invention. The laser scanner 14 may also be coupled to and supported on the upper portion of the buffer unit 400, which will be described later.

Next, the multiplex 15 is located inside the vehicle, is connected to a GPS receiver, an INS, a CCD camera, and a laser scanner, and is received from a GPS receiver, an INS, a CCD camera, and a laser scanner under the control of the MMS control unit. It distributes the data of multiple channels and synchronizes them to a single channel.

In addition, the multiplex 15 synchronizes the INS, the CCD camera, and the laser scanner based on the GPS time, thereby grouping the location data, direction data, photographing number, image data, and image number of the surveyed object into one numerical value. Performs a function of transmitting image data to the MMS control unit, and referring to FIG. 3, the multiplex 15 includes a main body 151, a PPS input/output port 152, a GPS input/output port 153, and a camera trigger port ( It may be composed of a camera trigger (154), a photographing lens control port (Lens) 155, an MMS controller connection port (156).

Here, the main body 151 is formed in a square box shape to support each device, and the PPS input/output port 152 is an input port (IN) for the PPS signal output from the GPS receiver and the INS at the rear end of the main body. It receives input through and outputs it to the MMS control unit through the output port (Out).

The GPS input/output port 153 receives a GPS message output from a GPS receiver through an input port (IN) and outputs the GPS message to an MMS control unit through an output port (Out), and the camera trigger port (Camera Trigger) ) 154 is connected to the CCD camera and performs a function of sending a photographing signal to the CCD camera, and the photographing lens control port (Lens) 155 is connected to the photographing lens control unit of the CCD camera, so that the photographing lens is It performs the function of sending a command to adjust the direction while exposing according to the position of.

And, the MMS control unit connection port 156 is a USB port, is connected to the MMS control unit, receives a command signal for controlling the operation of each port from the MMS control unit, and controls to output the numerical image data of the multiplex to the MMS control unit. Performs the function of Here, the numerical image data refers to data obtained by grouping position data, direction data, and image data of an object measured by an INS, a CCD camera, and a laser scanner synchronized based on the GPS time.

Next, the MMS control unit 16 is connected to a GPS receiver, an INS, a CCD camera, a laser scanner, and a multiplex, controls the overall operation of each device, and assigns an image number and a photographing number to the image captured by the CCD camera. Save, send a synchronization signal to the multiplex, measure the image coordinates on the numerical image data transmitted from the multiplex, and calculate the three-dimensional coordinates of the object through the measured image coordinates. It performs a function of controlling to generate terrain data, and can be configured as a PC computer or a laptop computer.

The MMS controller 16 is connected to the MMS controller connection port of the multiplex 15 through a USB port, outputs a synchronization signal to the multiplex, and receives numerical image data from the multiplex.

In addition, the MMS control unit 16 measures the image coordinates on the numerical image data transmitted from the multiplex 15, and then calculates the 3D coordinates of the object through the measured image coordinates. It can be configured to include. Here, the 3D coordinate calculation module 161 is composed of a numerical image reference coordinate setting unit 161a, a numerical image coordinate survey unit 161b, and a 3D coordinate conversion unit 161c, as shown in FIG. The numerical image reference coordinate setting unit 161a performs a function of setting the reference coordinates of the X-axis and Y-axis in the numerical image data, and then superimposing the pixel coordinate system to set the reference coordinates of the numerical image, and the numerical image coordinate surveying unit (161b) performs a function of measuring the coordinates of the target image among the numerical images while the reference coordinates of the numerical image are set.

Here, in the numerical image, the center of the target image is determined by calculating through the center of gravity and the first moment, that is, the initial positions of the target images obtained from the binary image are arranged in a small rectangular window around the target, and the background is degraded from the target. To do this, an appropriate threshold processing is used, and the center (M) of the target image on the screen is calculated by Equation 1 below.

Here, g _ij is the shade intensity value of each pixel, and w _ij = g _ij .

The three-dimensional coordinate conversion unit 161c serves to calculate the coordinates of the target image measured through the numerical image coordinate survey unit as the three-dimensional coordinates of the object, which is an Analytical Space Forward Intersection Engine (Engine of method of foward intersection). ) Can be provided, and the analytic space forward intersection engine establishes a flat plate at two or three points and draws a direction line by collimating the target to be measured at these points, determining the position of the target as the intersection point and selecting the position of the object. Performs the function of calculating dimensional coordinates.

This is a positioning algorithm that calculates the distance of the shooting baseline formed by two CCD cameras looking at the object (j) of the target image as the center, and obtains each element necessary for 3D coordinate determination. Here, the CCD camera may be composed of two CCD cameras C1 located in the east direction of the vehicle and a CCD camera C2 located in the west direction, as shown in FIG. 7.

Hereinafter, a process of calculating the coordinates of the target image, which is the location where the object j of the target image is located, as 3D coordinates will be described.

First, the distance of the shooting base line formed by two CCD cameras looking at the object of the target image as the center is calculated.

)와 (

)에 위치한 CCD 카메라 두대 사이의 기선거리 BL _hor 을 계산한다.This is through Equation 2 below, as shown in FIG. 7, in a horizontal position (

)Wow (

Calculate the baseline distance BL _hor between two CCD cameras located at ).

At this time, the baseline distance of the CCD camera has a slope K _{BL in the XY plane.} The slope K _BL is calculated as in Equation 3 below using the relative positions of the east and west CCD cameras.

Next, the angle of the CCD camera in the east direction looking at the object of the target image (α _1j), the angle of the CCD camera in the west direction looking at the object of the target image (α _2j ), the direction of the CCD camera and the west foot in the east direction from the object of the target image The angle of viewing the CCD camera (α _3j ), the line of sight between the object of the target image and the CCD camera in the east direction (AL1j), and the line of sight between the object of the target image and the CCD camera in the east direction (AL2j) are calculated. This is expressed as in Equation 4 below.

Next, the 3D coordinates (X _j , Y _j , Z _j ) of the target image object are calculated. In the coordinate system based on the target image object, coordinates X _A and Y _A in the object space are plane positions, calculated by the side of a triangle consisting of two CCD cameras in the east and two CCD cameras in the west, and the angle between them. do. This is expressed as Equation 5 below.

와, 서쪽방향 CCD 카메라에서 타깃 영상 객체를 바라보면서 촬영한 영상의 좌표

의 평균값에 의해 연산된다. 이는 하기의 수학식 6과 같이 표현된다.And, the vertical position Zj of the target image object is the coordinate of the image taken while looking at the target image object from the east-facing CCD camera.

Wow, the coordinates of the image taken while looking at the target image object from the western-facing CCD camera

It is calculated by the average value of. This is expressed as Equation 6 below.

Through this process, the three-dimensional coordinates (X _j , Y _j , Z _j ) of the target image object are calculated.

The MMS control unit 16 combines the GPS receiver and the INS to determine the position of the object, acquires the position of the object to be observed as a stereoscopic image through a CCD camera, and then draws a target structure while driving, A mobile mapping data processing unit 162 is provided for generating 3D terrain data by adding 3D coordinates calculated through the 3D coordinate conversion unit to the illustrated structure.

As shown in FIG. 6, the mobile mapping data processing unit 162 includes a digital map and image data two-way linking unit 162a, a digital map and image data linking analysis unit 162b, and a digital map and image data linking information providing unit. It may be configured to include (162c).

The digital map and image data two-way linking unit 162a refers to a spatial geographic object on a digital map and a spatial geographic object appearing in the image data in both directions, and searches for and manages image data through a digital map and a digital map object through image data. It performs the function of searching and managing the data.

This can check the actual state of the specific digital map data on the screen through image data, and has a characteristic that makes it easier to manage and analyze the digital map, and for bidirectional linkage between the digital map and the image data, in the present invention It is configured to efficiently model cross-reference information acquired from digital maps and image data. In addition, in order to improve performance in data linkage, digital map data, image data, and linkage information may be indexed in advance and stored in a database.

The digital map/image data linkage analysis unit 162b performs a function of displaying a spatial analysis function of a digital map through image data on a screen, in order to provide a realistic spatial search to the user more visually.

In order to link and analyze the digital map and image data of the present invention, it is configured to build linkage information between the digital map and the image data in advance, and the digital map and image data linkage analysis unit 162b By providing a reference or image data as a reference to a digital map, spatial analysis operations based on image data can be supported. In addition, spatial geographic objects from image data are extracted through image processing and pattern recognition, and the extracted spatial geography The object performs the function of calculating the coordinates on the actual ground.

The digital map and image data linkage information providing unit 162c performs a function of providing image data for an application program related to existing terrain data and location-based data, and linkage information between the digital map and image data. In addition to the data, the position data and attitude data of the object measured by the GPS receiver and INS, the image data measured by the CCD camera, the scan data of the object scanned by the laser scanner, and 3 calculated through the 3D coordinate conversion unit. It can be said to be the role of providing dimensional coordinates.

Next, the wireless Internet module 17 is located at one side of a laser scanner at the top of the vehicle, is driven under the control of an MMS controller, and performs a function of transmitting 3D terrain data in real time to a user terminal.

9 is an exemplary view showing a state in which a buffer unit, a rotational detachable unit, a fixing bracket and a support are installed on the upper part of the vehicle according to the present invention, and FIG. 10 is an exemplary view showing the appearance of an adjustment bar according to the present invention.

The mobile mapping system of the present invention is in the insertion space of the movable vehicle 100, the support 800 coupled to the upper surface of the vehicle, the fixing bracket 600 coupled to the upper portion of the support 800, and the fixing bracket 600. A CCD camera 13 or a laser scanner coupled to the upper portion of the detachably coupled and rotatable rotary detachable unit 500, the buffer unit 400 coupled to the upper portion of the rotary detachable unit 500, and the buffer unit 400 ( 14) can be provided.

The support plate 800 is coupled to a support lower plate 810 coupled to the upper portion of the vehicle, a support upper plate 820 spaced apart from the upper support plate, and a lower end thereof rotatably coupled to the upper surface of the support lower plate, and the upper end thereof It may include a plurality of adjustment bars 840 rotatably coupled to the lower surface of the support upper plate and a tilt sensor 830 coupled to one side of the support upper plate to detect inclination.

In the illustrated embodiment, the adjustment bar 840 is composed of four, and is rotatably coupled to each corner of the support upper plate 820 and the support lower plate 810, the adjustment bar 840, the support lower plate 810 and The support top plate 820 may be connected by a commonly used pivoting method.

The adjustment bar 840 of the present invention is mounted on the inner lower surface of the adjustment case, the adjustment case 841 having an empty inside, a lifting rod 842 having the upper end protruding from the upper hole of the adjustment case and coupled to the lower end of the lifting motor, and It may be configured to include a lifting motor 843 for moving the lifting rod up and down, a first spherical head 844 formed on the upper end of the lifting rod, and a second spherical head 845 coupled to the lower portion of the adjustment case.

At this time, the first spherical head 844 is partially inserted into the lower surface of the support upper plate 820 so as to be rotatable, and the second spherical head 845 is partially rotated on the upper surface of the support lower plate 810 It is inserted to do.

When the lifting motor 843 rotates in one direction (eg, clockwise), the lifting rod 842 may rise to lift the support top plate 820, and the lifting motor 843 may be in the opposite direction (eg, counterclockwise). ), the lifting rod 842 may descend to lower the support top plate 820.

The tilt sensor 830 may be tilted together when the support top plate 820 loses its horizontal state and is tilted. When it is confirmed by the tilt sensor 830 that the support top plate 820 is inclined in any one direction, the lift motor 843 rotates to raise or lower the lift rod 842, and accordingly, the support top plate 820 The height of) is adjusted so that the support top plate 820 can maintain a horizontal state.

As the support top plate 820 maintains a horizontal state, the fixing bracket 600, the rotation and detachment part 500, and the buffer part 400 coupled thereto may also maintain a horizontal state, and thus, the buffer part 400 The CCD camera 13 or the laser scanner 14 mounted on the upper part of the) may perform more precise photographing or measuring work.

On the other hand, although not shown, it is natural that the lift motor 843, the tilt sensor 830, etc. are electrically connected to the control unit of the vehicle, the battery, etc., so that the lift motor can rotate in any direction depending on the situation. Do.

11 is a perspective view of a buffer unit according to the present invention, wherein the buffer unit 400 has a buffer top plate 410 coupled to a lower portion of the CCD camera 13 or the laser scanner 14, and a predetermined distance under the buffer top plate. It may be configured to include a buffer lower plate 430 disposed spaced apart from each other, and a buffer elastic portion 420 mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction.

In the illustrated embodiment, the buffer upper plate 410 and the buffer lower plate 430 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 420 is also a coil spring. Although formed in a shape, it is not necessarily limited thereto.

The cushioning elastic part 420 attenuates the shock or vibration applied to the CCD camera 13 or the laser scanner 14 from the vehicle 100 by providing an elastic restoring force in the vertical direction, and accordingly, the CCD camera 13 Alternatively, the measurement accuracy of the laser scanner 14 is improved, so that more precise data can be obtained.

In addition, at the four corners of the buffer upper plate 410, four upper plate extensions 411 forming a'U'-shaped groove protrude toward the lower side, and a'U'-shaped groove at the four corners of the buffer lower plate 430 Four lower plate extensions 431 forming a protrude extend toward the top. That is, the upper plate extension part 411 and the lower plate extension part 431 are formed to protrude to face each other like teeth, and the upper plate extension part 411 is disposed relatively inside the lower plate extension part 431, so that the upper plate extension part ( A predetermined space is formed in a portion where 411 and the lower plate extension 431 face each other.

The left and right elastic parts 440 are inserted in a predetermined space formed by the upper plate extension part 411 and the lower plate extension part 431. The left and right elastic parts 440 have one side in contact with the'U'-shaped groove of the upper plate extension 411 and the other side with the'U'-shaped groove of the lower plate extension 431 to buffer the upper plate 410 and buffer. Elastic restoring force is provided to the lower plate 430 in the front and rear directions.

In other words, the buffer top plate 410 and the CCD camera 13 or laser scanner 14 coupled thereto are attenuated in the vertical direction by the buffer elastic part 420, and the left and right elastic parts 440 The vibration in the front and rear directions is attenuated.

On the other hand, among the four upper plate extensions 411, the two upper plate extensions 411 and the four upper plate extensions 411 are disposed on one side of the buffer top plate 410, and are arranged on the other side of the buffer top plate 410 Between the remaining two upper plate extensions 411 are connected through the upper plate support portion 412, respectively. The upper plate support part 412 and the lower buffer plate 430 are connected through a height fixing part 450, and as the height fixing part 450 is adjusted, the separation distance between the buffer upper plate 410 and the buffer lower plate 430 is variable. Can be.

That is, the user can tighten or loosen the height fixing part 450 in consideration of the condition of the road surface on which the vehicle 100 is running, the weight of each sensor, etc., and accordingly, between the buffer upper plate 410 and the buffer lower plate 430 Since the separation distance is variable, the stiffness of the buffer elastic portion 420 may be adjusted. At this time, it is preferable that the distance between the lower surface of the buffer upper plate 410 and the uppermost end of the lower plate extension part 431 is adjusted to be relatively narrower than the length of the left and right elastic parts 440.

12 is a cross-sectional view of a rotational and detachable part according to the present invention, and FIG. 13 is a rear view of a rotational and detachable part according to the present invention. As shown, the rotation and detachment part 500 is coupled to the lower portion of the buffer unit 400, the detachable body part 510 made of a hard material and a detachable fastening part made of an elastic material that is coupled to the lower part of the detachable body part ( 520).

The detachable body part 510 is made of a hard material having sufficient rigidity to support the buffer unit coupled to the upper part such as metal or wood, and the detachable part 520 may be formed of a flexible material having elasticity such as silicone. . In the present invention, the detachable body part 510 and the detachable part 520 are made of different materials, so that the CCD camera 13 or the laser scanner 14 are separated and stored when not in use, and attached and utilized when using. You can do it.

The detachable body part 510 is a detachable upper plate 511 coupled to the lower part of the buffer lower plate 430, a detachable rotary shaft 512 extending from the center of the detachable upper plate to the lower side, and a detachable rotary shaft mounted at the lower end of the detachable rotary shaft. It includes a rotation control unit 530 for controlling the rotation of. In this way, since the detachable body part 510 is rotatable with respect to the detachable rotation axis 512, the angle of the CCD camera 13 or the laser scanner 14 can be freely adjusted, and desired data can be easily obtained.

The detachable fastening part 520 is a detachable lower plate 521 coupled to the lower part of the detachable upper plate 511, a detachable elastic part formed in a hemispherical shape under the detachable lower plate 521 and disposed to surround the detachable rotating shaft 512 ( 522), a detachable external force part 523 that is formed on both sides of the detachable and expandable part and can apply an external force so that the detachable or unfolded part, a rotation guide part 524 protruding from the side of the detachable external force part, and the lower part of the detachable expandable part It includes a detachable perforation part 525 that is perforated in the shape of a ten (十) shape.

The user can hold the detachable external force part 523 and apply a force so that the detachable external force part 523 enters into the detachable stretchable part 522, and at this time, the protruding rotation guide part 524 is also removed and the detachable stretchable part 522 ) The detachable body part 510 can be separated from the fixing bracket 600, which will be described later, while entering the inside. When inserting the detachable body part 510 into the fixing bracket 600, the above process is reversed to guide the rotation. The part 524 is inserted into the fixing bracket 600 in a state where force is applied so that the detachable extension part 522 enters the inside, and the detachable external force part 523 is released so that the rotation guide part 524 can protrude.

14 is an exemplary view showing the internal appearance of the rotation control unit according to the present invention.

As shown, the rotation control unit 530 is coupled to the lower end of the detachable rotation shaft 512 and has an empty rotation control body 531, a first spring 532 coupled to the inner left end of the rotation control body, and 1 The first slider 533 coupled to the end of the spring, the first sphere 534 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 536 coupled to the right end, coupled to the ends of the second slider 537 and the second slider 537 coupled to the end of the second spring, and exposed to the outside of the rotation control body or housed inside the rotation control body It may be configured to include a second sphere 538 that may be.

Since the first spring 532 provides an elastic force to push the first slider 533 to the right, the first sphere 534 is partially or entirely exposed to the outside of the rotation control body 531 unless an external force is applied. Has been. Likewise, since the second spring 536 provides an elastic force to push the second slider 537 to the left, the second sphere 538 is partially or entirely outside the rotation control body 531 unless an external force is applied. It is exposed.

Meanwhile, an electromagnet part 535 that is magnetized when a current flows is mounted on one side of the first slider 533, and on one side of the second slider 537 facing one side of the first slider 533 The magnetic body 539 is mounted. When a current flows through the electromagnet part 535, the first slider 533 and the second slider 537 are fixed in contact, so that the first sphere 534 and the second sphere 538 are external to the rotation control body 531. Can be fixed in the exposed state.

In other words, the first sphere 534 and the second sphere 538 are normally accommodated in the rotation control body 531 by the first spring 532 and the second spring 536 or exposed to the outside. However, when a current flows through the electromagnet part 535, the first slider 533 and the second slider 537 become hard like a single rod as the electromagnet part 535 and the magnetic body 539 are fixed in the attached state. Accordingly, the first sphere 534 and the second sphere 538 may be fixed in a state exposed to the outside.

15 is a longitudinal sectional view of a fixing bracket according to the present invention, and FIG. 16 is a plan view of the fixing bracket according to the present invention.

As shown, the fixing bracket 600 is coupled to the upper portion of the support 800 and the fixed body 610 having an insertion space 611 formed so that the detachable and fastening part 520 of the rotational detachable part 500 can be inserted. ) And a rotation receiving unit 620 disposed at the bottom of the inner insertion space 611 of the fixed body and accommodated so that the rotation control unit 530 is rotatable.

That is, the supporter 800 is coupled to the upper portion of the vehicle 100, the fixing bracket 600 is coupled to the upper portion of the supporter 800, and the rotational and detachable part 500 is detachable to the fixing bracket 600. It is fastened so as to be rotatable, the buffer unit 400 is coupled to the upper portion of the rotation and detachment unit 500, the CCD camera 13 or the laser scanner 14 is coupled to the upper portion of the buffer unit 400.

A guide groove 612 is formed in the center of the insertion space 611 along its periphery. The above-described rotation guide part 524 is accommodated in the guide groove 612, and accordingly, the detachable body part 510 can rotate in a certain orbit without being separated from the fixing bracket 600.

On the other hand, a plurality of locking grooves 621 are recessed along the circumference of the inner surface of the rotation receiving part 620. The first sphere 534 and the second sphere 538 are accommodated in the locking groove 621 so as to have a constant fixing force. In other words, as the detachable body part 510 rotates, the detachable rotation shaft 512 rotates, and the rotation control part 530 at the lower end also rotates, and the first sphere 534 and the second sphere 538 are caught. When it is accommodated in the groove 621, it temporarily has a slight fixing force, and after the first sphere 534 and the second sphere 538 cross over the locking groove 621, it will be accommodated in the other locking groove 621 again. At this time, the user can clearly recognize whether or not to rotate by delivering the feeling of'clicking' to the user.

If, when the angle adjustment of the CCD camera 13 or the laser scanner 14 is completed and there is no need to rotate the detachable body 510 anymore, a current flows through the electromagnet part 535 and the first slider 533 and the The second slider 537 is made to be rigid like a single rod, and accordingly, the first sphere 534 and the second sphere 538 are fixed in a state accommodated in the locking groove 621, so that the detachable body part 510 is more It will not rotate any more. In addition, although not shown, the electromagnet unit 535 may be electrically connected to a control unit of the vehicle 100, a battery, and the like, so that current may or may not flow depending on the situation.

17 is an exemplary view showing a state in which each configuration of a windshield according to the present invention is disassembled, and FIG. 18 is an exemplary view showing a state in which the windshield according to the present invention is operated from an upper portion of a vehicle.

As shown, the windshield 700 is mounted on the vehicle 100, and is disposed in front of the CCD camera 13 or the laser scanner 14, so that the CCD camera 13 or the laser scanner 14 is driven when the vehicle 100 is driven. ) To prevent excessive wind from affecting.

Specifically, the windshield 700 is installed to be movable up and down on the upper part of the vehicle, and the upper wind body 710 that can protrude to the outside or be accommodated inside, a plurality of protrusions formed at the bottom of the front surface of the upper wind body. The locking protrusion 711, disposed in front of the upper wind body and installed to be movable up and down on the upper part of the vehicle, protruding to the outside or recessed in the rear surface of the lower wind body 720 that can be accommodated inside It is formed and includes a plurality of rails 721 in which a plurality of locking projections are accommodated.

The end of the upper wind body 710 is connected to the rotary motor 730 to rotate upward or downward, and a plurality of locking projections 711 are accommodated in a plurality of rails 721 to slide up and down. have.

As shown, a plurality of locking projections 711 are formed in a'T' shape so that they are not separated from the rail 721, and the upper wind body 710 is in a state in which the locking projections 711 are located at the top end of the rail 721. When is further moved toward the upper part, the lower wind body 720 is moved toward the upper part with the upper wind body 710 while the locking jaw 711 is caught on the rail 721.

Conversely, when the upper wind body 710 is moved toward the lower side, the lower wind body 720 is also moved toward the lower side by its own weight, and the upper wind body ( When the 710 is further moved toward the lower side, the lower wind body 720 is accommodated in a state of being superimposed on the front of the upper wind body 710.

The present invention is configured by dividing the upper wind body 710 and the lower wind body 720 in this way, and configuring the lower wind body 720 to move upward according to the upward movement of the upper wind body 710, While occupying a small area in the building, the effect of preventing wind entry can be maximized. In addition, the present invention can freely adjust the degree of spreading of the upper wind body 710 and the lower wind body 720 in consideration of the driving speed of the vehicle, so that the information collection equipment 110 acquires information with the best quality. There is an effect that allows you to do it.

On the other hand, in the upper wind body 710, a plurality of vent holes 712 are disposed to be spaced apart in the transverse direction, and a plurality of air grooves 713 are spaced apart between the plurality of vent holes 712. The plurality of ventilation holes 712 are formed in a long elliptical shape in the longitudinal direction, and some wind passes through the upper wind body 710 and naturally flows backward. There is an effect of preventing the wind body 710 from being broken or excessive vibration.

The plurality of air grooves 713 are formed in a shape of'ㅅ' having a high center portion and low both ends, and four air grooves 713 spaced apart in the longitudinal direction form a set. The plurality of air grooves 713 guide and flow the wind hitting the upper wind body 710 in the direction of the vent hole 712.

On the other hand, as a unique feature of the present invention, a frequency of 8Khz ~ 13Khz, a frequency of 8Khz ~ 25Khz, a frequency of 15Khz ~ 25Khz above the vehicle 100 in an area separated from the location where the CCD camera 13 or the laser scanner 14 is installed. An ultrasonic generator (not shown) in which a frequency and a frequency of 27Khz to 44Khz are sequentially repeated and output in 30 second units may be further mounted.

The ultrasonic generator 570 may be output by sequentially repeating a frequency of 8Khz ~ 13Khz, a frequency of 8Khz ~ 25Khz, a frequency of 15Khz ~ 25Khz, and a frequency of 27Khz ~ 44Khz every 30 seconds. Accordingly, the above frequency may be randomly repeatedly output in the range of 10 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 the access of settling birds, and the frequency of 15Khz ~ 25Khz is for preventing the access of migratory birds in summer It is effective, and the frequency of 27Khz ~ 44Khz can be said to be useful for preventing access of migratory birds in winter.

As described above, in the present invention, the ultrasonic generator 570 is provided to sequentially or randomly repeatedly output frequencies having different frequency bands, thereby preventing the access of various pests or birds to the area near the CCD camera 13 or the laser scanner 14. By blocking, precise photographing or survey data can be secured.

Hereinafter, a method of generating 3D terrain data through a mobile mapping system including a mobile multi-surveying sensor module will be described.

First, the GPS receiver receives a GPS satellite signal and calculates the current position of the object (S10). Subsequently, the INS (Inertial Navigation Systems) measures the angular acceleration/acceleration of the vehicle, and performs continuous integration over time to calculate the current position, speed, and direction of travel (S20).

Thereafter, the CCD camera detects the light reflected from the object, converts the intensity of the light into the amount of electric charge, converts it into electrons, and accumulates it. Save the (S30).

Next, a laser scanner acquires a two-dimensional relative position through a laser, and as the vehicle moves, the two-dimensional coordinate values are measured as three-dimensional coordinates (S40).

Thereafter, data of multiple channels received from a GPS receiver, an INS, a CCD camera, and a laser scanner are distributed in a multiplex under the control of an MMS control unit and synchronized to a single channel (S50).

Then, after the MMS control unit measures the image coordinates from the numerical image data transmitted from the multiplex, calculates the 3D coordinates of the object through the measured image coordinates, and generates 3D terrain data through mobile mapping data processing. Control (S60).

Calculating the three-dimensional coordinates of the object through the measured image coordinates is the step of calculating the distance of the shooting baseline formed by two CCD cameras looking at the object of the target image as the center, and the eastward CCD looking at the object of the target image. The angle of the camera (α _1j ), the angle of the CCD camera in the west direction looking at the object of the target image (α _2j ), the angle of the CCD camera in the east direction from the object of the target image and the CCD camera in the west direction (α _3j ), the target Calculating the distance line between the image object and the east-facing CCD camera (AL1j), the target image object and the east-facing CCD camera (AL2j), and the three-dimensional coordinates (X _j , Y) of the target video object. _It consists of calculating j ,Z _{j ).}

The generation of 3D terrain data through the mobile mapping data processing includes a step of bidirectional linking of digital map and image data, a step of linking and analyzing digital map and image data, and a step of providing digital map and image data linking information.

Finally, the 3D terrain data is transmitted in real time to the user terminal through the wireless Internet module under the control of the MMS controller (S70). Here, the user terminal includes a smart phone, a mobile phone, a tablet PC, a PDA phone, and a notebook computer.

The present invention has been described above in connection with the specific embodiments of the present invention, but this is only an example, and the present invention is not limited thereto. Those of ordinary skill in the technical field to which the present invention pertains may change or modify the described embodiments without departing from the scope of the present invention, and within the scope of the technical idea of the present invention and the claims to be described below. Various modifications and variations are possible.

10: mobile multi-surveying sensor module 11: GPS receiver
12: INS 13: CCD camera
14: laser scanner 15: multiplex
16: MMS control unit 17: wireless Internet module
100: vehicle
400: buffer part 410: buffer top plate
411: upper plate extension 412: upper plate support
420: buffer elastic part 430: buffer lower plate
431: lower plate extension 440: left and right elastic parts
450: height fixing unit 500: rotation and detachment
510: detachable body 511: detachable top plate
512: detachable rotary shaft 520: detachable fastening part
521: detachable lower plate 522: detachable telescopic part
523: detachable external force part 524: rotation guide part
525: detachable perforation unit 530: rotation control unit
531: rotation control body 532: first spring
533: first slider 534: first sphere
535: electromagnet part 536: second spring
537: second slider 538: second sphere
539: magnetic body 600: fixing bracket
610: fixed body 611: insertion space
612: guide groove 620: rotation receiving part
621: locking groove 700: windshield
710: upper wind body 711: locking jaw
712: ventilation hole 713: air groove
720: lower wind body 721: rail
730: rotary motor 800: support
810: support lower plate 820: support upper plate
830: tilt sensor 840: adjustment bar
841: adjustment case 842: lifting rod
843: elevating motor 844: first spherical head
845: second spherical head

Claims (1)

Includes a mobile multi-surveying sensor module that is mounted on a vehicle to determine a three-dimensional position of an object, acquires and synchronizes the position of the object to be observed, and generates three-dimensional terrain data while driving the target structure. In a mobile mapping system that generates three-dimensional terrain data that is configured,
The movement multi-sensor module (Movement Multi Sensor Moudle),
A GPS receiver located at the top of the vehicle to receive a GPS satellite signal and calculate a location;
INS (Inertial Navigation Systems), which is located on one side of the GPS receiver and calculates the current position, speed, and direction of travel by measuring the angular acceleration/acceleration of the vehicle and performing continuous integration over time;
It is located on one side of the INS and is installed in plural while looking at the east, west, south, and north directions, and by detecting the light reflected from the object, the intensity of the light is converted into an amount of electric charge, which is then converted into electrons and accumulated to store the subject of light. A CCD (Change Coupled Device) camera for storing an image of an object by converting the image into an electric signal after selecting the contrast and color;
A laser scanner positioned at one side of the CCD camera, acquiring a two-dimensional relative position through a laser, and measuring a two-dimensional coordinate value as a three-dimensional coordinate as the vehicle moves;
It is located inside the vehicle and is connected to the GPS receiver, INS, CCD camera, and laser scanner, and distributes data of multiple channels received from the GPS receiver, INS, CCD camera, and laser scanner under the control of the MMS control unit and synchronizes it to a single channel. Multiplex;
It is connected to the GPS receiver, INS, CCD camera, laser scanner, and multiplex, controls the overall operation of each device, stores the image captured by the CCD camera by assigning the image number and shooting number, and sends a synchronization signal to the multiplex. , After measuring the image coordinates on the numerical image data transmitted from the multiplex, the 3D coordinates of the object are calculated through the measured image coordinates, and the MMS control unit controls to generate 3D terrain data through mobile mapping data processing. ; And
Is configured to include; a wireless Internet module located at one side of a laser scanner on the top of the vehicle, driven under the control of an MMS control unit, and transmitting 3D terrain data in real time to a user terminal,
The vehicle,
A support coupled to the upper surface of the vehicle; A fixing bracket coupled to the upper portion of the support; Rotatable detachable portion coupled to be detachable to the insertion space of the fixing bracket and rotatable; And a buffer unit coupled to the upper portion of the rotational detachable unit,
The CCD camera or laser scanner is coupled to the upper surface of the buffer unit,
The buffer unit,
A buffer top plate coupled to a lower portion of a CCD camera or laser scanner; A buffer lower plate that is spaced apart from each other at a predetermined interval on the lower part of the buffer upper plate; 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 at the four corners of the buffer plate protrude upward. It is extended, and the upper plate extension part is disposed relatively inside 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, and the left and right elastic parts are in a predetermined space formed by the upper plate extension part and the lower plate extension part. It is 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.
The rotational detachable part,
A detachable body part that is coupled to the lower part of the buffer part and made of a hard material; And a detachable fastening part that is coupled to a lower part of the detachable body part and made of an elastic material. Including,
The detachable body part, a detachable upper plate coupled to a lower portion of the buffer lower plate; A detachable rotary shaft extending from the central portion of the detachable top plate toward the lower side; And a rotation control unit mounted at a lower end of the detachable rotary shaft to control the rotation of the detachable rotary shaft. Including,
The detachable fastening part may include a detachable lower plate coupled to a lower part of the detachable upper plate; A detachable stretchable portion formed in a hemispherical shape under the detachable lower plate and disposed to surround the detachable rotary shaft; Detachable external force units that are formed on both sides of the detachable and expandable part and can apply an external force so that the detachable and expandable part can be folded 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 in the lower portion of the detachable and elastic portion. Including,
The rotation control unit,
A rotation control body coupled to the lower 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 the 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 the 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 is 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 and fixed while the first sphere and the second sphere are exposed to the outside of the rotation control body,
The fixing bracket,
A fixed body coupled to the upper portion of the support and having an insertion space formed therein so that the detachable and detachable portion of the rotation and detachment may be inserted; And a rotation receiving unit disposed at a lower 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 its periphery in the center of the insertion space to accommodate a rotation guide, and a plurality of locking grooves are recessed in the inner surface of the rotation accommodating part to accommodate the first sphere and the second sphere. ,
The support,
A support lower plate coupled to the upper part of the vehicle; A support upper plate spaced apart from the upper part of the support lower plate; A plurality of adjustment bars whose lower end is rotatably coupled to the upper surface of the supporting lower plate, and the upper end rotatably coupled to the lower surface of the support upper plate; And a tilt sensor coupled to one side of the support top plate to detect inclination. Including,
The adjustment bar,
An empty adjustment case; A lifting rod having an upper end protruding from the upper hole of the adjustment case and a lower end coupled to the lifting motor; An elevating motor mounted on the inner lower surface of the adjustment case to move the elevating rod up and down; A first spherical head formed on the upper end of the lifting rod; And a second spherical head coupled to the lower portion of the adjustment case. Mobile mapping system for generating three-dimensional terrain data through a mobile multi-survey sensor module comprising a.

Images