KR102345880B1 - Image processing system that processes real-time images taken - Google Patents

Abstract

The present invention relates to an image processing system for processing real-time taken images. In particular, in the case of a city center, the image processing system provides captured images taken by a drone flying in real time along a route set around a ground reference point, and renews captured image information to reflect changes in a topographical feature in a short time by having a changed topographical feature image processed immediately through the real-time update, thereby facilitating accurate and precise map production. In addition, the image processing system of the present invention prevents the deterioration of a mounting module of an image processing server by stably and effectively cooling the mounting module, thus preventing errors or defects during image processing.

Description

Image processing system that processes real-time images taken}

The present invention relates to an image processing system for processing real-time images taken in the field of image processing technology. In particular, in the case of a city center, a photographed image captured by a drone flying along a route set around a ground reference point is provided in real time, Through this, the changed topographical image is immediately reflected and image processed, so that the photographed image information is updated so that the change of the topographical feature can be reflected within a short time, enabling more accurate and precise map production, as well as the installation module of the image processing server It relates to an image processing system for processing real-time captured images, which is improved to prevent deterioration of a mounting module by cooling stably and effectively, thereby preventing errors or defects during image processing in advance.

In general, the image drawing image, which is the background of the numerical map, is produced based on the aerial photographed image. For example, a number of photographed image layers are connected at the same scale, and one numerical map is completed by drawing and editing the image-processed image based on all photographed images thus completed.

At this time, a plurality of photographed images of the features secured from the aircraft are precisely synthesized through image processing that precisely combines them using location information (coordinate information), and converted into a large image image, and synthesized. A drawing image is a map image that is converted or mapped into a topographic map (topographic image) on the ground using the converted video image. .

This image processing is applied regardless of whether the target is an urban area or an area outside the city center.

However, in the case of urban areas, if new buildings are frequently created and old buildings are demolished, etc., compared to areas outside the city center, if these changes in topographical features are not reflected quickly, image processing for drawing and editing is meaningful. will lose

To solve this problem, a localization device is installed on an actual terrain object, and the image of the terrain object is checked through aerial photography, and the existing information is updated by combining the coordinate value of the location measurement device and the aerial photographed image.

However, since aerial photography is expensive, it cannot be taken periodically and repeatedly, so it is difficult to quickly reflect the shape characteristics of frequently changing features. Since it is impossible to stay in the filming area, there is a limitation in that the aircraft must be turned and re-photographed every time if necessary, resulting in a very large waste of time and money.

Moreover, the image processing server that processes the captured images generates a lot of heat because it has to process a huge amount of data in a short time. The deterioration of the processing modules not only shortens the lifespan of the system, but also faces a limitation in that the maintenance cost thereof increases rapidly.

Republic of Korea Patent Registration No. 10-2065750 (2020.01.07.) 'Image processing system capable of receiving and synthesizing location information and video images in real time'

The present invention was created to solve the problems in the prior art as described above. In particular, in the case of a city center, a photographed image captured by a drone flying along a route set around a ground reference point is provided in real time, Through this, the changed topographical image is immediately reflected and image processed, so that the photographed image information is updated so that the change of the topographical feature can be reflected within a short time, enabling more accurate and precise map production, as well as the installation module of the image processing server Its main purpose is to provide an image processing system that processes real-time captured images, which is improved to prevent deterioration of the mounted module by cooling it stably and effectively, and to prevent errors or defects during image processing in advance.

The present invention is a means for achieving the above object, the sector (S1) for dividing the area for drone (D) shooting into a plurality of zones; ground reference points (G1, G2, G3, G4) installed near each vertex of the sector (S1); A drone (D) that shoots a spatial image while flying along a set route while communicating with the ground reference point (G1, G2, G3, G4) from the ground reference point (G1, G2, G3, G4) as a starting point; GPS satellite 200 for transmitting coordinate information through satellite communication with the drone (D); An image processing server 300 that wirelessly communicates with the drone D to receive the photographed image captured by the drone D and the coordinate values of the photographing point, and then synthesizes the image processing server 300; including,

The drone (D) is configured to transmit a stereo image captured by a stereo camera; The image processing server 300 is a matching module (M2) for generating three-dimensional shape information by matching the stereo photographed image captured by the drone (D) with the corresponding image stored in the image storage module (M1), the matching module ( A mapping module (M3) that creates a map image by absolute expression of coordinate values in the three-dimensional shape information generated in M2), and a memory module (M4) provided to separately store the mapped map image and use it for drawing image and numerical map production It provides an image processing system for processing a real-time image to be taken, characterized in that it includes a plurality of processing modules (M) consisting of.

At this time, the ground reference points (G1, G2, G3, G4) are a fixed housing 110 fixed to the reference point installation floor, a generator 120 built in the fixed housing 110, and the generator 120 and A storage battery 130 connected, a housing door 140 that is formed on a part of the outer peripheral surface of the fixed housing 110 and can be opened and closed, and a reference point controller 150 installed on the inner surface of the housing door 140 and including a memory; , a spherical rotating shaft ball 160 fixed to the upper end of the fixed housing 110 and partially open, and a pair of hemispheres 170 fitted on the rotating shaft ball 160, each A wing plate 180 integrally fixed to the hemisphere 170, a generator shaft 122 fixed to the insertion end 172 of the hemisphere 170, and a wireless communication module mounted on the reference point controller 150 and The connected wireless communication antenna 190 and each outer end of the wing plate 180 may include a plurality of ribbons (RB) suspended at regular intervals in the vertical direction.

According to the present invention, in particular, in the case of a city center, a photographed image captured by a drone flying along a route set as a center of a ground reference point is provided in real time, and a changed topographical image is immediately reflected and image processed through the provided image information. By updating , changes in topographic features can be reflected within a short time, enabling more accurate and precise map production, as well as stably and effectively cooling the mounting module of the image processing server to prevent deterioration of the mounting module, and through this An improved effect can be obtained to block the occurrence of errors or defects during processing in advance.

1 is an exemplary configuration diagram illustrating a system according to the present invention.
2 is an exemplary view of a ground reference point constituting the system according to the present invention.
3 is an exemplary view of a cooling unit constituting the system according to the present invention.
4 is an exemplary view of a vacuum processor constituting the system according to the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described in more detail with reference to the accompanying drawings.

As shown in FIG. 1, the system according to the present invention includes a sector S1 in which an area for shooting a drone D is divided into a plurality of zones, and a ground reference point G1 installed near each vertex of the sector S1. , G2, G3, G4) and the ground reference point (G1, G2, G3, G4) as the starting point while communicating with the ground reference point (G1, G2, G3, G4) while flying along the set route and photographing the topographical features a drone (D), a GPS satellite 200 that transmits coordinate information through satellite communication with the drone (D), and a photographed image captured by the drone (D) through wireless communication with the drone (D) and a shooting point and an image processing server 300 for synthesizing a photographed image and a coordinate value after receiving the coordinate value.

In this case, the sector S1 may be divided into a plurality of sectors, and thus may be S1, S2, .... Sn.

In addition, the ground reference points G1, G2, G3, and G4 are preferably provided with a total of four, one for each vertex, based on when the sector S1 is divided in a rectangular shape, and each position is measured during installation. Therefore, the correct coordinates are installed in a fixed state.

In particular, the ground reference points G1, G2, G3, and G4 are capable of wireless communication, and the drone D may be designed to respond only in response to a specific signal transmitted within a communication distance.

That is, it is configured to transmit the coordinate information possessed by the ground reference points (G1, G2, G3, G4) to the drone (D) in response to a specific signal sent by the drone (D), and each ground reference point (G1, G2, G3) ,G4) has a unique number so that each can be distinguished.

Here, the ground reference points (G1, G2, G3, G4) are, as shown in the example of FIG. 2, a fixed housing 110 fixed to the reference point installation floor, and a generator 120 built into the fixed housing 110. And, a storage battery 130 connected to the generator 120, a housing door 140 formed on a part of the outer peripheral surface of the fixed housing 110 to open and close, and a memory installed on the inner surface of the housing door 140 A reference point controller 150 including, a spherical rotating shaft ball 160 fixed to the upper end of the fixed housing 110 and having an empty inside in a partially opened state, and a pair fitted on the rotating shaft ball 160 of the hemisphere 170, the wing plate 180 integrally fixed to each hemisphere 170, the generator shaft 122 fixed to the insertion end 172 of the hemisphere 170, and the reference point controller 150 ) and a wireless communication antenna 190 connected to the mounted wireless communication module 152.

At this time, the rotation shaft ball 160 is a kind of spherical rotation shaft. The reason for doing this is to ensure that the rotational degree of freedom is very free for 360°, so that it can be rotated well even in a small wind.

In addition, an opening 162 having a predetermined radius is formed at the upper apex of the rotating shaft ball 160 , and a pair of hemispheres 170 are seated on the outer periphery.

Here, the hemisphere 170 is a member formed in a hemispherical shape and becomes a rotating body that rotates using the rotating shaft ball 160 as a rotation axis while being fitted in the rotating shaft ball 160 .

In this case, the insertion end 172 is formed at one end of the hemisphere 170 to face each other, and the wing plate 180 is integrally formed at the other end.

Then, the insertion end 172 of the hemisphere 170 is fixed to the generator shaft 122 after being fitted into the opening 162 formed at the upper end of the rotating shaft ball 160 .

In particular, the wing plate 180 has lattice grooves 182 formed on both sides thereof so that it can easily and largely receive resistance to wind.

In addition, the moisture absorption foam 132 is fixed to the lower portion of the storage battery 130 to absorb moisture generated therein, and the housing door 140 can be opened and replaced if necessary.

In addition, by hanging a plurality of ribbons RB at regular intervals in the vertical direction at each outer end of the wing plate 180 so that the ribbon RB flaps when the wind blows, the resistance to the wind is further increased to increase the rotational force, and In this way, the power generation can be increased.

In addition, the wireless communication antenna 190 is configured to be connected to the upper surface of any one of the wing plates 180 , and a signal guide line passing through the inside of the wing plate 180 is elastic at the lower end of the wing plate 180 . It is connected to the plate connection end 156 configured to protrude, and the module connection end 158 configured to be resiliently protruding and retracting is configured to be in constant contact with the plate connection end 156 and is configured to always receive a signal, and the module connection end ( 158 is connected to the wireless communication module 152 .

Therefore, even when the blade plate 180 is rotated, it is not interfered with and a smooth connection is possible.

Furthermore, since it is possible to visually check the rotational state, it is possible to further enhance safety by preventing the approach of interferences or animals.

With such a structure, self-charging is possible, enabling semi-permanent use without drawing commercial electricity.

In particular, the reference point controller 150 is configured to transmit a response signal in response to a specific signal sent by the drone D.

Accordingly, the drone D shoots the ground object in the sector S1 while flying in the arrow pattern shown from a specific ground reference point (according to the control signal transmitted by the image processing server) to the predetermined ground reference point as shown in FIG. 1 , The captured video image is transmitted to the image processing server 300 together with the coordinate values.

At this time, the drone D is configured to transmit its own coordinate values received from the GPS satellite 200 and the ground reference point coordinate values together.

In particular, the drone (D) uses a stereo camera to image a feature, the stereo camera is a camera used to increase map precision through stereo registration, and stereo registration is used to automate the distance extraction ability of the human visual system. It is one of the fields of computer vision. This stereo matching technology is more effective than measuring the distance as a function of the flight time and speed of light using ultrasound and laser as light sources, and is widely used in medical imaging, factory automation, and cartography because of the advantage that it is less limited by the actual application environment. has been used

The basic steps to obtain distance information through a stereo camera are image acquisition, feature extraction, stereo matching, displacement estimation, and distance calculation from displacement. It can be said to find an appropriate matching strategy.

On the other hand, the image processing server 300 processes countless images in a state in which a plurality of processing modules (M) are mounted on the main board (B), as in the examples of FIGS.

Here, the processing modules (M) include: a matching module (M2) for generating three-dimensional shape information by matching the photographed image captured by the drone (D) with the corresponding image pre-stored in the image storage module (M1); a mapping module (M3) for creating a map image by absolute expression of coordinate values in the three-dimensional shape information generated by the matching module (M2); and a memory module (M4) provided to separately store the mapped map image and utilize it for drawing image and numerical map production.

At this time, the image database M1 is a database in which map image information organized by coordinate values is stored as two-dimensional information.

Then, the matching module M2 makes the stereo image transmitted by the drone D received to the image processing server 300 into a three-dimensional matched image, and outputs a depth map through the matched image.

Then, the mapping module M3 creates a map coordinate system, ie, a map image, by performing absolute orientation on the depth map and the received coordinate values.

At this time, the mapping module (M3) retrieves the map information on the corresponding coordinates from the image storage module (M1), finds the feature points in the 2D image, finds the corresponding feature points in the absolute expression map information, and establishes the connectivity between the images through mutual matching. secure

Then, the map image processed through the mapping module M3, ie, map information, is separately stored in the memory module M4.

Here, it is possible to have a structure to cool the main board (B) in order to prevent deterioration of such a plurality of processing modules (M) to increase durability to maintain a longer lifespan of the image processing server (300), the main board (B) ) is in the form of a PCB that processes electronic signals, so most of them are cooled using a fan. However, when using a fan, there is a disadvantage in that a lot of dust is trapped in the fan in a short time, and the cooling efficiency is lowered.

In addition, in the present invention, since soldered marks remain on the back side of the main board (B) in the form of a PCB, there is a possibility of a short circuit when the cooling plate is faced. By fixing the 400 to be indirectly cooled to an appropriate temperature by the cooling unit 500 that controls the temperature and flow of the cooling fluid flowing inside the cooling chamber 400, the deterioration of the main board B is prevented and the substrate connected thereto It is also configured to prevent deterioration of them.

At this time, the inter-bar (P) is a member with a kind of sealing and heat dissipation properties while having an insulating function, and is closely provided in a rectangular frame shape along the rim.

For this reason, since the interstitial rod (P) has to perform an important function, it is not simply composed of a general silicone resin, but must be made of a specially combined composition.

To this end, in the present invention, 10% by weight of XanthanGum, 10% by weight of triphenylphosphine, 10% by weight of copper powder, 10% by weight of polysiloxane, 10% by weight of aluminum oxide powder, 5% by weight of graphite powder, ethyl acetate 20% by weight and the remaining acrylic resin.

At this time, xanthan gum is very useful as a component of the acrylic heat-dissipating adhesive of the present invention because it has excellent transparency and light transmittance, and has a low viscosity and does not need to be dissolved in a separate solvent. In addition, triphenylphosphine is added to promote curing and stabilize curing of the pressure-sensitive adhesive.

In addition, copper powder has excellent malleability and ductility, and has excellent electrical conductivity as well as thermal conductivity. In addition, polysiloxane is added to prevent cracks or drop-offs by suppressing an increase in hardness after curing of the pressure-sensitive adhesive to maintain elongation.

In addition, aluminum oxide powder is added to improve heat dissipation properties by implementing thermally conductive filler properties while maintaining the formability after adhesion of the pressure-sensitive adhesive. In addition, although ethyl acetate is usually used as a diluent or solvent for paints, in the present invention, as a dispersion stabilizer, uniform dispersion induction and anti-agglomeration are used to prevent deterioration of heat dissipation properties due to agglomeration or micro-dispersion in the process of dispersing a number of powders. added for

And, the acrylic resin has a low specific gravity and high adhesive properties while maintaining colorless transparency, so it is the most suitable base resin as an adhesive according to the present invention.

On the other hand, the cooling unit 500 is a small fluid circuit diagram, and is driven and controlled by a controller (not shown) mounted on the image processing server 300. For this purpose, the cooling unit 500 includes the cooling chamber ( 400) and includes a cooler 510 and a heater 520 for cooling or heating the cooling fluid to cool the rear surface of the main board (B) to an appropriate temperature.

Here, the cooler 510 and the heater 520 are both small thermoelectric elements (TEM), and cooling is performed by allowing the cooling fluid to contact only the endothermic side to cool, and heating is performed by allowing the cooling fluid to contact only the exothermic side. It works by heating.

In addition, the fluid mixer 530 is provided to mix the cooled fluid and the heated fluid to adjust the temperature to be cooled to the main board B and supply it to the cooling chamber 400 .

In this case, the present invention is equipped with an indirect cooling structure such that the fluid (refrigerant) circulating in the cooler 510 and the fluid circulating in the heater 520 do not mix with the main fluid circulating through the fluid mixer 530. characteristic.

That is, if the fluid (refrigerant) circulating in the cooler 510 and the fluid circulating in the heater 520 are mixed in the fluid mixer 530 to adjust the temperature, temperature control is not easy and the temperature shock is large, so it is inefficient. It is characterized in that the main fluid and the sub-fluid circulating each of the cooler 510 and the heater 520 do not mix with each other.

To this end, a first plate-type indirect heat exchanger 512 is installed in the first circulation circuit CL1 in which the subfluid circulates the cooler 510 , and the second circulation circuit CL2 in which the subfluid circulates the heater 520 . ), a second plate-type indirect heat exchanger 522 is installed.

Therefore, the fluid mixer 530 mixes the indirectly cooled main fluid and the indirectly heated main fluid, that is, the same main fluid with a different circulation path, to control the temperature, so fine temperature control is easy and precise control is possible. .

A fluid supply pipe 532 for supplying the mixed cooling fluid to the cooling chamber 400 is connected to the discharge end of the fluid mixer 530 , and a fluid discharge pipe 534 is connected to the other side of the cooling chamber 400 . It is then piped to flow to the first plate-type indirect heat exchanger (512) and the second plate-type indirect heat exchanger (522).

Therefore, a distribution valve 542 is installed in a part of the fluid discharge pipe 534 to enter the second plate-type indirect heat exchanger 522, and the opening degree is adjusted according to the control signal of the controller. Since the amount can be adjusted, the amount of the main fluid that naturally flows toward indirect cooling is also controlled, so the effect of indirect temperature control can be amplified.

In this case, a fluid circle pump 540 controlled by the controller is installed on the fluid discharge pipe 534 to maintain the circulation of the cooling fluid.

In addition, a cooling temperature detector 514 is installed on the conduit connecting the outlet end of the first plate-type indirect heat exchanger 512 and the inlet end of the fluid mixer 530 to transmit the detected temperature to the controller in real time.

In addition, a heating temperature detector 524 is installed on the pipe connecting the outlet end of the second plate-type indirect heat exchanger 522 and the inlet end of the fluid mixer 530 to transmit the detected temperature to the controller in real time.

Thus, the temperature adjusted when the two temperatures are compared and mixed is calculated, the temperature required for cooling is calculated by detecting the current surface temperature of the main board (B), and the cooling fluid is passed through the fluid mixer 530 according to the temperature. to regulate the temperature of

Accordingly, it is possible to stably cool the main board (B) so that the system can be stabilized as well as the efficiency of the system can be maintained.

In particular, in the present invention, as in the example of FIG. 4 , since the image processing server 300 has a housing 310 shape, the main causes of deterioration of the processing modules M are moisture and dust (dust), so it can be periodically removed. A vacuum processor 600 is further installed on one side of the housing 310 so as to be there.

The vacuum processor 600 maintains the inside of the housing 310 at the same level as atmospheric pressure or slightly lower than atmospheric pressure, thereby improving cooling efficiency through the cooling unit 500 .

The vacuum processor 600 includes a cylindrical vacuum chamber 610 . The vacuum chamber 610 is provided with a plurality of connection pipe parts 620 so as to be in communication with the inside while being sealed through one side of the housing 310.

In addition, a discharge pipe 630 is provided at one end of the vacuum chamber 610 , a solenoid valve 640 is installed on the discharge pipe 630 , and a valve controller 650 is installed in the solenoid valve 640 .

At this time, although not shown, the valve controller 650 may be connected to and controlled with the above-described controller (not shown). Alternatively, it may be controlled by connecting a separate computer, and in this case, it will belong to the case of using the vacuum processor 600 by periodically attaching and detaching it without operating it at all times.

In particular, a moisture absorber 660 is installed at the end of the discharge pipe 630 , and an exhaust port 662 is installed in the center of the outer surface of the moisture absorber 660 to absorb moisture and dust through the moisture absorber 660 . Only purified air is discharged into the atmosphere.

In this case, the moisture absorber 660 is configured to be replaceable in a cylindrical shape.

In addition, a vent hole 652 is formed in the valve controller 650 to vent in the event of a sudden overload or to induce air intake through the vent hole 652 to induce rapid facility stabilization.

In addition, a tube body 612 communicating with the inside is fixed to a part of the outer peripheral surface of the vacuum chamber 610, a vacuum detection sensor 670 is installed in the tube body 612, and the vacuum detection sensor 670 is a controller and connected

Here, it is preferable that the vacuum detection sensor 670 uses a digital vacuum sensor, and a digitized numerical value of the vacuum degree inside the vacuum chamber 610 can be measured.

Accordingly, the controller can continuously check and manage the degree of vacuum inside the housing 3100.

By configuring in this way, it is possible not only to secure cooling efficiency, but also to keep the inside of the housing 310 in a clean state, thereby optimizing the drive environment of the mounted processing modules (M).

200: GPS satellite
300: image processing server
D: drone

Claims (2)

A sector (S1) in which an area for drone (D) shooting is divided into a plurality of zones; ground reference points (G1, G2, G3, G4) installed near each vertex of the sector (S1); A drone (D) that shoots a spatial image while flying along a set route while communicating with the ground reference point (G1, G2, G3, G4) from the ground reference point (G1, G2, G3, G4) as a starting point; GPS satellite 200 for transmitting coordinate information through satellite communication with the drone (D); Including, but the drone (D) is the stereo camera configured to transmit a stereo image captured by a ; The image processing server 300 is a matching module (M2) for generating three-dimensional shape information by matching the stereo photographed image captured by the drone (D) with the corresponding image stored in the image storage module (M1), the matching module ( A mapping module (M3) that creates a map image by absolute expression of coordinate values in the three-dimensional shape information generated in M2), and a memory module (M4) provided to separately store the mapped map image and use it for drawing image and numerical map production Includes a plurality of processing modules (M) consisting of; The image processing server 300 indirectly cools the cooling chamber 400 fixed to the main board (B) on which a plurality of processing modules (M) are mounted through a gap (P) on the back side. In the image processing system further comprising a unit (500);
The ground reference points (G1, G2, G3, G4) are a fixed housing 110 fixed to the reference point installation floor, a generator 120 built in the fixed housing 110, and a storage battery connected to the generator 120 130, a housing door 140 formed on a part of the outer peripheral surface of the fixed housing 110 and capable of opening and closing, a reference point controller 150 installed on the inner surface of the housing door 140 and including a memory; A spherical rotating shaft ball 160 fixed to the upper end of the fixed housing 110 and partially open, a pair of hemispheres 170 fitted on the rotating shaft ball 160, and each hemisphere ( The wing plate 180 integrally fixed to 170, the generator shaft 122 fixed to the insertion end 172 of the hemisphere 170, and the wireless communication module mounted on the reference point controller 150 Communication antenna 190 and each of the outer ends of the wing plate 180 includes a plurality of ribbons (RB) hanging at regular intervals in the vertical direction;
The cooling unit 500 is connected to the cooling chamber 400 to cool or heat a fluid to cool the rear surface of the main board (B) in the form of a small thermoelectric element (TEM) type cooler 510 and heater 520 . ), including
The cooler 510 is provided on the first circulation circuit CL1 so that the sub-fluid circulates, the heater 520 is provided on the second circulation circuit CL2 so that the sub-fluid circulates, and the first circulation A first plate-type indirect heat exchanger (512) is installed in the circuit (CL1), a second plate-type indirect heat exchanger (522) is installed in the second circulation circuit (CL2), and the first plate-type indirect heat exchanger (512) and a fluid mixer 530 in which the main fluid cooled by heat exchange and the main fluid heated by heat exchange through the second plate-type indirect heat exchanger 522 are mixed with each other;
A fluid supply pipe 532 for supplying the mixed main fluid to the cooling chamber 400 is connected to the discharge end of the fluid mixer 530, and the fluid discharge pipe 534 is connected to the other side of the cooling chamber 400. The first plate-type indirect heat exchanger 512 and the second plate-type indirect heat exchanger 522 are piped to flow, and a distribution valve ( 542) is installed and configured to adjust the opening degree according to a control signal from a controller, and a fluid circle pump 540 controlled by a controller is installed on the fluid discharge pipe 534 to maintain circulation of the main fluid, A cooling temperature detector 514 is installed on the conduit connecting the outlet end of the one-plate indirect heat exchanger 512 and the inlet end of the fluid mixer 530 and is configured to transmit the detected temperature to the controller in real time, and the second plate indirect A heating temperature detector 524 is installed on the pipe connecting the outlet end of the heat exchanger 522 and the inlet end of the fluid mixer 530 and configured to transmit the detected temperature to the controller in real time. image processing system. delete

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