KR102584476B1 - Photoflight device using gnss and ins - Google Patents

Abstract

The aerial imaging device using GNSS and INS of the present invention includes an airship airbag, automatic imaging system, MEMS inertial measurement device, vertical camera, moving stand, support, housing, side camera, and zoom lens device. filming department; A computer unit including a hydraulic measuring device, a shooting angle calculation module, a GNSS confirmation module, a position confirmation module, a height correction module, a shooting distance calculation module, a zoom lens device adjustment module, and a data classification module; Aviation Instrumentation Department; and a bird repelling unit that is moved and provided to block access to birds.

Description

Aerial photography device using GNSS and INS {PHOTOFLIGHT DEVICE USING GNSS AND INS}

The present invention relates to an aerial photography device, and more specifically, through an automatic photography system, image data and spatial information can be acquired without on-site input, and flat images and side images can be confirmed simultaneously, thereby improving understanding of the relevant area. This is about an aerial imaging device using GNSS and INS that can improve the quality of birds and block the approach of birds.

Aerial photography technology is broadly divided into manned photography, in which a pilot and photographer sit in the cockpit of an airplane and next to the camera, and unmanned photography, in which a radio transmitting and receiving controller is mounted on an aircraft that cannot carry people, such as a model helicopter or airship, and the aircraft is controlled wirelessly while filming. It is classified by filming technique.

The aerial photography system uses an airplane equipped with filming equipment to move to an area where filming is planned. The pilot controls the plane along the route of the filming area, and the camera operator uses the filming equipment to acquire data using the aircraft, filming equipment, and automatic navigation. It consists of a device.

The airship imaging system is a method to solve the high cost, excessive time consumption, and complexity of data acquisition procedures of aerial surveying or remote sensing techniques. It uses airship bladders that can be filled with light gases such as hydrogen and helium, propulsion, controllers, and engines. It consists of a mounted gondola, a filming system that can acquire images, a ground control system, and a remote controller.

GNSS (Global Navigation Satellite System) is necessary to consider the spatial location, scale, and shooting altitude of the above shooting system at the time of shooting. 3D position measurement using GNSS is a method of receiving radio waves transmitted from artificial satellites and calculating 3D position using the arrival time and satellite signals from each satellite.

Inertial navigation refers to finding the position, speed, and attitude of an antibody using the output physical quantities (angular velocity and acceleration) of an inertial sensor attached to a navigation vehicle. The basic principle is based on Newton's laws of motion and determines the force, acceleration, and speed. , the navigation solution is obtained from differential equations related to displacement.

The method of finding the position, speed, and attitude of an operating vehicle through a system using inertial navigation can obtain information about the state and angular velocity of the aircraft that cannot be obtained by obtaining 3D coordinates using a GNSS receiver, thereby obtaining image data. In the process, subtle attitude displacement of the aircraft, which is difficult for a person using a wireless controller to understand, is identified in advance to facilitate smooth operation.

However, INS equipment has the disadvantage that errors accumulate and become larger as the distance from the initialization time increases. In order to compensate for these shortcomings, the GIS/INS method is a method that compensates for accumulated errors by obtaining three-dimensional position information from a GNSS receiver and initializing information on the position, speed, and attitude of the operating vehicle at each GNSS reception interval. , accurate 3D location data from the GNSS receiver and precise position, speed, and attitude information of the navigation vehicle can be acquired simultaneously while solving the problems of both systems.

Currently, a method of acquiring spatial information along with shooting from the ground by mounting GNSS/INS on a vehicle is being proposed, but one of the disadvantages of GNSS receivers is that location accuracy becomes poor in urban areas with a high density of buildings due to multiple reflected waves. There is.

On the other hand, a digital map is a vertical image of the ground from an aircraft (or airship), so the user has no choice but to check the plane of the feature. However, most users have no experience actually seeing the features of the features, and must understand the digital map only by association with the location and arrangement structure of the features, so users with poor spatial perception and cognitive abilities should take pictures of the plane. It is difficult to understand image-based digital maps and apply them to actual terrain.

In addition, because the topographical features on which the plan view is photographed all appear to have the same height, even digital map users who are familiar with the area have many inconveniences in understanding digital maps that have no elevation information. To solve this inconvenience, there are attempts to make digital maps three-dimensional by photographing the sides of geographical features.

However, when photographing the side of a specific geographical feature, the photograph must be taken at a greater distance than on the plane even at the same altitude, so there is the inconvenience of having to individually scale and edit each image after completing the photograph.

In addition, conventional systems that express three-dimensional images through aerial photography rely on side cameras to estimate height information of terrain features, so there are limitations in accurately expressing height.

Furthermore, conventional cameras installed on aircraft (or airships) to photograph the ground may be interrupted by the approach of birds, etc. during aerial photography, but no countermeasures have been implemented for this, so improvement measures are required.

The technical configuration described above is background technology to aid understanding of the present invention, and does not mean that it is a conventional technology widely known in the technical field to which the present invention pertains.

Therefore, the technical problem to be achieved by the present invention is to provide GNSS and INS that can secure side image information conveniently and economically using the GNSS/INS airship imaging system, and can efficiently block the approach of birds. The purpose is to provide aerial photography equipment.

According to one aspect of the present invention, two airship airbags that can be filled with a gas containing hydrogen or helium inside and are interconnected by a frame, a gondola coupled to the center of the frame, and an automatic shooting system mounted in the center of the upper surface of the gondola. (CCNPS: ComputerControlled Navigation and Photographing System), a GNSS receiving antenna mounted on one side of the upper surface of the gondola, a MEMS inertial measurement unit (MEMS IMU: Micro Electro Mechanical System Inertial Measurement Unit) mounted on the other side of the upper surface of the gondola, A vertical camera is fixedly coupled to the lower part of the driving unit coupled to the lower surface of the gondola and takes pictures of the ground in a vertical direction, a pair of moving boards movably coupled to the side of the driving part, and rotating via a hinge at the lower part of the moving board. A photographing unit including a plurality of support parts mounted so as to be possible, a housing coupled to a lower part of the support part, a side camera coupled to the housing and capable of having a predetermined shooting angle with respect to the vertical direction, and a zoom lens device mounted on the side camera. ; A hydraulic pressure measuring device that measures the hydraulic pressure applied to the hydraulic cylinder of the support, a shooting angle calculation module that calculates the shooting angle of the side camera through information input from the hydraulic pressure measuring device, and a shooting angle calculation module that receives GNSS coordinates from the GNSS receiving antenna to determine the location of the airship. A GNSS confirmation module that confirms the current location, a position confirmation module that receives and confirms the altitude of the airship while communicating with the aviation measurement department, and height information on terrain using the altitude confirmed by the position confirmation module and the distance information measured through a laser range finder. A height correction module that corrects, a shooting distance calculation module that receives and calculates the shooting angle and altitude of the side camera to calculate the shooting distance of the side camera, and adjusts the zoom lens device to correspond to the shooting distance and altitude of the side camera. A zoom lens device adjustment module that processes the shooting magnification of the side camera to match the shooting magnification of the vertical camera, the GNSS confirmation module, and the shooting angle calculation module confirm the GNSS and shooting angle information of the shooting area, and the vertical camera and the lateral camera Enter the corresponding captured image data transmitted from the camera and calculate the altitude confirmed by the location confirmation module and the photographed angle confirmed by the photographed angle calculation module to determine the moving distance of the airship at which the vertical camera and the lateral camera photograph the same point. Contains a data classification module that checks and stores the captured image data taken by the vertical camera and the captured image data each taken by the side camera at a point separated by a moving distance centered on the shooting point of the vertical camera. Computer Department; An aviation measurement unit including an altitude measuring device that measures the altitude of the airship and transmits the measured altitude to the positioning module; and a bird repelling unit that is moved and provided to block access of birds, wherein the bird repelling unit includes: a base portion provided on the moving stand; A connection part provided on the base; and a bird repelling unit provided to be rotated at the connection and generating ultrasonic waves and a laser to block the approach of birds, wherein the bird repelling unit includes: a rotating body rotatably coupled to the connecting unit; a first bird repelling unit that is coupled to the rotating body in parallel with the moving stand and generates ultrasonic waves and lasers to block access of birds; and a second bird repelling unit that is coupled to the rotating body perpendicular to the first bird repelling unit and generates ultrasonic waves and lasers to block access of birds, wherein the first bird repelling unit is coupled to the upper part of the rotating body. a driving motor; a first connecting bar coupled to the rotating body and rotated clockwise or counterclockwise to be connected to the driving motor; a first bird repelling body coupled to the first connecting bar and rotating like the first connecting bar; a first laser irradiation unit provided in the first bird repelling body to irradiate a laser to birds; a first ultrasonic wave generator provided on the first bird repelling body to be spaced apart from the first laser irradiation unit and generating ultrasonic waves to birds; a first light irradiation unit provided on the first bird repelling body to be spaced apart from the first ultrasonic generator and irradiating light other than a laser to the birds; And an aerial imaging device using GNSS and INS including a first solar cell provided on the first bird repelling body in the area where the first light irradiation unit is provided can be provided.

The base unit includes a pair of first frames coupled to the moving table; a pair of first motors respectively coupled to the pair of first frames; a second frame movably coupled to the pair of first frames; a second motor coupled to the second frame; a third frame coupled to the second frame; a frame housing detachably coupled to the third frame; and a support post, one side of which is coupled to the frame housing and the other side of which is coupled to the connection part, wherein the connection part includes: a connection frame that is detachably coupled to the support post; a plurality of connection posts on one side of which are coupled to the connection frame; a rotation support body coupled to the upper portion of the plurality of connection posts to rotately support the rotation body; and a first drive motor coupled to the rotation support body to rotate the rotation body clockwise or counterclockwise, wherein the rotation body includes: a rotation base rotatably coupled to the rotation support body; and a pair of rotating posts provided on both sides of the rotating base perpendicular to the rotating base, wherein the first bird repelling unit is each coupled perpendicularly to the pair of rotating posts, and the second bird repelling unit, a lifting cylinder coupled to the rotating base; a second bird repelling body coupled to the cylinder; a second laser irradiation unit provided in the second bird repelling body to irradiate a laser to birds; a second ultrasonic generation unit provided on the second bird repelling body to be spaced apart from the second laser irradiation unit and generating ultrasonic waves to birds; a second light irradiation unit provided on the second bird repelling body to be spaced apart from the second ultrasonic generator and irradiating light other than a laser to the birds; and a second solar cell provided on the second bird repelling body in the area where the second light irradiation unit is provided, wherein the first light irradiation unit and the second light irradiation unit irradiate diffused light to dazzle birds. can do.

Embodiments of the present invention can conveniently and economically secure side image information collectively using a GNSS/INS airship imaging system.

In addition, the second frame and the third frame of the base are provided to move, the rotating body of the bird repelling part is provided to rotate, and the first and second bird repelling parts are provided to cross and rotate with each other, so that the airship airbag has poor rotational mobility. By making up for the shortcomings, it is possible to effectively block the approach of birds from any direction.

Figure 1 is a diagram schematically showing a method of acquiring image data and spatial information that is automatically operated using a GNSS/INS airship applied to the present invention.
Figure 2 is a plan view schematically showing the appearance of an airship airbag according to an embodiment of the present invention.
Figure 3 is a diagram schematically showing the photographing unit and the bird extermination unit according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating the bird repelling unit shown in FIG. 3.
FIG. 5 is a diagram illustrating the first bird repelling unit shown in FIG. 4, with the first drive motor excluded.
FIG. 6 is an operational diagram of the bird repelling unit shown in FIG. 4 and is a diagram schematically showing the operation of the base portion.
FIG. 7 is a diagram schematically showing the rotation of the bird repelling unit of the bird repelling unit shown in FIG. 4.
Figure 8 is a diagram showing the configuration of a laser range finder according to an embodiment of the present invention.
Figure 9 is a diagram showing each configuration of an aerial imaging device according to an embodiment of the present invention.

In order to fully understand the present invention, its operational advantages, and the objectives achieved by practicing the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the attached drawings. The same reference numerals in each drawing indicate the same member.

Figure 1 is a diagram schematically showing a method of acquiring image data and spatial information that is automatically operated using a GNSS/INS airship applied to the present invention.

In the INS system mounted on the airship body, the X-axis is the longitudinal axis (roll) of the aircraft, the Y-axis is the right wing (pitch), and the Z-axis is the downward (yaw) rotation element. The 3D position (X0, Y0, Z0) of the camera focus mounted on the gondola of the GNSS/INS airship is the 3D position calculated from the signal received through the GNSS antenna and the 3D distance between the GNSS antenna and the camera focus position. It is calculated through car correction, and GNSS/INS spatial information is acquired at the moment the image data is acquired.

In addition, the spatial information (GNSS/INS data) obtained above is input into the automatic photography system (CCNPS: Computer Controlled Navigation and Photographing System), and then enter the course (Course a) and follow the planned three-dimensional location coordinates. While moving, new image data and spatial information are acquired.

The process of acquiring image data and spatial information using the GNSS/INS airship automatic imaging system (CCNPS) is as follows.

In the process of establishing an automatic shooting work plan, the shooting scale/spatial resolution of the image to be shot is determined, the shooting altitude is determined, and the shooting path is designed considering the degree of overlap. At this time, the shooting altitude is determined by considering the size of the features visible in the image, the size of the actual features, and obstacles that interfere with the shooting path.

In the process of moving the GNSS/INS airship to the filming location and taking off, a separate control system is not required, so just move the GNSS/INS airship to a nearby location and take off. When GNSS/INS and automatic shooting systems are activated, shooting is performed by guiding the camera to the planned coordinates toward the shooting path, and through this, image data is acquired, including the camera's 3D position information (x, y, z) and 3-axis rotation elements. It is possible to obtain attitude information (roll, pitch, yaw) about changes.

At this time, the pre-entered shooting path coordinates and the current shooting position and posture are repeatedly compared and calculated in the automatic shooting system, and if they deviate from the planned route, the direction is corrected and the route is derived.

After moving to the final filming location and completing the acquisition of video data and spatial information, the GNSS/INS airship guided by the automatic filming system returns to the point from which it took off and lands.

Image data and spatial information are downloaded to a PC and go through the process of combining image data and spatial information in a digital photogrammetry system to create three-dimensionally defined spatial image data.

Figure 2 is a plan view schematically showing the appearance of an airship air bag according to an embodiment of the present invention, Figure 3 is a diagram showing the appearance of a photographing unit and a bird repelling unit according to an embodiment of the present invention, and Figure 4 is a diagram showing the bird repelling unit shown in FIG. 3, FIG. 5 is a diagram showing the first bird repelling unit shown in FIG. 4, excluding the first drive motor, and FIG. 6 is a diagram showing the first bird repelling unit shown in FIG. 4. This is a diagram schematically showing the operation of the base portion of the bird repelling unit shown in , and FIG. 7 is a diagram schematically showing the rotation of the bird repelling unit of the bird repelling unit shown in FIG. 4 .

As shown, the imaging unit 100 of the aerial imaging device according to the present invention connects two airship airbags 110 that can be filled with light gas such as hydrogen, helium, etc. to the frame 111 to capture the gas caused by the wind. Construct an airship body that minimizes changes in posture.

At the center of the frame 111 connecting the two air bags 110, a gondola 112 equipped with a propulsion engine and an imaging system equipped with a surveying camera is placed so that the aircraft can maintain a balanced posture.

At the center of the upper surface of the gondola 112, an automatic photographing system 113 is placed, which allows measurement with very high accuracy even without a recent reference point, through coordinate information sent from the ground using a virtual reference station (VRS) and a mobile phone transmitter. It allows the 3D position of the airship to be acquired within an error of several centimeters.

A GNSS receiving antenna 114 is installed on one side of the upper surface of the gondola 112 to acquire 3D location information data. On the other side of the upper surface of the gondola 112, there is a gyroscope device made using Micro Electro Mechanical Systems (MEMS) among INS equipment for acquiring attitude information of the airship, that is, a MEMS Inertial Measurement Unit (MEMS IMU: Inertial Measurement Unit). Unit, 115) is installed. Here, the GNSS antenna, GNSS receiver, and MEMS IMU calculate the distance between each other in three-dimensional space through precise measurements.

A driving unit 120 is coupled to the lower surface of the gondola 112, and a rotation motor is installed inside the driving unit 120 to move the moving table 130 left and right. A vertical camera 160 is fixedly coupled to the lower part of the driving unit 120, and the vertical camera 160 acquires a planar image of a feature by photographing the ground in the vertical direction.

A plurality of support parts 140 are mounted on the lower part of the moving stand 130 so that each support part 140 can be rotated via a hinge 141. A hydraulic cylinder 142 is built into each of the plurality of supports 140, so that the length can be increased or decreased.

The housing 150 coupled to the lower part by the support part 140 may be arranged to have a predetermined angle with respect to the vertical direction. In addition, the housing 150, like the housing, is equipped with a side camera 170 having a predetermined shooting angle with respect to the vertical direction. The side camera 170 can acquire a side image of a feature, and thus the height or appearance information of the feature can be easily confirmed.

In other words, the captured image captured by the side camera 170 shows the side of a feature, including a building, so it is possible to check the height of the feature. Furthermore, if the resolution is high, the external appearance of a feature familiar to the user can also be identified. It can be shown clearly.

Therefore, if the user cannot understand the terrain in the planar image, a side image of the same point can be output, making it easier to interpret and utilize the digital map.

A horizontal sensor 151 is mounted on one side of the housing 150 coupled to the lower part of the support part 140. The horizontal sensor 151 is electrically connected to the shooting angle calculation module 220, which will be described later, and observes the tilt of the housing 150 and the side camera 170 in real time and transmits the results to the shooting angle calculation module 220. do.

The horizontal sensor 151 compares the shooting angle calculated by the shooting angle calculation module 220 with the actual measured shooting angle to check whether it is within the error range. If it is outside the error range, remeasure or check for abnormalities. By doing so, more precise calculation of the shooting angle is possible.

Additionally, the side camera 170 may be equipped with a zoom lens device 180 to adjust the shooting magnification. The zoom lens device 180 is a device that automatically adjusts the shooting magnification by moving the focal length of the lens and has a zoom-in/zoom-out function.

The zoom lens device 180 can be automatically operated by a motor, etc., and this operation is controlled by the zoom lens device adjustment module 290, which will be described later. The side image captured by the side camera 170 using the zoom lens device 180 may have the same or similar magnification as the planar image captured by the vertical camera 160.

As shown in FIG. 3, the bird extermination unit 1000 is provided on the upper part of the mobile platform 130 and irradiates diffused light, excluding lasers, ultrasonic waves, and lasers, to birds approaching the airship air bag 110 to kill birds. Access can be blocked.

In this embodiment, the bird repelling unit 1000, as shown in FIG. 3, includes a base portion 1100 provided on the mobile stand 130, a connecting portion 1200 provided on the base, and a connecting portion 1200. It is provided to rotate and includes a bird repelling unit 1300 that blocks the approach of birds by generating ultrasonic waves, lasers, and diffused light excluding lasers.

As shown in FIG. 4, the base unit 1100 includes a pair of first frames 1110, a pair of first motors 1120 each coupled to the pair of first frames 1110, and A second frame 1130 movably coupled to a pair of first frames 1110, a second motor 1140 coupled to the second frame 1130, and a third motor 1140 coupled to the second frame 1130. It includes a frame 1150, a frame housing 1160 that is detachably coupled to the third frame 1150, and a support post 1170 that has one side coupled to the frame housing 1160 and the other side coupled to the connection portion 1200. do.

In this embodiment, the pair of first frames 1110 may be detachably bolted or screwed to the upper surface of the moving stand 130.

In this embodiment, the pair of first motors 1120 are connected to a screw shaft provided to rotate on the pair of first frames 1110, and the second frame 1130 is connected to this screw shaft to form the second frame. 1130 may be moved in the direction opposite to the arrow shown in the middle picture of FIG. 6 or this arrow.

In this embodiment, the second motor 1140 is connected to a screw shaft provided to rotate in the second frame 1130, and the third frame 1150 is connected to this screw shaft, so that the third frame 1150 is shown in FIG. 6 It can be moved by the arrow shown in the last picture or in the opposite direction of this arrow.

That is, in this embodiment, the second frame 1130 and the third frame 1150 can be moved in directions orthogonal to each other, and the second frame 1130 and the third frame 1150 are connected to the moving table 130 or It may be operated by a detection sensor provided in the airship airbag 110, and the detection sensor may be designed to detect the approach of a bird when the bird approaches within a preset distance.

As shown in FIG. 4, the connection part 1200 is coupled to the support post 1170 of the base part 1100 and can be moved in the direction of movement of the second frame 1130 and the third frame 1150. , the bird repelling unit 1300 can be rotated clockwise or counterclockwise.

In this embodiment, the connection portion 1200 includes a connection frame 1210 that is detachably coupled to the support post 1170 and a plurality of connection posts 1220 on one side of which are coupled to the connection frame 1210, as shown in FIG. 4. ) and a rotation support body 1230 that is coupled to the upper part of the plurality of connection posts 1220 to rotate and support the rotation body 1310, and is coupled to the rotation support body 1230 to rotate the rotation body 1310 clockwise. Alternatively, it includes a first drive motor 1240 that rotates counterclockwise.

In this embodiment, the connection frame 1210 may be detachably coupled to the support post 1170 with bolts or screws.

In this embodiment, the first drive motor 1240 is rotatably coupled to the rotating body 1310 of the bird repelling unit 1300 to rotate the rotating body 1310 clockwise or counterclockwise, as shown in FIG. 7. It can be moved in any direction.

As shown in FIG. 4, the bird repelling unit 1300 is provided at the connecting unit 1200 and can block access of birds by generating ultrasonic waves, lasers, and diffused light excluding lasers.

In this embodiment, the bird repelling unit 1300 includes a rotating body 1310 rotatably coupled to the connecting portion 1200, and a rotating body 1310 in parallel with the moving stand 130, as shown in FIG. 4. A first bird repelling unit (1320) that generates diffused light excluding lasers and ultrasonic waves that are combined to block the approach of birds, and a rotating body (1310) perpendicular to the first bird repelling unit (1320) It includes a second bird repelling unit 1330 that generates ultrasonic waves and lasers to block the approach of birds and diffused light excluding lasers.

As shown in FIG. 4, the rotating body 1310 includes a rotating base 1311 rotatably coupled to the rotating support body 1230, and is provided on both sides of the rotating base 1311 perpendicular to the rotating base 1311. It includes a pair of rotating posts 1312. In this embodiment, a rotation shaft is provided on the bottom of the rotation base 1311, and this rotation shaft is rotatably coupled to a bearing provided in the rotation support body 1230, and is connected to the first drive motor 1240 by means of a coupling, etc. It can be connected and rotated through.

As shown in FIG. 4, the first bird repelling unit 1320 is vertically coupled to a pair of rotating posts 1312 and can irradiate birds with diffused light other than ultrasonic waves and lasers. .

In this embodiment, the first bird repelling unit 1320 is coupled to the rotation post 1312 to be connected to the drive motor 1321 and the drive motor 1321 coupled to the upper part of the rotation post 1312 in a clockwise or A first connecting bar 1322 that rotates counterclockwise, a first bird repelling body 1323 coupled to the first connecting bar 1322 and rotating like the first connecting bar 1322, and a first bird repelling body A first laser irradiation unit 1324 provided on the body 1323 to irradiate laser to birds, and a first ultrasonic generator provided in the first bird repelling body 1323 to be spaced apart from the first laser irradiation unit 1324 to generate ultrasonic waves to birds. A first light irradiation unit 1326 provided in the first bird repelling body 1323 to be spaced apart from the unit 1325 and the first ultrasonic generator 1325 and radiating light other than the laser to the birds, and a first light irradiation unit ( It includes a first solar cell 1327 provided on the first bird repelling body 1323 in the area where 1326) is provided.

In this embodiment, the drive motor 1321 and the first connection bar 1322 may be connected through a connection means including a coupling.

In this embodiment, the first laser irradiation unit 1324 can irradiate a green laser to birds.

In this embodiment, the first ultrasonic generator 1325 emits ultrasonic waves (20-50 kHz) that directly affect the bird's brain waves, but changes the ultrasonic frequency band at regular intervals (2-5 seconds) to prevent resistance. It can be changed randomly. In this embodiment, the first ultrasonic generator 1325 includes a plurality of ultrasonic output units disposed at different positions, a random number generator for generating random numbers, and a plurality of ultrasonic output units in response to the random numbers generated from the random number generator. It includes an ultrasonic control unit that randomly operates.

In this embodiment, the first light irradiation unit 1326 may irradiate diffused light, excluding the laser, at the bird to avoid the first laser irradiation unit 1324 and irradiate the diffused light at the approaching bird. In this embodiment, the first light irradiation unit 1326 includes an LED and may include a diffusion plate to diffuse the light emitted from the LED.

In this embodiment, the first bird repelling unit 1320, as shown in FIG. 7, is arranged in a pair on the same line, and each pair is rotatably coupled to each other to prevent birds from approaching the side of the present embodiment. there is.

As shown in FIG. 4, the second bird repelling units 1330 are each coupled perpendicularly to the rotating base 1311 and can irradiate diffused light, excluding ultrasonic waves and lasers, to birds.

In this embodiment, the second bird repelling unit 1330, as shown in FIG. 4, includes a lifting cylinder 1331 coupled to the rotating base 1311, a second bird repelling body 1332 coupled to the cylinder, and , a second laser irradiation unit 1333 provided in the second bird repelling body 1332 to irradiate a laser to birds, and a second laser irradiating unit 1333 provided in the second bird repelling body 1332 to be spaced apart from the second laser irradiating unit 1333 to transmit ultrasonic waves to birds. A second ultrasonic generator 1334 that generates ultrasonic waves, a second light irradiation unit 1335 provided in the second bird repelling body 1332 to be spaced apart from the second ultrasonic generator 1334, and irradiates light other than the laser to the birds. , and a second solar cell 1336 provided on the second bird repelling body 1332 in the area where the second light irradiation unit 1335 is provided.

In this embodiment, the lifting cylinder 1331 is provided to be raised and lowered in the height direction of the connection part 1200 and can irradiate the irradiated laser or the irradiation height of light excluding the laser.

In this embodiment, the second laser irradiation unit 1333 can irradiate a green laser to birds.

In this embodiment, the second ultrasonic generator 1334 emits ultrasonic waves (20-50 kHz) that directly affect the bird's brain waves, but changes the ultrasonic frequency band at regular intervals (2-5 seconds) to prevent resistance. It can be changed randomly. In this embodiment, the second ultrasonic generator 1334 includes a plurality of ultrasonic output units disposed at different positions, a random number generator for generating random numbers, and a plurality of ultrasonic output units in response to the random numbers generated from the random number generator. It includes an ultrasonic control unit that randomly operates.

In this embodiment, the second light irradiation unit 1335 may radiate diffused light, excluding the laser, from the bird to avoid the second laser irradiation unit 1333 and irradiate the diffused light from the approaching bird. In this embodiment, the second light irradiation unit 1335 includes an LED and may include a diffusion plate to diffuse the light emitted from the LED.

Figure 8 is a diagram showing the configuration of a laser range finder according to an embodiment of the present invention.

As shown in FIG. 3, a laser range finder 161 is installed on the side of the vertical camera 160 to measure the distance to a feature. The laser range finder 161 corrects the height information of the feature obtained from the side camera 170 to enable more precise three-dimensional expression.

The laser range finder 161 supplies power to a main body with a space inside, a laser displacement sensor mounted in the main body, a microcontroller that calculates the distance between the laser range finder and a feature, and a laser range finder, and is replaceable. It includes a power supply unit consisting of a possible battery or a rechargeable battery.

The laser displacement sensor includes a laser light emitting part and a laser light receiving part, wherein the laser light emitting part includes a laser light source that generates a laser, a convex lens that focuses the laser emitted from the laser light source, and a cylindrical device that linearizes the laser that passes through the convex lens. It is composed of a lens, and the laser light receiving part is composed of an imaging lens that forms an image of the laser reflected from the feature and a light receiving sensor connected to one end of the imaging lens.

The microcontroller calculates the distance between the laser range finder 161 and the feature using the time when the laser incident from the laser emitter is reflected by the feature and received by the laser light receiver.

The laser range finder 161 is mounted to face a direction parallel to the vertical camera 160. When the vertical camera 160 observes a certain terrain feature, the laser range finder 161 irradiates a laser to the feature. This allows the distance to the feature to be measured.

Figure 9 is a diagram showing each configuration of an aerial imaging device according to an embodiment of the present invention.

The aerial imaging device according to the present invention includes a photographing unit 100 and a computer unit 200, and the computer unit 200 operates in conjunction with the aerial measurement unit 300 installed on the airship. As described above, the photographing unit 100 includes a driving unit 120, a moving table 130, a support unit 140, a housing 150, a vertical camera 160, a side camera 170, and a laser range finder 161. ), zoom lens device 180, etc.

The computer unit 200 includes a hydraulic pressure meter 210 that measures the hydraulic pressure applied to the hydraulic cylinder 142 of the support unit 140, and a shooting angle of the side camera 170 through information input from the hydraulic pressure meter 210. A shooting angle calculation module 220 that calculates, a GNSS confirmation module 260 that receives GNSS coordinates from the GNSS receiving antenna 114 and confirms the current position of the airship, and an altitude of the airship while communicating with the aviation measurement unit 300. A position confirmation module 270 that receives and confirms, and a height correction module 230 that corrects the height information of the feature using the altitude confirmed by the position confirmation module 270 and the distance information measured through the laser range finder 161. ; A shooting distance calculation module 280 that receives and calculates the shooting angle and altitude of the side camera 170 to calculate the shooting distance of the side camera 170, and a zoom lens device to correspond to the shooting distance and altitude of the side camera 170. A zoom lens device adjustment module (290), a GNSS confirmation module (260), and a shooting angle calculation module (220) that adjust (180) so that the shooting magnification of the side camera (170) matches the shooting magnification of the vertical camera (160). The GNSS and shooting angle information of the shooting area is confirmed from the camera, inputted into the corresponding shot image data transmitted from the vertical camera 160 and the side camera 170, and the altitude and shooting angle calculation module 220 confirmed by the location confirmation module 270. ) By calculating the shooting angle confirmed in ), the vertical camera 160 and the side camera 170 confirm the moving distance of the airship that photographs the same point, and the captured image data captured by the vertical camera 160 and the vertical camera 160 It includes a data classification module 240 that links and stores image data taken by each side camera 170 at a point separated by a moving distance from each other around the shooting point of ).

In addition, the computer unit 200 may further include a data communication module 250 that transmits data input from the data input module to an integrated management unit located on the ground.

Each module constituting the computer unit 200 is a device composed of software programmed for the corresponding task and hardware (e.g., computer, etc.) applied to run the software, and the software and hardware of each module perform the corresponding task. For this purpose, known techniques can be applied, and through this, a person skilled in the art can easily carry out the present invention.

Meanwhile, the aviation measurement unit 300, which is equipped for the operation of the airship, includes an altitude meter 310 that measures the altitude of the airship, an orientation meter 320 that detects the turning angle of the airship, and a tilt sensor that detects the horizontal state of the airship. Includes (330).

This aerial measurement unit 300 is for reference on photography work that is affected by the operating status of the airship, and the information provided from the aerial measurement unit can serve as a standard for use and classification of images captured by the camera. will be.

For reference, the information of the aviation measurement unit 300 is recorded as data in the black box of the airship, etc., and the positioning module 270 according to the present invention can check the corresponding data transmitted from the aviation measurement unit to the black box. In addition, the location confirmation module may be set to check the data of the aviation instrumentation unit transmitted to the digital aviation instrument panel and confirm the data.

As such, the present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and changes can be made without departing from the spirit and scope of the present invention. Accordingly, such modifications or variations should be considered to fall within the scope of the claims of the present invention.

100: Filming unit 110: Airship air bag
111: frame 112: gondola
113: automatic shooting system 114: GNSS receiving antenna
115: MEMS inertial measurement device 120: driving unit
130: moving stand 140: support part
141: Hinge 142: Hydraulic cylinder
150: Housing 151: Horizontal sensor
160: Vertical camera 161: Laser range finder
170: side camera 180: zoom lens device
200: Computer unit 210: Hydraulic pressure meter
220: Shooting angle calculation module 230: Height correction module
240: data classification module 250: data communication module
260: GNSS confirmation module 270: Location confirmation module
280: Shooting distance calculation module 290: Zoom lens device adjustment module
300: Aviation measurement unit 310: Altitude measurement device
320: Orientation measuring device 330: Tilt sensor
1000: Bird extermination unit 1110: Base unit
1110: first frame 1120: first motor
1130: second frame 1140: second motor
1150: Third frame 1160: Frame housing
1170: Support post 1200: Connection part
1210: connection frame 1220: connection post
1230: Rotation support body 1240: First drive motor
1300: Bird repelling unit 1310: Rotating base
1320: Rotating post 1320: First bird extermination unit
1321: Drive motor 1322: First connection bar
1323: First bird repelling body 1324: First laser irradiation unit
1325: first ultrasonic generator 1326: first light irradiation unit
1327: first solar cell 1330: second algae extermination unit
1331: Elevating cylinder 1332: Second bird repelling body
1333: second laser irradiation unit 1334: second ultrasonic generator
1335: second light irradiation unit 1336: second solar cell

Claims (1)

A gas containing hydrogen or helium can be filled inside, two airship airbags interconnected by a frame, a gondola coupled to the center of the frame, and an automatic photography system (CCNPS: Computer Controlled Navigation and Photographing System) mounted on the center of the upper surface of the gondola. ), a GNSS receiving antenna mounted on one side of the upper surface of the gondola, a MEMS inertial measurement unit (MEMS IMU: Micro Electro Mechanical System Inertial Measurement Unit) mounted on the other side of the upper surface of the gondola, and a driving unit coupled to the lower surface of the gondola A vertical camera that is fixedly coupled to the lower part of the camera to photograph the ground in the vertical direction, a pair of moving stands movably coupled to a side of the driving unit, a plurality of supports rotatably mounted on the lower part of the moving table via a hinge, A photographing unit including a housing coupled to a lower portion of the support portion, a side camera coupled to the housing and capable of having a predetermined photographing angle with respect to the vertical direction, and a zoom lens device mounted on the side camera;
A hydraulic pressure measuring device that measures the hydraulic pressure applied to the hydraulic cylinder of the support, a shooting angle calculation module that calculates the shooting angle of the side camera through information input from the hydraulic pressure measuring device, and a shooting angle calculation module that receives GNSS coordinates from the GNSS receiving antenna to determine the location of the airship. A GNSS confirmation module that confirms the current location, a position confirmation module that receives and confirms the altitude of the airship while communicating with the aviation measurement department, and height information on terrain using the altitude confirmed by the position confirmation module and the distance information measured through a laser range finder. A height correction module that corrects, a shooting distance calculation module that receives and calculates the shooting angle and altitude of the side camera to calculate the shooting distance of the side camera, and adjusts the zoom lens device to correspond to the shooting distance and altitude of the side camera. A zoom lens device adjustment module that processes the shooting magnification of the side camera to match the shooting magnification of the vertical camera, the GNSS confirmation module, and the shooting angle calculation module confirm the GNSS and shooting angle information of the shooting area, and the vertical camera and the lateral camera Enter the corresponding captured image data transmitted from the camera and calculate the altitude confirmed by the location confirmation module and the photographed angle confirmed by the photographed angle calculation module to determine the moving distance of the airship at which the vertical camera and the lateral camera photograph the same point. Contains a data classification module that checks and stores the captured image data taken by the vertical camera and the captured image data each taken by the side camera at a point separated by a moving distance centered on the shooting point of the vertical camera. Computer Department;
An aviation measurement unit including an altitude measuring device that measures the altitude of the airship and transmits the measured altitude to the positioning module; and
It includes a bird repelling unit that is moved and provided to block access of birds,
The bird repelling unit is,
A base portion provided on the moving platform;
A connection part provided on the base; and
It is provided to rotate at the connection and includes a bird repelling unit that generates ultrasonic waves and lasers to block the approach of birds,
The bird extermination department,
a rotating body rotatably coupled to the connection;
a first bird repelling unit that is coupled to the rotating body in parallel with the moving stand and generates ultrasonic waves and lasers to block access of birds; and
A second bird repelling unit is coupled to the rotating body perpendicular to the first bird repelling unit and generates ultrasonic waves and lasers to block access of birds,
The first bird extermination unit,
a drive motor coupled to the upper part of the rotating body;
a first connecting bar coupled to the rotating body and rotated clockwise or counterclockwise to be connected to the driving motor;
a first bird repelling body coupled to the first connecting bar and rotating like the first connecting bar;
a first laser irradiation unit provided in the first bird repelling body to irradiate a laser to birds;
a first ultrasonic wave generator provided on the first bird repelling body to be spaced apart from the first laser irradiation unit and generating ultrasonic waves to birds;
a first light irradiation unit provided on the first bird repelling body to be spaced apart from the first ultrasonic generator and irradiating light other than a laser to the birds; and
It includes a first solar cell provided on the first bird repelling body in an area where the first light irradiation unit is provided,
The base part,
A pair of first frames coupled to the moving table;
a pair of first motors respectively coupled to the pair of first frames;
a second frame movably coupled to the pair of first frames;
a second motor coupled to the second frame;
a third frame coupled to the second frame;
a frame housing detachably coupled to the third frame; and
One side is coupled to the frame housing and the other side includes a support post coupled to the connection portion,
The connection part is,
a connection frame detachably coupled to the support post;
a plurality of connection posts on one side of which are coupled to the connection frame;
a rotation support body coupled to the upper portion of the plurality of connection posts to rotately support the rotation body; and
It includes a first drive motor coupled to the rotation support body to rotate the rotation body clockwise or counterclockwise,
The rotating body is,
a rotating base rotatably coupled to the rotation support body; and
It includes a pair of rotation posts provided on both sides of the rotation base perpendicular to the rotation base,
The first bird repelling unit is each vertically coupled to the pair of rotating posts,
The second bird extermination unit,
a lifting cylinder coupled to the rotating base;
a second bird repelling body coupled to the cylinder;
a second laser irradiation unit provided in the second bird repelling body to irradiate a laser to birds;
a second ultrasonic generation unit provided on the second bird repelling body to be spaced apart from the second laser irradiation unit and generating ultrasonic waves to birds;
a second light irradiation unit provided on the second bird repelling body to be spaced apart from the second ultrasonic generator and irradiating light other than a laser to the birds; and
It includes a second solar cell provided on the second bird repelling body in an area where the second light irradiation unit is provided,
An aerial imaging device using GNSS and INS that dazzles birds by irradiating diffused light to the first light irradiation unit and the second light irradiation unit.

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