KR102329001B1 - Digital Map Making Method - Google Patents

Abstract

The present invention provides a numerical map production method connected with a numerical map update system, comprising steps of: preparing the numerical map update system; reviewing the site for numerical map production; establishing a schedule for the production of numerical maps; operating an unmanned imaging system for numerical map production; and operating the numerical map update system according to the established schedule, wherein an unmanned photographing system includes an unmanned aerial vehicle including a drone and a stage unit in which the unmanned aerial vehicle is mounted and operated. The numerical map production method in connection with a numerical map update system is designed to enable more effective operation of unmanned aerial vehicles (drones), which are important operating means to secure video image data.

Description

How to operate a numerical map update system using video image data {Digital Map Making Method}

The present invention relates to a method of operating a numerical map update system using image data in the field of numerical map technology, and more particularly, to a current area by modifying a map image output to a navigation system according to natural or artificial changes in a specific area. It is possible to output a map image that is very close to the appearance, and to check the difference between the tides and reflect the change of the coastline on the map image in real time. Through this, when the user passes the road adjacent to the coastline, the location of the coastline due to the tidal wave included in the map image is reflected and outputted as it is in the navigation. It relates to a method of operating a numerical map update system using video image data that enables

The map image of navigation has evolved from a simple two-dimensional drawing image to a live-action image such as an aerial photographed image, and further improved and developed into a three-dimensional image image. However, once the production of the map image is completed, the map image is inevitably maintained as it is unless the map image is updated. That is, since the fixed map image is output to the navigation device as it is, regardless of natural flow or artificial change, the user has no choice but to always see the same map image. Of course, this sameness gives the advantage that the user can easily classify the map image for the area repeatedly passed, but as the navigation is a means used by the user to confirm his/her moving route in an unfamiliar area, It is desirable that changes in unfamiliar areas are reflected in the map image of the navigation system. That is, when the user passes through the unfamiliar area, the change of the unfamiliar area is reflected in the map image of the navigation in real time, so that a map image similar to the actual appearance of the unfamiliar area currently passing through is output through the navigation, and through this Users can more easily understand their location by comparing the map image with the actual appearance. However, in spite of the above-described advantages of this technology, a base technology capable of realizing it has not been proposed or developed at all. In the prior art for improving this, although watertightness is very important due to the characteristic of being installed on the seabed, there was a disadvantage in that watertightness was weak due to the connection structure between the support pipe and the body. In addition, it is not easy to provide an effective method for producing a digital map in relation to the digital map update system. In particular, there is a problem in that it is insufficient to operate an unmanned aerial vehicle that is operated for digital map production more effectively and stably, and to reduce the number of years.

Korean Patent Registration No. 10-1388425

The problem to be solved by the present invention is to correct the map image output to the navigation according to natural or artificial changes in a specific area, and to output a map image similar to the current appearance of the corresponding area, while the coupling between the support pipe and the enclosure It is to provide a method of operating a numerical map update system using video image data that maximizes water tightness and prevents leakage problems.

In addition, in producing a numerical map in connection with the numerical map correction system, operating a numerical map update system using image image data to more effectively operate an unmanned aerial vehicle (drone), which is an important operating means for securing image image data to provide a way

In particular, in providing a method for operating a numerical map update system using video image data, the effective flight, maintenance, and management of the unmanned aerial vehicle (or drone) itself is possible, and video image data that enables accurate and efficient management of malfunctioning and normal devices It is to provide a method of operating a numerical map update system using

In addition, it is to provide a structure that secures the physically stable and reliable stage unit in which such an unmanned aerial vehicle is operated, thereby providing a method for operating a numerical map update system using image image data so that the operation of the unmanned aerial vehicle itself can be stably performed. .

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

The present invention provides a method for operating a numerical map update system using video image data, the method comprising the steps of: setting the resin map update system; and operating the set numerical map update system, wherein the resin map update system horizontally irradiates an optical signal and transmits a frequency signal with a transmitter 300: a pin 261 inserted into the seabed Anchor 260 made of; The housing 270 having an upper opening receiving space 271 is formed, and the upper end of the anchor 260 is fixed; A drive motor 211 accommodated in the accommodation space 271 and the number of rotations of the rotation shaft 211a is sensed by the rotation number detection sensor, rotates in engagement with the rotation shaft 211a, a thread is formed on the circumferential surface, and the upper surface A screw 212 having a shaft hole 212b is formed, and a female thread 213a engaged with the screw 212 is formed in a tubular shape, and a guide groove 213b is formed along the longitudinal direction on the inner surface, and the longitudinal direction is formed on the outer surface. The guide line 213c is formed along the elevator 213, and the rail 214a is fixed on the housing 270 and has a tubular shape surrounding the elevator 213 and is movably engaged with the guideline 213c on the inner surface. Elevating device 210 made of the support pipe 21 formed to protrude; A connecting rod 241 which protrudes downward and is inserted into the shaft hole 212b and is rotatably fixed to constitute a rotation shaft 241a and has a hollow 241b with an upper surface open and a guide protrusion 241c protruding laterally formed, respectively, and inside The floating body 242 having the space S formed therein and the wire W built into the hollow 241b and connected to the floating body 242 are automatically wound, but when the floating body 242 floats under buoyancy, the wire W ), a pulley 243 for which the rotation angle is sensed by a rotation angle sensor, and a pair of guide rolls arranged side by side at the entrance of the hollow 241b and rotatably installed so that the wire W passes therebetween It provides a method of operating a numerical map update system using video image data, including a water level sensing device 240 made of (244).

According to the present invention as described above, there are one or more of the following effects.

The present invention corrects the map image of the video image data output to the navigation device according to natural or artificial changes in a specific area, so that a map image similar to the current area can be output very precisely, while the support pipe and the enclosure It is possible to provide a method for operating a numerical map update system using video image data that maximizes the watertightness when coupling between the two so as not to cause a leak problem.

In addition, in producing a numerical map in connection with the numerical map correction system, it is possible to provide a method for operating a numerical map update system using image image data to more effectively provide an unmanned aerial vehicle that is an operating means thereof.

In particular, in providing a method for operating a numerical map update system using video image data, it is possible to effectively fly, maintain, and manage the UAV itself, and to update the numerical map using video image data that enables accurate and efficient management of malfunctioning and normal devices. It provides a method of operating the system.

In addition, it is possible to provide a method of operating a numerical map update system using video image data that provides a structure that ensures physically stable and reliable operation of the stage unit in which such an unmanned aerial vehicle is operated, so that the operation of the unmanned aerial vehicle itself can be performed stably. have.

In particular, as a means for operating such a drone, it mounts the drone, enables differentiated handling for operation or standby repair, etc. depending on the state of the drone, and provides energy assistance to the drone and a structure that has both physical earthquake resistance and structural stability. It is possible to provide a method for operating a numerical map update system using video image data provided together.

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

1 is a block diagram showing the appearance of a manufacturing system according to the present invention,
2 is an exploded perspective view of an information generating unit according to the present invention;
3 is a cross-sectional view schematically showing the state of the water level sensing device according to the present invention;
4 is a perspective view showing an operation state of the information generating unit,
5 is a side view showing the utilization of the information generating unit according to the present invention,
6 is a plan view showing the utilization of the information generating unit according to the present invention,
7 is a side view showing the operation of the information generating unit according to the present invention,
8 is a diagram schematically showing a modified map image of a numerical map by the system according to the present invention;
9 is an exemplary view showing the watertight reinforcement structure of the system according to the present invention,
10 is a cross-sectional view of the main part of FIG. 9;
11 is an exemplary cross-sectional view illustrating the assembly member of FIG. 9 .
12 is a schematic diagram illustrating an unmanned image system for producing a numerical map using a drone according to the present invention.
FIG. 13 is a flowchart illustrating a process of detecting a terrain change with respect to FIG. 12 .
14 is a front view showing the unmanned aerial vehicle of the digital map production unmanned image system using the drone according to the present invention.
FIG. 15 is a configuration diagram of the unmanned aerial vehicle of FIG. 14 .
FIG. 16 is a partial view showing the stereo camera unit of the unmanned aerial vehicle of FIG. 14 .
17 is a landing state diagram for each height of the unmanned aerial vehicle with respect to FIG. 14 .
18 is a first terrain landing state diagram of the unmanned aerial vehicle for FIG. 14 .
19 is a second terrain landing state diagram of the unmanned aerial vehicle of FIG. 14 .
20 to 21 are schematic diagrams showing the main components of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. Prior to the description of the present invention, the following specific structural or functional descriptions are only exemplified for the purpose of describing embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms, It should not be construed as limited to the embodiments described herein. In addition, since the embodiment according to the concept of the present invention may have various changes and may have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosed form, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

The present invention uses the prior Patent No. 1012099, which will be described later, as it is. Therefore, all of the device configuration features described below are those described in Korean Patent Registration No. 1012099. However, in the present invention, an additional embodiment in which a part of a specific configuration is improved in order to achieve the object among the configurations disclosed in Patent Registration No. 1012099 is the most essential configuration feature. Accordingly, the device configuration, features, and operation relationship to be described below will be cited as it is in the above Patent No. 1012099, and the configuration related to the main features of the present invention will be described in detail at the rear end. 1 to 4, the present invention includes a map creation unit 100' installed in a vehicle and performing a navigation function, an information generating unit 200' installed with a specific point as a reference point, and a transmitter 300 (refer to FIG. 5') that transmits a frequency signal to the information generator 200'. The map generator 100' includes a map DB 110' that stores a map image, and a well-known The map DB 110 according to the coordinates checked by the GPS 120' and the GPS 120', which communicates with the GPS-only satellite (AS') and checks the coordinate values for the point where the map making unit 100' is currently located. '), a drawing module 130' that searches for a corresponding map image and completes it as a numerical map, a receiving module 140' that receives geographic information from the information generating unit 200', and a drawing module 130') A correction module 150' that modifies the numerical map by merging the numerical map completed in , and the geographic information received from the receiving module 140', and an output module that outputs the numerical map corrected and completed by the correction module 150' (160').

The map DB 110', the GPS 120', the drawing module 130' and the output module 160' of the map creation unit 100' according to the present invention have corresponding functions configured for public navigation and public navigation. Since the device is the same as each other, and the design structure and the interworking structure for this are the same, a detailed additional description of the hardware configuration and the software configuration will be omitted. However, the parts related to the new configuration constituting the technical spirit of the present invention will be described in detail below. The receiving module 140' receives the geographic information transmitted from the information generating unit 200', and wirelessly receives an analog signal of a frequency band including the content of the geographic information, filters and amplifies it, and A/D conversion A typical wireless data processing technology that extracts the final digital data through The correction module 150' verifies the geographic information in the digital data format and corrects the numerical map completed by the drawing module 130'. The geographic information includes location information of reference points determined in a line along the coastline and current water level information. Accordingly, the correction module 150' calculates the distance between the seawater and the road based on the water level information, connects the calculated points in a line to form an image, and applies this to the numerical map for correction.

A more detailed description thereof will be provided below.

The information generating unit 200 ′ is installed at a predetermined reference point on the seabed, and a plurality of the information generating units 200 ′ are arranged in a line along the coastline. The information generating unit 200 ′ includes a lifting device 210 ′ used to measure the position of the reference point, and a sensing device 220 ′ for receiving and detecting a frequency signal of the transmitter 300 ′ to measure the position of the reference point. ), a control device 230 ′ for controlling the driving of the information generating unit 200 ′, a water level sensing device 240 ′ for measuring water level information, and geographic information collected by the information generating unit 200 ′ It includes a communication device 250' for transmitting to the map making unit 100', and a lift device 210', a detection device 220', a control device 230', a water level detection device 240', and communication. It further includes an anchor 260 ′ and a housing 270 ′ that are mechanically configured to perform their function while fixing the device 250 ′ and the like to the reference point. The anchor 260' is to firmly fix the information generating unit 200' to the seabed so as not to be swept away by the wave force, and the female screw 261a' is formed and a pin 261' that is deeply embedded in the seabed; A male screw 262a' engaged with the female screw 261a' is formed, and a linker 262' having a fixing body 262b' formed at an upper end thereof. Accordingly, depending on the rotation direction of the linker 262', the linker 262' and the pin 261' will be coupled or separated from each other. Here, a groove is formed on the upper surface of the fixture 262b ′, so that the linker 262 ′ can be rotated using a mechanism such as a driver commonly used for tightening or loosening screws.

However, the pin 261 ′ of the anchor 260 ′ may be formed integrally with the housing 270 ′ without interposing the linker 262 ′, and the pin 261 ′ and the housing 270 ′ are configured separately. They may be coupled to each other through known and customary connection means such as welding in the field. The housing 270 ′ forms an accommodation space 271 ′ for accommodating the sensing device 220 ′ and the control device 230 ′ from external force and to be waterproofed, and a fixing body 262b of the linker 262 ′ on the bottom surface thereof. ') is rotatably engaged with a fixing groove (272') is formed.

At this time, the fixing member 262b' is rotatably engaged with the fixing groove 272'. This is done by inserting the pin 261' into the seabed and then inserting the fixing body 262b' into the fixing groove 272' and rotating the linker 262', so that the female screw 261a' and the male screw 262a') This is to allow the anchor 260 ′ and the housing 270 ′ to be fastened while naturally threaded together. When the linker 262' is sufficiently coupled to the pin 261', the cover 273' is covered to block the exposure of the fixing body 262b', and the waterproofing efficiency can be increased. Subsequently, the control device 230 ′ and the detection device 220 ′ are inserted into the accommodation space 271 ′, and the description of the control device 230 ′ and the detection device 220 ′ will be described in detail below. The lifting device 210 ′ includes a driving motor 211 ′ driven under the control of the control device 230 ′, a screw 212 ′ rotating by receiving the rotational force of the driving motor 211 ′, and a screw 212 . ') while forming a tubular shape that engages to wrap the screw 212', and the elevator 213' moves up and down along the rotation of the screw 212', and the hoisting platform 213 while forming a tubular shape that engages to surround the elevator 213'. ') includes a support pipe (214') for guiding the rise and fall. The driving motor 211' operates under the control of the control device 230', and is installed in the accommodation space 271'. The driving motor 211' generates a general rotational force, and the rotational force is transmitted to the rotation shaft 211a'. The rotation shaft 211a' may have a cross shape for effective transmission of rotational force.

In addition, the drive motor 211' is configured with a rotation number detection sensor (not shown ') that checks the number of rotations of the rotating shaft base (211a'), so that the number of rotations confirmed by the rotation number detection sensor is the detection device 220' is transmitted to Here, the number of rotations of the driving motor 211 ′ corresponds to the elevating and lowering lengths of the lifting platform 213 ′, which may vary according to a pitch interval between the screw 212 ′ and the lifting platform 213 ′. The correlation between the number of rotations of the driving motor 211 ′ and the elevating and lowering lengths of the elevator 213 ′ will be confirmed through a number of experiments. The screw 212' has a cylindrical shape with a screw thread formed on the circumferential surface, and an engaging groove 212a' engaged with the rotation shaft 211a' is formed at the lower end thereof, and is rotated by receiving the rotational force of the driving motor 211'. to do it

On the other hand, the shaft hole (212b') is formed on the top surface, and the connecting rod 241' of the water level sensing device 240' is coupled to the shaft hole 212b'. The lifting platform 213' has a tubular shape in which the female thread 213a' is formed, and the screw 212a' is formed to be inserted and threadedly coupled to each other, so that it ascends and descends along the rotational direction of the screw 212'.

At this time, guide grooves 213b' are formed on the inner surface of the lifting platform 213' along the longitudinal direction, and guide lines 213c' are also formed on the outer surface along the longitudinal direction. The guide groove 213b' is engaged with the guide protrusion 241c' of the connecting rod 241' to prevent the connecting rod 241' from rotating along with the rotation of the screw 212', and the guide line 213c' is It engages with the rail 214a' of the support pipe 214' to prevent the elevator 213' from rotating along with the rotation of the screw 212'. The support pipe 214' is fixed to the upper surface of the housing 270' and is installed to accommodate the screw 212' and the elevator 213', and the rail 214a' is formed on the inner surface, as described above. The lifting platform 213' is supported to move up and down without rotating.

The water level sensing device 240' includes a connecting rod 241' movably installed on the upper end of the screw 212', a floating body 242' connected via a wire W', and a wire W' ) includes a pulley 243' for measuring a rotation angle while winding, and a guide roll 244' for guiding a wire W' drawn out from the pulley 243'. The connecting rod 241' includes a rotating shaft 241a' that is movably inserted into the shaft hole 212b' of the screw 212', and is engaged with the guide groove 213b' of the elevator 213' on the side surface. A guide protrusion 241c' is formed, and a hollow 241b' with an open upper surface is formed. Due to these mechanical properties, even when the screw 212' rotates, the connecting rod 241' does not rotate and maintains its current position. The floating body 242' has a space S' on the inside, and a gas having a low density, such as helium, hydrogen, etc., is injected into the space S', so that the floating body 242' is easily floated to the sea level. make it possible The pulley 243' is installed in the hollow 241b' of the connecting rod 241' and automatically winds the wire W', and the rotation angle sensor (not shown') is connected to release the wire W'. Check the rotation angle of the rotating pulley 243' when measuring the unwinding length of the wire (W'). To explain this in more detail, since the circumferential length of the pulley 243' on which the wire W' is wound corresponds to the length of the wire W', the wire unwound by checking the rotation angle of the pulley 243'. The length of (W') is known.

Since the structure of the rotation angle sensor connected to the pulley 243' is a known and public technology, a detailed description of the circuit structure and operation principle of the rotation angle sensor will be omitted. For reference, the automatic winding force of the pulley 243' is weaker than the buoyancy force of the floating body 242', and when the floating body 242' receives the buoyancy and levitates, the wire W' is unwound by the buoyancy force. to do it Of course, the unwinding length of the wire W' will correspond to the height at which the float 242' floats. A pair of guide rolls 244' are arranged side by side at the entrance of the hollow 241b', and are rotatably installed so that the wire W' passes therebetween, so that the wire W unwound from the pulley 243' ') to guide the movement. On the other hand, the wire (W') drawn out via the guide roll 244' may be inclined while the floating body 242' moves by the force of seawater, which may cause an error in accurate water level measurement. Of course, since the force is relatively weak, the error will not be large, but it is necessary to supplement this for more accurate and reliable water level measurement.

In order to solve this problem, a pressure sensor (not shown) that detects pressure in the front and rear direction is interlocked with the rotation shaft of the guide roll 244', and the floating body 242' uses the pressure sensed by the pressure sensor. It allows for an estimate of the potential of the seawater it receives. Here, since the floating body 242' moves in the direction of the force of seawater, realistically, the floating body 242' cannot be located directly above the body of the information generating unit 200' installed on the seabed. Of course, in this case, as mentioned above, since the length between the floating body 242 ′ and the main body becomes longer in the diagonal direction, there is a problem that the water level, which is the vertical length from the sea floor to the sea level, cannot be accurately measured. Therefore, the pressure sensor detects the pressure applied by the wire (W') to the guide roll (244') while the floating body 242' moves under the force of seawater, and the wire W for the strength of the sensed pressure. ') to determine the actual water level by checking the degree of inclination.

For reference, as the force of the seawater increases, the pressure applied by the wire W' to the rotation shaft of the guide roll 244' will increase, and the degree of inclination of the wire W' due to this will also increase proportionally. Therefore, the information such as the pressure received by the guide roll 244' against the force received by the floating body 242' and the inclination angle of the wire W' against the pressure is confirmed by a number of experiments to secure the data, and the data As a standard, it is possible to accurately measure the actual water level. The sensing device 220' calculates the actual water level of the current state by checking the information about the pressure is transmitted from the pressure sensing sensor while storing the data.

The pressure sensor is a known and common device using a conventional piezoelectric element, and if it is a connection structure that can sense the pressure received by the guide roll 244 ′ rotating about the rotation axis, the limit does not deviate from the following claims. It may be implemented in various modifications within. The communication device 250 ′ transmits the geographic information transmitted from the control device 230 ′ to the map making unit 100 ′, which is built into the floating body 242 ′ and the floating body 242 to increase transmission efficiency. ') may include an antenna (A') that is drawn upwards. For reference, the geographic information finally transmitted from the control device 230' for transmission to the map making unit 100' passes through the screw 212' and the connecting rod 241' and then communicates with the communication device 250'. It is transmitted to the communication device 250' through a connected line (not shown'). A passage R' for this may be formed in the connecting rod 241'. 4 is a perspective view showing the operation of the information generating unit, Figure 5 is a side view showing the utilization of the information generating unit according to the present invention, Figure 6 is a plan view showing the utilization of the information generating unit according to the present invention Bar, referring to this,

An operation state of the information generating unit 200' according to the present invention will be described based on the specified contents. The information generating unit 200' according to the present invention raises and lowers the elevator 213' as shown in FIGS. 4(a') and (b'), respectively, while the lifting device 210' operates. On the other hand, a receiving network 221' and a light receiving means 222' are installed on the outer surface of the elevator 213' to receive a frequency signal and an optical signal transmitted from the transmitter 300'.

Here, the reception network 221 ′ is configured in the detection device 220 ′, and transmits the frequency signal to the detection device 220 ′ by using a conventional radar (RADAR) technology to transmit the detection device 220 ′. analyzes and processes it, and the light receiving means 222' receives the light transmitted from the transmitter 300'. The sensing device 220' is for checking the location of the reference point after first installing the information generating unit 200' without confirming the exact location of the reference point. The unit 200' is installed in a line along the shoreline, and the exact position of the information generating unit 200' is confirmed using the transmitter 300' and the sensing device 220'. To explain this in more detail, the transmitter 300' transmits a frequency signal and an optical signal at the same time, and the receiving network 221' and the light receiving means 222' of the sensing device 220' receive the frequency signal. and optical signals are received with a time difference. This is due to the speed difference between the frequency signal and the optical signal, and the time difference increases as the distance between the transmitter 300' and the information generator 200' increases.

The sensing device 220' measures the distance between the transmitter 300' and the information generator 200' using this time difference. The light receiving means 222' is disposed on the upper end of the receiving network 221', and the transmitter 300' irradiates the optical signal horizontally. At this time, the optical signal will be a light with clear straightness like laser light. The control device 230' repeatedly operates the lifting device 210'.

When the information on the reception of the optical signal is inputted from the light receiving means 222' while ascending and descending, the operation of the lifting device 210' is stopped.

At this time, the rotation frequency detection sensor checks the number of rotations of the driving motor 211 ′ and transmits it to the detection device 220 ′, and the detection device 220 ′ transmits the rotation number information to the elevator platform 213 ′. You can check the elevation height (d') of For reference, since the measurer must recognize that the operation of the lifting device 210' is stopped, the control device 230' performs the vocalization function.

may include Accordingly, the measurer can recognize the completion of the waiting of the information generating unit 200' by listening to the standby sound of the control device 230'. Subsequently, since the receiving network 221 ′ receives the frequency signal while forming a curved surface as shown in the figure, the sensing device 220 ′ confirms the location of the receiving network 221 ′ that has received the frequency signal to determine the frequency signal. can be tracked, and through this, the position of the reference point where the information generating unit 200' is located can be confirmed with respect to the transmitter 300'. For reference, since the transmitter 300' is installed at a predetermined location, and information on the location is already input to the sensing device 220', it receives a frequency signal and an optical signal transmitted from the transmitter 300'. The one or more information generating units 200, 200', and 200"' can finally confirm their location information. The set location where the transmitter 300' is installed is the edge of the road or the boundary of the road through which the vehicle passes. The location of the reference point includes the distance L' between the transmitter 300' and the information generator 200'. The location information of the information generator 200' is confirmed according to the procedure described above. When done, the control device 230' controls the lifting device 210' to insert the lifting platform 213' into the support pipe 214' as shown in FIG. 4(a').

7 is a side view showing the operation of the information generating unit according to the present invention, and FIG. 8 is a diagram schematically showing the modified map image of the numerical map by the operating system according to the present invention, which will be described with reference to FIG. do. As shown in FIG. 7(a'), when the high tide starts from low tide, seawater is pushed toward the land, and the floating body 242' is buoyant.

buoyed to sea level by At this time, the wire W' is unwound from the pulley 243' due to the levitation of the floating body 242', and the above-described rotation angle sensor detects sensing information to measure the unwinding length of the wire W'. to device 220'. In addition, the pressure sensor of the guide roll 244' transmits pressure information applied by the wire W' to the sensing device 220'. The sensing device 220' can check the distance d' between the floating body 242' from the main body of the information generating unit 200' installed on the seabed through the sensing information and the input information, and the distance d You can check 'L', which is the distance from the boundary line where the sea level touches the land to the body of the information generating unit 200' by using '. This is that a right-angled triangle having d and L as the side lengths of FIG. 5 is similar to the right-angled triangle of FIG.

In addition, the sensing device 220' calculates the distance B between the boundary line of the road and the boundary line of the sea level by using the calculated L'. Since B is a length limited from L to L', this is also easily confirmed. 7(b') shows that as the high tide progresses further, the lengths of d" and L" are longer than those of d' and L', and the length of B' is relatively shorter.

Water level information including information on B and B' is transmitted in real time through the communication device 250', and the correction module 150' of the map making unit 100' receives the B through the receiving module 140'. And B' is received, the sea level boundary line (C') is drawn using B1 to B4 corresponding to B and B' from the road boundary of the existing map image, and it is completed and output as a numerical map.

In addition, as shown in FIGS. 9 and 10 , the support pipe 214 ′ and the housing 270 ′ are assembled with a double sealing structure to completely block the inflow of seawater from the water while assembling is easy, convenient, and fast. is composed of That is, a flange portion 500 ′ larger than the housing 270 ′ is further formed around the upper end of the housing 270 ′. In this case, the flange portion 500' is formed to have a slight thickness, and an internal stepped surface 510' is formed horizontally therein. In addition, an external stepped surface 520' is formed along the periphery of the outer surface of the flange part 500'. Accordingly, the inner stepped surface 510 ′ and the outer stepped surface 520 ′ protrude to constitute the fitting portion 530 ′. In addition, the silicon sealing material 540' in the form of a square frame is seated on the inner stepped surface 510' to perform a sealing function. In addition, the assembly plate part 214'' formed at the lower end of the support pipe 214' is inserted into the flange part 500' and is seated on the inner stepped surface 510'. The internal insertion protrusion 600' And, formed along the periphery of the assembly plate portion 214 '' and formed at a distance from the inner insertion protrusion 600', an external hanging end portion 610 ' which is seated on the external stepped surface 520' is formed. do. Therefore, between the inner insertion protrusion 600' and the outer hanging end portion 610', a fitting portion insertion groove 620' in the form of a groove is naturally formed.

It is configured so that the fitting part 530' can be fitted. At this time, the inner insertion protrusion 600' extends downwardly longer than the outer hanging end portion 610'. Therefore, when the assembly plate part 214'' is seated on the flange part 500' of the housing 270', the inner insertion protrusion 600' enters the space formed inside the flange part 500'. It is seated on the inner stepped surface 510 ′, with a silicone sealing material 540 ′ interposed therebetween to increase airtightness. And, the fitting portion 530' enters into the fitting portion insertion groove 620', and the external hanging end 610' is located outside the flange portion 500' so that the flange portion 500' is It is seated on the external stepped surface 520' while guiding it to be inserted into the assembly plate 214''.

Since such an assembly structure has a double-fitting structure at the same time, the gap after assembly has an approximately 'ㄹ' shape, so that leakage occurs at least 5 times, so that airtightness is remarkably improved. In this structure, in order to strengthen the fixing function, the flange part 700' is integrally fixed to the peripheral surface of the flange part 500', that is, to the four peripheral surfaces, and also to the periphery of the assembly plate part 214''. At the corresponding point, the plate part hook 710' is formed to protrude integrally, respectively. In addition, the fasteners 800' as shown in FIGS. 10 and 11 are connected to the flange hanger 700' and the plate part hanger 710' and then tightened by tightening the assembly plate part 214'' and the housing 270'. can be firmly fixed in a tight sealing state. Here, the fastener 800' includes a fixing block 810', and a hook-shaped fixing clasp 820' is integrally fixed to the top center of the fixing block 810', and the fixing block ( At the center of the lower end surface of 810', a rotation induction protrusion 830' protrudes. At this time, the rotation guide protrusion 830 ′ is formed with a screw thread only at a predetermined length from the lower end, and the remaining portion is formed with a non-threadless screw thread. In addition, the upper rotating member 840' with a hollow inside is fitted to the rotation inducing protrusion 830', and a 'ㅛ'-shaped fastener 850' so that the upper rotating member 840' does not fall out in that state. is screw-fastened to the screw thread of the rotation guide projection (830'). Therefore, the upper rotating member 840' has a structure that is freely rotatable in a state in which it is loosely fitted in the non-threaded private part of the rotation induction protrusion 830', but cannot be separated to the lower part, thereby completing the self-rotating structure. do.

In addition, the lower rotating member 860' is hook-fixed to the lower end surface of the upper rotating member 840'. The lower rotating member 860' has a screw hole 862' having a thread therein, and one end of the flow catch 870' is screwed into the screw hole 862'. In the present invention having such a configuration, in order to bind the assembly plate portion 214 '' and the housing 270', first, the fixing clasp 820 ' is fitted to the plate part holder 710'. Then, after loosening or tightening the flow catch (870'), the gap is adjusted, and then fitted into the flange hanger (700'). In this state, when the upper rotating member 840' or the lower rotating member 860' is rotated in the tightening direction (usually clockwise'), the upper rotating member 840' and the lower rotating member 860' are mutually Since they are attached integrally, they rotate together in place, and the fixed clasp 820 ' and the floating clasp 870 ' are each hooked and cannot be rotated, so it is the fluid clasp 870 ' that can eventually respond to self-rotation.

As it is pulled toward the fixing latch 820', it has no choice but to rise. Therefore, if the upper rotating member 840' or the lower rotating member 860' is tightly tightened, it is possible to maintain a very strong assembly and fixation state.

On the other hand, in the present invention, an unmanned imaging system for producing a resin map may be operated. Such an unmanned aerial photography system may include an unmanned aerial vehicle including a drone and a stage unit in which the unmanned aerial vehicle is mounted and operated. As shown in FIG. 12 , the unmanned imaging system includes an unmanned aerial vehicle 110 , a terminal 120 , and a server 130 . Referring to FIG. 13, the drone 110, that is, the drone comprising the drone body 10 and the drone wing 20 is remotely controlled by a user, and a GPS receiver and a distance sensor ( 112), a first alarm signal generator 116, and a camera 114 are mounted. In addition, as shown in FIGS. 14 and 15, the unmanned aerial vehicle 110 further includes a battery, a remote transceiver (R), and a flight control unit (C) as other essential components. Among them, the battery, the remote transceiver (R) and the flight control unit (C) are installed inside the unmanned aerial vehicle (110). The drone wings 20 are arranged at regular intervals along the upper periphery of the drone body 10 and are respectively connected to the rotation shaft of the electric motor.

At this time, a rechargeable secondary battery is used as the battery, and the power of the battery supplies power to the electric motor to which the drone wing 20 is connected through an electric circuit such as a regulator, a power converter, and a speed controller. The distance sensor 112 measures and outputs the distance between the object on the ground and the unmanned aerial vehicle 110 . The first alarm signal generator 116 compares the output value of the distance sensor 112 with a preset reference value, and generates a first alarm signal when the output value is equal to or less than the reference value. The generation of the first alarm signal means that there is a risk that the unmanned aerial vehicle 110 approaches an object on the ground and collides. The first alarm signal generated by the first alarm signal generator 116 is transmitted to the terminal 120 by the communication device of the unmanned aerial vehicle 110 . The camera 114 acquires an unmanned image of the front of the unmanned aerial vehicle 110 , and the acquired unmanned image is transmitted to the terminal 120 by the communication device. The remote transceiver (R) performs radio frequency communication with the radio controller in an assigned band (2.4GHz, 4GHz, etc.) so that the drone can be remotely controlled, and the flight controller (C) is electrically operated according to the received control signal. Independently control the driving and rotational speed of the motor.

Therefore, by controlling a plurality of electric motors to remotely control each drone wing 20, take-off and flight are possible, and the advantage is the same as that of a general unmanned aerial vehicle. However, the unmanned aerial vehicle 110 to which the present invention is applied enables automatic landing according to the terrain of the landing point. To this end, as shown in FIG. 16 , the unmanned aerial vehicle 110 includes a first main camera 11-1, a second main camera 11-2, a first infrared camera 12-1, and a second infrared camera 12-2. ), and a mode determination unit 13 that is a landing control unit that reads the landing point of the drone 110, a stereo vision processing unit 14, a camera driving unit 15, and a landing terrain reading unit inside the drone body 10 (16), a landing attitude control unit (17) and a main controller (18). At this time, the first main camera 11-1 captures a landing point that exists directly below the drone waiting to be landed, and the second main camera 11-2 uses a base set from the first main camera 11-1. It is installed as far apart as the line (L), and the landing point that exists directly below the UAV is photographed.

The first infrared camera 12-1 captures a landing point that exists directly below the drone waiting to be landed, and the second infrared camera 12-2 uses the baseline set from the first infrared camera 12-1 ( It is installed as far apart as L), and the landing point that exists directly below the drone is photographed. The first main camera 11-1 and the second main camera 11-2 correspond to a stereo camera used for day time, and the first main camera 11-1 corresponds to an unmanned image of the left eye. to shoot an unmanned image, and the second main camera 11-2 shoots an unmanned image corresponding to the right eye unmanned image.

The first infrared camera 12-1 and the second infrared camera 12-2 correspond to a stereo camera used at night time, and the first infrared camera 12-1 corresponds to an unmanned image of the left eye. to take an unmanned image, and the second infrared camera 12-2 takes an unmanned image corresponding to the right eye unmanned image. The first main camera 11-1 and the second main camera 11-2 used during the day and the first infrared camera 12-1 and the second infrared camera 12-2 used at night are the modes It can be designated and used according to the user's selection through the determination unit 13, and in some cases, the unmanned aerial vehicle 110 can be automatically determined and operated through a timer (not shown) mounted inside the unmanned aerial vehicle 110. let it be As a preferred embodiment, as shown in Fig. 16, the first main camera 11-1 and the first infrared camera 12-1 are installed together in the first module unit 30-1 on the left side (based on the drawing). . The second main camera 11-2 and the second infrared camera 12-2 are installed together in the second module unit 30-2 on the opposite side. Therefore, the first main camera 11-1 and the second main camera 11-2 installed in the first module unit 30-1 and the second module unit 30-2 are spaced apart from each other, (L)'. Similarly, the first infrared camera 12-1 and the second infrared camera 12-2 are also spaced apart by the base line L. In addition, the first module unit 30-1 and the second module unit 30-2 are installed on the left and right support arms 50-1 and 50-2 connected to both sides of the actuator 40, respectively, and the actuator 40 is provided with a motor and a gear to rotate the support arms (50-1, 50-2).

Therefore, by rotating the first module part 30-1 and the second module part 30-2 within a certain range (eg, 360°), when landing, take a picture while looking at the ground, and look forward while flying. rotate to see In addition, the actuator 40 draws out the support arms 50 - 1 and 50 - 2 in a set range to the outside or to the inside. When the support arms 50-1 and 50-2 horizontally reciprocate by the actuator 40, the distance between the first module part 30-1 and the second module part 30-2 is adjusted, so that the above-described ' Base line L' is adjusted. As will be described again below, by adjusting the base line (L), it is possible to accurately photograph the ground shape of the landing point directly below the unmanned aerial vehicle 110 in the air in three dimensions.

On the other hand, the mode determination unit 13 determines whether the current time point during which the drone 110 is flying is daytime or nighttime. The division of daytime or nighttime is determined by the amount of light received by the camera 114 being photographed, and is divided into daytime in which visible light is abundant and nighttime in which it is not. Therefore, whether to apply the stereo vision technique to the unmanned images captured by the first main camera 11-1 and the second main camera 11-2, or the first infrared camera 12-1 and the second infrared camera 12- It is decided whether to apply the stereo vision technique to the unmanned image taken in 2). As the mode determination unit 13 , a conventional light amount sensor may be used. In addition, it is also possible to determine by analyzing R/G/B pixels or luminance of the unmanned image captured in real time by the first main camera 11-1 and the second main camera 11-2 without using a separate sensor. As is well known, the stereo vision processing unit 14 acquires a three-dimensional unmanned image of the landing site by stereo matching the left-eye unmanned image and the right-eye unmanned image together with the focal length of the camera, the photographing posture of the camera, and the baseline (L) interval. . According to the judgment of the stereo vision processing unit 14, the left unmanned image (ie, the left eye unmanned image) and the right unmanned image ( That is, the 3D unmanned image of the landing site is provided by stereo matching the right eye unmanned image).

On the other hand, if it is determined by the mode determination unit 13 at night, the left unmanned image photographed by the first infrared camera 12-1 and the right unmanned image photographed by the second infrared camera 12-2 are stereo-matched to land Provides a 3D unmanned image of a branch. In the case of using the infrared camera, there is a more complicated process in the process. Stereo matching is performed centering on the regions extracted from the left and right infrared camera unmanned images, respectively, to estimate parallax information, and use the camera parameters and parallax information to land in real time. It can provide a three-dimensional topography of a point. The camera driving unit 15 adjusts at least one of the focus of the camera and the interval of the base line L according to the 3D unmanned image provided by the stereo vision processing unit 14 . Therefore, it is possible to provide the 'corrected 3D unmanned image' having the optimal unmanned image quality in the stereo vision processing unit 14 .

This is similar to the auto-focus function and is determined according to the landing waiting height of the unmanned aerial vehicle 110 . In addition, it is a function that automatically adjusts according to the size and shape of obstacles or terrain existing at the landing site. As shown in (a) and (b) of FIG. 17 , when the drone 110 finishes flying and arrives at the landing standby position, the height to the landing point varies because the stopping height of the unmanned aerial vehicle is also different depending on the altitude at which it was flying. Therefore, the camera driver 15 performs a correction operation to obtain a precise unmanned image. The camera focus is achieved by adjusting the focal lengths of the first main camera 11-1, the second main camera 11-2, the first infrared camera 12-1, and the second infrared camera 12-2, respectively. and the interval of the base line L adjusts the interval between the first module unit 30-1 and the second module unit 30-2 as described above. When a command is transmitted from the camera driver 15 to the driver 40 , the driver 40 retracts or withdraws the support arms 50 - 1 and 50 - 2 to the first module unit 30 - 1 and the second module. The spacing between the portions 30 - 2 (ie, the base line) is adjusted.

Preferably, after adjusting the camera focal length for each camera, if an unmanned image of a set quality cannot be obtained, the 'corrected three-dimensional unmanned image' is provided by adjusting the interval of the base line (L). The landing terrain reading unit 16 analyzes the 'corrected three-dimensional unmanned image' as described above to determine whether the landing is possible by analyzing whether there is an inclined terrain greater than an angle set at the landing point or whether there is an obstacle or the like. For example, even if there are rocks or trees at the landing site, loss or damage of the drone 110 occurs when landing, and when landing on a steep terrain, the drone 110 tops down and the rotating wing collides with the ground and due to overload Fires may also occur. Therefore, the landing site is confirmed through the three-dimensional unmanned image corrected by the landing terrain reading unit 16 .

If it is determined by the landing terrain reading unit 16 that it is a terrain that cannot be landed as a result of the determination, the landing site is re-searched while moving in each of the forward/backward/left/right directions, and if necessary, the moving distance is increased step by step to perform the search again. For example, as shown in FIG. 18 , if there is an obstacle at a point currently waiting for landing, and there is a width or a tip that the UAV 110 cannot land on the upper end of the obstacle, it is analyzed with a 3D unmanned image and moved to the side and then normalized. make a landing When it is determined by the landing topography reading unit 16 that the landing position is a landable terrain, the landing posture control unit 17 controls the plurality of drone wings 20 according to the topographical characteristics of the landing point, respectively, to adjust the posture of the unmanned aerial vehicle 110 . and control the landing speed of the unmanned aerial vehicle by controlling the rotation speed of the drone wing 20 . Therefore, even if the drone 110 is out of view because it is far away from the terminal 120, the stereo camera of the drone 110 reads the topography of the landing point and automatically selects a safe place to land. For example, as shown in FIG. 19 , in the case where landing is impossible at point A1 and landing at points A2 and A3 is possible among continuous inclined terrain, as shown in FIG. 19 , at point A2 among possible landing points, the drone 110 may land horizontally. However, in the case of point A3 with a slight inclination, it is desirable to correct the posture. If the unmanned aerial vehicle 110 lands without changing its posture even with a slight inclination, it can tilt sideways due to a collision with the ground, so the drone wing 20 is adjusted to adjust the posture horizontally on the inclined surface.

On the other hand, the main controller 18, which has been omitted from the description above, is for overall control of the drone, and includes the mode determination unit 13, the stereo vision processing unit 14, the camera driving unit 15, and the landing terrain reading unit 16 as above. , and the overall process of the landing posture control unit 17 and the like. Referring to FIG. 13 , the server 130 converts the topographic data of the database 140 into a map form and provides it to the client. The server 130 is operated by a map service provider such as Google or Naver. The database 140 may be directly managed by the map service provider, or may be managed by a company or a public institution that provides topographic data to the map service provider, and is provided in the form of a map by the server 130 . Create or modify a numerical map based on the information provided. The terminal 120 is a mobile communication terminal such as a smart phone or a tablet, and is loaded with a predetermined app.

And the hardware of the terminal 120 performs various functions as follows in conjunction with the app. First, the terminal 120 displays a map received from the server 130 through a communication network on the screen 122, and visually displays the location of the unmanned aerial vehicle 110 recognized by the GPS receiver on the map. In addition, the terminal 120 receives the unmanned image of the camera 114 from the unmanned aerial vehicle 110 , and displays it on the screen 122 simultaneously with the map. The terminal 120 also functions as a remote controller of the unmanned aerial vehicle 110 . Therefore, even if the user does not have a separate remote controller, the user operates the terminal 120 while checking the location of the unmanned aerial vehicle 110 and the unmanned image acquired by the camera 114 of the unmanned aerial vehicle 110 on the screen 122 . (110) can be manipulated. In addition, the terminal 120 generates a second notification signal when the distance between the object on the map and the UAV 110 on the map is less than or equal to the reference value.

The generation of the second alarm signal means that the UAV 110 on the map approaches the object on the map and there is a risk of collision on the map. Also, the terminal 120 compares the time when the first alarm signal is received from the unmanned aerial vehicle 110 and the time at which the second alarm signal is generated. As a result of the comparison, if only the first alarm signal is received, the terminal 120 determines that the object is newly created. And in this case, the terminal 120 marks the creation symbol indicating that the object is newly created on the map on the screen 122 . The generated symbol is marked where the unmanned aerial vehicle 110 was located at the time the first alarm signal was received. In addition, the terminal 120 stores that the marked symbol is a generated symbol, and the coordinates at which the generated symbol is marked in the internal memory.

In addition, the terminal 120 outputs a voice message when only the reception of the first alarm signal is made, and this voice message includes the contents of a new object, such as "There is a risk of colliding with a new object," and the unmanned aerial vehicle (110). ) that there is a risk of collision. On the other hand, if only the second alarm signal is generated as a result of the comparison, the terminal 120 determines that the existing object has disappeared. And in this case, the terminal 120 marks the disappearance symbol indicating that the object has disappeared on the map on the screen 122 . The extinction symbol is marked where the UAV 110 was located at the time of generating the second alarm signal.

In addition, the terminal 120 stores that the marked symbol is an extinction symbol, and the coordinates at which the extinction symbol is marked in the built-in memory. In addition, the terminal 120 outputs a voice message when only the generation of the second alarm signal is made, and this voice message includes the content that the existing object has disappeared, such as "the object has disappeared and the risk of collision has been removed", and thus the unmanned aerial vehicle (110) contains the content that the risk of collision has been eliminated.

Meanwhile, as a result of the comparison, if the reception of the first alarm signal and the generation of the second alarm signal are simultaneously performed, the terminal 120 determines that there is no change in the terrain. And in this case, the terminal 120 does not mark anything on the map on the screen 122 and only outputs a voice message. This voice message includes content that there is a risk of collision of the UAV 110, such as “There is a risk of collision”. As described above, the terminal 120 is configured as a mobile communication terminal equipped with a predetermined app. However, unlike this, the terminal 120 may be configured as a PC on which a predetermined program is loaded. However, when the terminal 120 is configured as a mobile communication terminal, since the user can control the unmanned aerial vehicle 110 while moving in a vehicle, there is an advantage in that the flight area of the unmanned aerial vehicle 110 is wider. Hereinafter, an operation process of the terrain change detection system 100 using the unmanned aerial vehicle will be described. Referring to FIG. 13 , the user first prepares the drone 110 equipped with the distance sensor 112 , the camera 114 , the GPS receiver, and the first alarm signal generator 116 , and installs the app installed in the terminal 120 . run When the app is executed, the map received from the server 130 , the location of the unmanned aerial vehicle 110 on the map, and the unmanned image of the camera 114 are displayed on the screen 122 of the terminal 120 .

When these tasks are completed, the user operates the unmanned aerial vehicle 110 and controls the unmanned aerial vehicle 110 while viewing the screen of the terminal 120 . If only the reception of the first alarm signal is made during the operation of the unmanned aerial vehicle 110, the terminal 120 marks the generated symbol on the map on the screen 122, that the marked symbol is the generated symbol, and that the generated symbol is marked The coordinates are stored in the internal memory, and a voice message including the content that an object is newly created and the risk of collision of the unmanned aerial vehicle 110 is output. When only the generation of the second alarm signal is made during the operation of the unmanned aerial vehicle 110, the terminal 120 marks the extinction symbol on the map on the screen 122, that the marked symbol is the extinction symbol, and that the extinction symbol is marked The coordinates are stored in the built-in memory, and a voice message including the content that the existing object has disappeared and that the risk of collision of the unmanned aerial vehicle 110 is eliminated is output. When the reception of the first alarm signal and the generation of the second alarm signal are simultaneously performed during the operation of the UAV 110 , the terminal 120 outputs a voice message including the content that there is a risk of collision of the UAV 110 . On the other hand, after the user finishes controlling the drone 110 , the user provides information stored in the built-in memory of the terminal 120 to a company or organization that manages terrain data, and the company or organization uses the received information to provide the terrain data update

Hereinafter, a method for operating a numerical map update system using video image data will be described based on the above. 20 to 21 , there is provided a resin mapping method connected with a digital map updating system, the method comprising: preparing a digital map updating system; examining a site for resin map production; a step in which a schedule is established for the production of resin maps; operating an unmanned imaging system for resin map production; and operating the system for updating the balance sheet according to the established schedule. Here, the unmanned image system includes a first main camera 11-1 for photographing a landing point that exists directly under the unmanned aerial vehicle 110, which is waiting for landing during the daytime, using a drone, and the first main A second main camera 11-2 installed to be spaced apart from the camera 11-1 by a set base line L and photographing a landing point located directly below the unmanned aerial vehicle, and the unmanned aerial vehicle waiting to be landed at night. It includes a first infrared camera 12-1 for photographing a landing point that exists directly below.

The unmanned image system includes a first main camera 11-1 for photographing a landing point located directly below the unmanned aerial vehicle 110, which is waiting for landing during the daytime, using a drone, and the first main camera ( A second main camera 11-2 installed to be spaced apart from the set base line L from 11-1) and photographing a landing point located directly below the unmanned aerial vehicle, and a direct lower portion of the unmanned aerial vehicle waiting to be landed at night and a first infrared camera 12-1 for photographing a landing point existing in the .

In this case, the unmanned imaging system includes a drone and a stage unit for mounting and managing the drone, wherein the drone includes a drone body 10 and a frame 20 forming a frame of the drone body 10 . And, as a mark used to make the reference point of the ground appear in the aerial photograph, it is installed on the upper part of the frame 20 and has a plurality of ventilation holes 31 drilled in correspondence with the position of the propeller 11. member 30 .

In addition, the stage unit includes a support plate portion 1100 having a predetermined area;

a vertical structure 1200 installed on the support plate 1100; a first parallel structure 1300 installed opposite to one side of the vertical structure 1200; and a second parallel structure 1400 installed opposite to the other side of the vertical structure 1200 . The vertical structure 1200 is a first 1-1 extension body 1211 extending upward on one side, and installed at an end of the 1-1 extension body 1211, a first in which the first parallel structure 1300 is interpolated. -1 1-1 insertion module including an internal insert (1212); The second 2-1 extension body 1221 extending to the upper portion of the other side, and the 2-1 interpolation body 1222 installed at the end of the second 2-1 extension body 1221 and into which the second parallel structure 1400 is interpolated. It includes a 2-1 insertion module comprising a

On the other hand, the 1-1 interpolator 1212 fixes the first parallel structure 1300 based on the pulling operation of the 1-1 extension body 1211, and the 2-1 intercalator 1222 to fix the second parallel structure 1400 based on the pulling driving of the second 2-1 extension body 1221 .

In addition, the vertical structure 1200 is installed at the end of the 1-2 extension body 1213 and the 1-2 extension body 1213 extending to one side, and the first parallel structure 1300 is interpolated. a 1-2 first insertion module including a first 1-2 inner insert 1214; A 2-2 extension body 1223 extending to the other side, and a 2-2 interpolation body 1224 installed at the end of the 2-2 extension body 1223 and into which the second parallel structure 1400 is interpolated It includes a 2-2 insertion module that includes. Here, the first-second interpolator 1214 fixes the first parallel structure 1300 based on the pulling driving of the first-second extension body 1213 . The 2-2 inner insert 1224 fixes the second parallel structure 1400 based on the pulling driving of the 2-2 extension body 1223 .

The vertical structure 1200 is installed at the end of the 1-3 extended body 1213 extending to one side and the 1-3 extended body 1213, and the first 1-in which the first parallel structure 1300 is interpolated. 3 1-3 insertion module including an inner insert (1216); A 2-3th extension body 1225 extending to the other side, and a 2-3th interpolation body 1226 installed at the end of the 2-3 extension body 1225 and into which the second parallel structure 1400 is interpolated It includes a 2-3 insertion module that includes.

The bed, the 1-3 interpolator 1216 fixes the first parallel structure 1300 based on the pulling driving of the 1-3 extension body 1213, and the 2-3 interpolation body 1226 to fix the second parallel structure 1400 based on the pulling driving of the second 2-3 extension body 1225 . A 1-1 external extension 1511 is provided at an end of the first 1-1 insert 1212, and a 1-2 external extension 1512 is provided at an end of the first 1-2 insert 1214. and a 1-3 external extension body 1513 is provided at the end of the 1-3 internal insert 1216 .

Meanwhile, a 1-1 sortie space SP11 in which a plurality of the drones are located is provided between the 1-1 external extension 1511 and the 1-2 external extension 1512, and the 1-3 A 1-2 sorting space SP12 in which a plurality of the drones are located is provided between the external extended body 1513 and the 1-2 first external extended body 1512, and the 1-1 sorting space SP11 and the first sorting space SP11 are provided. In the 1-2 sortie space SP12, the drone waits to start or end the flight.

A storage space WP11 for a 1-1 ripper is provided between the 1-1 extension 1211 and the 1-2 extension 1213, and the 1-1 extension 1211 and the 1- A storage space W12 for a 1-2 ripper is provided between the two extensions 1213, and a fault check is provided on the storage space WP11 for the 1-1 ripper and the storage space W12 for the 1-2 ripper. The drone for or the drone that cannot fly is located, and the 2-1 th external extension 1611 is provided at the end of the 2-1 th internal insert 1222, and the 2-2 th internal insert 1224 is provided. ), a 2-2 second external extension body 1612 is provided at the end, and a 2-3rd external extension body 1613 is provided at the end of the 2-3th internal insert 1226, and the 2-1 external extension body A 2-1 sortie space SP21 in which a plurality of drones are located is provided between the 1611 and the 2-2 external extension 1612, the 2-3 external extension 1613 and the second 2- A 2-2 sortie space SP22 is provided between the 2 external extensions 1612, and the drone starts flying in the 2-1 sortie space SP21 and the 2-2 sortie space SP22. Wait to quit.

In addition, a storage space (WP21) for a 2-1 ripper is provided between the 2-1 extension body 1221 and the 2-2 extension body 1223, and the 2-1 extension body 1221 and the second extension body 1223 are provided. A storage space WP22 for a 2-2 ripper is provided between the 2-2 extension 1223, and on the storage space WP21 for the 2-1 ripper and the storage space WP22 for the 2-2 ripper The drone for fault check or the drone that cannot fly is located, and a first upper detection unit 171 is provided at the upper end of the 1-1 extension 1211, and the 1-2 extension 1213 is A first lower sensing unit 172 is provided at the lower end, and the first upper sensing unit 171 and the first lower sensing unit 172 are provided to face each other, and the 1-1 sorting space SP11 is provided. And by first detecting the number of sorties of the drones flying out from the 1-2 sortie space (SP12), the normal operation of the drones is first checked.

On the other hand, a second upper detection unit 191 is provided at the upper end of the second-second extension body 1221, and a second lower end detection unit 192 is provided at the lower end of the second-second extension body 1223, and the second upper end detection unit 191 is provided. The first upper detection unit 171 and the first lower detection unit 172 are provided to face each other, and the flight is performed from the 2-1 sortie space SP21 and the 2-2 sortie space SP22. The number of sorties of the drones is first detected, and the normal operation of the drones is first checked.

A first overlap detection unit 181 is provided above the first parallel structure 1300 , and a second overlap detection unit 201 is provided above the second parallel structure 1400 , and the first overlap The sensing unit 181 performs a secondary check on the drones when the drones flying from the 1-1 sortie space SP11 and the 1-2 launch space go up and down to an upper predetermined space.

In addition, the second overlap detection unit 201 performs a secondary check on the drones when the drones flying from the 2-1 sortie space SP21 and the 2-2 launch space go up and down to a certain upper space. And, the support plate part 1100 is provided with a first connection module on the upper portion, and the first parallel structure 1300 is installed on the support plate part 1100 through the first connection module.

The first connection module is provided with a left and right slidable on the support plate part 1100, and a first driving body 3100 on which the first parallel structure 1300 is seated;

It is positioned above the first driving body 3100 and includes a first rectangular-shaped protrusion 3200 inserted into the first parallel structure 1300 . The first rectangular protrusion 3200 rotates from the first driving body 3100 to press and fix the inner surface of the first parallel structure 1300, and the support plate part 1100 is a second connection on the upper part. A module is provided, and the second parallel structure 1400 is installed on the support plate 1100 through the second connection module.

In addition, the second connection module is provided to be slidable left and right on the support plate part 1100, and a second driving body 4100 on which the second parallel structure 1400 is seated, and the second driving body ( 4100), and includes a second rectangular protrusion 4200 inserted into the second parallel structure 1400, and the second rectangular protrusion 4200 is the second driving body 4100. It rotates from and presses and fixes the inner surface of the second parallel structure 1400 .

A first guard module is provided on the left side of the first connection module to suppress and fix the flow of the first driving body 3100, and a second guard module is provided to the right side of the second connection module, the second 2 It is possible to suppress and fix the flow of the driving body 4100 .

The first guard module includes a first actuator 5100 installed on the upper portion of the support plate 1100, a first moving body 5110 moving forward and backward on the first actuator 5100, and the second A first horizontal support body 5120 that is in contact with the first driving body 3100 at the end of the first movable body 5110 and horizontally supports the first driving body 3100 is provided.

The first horizontal support body 5120 restricts and fixes the flow of the first driving body 3100 in a horizontal direction, and the second guard module is a second installed on the support plate part 1100. A driving body 6100, a second moving body 6110 moving forward and backward on the second driving body 6100, and the second driving body 4100 at the end of the second moving body 6110, and in contact with the first A second horizontal support body 6120 for horizontally supporting the second driving body 4100 may be provided. The second horizontal support body 6120 limits and fixes the flow of the second driving body 4100 in the horizontal direction.

Here, the first horizontal support body 5120 is provided as an upper front end, and a first rotational rectangular structure in contact with the upper portion of the first parallel structure 1300 is provided on the upper portion of the first parallel structure 1300 . Abutting, the second horizontal support body 6120 is provided with an upper front end, and a second rotational rectangular structure 6130 in contact with the upper portion of the second parallel structure 1400 is provided, so that the second parallel structure 1400 is provided. tangent to the top of

The first rotating branch structure (5130) and the second rotating rectangular structure (6130) are fixed by pressing the first horizontal support body (5120) and the second horizontal support body (6120) downward through rotation, respectively. . The first parallel structure 1300 includes a first diagonal rod 7110 installed in an upper diagonal direction on a surface opposite to the vertical structure 1200, and the first diagonal rod 7110 provided on the vertical structure 1200. ) A first mounting body 7120 mounted inside is provided.

Here, the second parallel structure 1400 includes a second diagonal rod 8110 installed in an upper diagonal direction on a surface opposite to the vertical structure 1200, and the second diagonal rod 8110 is provided on the vertical structure. A second mounting body 8120 mounted inside the 1200 is provided. The first mounting body 7120 and the second mounting body 8120 are respectively mounted on the vertical structure 1200 based on the upper diagonal flow of the first diagonal bar 7110 and the second diagonal bar 8110. pressurized and fixed

In addition, the first parallel structure 1300 includes a third diagonal rod 7200 and a third mounting body 7210 formed symmetrically with the first diagonal rod 7110 and the first mounting body 7120 . can be The second parallel structure 1400 includes the second diagonal rod 8110, the fourth diagonal rod 8200 and the fourth mounting body 8210 formed symmetrically with the second mounting body 8120 on the upper part. can be The third mounting body 7210 , the third diagonal rod 7200 , the fourth mounting body 8210 , the fourth diagonal rod 8210 , etc. flow in a diagonal direction from the top to the bottom to perform pressurization and fixing. do.

In addition, the first mounting body 7120 to the fourth mounting body 8210 perform secondary pressing and fixing through circumferential rotation while being internally inserted into the vertical structure 1200 . Here, it is preferable that the first mounting body 7120 to the fourth mounting body 8210 have a polygonal cross section.

A first battery module BM1 is embedded in the 1-1 extension body 1211 to the 1-3 extension body 1213, respectively, and the 2-1 extension body 1221 to the 2-3 extension body 1225 are respectively built-in. ) each has a built-in second battery module BM2. The range of the 1-1 extension 1211 to the 1-3 extension 1213 can be controlled to be exposed to the outside due to the dust flow, and the 1-1 interpolator 1212 to the 1-3 inner By increasing the thickness and area of the insert 1216 , the 1-1 extension 1211 to the 1-3 extension 1213 may move in and out in a predetermined range. The thickness and area of the second-first interpolated body 1222 to the second-third interpolated body 1226 are made to be sufficient, so that the second-first extension body 1221 to the second-third extension body 1225 are formed. It can move in and out within a certain range. Based on such an appearance and departure flow, the degree to which the first battery module BM1 and the second battery module BM2 are exposed to the outside is adjusted, and the range in which the drones are seated can also be adjusted.

In addition, the second parallel structure 1400 includes a second diagonal rod 8110 installed in an upper diagonal direction on a surface opposite to the vertical structure 1200, and the second diagonal rod 8110 is provided on the vertical structure. (1200) A second mounting body 8120 mounted inside is provided, and the first mounting body 7120 and the second mounting body 8120 are the first diagonal rod 7110 and the second diagonal rod. Based on the upper diagonal flow of the 8110, respectively, the vertical structure 1200 is pressed and fixed. The driving method of the physical components described above is based on a motor, an actuator, etc., and the forward and backward movement and rotational movement are made, and the shape and size of each component can be variously selected and provided according to the installation site and materials to be implemented. . Although the present invention has been described with reference to the embodiments shown in the drawings, which are merely exemplary, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

D1,D2,D3,D4 : Drone 10: Drone body
20: drone wing 30-1, 30-2: module part
40: actuator 50-1, 50-2: support arm
11-1: first main camera 11-2: second main camera

Claims (2)

delete In the numerical map production method connected with the numerical map update system using video image data,
preparing a numerical map update system; reviewing the site for digital mapping; a step in which a schedule is established for the production of numerical maps; operating an unmanned imaging system for producing a numerical map; and operating the numerical map update system according to the established schedule,
The unmanned photographing system includes an unmanned aerial vehicle including a drone and a stage unit in which the unmanned aerial vehicle is mounted and operated,
The stage unit is
a support plate portion 1100 having a predetermined area;
a vertical structure 1200 installed on the support plate 1100;
a first parallel structure 1300 installed opposite to one side of the vertical structure 1200; and a second parallel structure 1400 installed opposite to the other side of the vertical structure 1200,
The vertical structure 1200,
A 1-1 extension body 1211 extending upward on one side, and a 1-1 interpolation body 1212 installed at an end of the 1-1 extension body 1211 and into which the first parallel structure 1300 is interpolated. A 1-1 insertion module comprising a; A 2-1 extension body 1221 extending to the upper side of the other side, and a 2-1 interpolation body 1222 installed at an end of the second extension body 1221 and into which the second parallel structure 1400 is interpolated. It includes a 2-1 insertion module comprising a,
The 1-1 interpolator 1212 fixes the first parallel structure 1300 based on the pulling driving of the 1-1 extension body 1211, and the 2-1 intercalator 1222 is the A method of operating a numerical map update system using video image data, characterized in that the second parallel structure (1400) is fixed based on the pulling operation of the second-second extension (1221).

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