KR102471423B1 - Spatial image renewal system - Google Patents

Abstract

The present invention relates to a spatial image drawing renewal system for digitizing secured images, wherein the efficiency of photography is maximized between photography by a drone and acquisition of images for a spatial image drawing for a digital map and renewal thereof, thereby enabling images for a spatial image drawing to be acquired and renewed at lower costs and at high efficiency at the same time. The spatial image drawing renewal system for digitizing secured images according to the present invention comprises: a reference station; a drone; an image processing center; and an image acquisition part, wherein the image acquisition part includes a camera and a camera state adjusting part for adjusting the photographing position and angle of the camera, and the camera photographing state adjusting part includes a turntable, a first rotational power generator, a camera supporting arm, a second rotational power generator, a communication unit and a control unit.

Description

Spatial image renewal system that digitizes secured video images {Spatial image renewal system}

The present invention relates to a spatial image mapping update system that digitizes a secured image in the field of spatial image mapping technology. The efficiency of the image acquisition task is maximized between the tasks of acquiring the image, and through this, the process of acquiring and renewing the image for spatial image drawing can be performed at a lower cost and at the same time with high efficiency. It's about the system.

In general, a digital map based on acquired video image information is produced from image data collected through aerial image acquisition and ground image acquisition, and the collected image data is converted into a mapped image through a video drawing step, and online It is completed with a digital map, which is exclusive 2D or 3D image information. In other words, a digital map is a map produced in digital form by interpreting various numerical information obtained from survey maps, aerial image data, satellite image data, etc., and numerically editing it. The digitized geographic information of the corresponding point must be accurately applied to the mapped terrain image to easily obtain the mapped terrain image, and the mapped terrain image must also be accurately depicted according to the geographic information.

Hereinafter, drawing, image drawing, and spatial image drawing have the same meaning and can be selectively described and explained appropriately to the context.

And in the case of the task of collecting image data through ground image acquisition, after obtaining ground images for a certain area, it is necessary to periodically visit the area to check whether or not the feature has changed. When the information of the digital map is unclear, the image data of the corresponding feature is secured to obtain the corrected video image data, and the digital map is updated by drawing it. In other words, the video image of the feature is confirmed, and the coordinate values and location information of the location finder are separately collected from the GPS. The existing drawing image stored in the map DB is updated.

However, this method is cumbersome and requires a lot of labor and capital at the same time because it is necessary to visit many regions one by one.

In particular, aerial image acquisition for drawing, video drawing, or video image acquisition for space image drawing is taken using an airplane. Since it requires high cost, it is very economically burdensome to fly frequently, but there is no guarantee that an accurate video image will be obtained with only one shooting, and in some cases, economic difficulties and other difficulties caused by performing aerial image acquisition several times occur it was

For this reason, it is possible to acquire video images for digital map production through spatial image mapping at low cost and high efficiency, and as a result, technology that enables precise image mapping (spatial image mapping) and its renewal work at low cost and high efficiency. Accordingly, Korea Patent Registration No. 10-1830901 (Announced on April 4, 2018), "Spatial Image Mapping Update System for Real-time Editing According to Changes in Geographical Features," was posted.

The “spatial image mapping update system for real-time editing according to changes in topographical features” can regularly shoot a specific area using a drone and update the image for spatial imagery (video mapping) for the area at any time. It is not only possible to upgrade geographic information in real time, but also to fly frequently when necessary, and to stably acquire video images of the area at a low cost without spending high costs.

In addition, the present applicant maximizes the efficiency of the shooting work between the work of capturing and acquiring video images from a drone for spatial image drawing for digital maps and its updating, and through this, the process of acquiring and updating image images for spatial image drawing The present invention has been proposed as a technology that can be performed at a lower cost and at the same time with high efficiency.

Korean Patent Registration No. 10-1830901 (Announced on April 4, 2018), “Spatial imagery drawing update system for real-time editing according to changes in geographic features” Korean Patent Registration No. 10-2334839 (Announced on December 6, 2021), “Spatial image diagram update system that maps real-time image images” Korean Patent Registration No. 10-1936191 (published on January 8, 2019), “GPS-based geodetic survey of terrain and updating numerical information through displacement confirmation” Korean Patent Registration No. 10-2337839 (2021.12.09. Notice), “Spatial image painting system capable of correcting and updating drawing images by recognizing errors”

An embodiment of the present invention maximizes the efficiency of the shooting operation between the operation of capturing and acquiring video images from a drone for spatial image mapping for digital maps and updating thereof, and through this, the video image for spatial image mapping is acquired and updated. Provided is a spatial image mapping update system that digitizes a secured video image so that the process of doing so can be performed at a lower cost and at the same time with high efficiency.

According to an embodiment of the present invention, a spatial image diagram updating system for digitizing a secured video image includes a GPS receiver having a GPS antenna and receiving a position value from a GPS satellite, and a current position value transmitted from the GPS receiver and stored absolute values. A reference station including a control unit that mutually computes values and outputs a GPS correction value, and a DGPS transmitter having a DGPS (Differential GPS) antenna and wirelessly transmitting the GPS correction value from the control unit to the outside, and storing a captured video image. A DGPS receiver having a DGPS antenna and receiving a GPS correction value from the DGPS transmitter of the reference station, a GPS receiver having a GPS antenna and receiving a current position value from a GPS satellite, a transmitter, the memory, and a DGPS receiver , A video image including a drone including a control unit for controlling the operation of a GPS receiver and a transmitter, and an image processor that receives the captured video image and current position value from the transmitter of the drone and processes the received video image. It may include a processing center, a video image acquisition unit coupled to a lower part of the drone and including a camera for acquiring the captured video image and a camera capturing state adjusting unit for adjusting the capturing position and angle of the camera.

In addition, the spatial image diagram updating system for digitizing the secured video image according to an embodiment of the present invention further includes an altimeter for measuring an altitude of the drone, and the camera shooting condition adjusting unit is rotatable at a lower part of the drone. A turntable coupled to the lower surface and having a storage groove formed in the center of the lower surface for installing the camera and a device for adjusting the shooting position and angle of the camera, and embedded in the drone to provide rotational power to the turntable A state in which the installed first rotational power generator and one end in the longitudinal direction are rotatably coupled inside the accommodating groove of the turntable and are received in the accommodating groove parallel to the turntable (hereinafter referred to as "vertical shooting mode") and a state in which the turntable is rotated to form an angle of 90° and disposed in the vertical direction (hereinafter referred to as “horizontal shooting mode”), and the camera is installed on the lower surface based on the vertical shooting mode. a camera support arm, a second rotational power generator installed on the turntable to provide rotational power to the camera support arm, a communication unit for communication with the drone, and the altimeter received through the communication unit. The operation of the second rotational power generator is controlled according to a real-time altitude signal so that the camera support arm is in the vertical shooting mode at a high altitude according to a preset standard, and at a low altitude, the camera support arm is in the horizontal shooting mode. and a control unit that rotates the turntable to change the photographing direction of the camera by controlling the operation of the first rotational power generating unit according to a control signal from the control unit of the drone received through the communication unit. have.

According to an embodiment of the present invention, the efficiency of the shooting operation is maximized between the work of capturing and acquiring video images from a drone for spatial image mapping for digital maps and updating thereof, thereby obtaining video images for spatial image mapping. Thus, the renewal process can be performed at a lower cost and with high efficiency.

1 is a block configuration diagram illustrating a spatial image diagram updating system for digitizing secured video images according to an embodiment of the present invention.
2 is a side view illustrating a video image acquisition unit in a spatial image diagram updating system for digitizing secured video images according to an embodiment of the present invention.
3 is a block diagram illustrating an electrical configuration of a camera photographing state adjusting unit of a video image acquisition unit in a spatial image diagram updating system that digitizes secured video images according to an embodiment of the present invention.
4 is a side view illustrating an operating state of a video image acquisition unit in a spatial image mapping updating system for digitizing secured video images according to an embodiment of the present invention.

The detailed description of the present invention below refers to the accompanying drawings shown as examples of embodiments in which the present invention can be practiced. These embodiments are described in detail so that those skilled in the art will be able to practice the present invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in one embodiment in another embodiment without departing from the spirit and scope of the invention. Additionally, it should be understood that the location or arrangement of individual components within each described embodiment may be changed without departing from the spirit and scope of the invention.

Accordingly, the detailed description set forth below is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all equivalents as claimed by those claims. Like reference numbers in the drawings indicate the same or similar function throughout the various aspects.

The terms used in the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but these may vary depending on the intention of a person skilled in the art or precedent, the emergence of new technologies, and the like. In addition, in a specific case, there is also a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, not simply the name of the term.

In the invention, when a certain part “includes” a certain component in the whole, this means that it may further include other components, rather than excluding other components, unless otherwise stated. In addition, as described in the specification, "... wealth", "… A term such as “module” refers to a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

A spatial image mapping update system for digitizing secured video images according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4 .

1 is a block configuration diagram illustrating a spatial image diagram updating system for digitizing a secured video image according to an embodiment of the present invention, and FIG. 2 is a space for digitizing a secured video image according to an embodiment of the present invention. FIG. 3 is a side view illustrating a video image acquisition unit in a video diagram update system, and FIG. 3 is an electrical configuration of a video image acquisition unit and a camera shooting state adjusting unit in a spatial image diagram update system that digitizes a secured video image according to an embodiment of the present invention. 4 is a side view illustrating an operating state of a video image acquisition unit in a spatial image diagram update system that digitizes a secured video image according to an exemplary embodiment of the present invention.

As shown, the spatial image diagram update system for digitizing the secured video image according to an embodiment of the present invention includes a reference station 100, a drone 200, a video image processing center 300, and a video image acquisition unit ( 400).

The reference station 100 includes a GPS receiver 110, a controller 120, and a DGPS transmitter 130.

The GPS receiver 110 has a GPS antenna 111 and receives a position value from a GPS satellite (G).

The control unit 120 mutually calculates the current position value transmitted from the GPS receiver 110 and the stored absolute value to output a GPS correction value.

The DGPS transmitter 130 has a DGPS (Differential GPS) antenna 131 and performs a function of receiving a GPS correction value from the controller 120 and wirelessly transmitting it to the outside.

The drone 200 includes a memory 210, a DGPS receiver 220, a GPS receiver 230, a transmitter 240, and a controller 250.

The memory 210 stores captured video images. In other words, the memory 210 stores a captured video image obtained through the camera 210 of the video image acquisition unit 400 to be described later.

The DGPS receiver 220 has a DGPS antenna 221 and receives a GPS correction value from the DGPS transmitter 130 of the reference station 100.

The GPS receiver 230 has a GPS antenna 231 and receives a current position value from the GPS satellite (G).

The transmitter 240 performs a function of transmitting the captured video image and the current position value to the video image processing center 300 to be described later.

The controller 250 controls the operation of the memory 210, the DGPS receiver 220, the GPS receiver 230, and the transmitter 240.

The drone 200 further includes an altimeter 260 for measuring altitude, and although not shown in the drawing, the drone 200 adjusts its posture according to a control signal from the controller 250 so that the drone 200 can hover. Further comprising a gyroscope-type attitude controller to control and a calculator for precisely checking the position of the drone 200 through precise position calculation of the GPS antenna 231 using the GPS correction value received from the DGPS receiver 220 can be configured.

In other words, the drone 200 uses the configuration of the drone posted in Korean Patent Registration No. 10-1830901, and therefore, a more detailed description of the drone 200 is a drone posted in Korean Patent Registration No. 10-1830901. It will be understood through the composition of .

The video image processing center 300 receives the captured video image and the current position value from the transmitter 240 of the drone 200, and includes an image processor 310 that processes the received video image.

In addition, the image processor 310 includes a video image DB 311 for storing the captured video image, a drawing image DB 312 for storing a drawing image based on the video image, and synthesizing and editing a plurality of video images. It is configured to include an image editing module 313 for processing, a coordinate synthesis module 314 for synthesizing GPS coordinates with a video image or drawing image, and a video drawing module 315 for creating a drawing image based on the video image.

In other words, the video image processing center 300 and the image processor 310 use the configuration of the video image processing center and image processor disclosed in Korean Patent Registration No. 10-1830901, and thus the image image processing center 300 And a more detailed description of the image processor 310 will be understood through the configuration of the video image processing center and image processor published in Korean Patent Registration No. 10-1830901.

The video image acquisition unit 400 is coupled to the lower part of the drone 200, and the video image acquisition unit 400 controls the camera 410 that acquires the captured video image and the camera 410's shooting position and angle. It may be configured to include a camera photographing state adjustment unit 420 for.

In addition, the camera photographing state adjusting unit 420 includes a turntable 421, a first rotational power generating unit 422, a camera support arm 423, a second rotational power generating unit 424, a communication unit 425, and a control unit ( 426).

The turntable 421 is rotatably coupled to the lower part of the drone 200, and the turntable 421 has a camera 410 at the center of the lower surface and a device configuration that performs a function of adjusting the shooting position and angle of the camera 410. An accommodation groove 421a for installation is formed.

The first rotational power generator 422 is installed in the drone 200 in a buried state to provide rotational power to the turntable 421 . In addition, the first rotational power generator 422 may be implemented in various forms through known technologies such as a configuration including a normal and reverse rotation motor and a reducer, and detailed description and illustration thereof are omitted in this embodiment, In the drawing, it is briefly shown in the form of a box.

The camera support arm 423 has one end rotatably coupled to the inside of the accommodating groove 421a of the turntable 421 in the longitudinal direction and is accommodated in the accommodating groove 421a parallel to the turntable 421 (hereinafter referred to as “vertical direction”). It is a configuration in which switching is performed between a state of being rotated to form an angle of 90° with the turntable 421 and arranged in a vertical direction (hereinafter referred to as “horizontal shooting mode”). In addition, the camera 410 is installed on the lower surface of the camera support arm 423 based on the vertical shooting mode.

The second rotational power generator 424 is installed on the turntable 421 to provide rotational power to the camera support arm 423 . In addition, the second rotational power generator 424 may be implemented in various forms through known technologies such as a configuration including a normal and reverse rotation motor and a reducer, and detailed description and illustration thereof are omitted in this embodiment, In the drawing, it is briefly shown in the form of a box.

The communication unit 425 is a component for transmitting and receiving data and signals with the drone 200.

The control unit 426 controls the operation of the second rotational power generator 424 according to the real-time altitude signal of the altimeter 260 received through the communication unit 425, and the camera support arm at a high altitude according to a preset standard. 423 is in the vertical shooting mode, and at a low altitude, the camera support arm 423 is in the horizontal shooting mode. In addition, the control unit 426 controls the operation of the first rotational power generating unit 422 according to the control signal of the control unit 250 of the drone 200 received through the communication unit 425 to control the camera 410. The turntable 421 is rotated to change the shooting direction.

Referring to FIGS. 2 and 4, the video image acquisition unit 400 in FIG. 2 determines that the camera support arm 423 of the camera shooting condition adjusting unit 420 is in the above-described vertical shooting mode. 410 takes pictures in the downward direction, and the video image acquiring unit 400 in FIG. 4 takes pictures in the side direction when the camera 410 shoots in the horizontal direction when the camera support arm 423 is in the above-described horizontal direction shooting mode. state is exemplified. In addition, (a) and (b) of FIG. 4 illustrate a state in which the camera 410 is photographing in opposite lateral directions according to the rotation of the turntable 421 of the camera photographing state adjusting unit 420.

According to the configuration described above, the camera ( 410), the shooting direction and position can be switched between horizontal and vertical directions, and the position in the horizontal direction can also be positioned at various angles based on 360 °, so the efficiency of the shooting operation through the drone 200 is maximized As a result, the process of acquiring and updating the video image for spatial imaging can be performed at a lower cost and with high efficiency.

In addition, the photographing direction and position of the camera 410 through the rotational camera support arm 423 is changed based on the altimeter 260 mounted on the drone 200 and the real-time altitude signal of the altimeter 260 to the camera support arm ( Since it is automatically performed through the control unit 426 that controls the rotation of the drone 200, the vertical and horizontal shooting conditions are switched automatically according to the flight altitude of the drone 200, and the acquisition of video images is very efficient. and can proceed easily.

As described above, in the present description, specific details such as specific components and limited embodiments and drawings have been described, but this is only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. No, and those skilled in the art can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention should not be limited to the described embodiments and should not be defined, and all things that have modifications equivalent or equivalent to these claims as well as the claims described below will fall within the scope of the spirit of the present invention.

100: reference station 110: GPS receiver
111: GPS antenna 120: control unit
130: DGPS receiver 131: DGPS antenna
200: drone 210: memory
220: DGPS receiver 221: DGPS antenna
230: GPS receiver 231: GPS antenna
240: transmitter 250: control unit
260: altimeter 300: video image processing center
310: image processor 311: video image DB
312: drawing image DB 313: image editing module
314: coordinate synthesis module 315: image drawing module
400: video image acquisition unit 410: camera
420: camera shooting condition adjustment unit 421: turntable
421a: storage groove 422: first rotational power generator
423: camera support arm 424: second rotational power generator
425: communication unit 426: control unit
G: GPS satellite

Claims (2)

delete The GPS receiver 110 having the GPS antenna 111 and receiving the position value from the GPS satellite G, and the current position value received from the GPS receiver 110 and the stored absolute value are mutually calculated to obtain a GPS correction value. Reference station 100 including a control unit 120 that outputs and a DGPS transmitter 130 having a DGPS (Differential GPS) antenna 131 and receiving a GPS correction value from the control unit 120 and wirelessly transmitting it to the outside:
A DGPS receiver 220 having a memory 210 storing captured video images and a DGPS antenna 221 to receive a GPS correction value from the DGPS transmitter 130 of the reference station 100, and a GPS antenna 231 Of the GPS receiver 230, the transmitter 240, the memory 210, the DGPS receiver 220, the GPS receiver 230 and the transmitter 240 receiving the current position value from the GPS satellite (G) with Drone 200 including a control unit 250 for controlling operation:
A video image processing center 300 including an image processor 310 that receives the captured video image and the current position value from the transmitter 240 of the drone 200 and processes the received captured video image: and
A video image acquisition unit coupled to the lower part of the drone 200 and including a camera 410 for acquiring the captured video image and a camera capturing condition adjusting unit 420 for adjusting the photographing position and angle of the camera 410. In the spatial image drawing update system for digitizing the secured video image including (400),
The drone 200 further includes an altimeter 260 for measuring altitude,
The camera shooting state adjusting unit 420,
It is rotatably coupled to the lower part of the drone 200 and has a storage groove 421a for installing the camera 410 and a device configuration that performs a function of adjusting the shooting position and angle of the camera 410 at the center of the lower surface. a turntable 421 formed;
a first rotational power generating unit 422 installed in the drone 200 in a buried state to provide rotational power to the turntable 421;
A state in which one end in the longitudinal direction is rotatably coupled to the inside of the accommodating groove 421a of the turntable 421 and received in the accommodating groove 421a parallel to the turntable 421 (hereinafter referred to as “vertical shooting mode”). ) and a state of being rotated to form an angle of 90 ° with the turntable 421 and disposed in the vertical direction (hereinafter referred to as “horizontal shooting mode”), and based on the vertical shooting mode a camera support arm 423 on which the camera 410 is installed;
a second rotational power generator 424 installed on the turntable 421 to provide rotational power to the camera support arm 423;
a communication unit 425 for communication with the drone 200;
The camera support arm 423 controls the operation of the second rotational power generator 424 according to the real-time altitude signal of the altimeter 260 received through the communication unit 425 at a high altitude according to a preset standard. ) is in the vertical shooting mode, and at a low altitude, the camera support arm 423 is in the horizontal shooting mode, and the control unit 250 of the drone 200 received through the communication unit 425 A control unit 426 for rotating the turntable 421 to change the photographing direction of the camera 410 by controlling the operation of the first rotational power generator 422 according to a control signal of
The transmitter 240 transmits the captured video image and the current position value to the video image processing center 300,
The drone 200 is
An attitude controller configured as a gyroscope to control an attitude according to a control signal of the controller 250 so that the drone 200 can hover;
Further comprising a calculator for precisely checking the position of the drone 200 through precise position calculation of the GPS antenna 231 using the GPS correction value received from the DGPS receiver 220,
The image processor 310 includes a video image DB 311 for storing the captured video image;
a drawing image DB (312) for storing a drawing image drawn on the basis of the photographed video image;
an image editing module 313 for synthesizing and editing a plurality of the captured video images;
a coordinate synthesis module 314 for synthesizing GPS coordinates with the captured video image or drawing image;
an image drawing module 315 for creating a drawing image based on the captured video image; Including,
The first rotational power generator 422 includes a forward and reverse rotation motor and a reducer,
The spatial image mapping update system for digitizing the secured video image, characterized in that the second rotational power generator 424 includes a forward and reverse rotation motor and a speed reducer.

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