KR102597429B1 - Image processing system for observing and photographing moving features - Google Patents

Image processing system for observing and photographing moving features Download PDF

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KR102597429B1
KR102597429B1 KR1020230047514A KR20230047514A KR102597429B1 KR 102597429 B1 KR102597429 B1 KR 102597429B1 KR 1020230047514 A KR1020230047514 A KR 1020230047514A KR 20230047514 A KR20230047514 A KR 20230047514A KR 102597429 B1 KR102597429 B1 KR 102597429B1
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임광춘
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주식회사포앤텍
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    • B60—VEHICLES IN GENERAL
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    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
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Abstract

The present invention relates to an image signal processing system for observing and photographing moving geographic features, and particularly, to an image signal processing system for observing and photographing moving geographic features which provides a secured ground image, in real time, photographed by automated vehicles including drones flying along a path set based on a ground control point in case of urban areas, and has the secured ground image of moving geographic features reflected therethrough in real time to update secured ground image information, thereby reflecting changes of geographic features in a short time to enable more precise and accurate map-making. In addition, the system is improved to reinforce a braking ability of dummy vehicles loading automated vehicles to ensure fixed stability when moved to a field.

Description

움직이는 지형지물을 관측 촬영한 영상신호 처리시스템{Image processing system for observing and photographing moving features} Image signal processing system for observing and photographing moving features}

본 발명은 영상신호 처리 기술 분야 중 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템에 관한 것으로, 특히 도심의 경우 지상기준점을 중심으로 설정된 경로를 따라 비행하는 드론과 같은 무인기에 의해 촬상된 지상확보이미지를 실시간으로 제공하고, 이를 통해 움직이는 또는 변형된 지형지물의 지상확보이미지가 실시간으로 반영되어 지상확보이미지 정보를 갱신함으로써 지형지물의 변화를 단시간내에 빠르게 반영할 수 있어 보다 정확하고 정밀한 전자지도제작이 가능하도록 함은 물론, 무인기를 싣고 다니는 더미차량의 제동 능력을 강화시켜 현장 이동시 영상처리의 정확성과 신뢰성을 높이고 시스템의 고정안정성을 확보하도록 개선된 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템에 관한 것이다. The present invention relates to a video signal processing system that observes and photographs moving terrain features in the field of video signal processing technology. In particular, in the case of urban areas, ground secured images are captured by an unmanned aerial vehicle such as a drone flying along a set path centered on a ground reference point. is provided in real time, and through this, ground-secured images of moving or deformed terrain features are reflected in real time to update ground-secured image information, allowing changes in terrain features to be reflected quickly within a short period of time, enabling more accurate and precise electronic map production. In addition, it is about an image signal processing system that observes and captures moving terrain features, which has been improved to enhance the braking ability of the dummy vehicle carrying the unmanned aerial vehicle, thereby increasing the accuracy and reliability of image processing when moving in the field and securing the fixed stability of the system.

일반적으로, 전자지도이미지의 배경이 되는 영상도화이미지는 드론 등이 포함된 항공편으로 확보된 지상확보이미지를 기초로 제작된다. 예컨대, 다수의 지상확보이미지에 의한 각 레이어를 동일한 축척으로 맞춰 연결하고, 이렇게 완성된 일체의 지상확보이미지를 기초로 영상처리된 이미지를 도화와 편집하여 하나의 전자지도이미지로 완성하는 것이다. In general, the video map image that serves as the background for the electronic map image is produced based on ground images secured through flights including drones. For example, each layer of multiple ground-secured images is connected to the same scale, and the image-processed images are drawn and edited based on all ground-secured images completed in this way to complete one electronic map image.

이때, 항공기에서 확보된 지상지형지물에 대한 다수의 지상확보이미지는 위치정보(좌표정보)를 이용하여 정밀하게 결합시키는 영상처리(image processing)를 통하여 정교하게 합성되어 대형의 영상이미지로 변환처리되고, 합성 변환된 영상이미지를 이용하여 지상의 지형도(지형이미지)로 변환 또는 지도화한 것이 도화이미지이며, 이러한 지도이미지의 각 지점에 좌표(수치)에 의한 해당 좌표정보, 위치정보, 수치정보를 반영한 것이 전자지도이미지이다. At this time, multiple ground images of ground features obtained from aircraft are elaborately synthesized through image processing to precisely combine them using location information (coordinate information) and converted into large video images. , A map image is a map that is converted or mapped into a topographic map (topographic image) of the ground using a synthesized converted video image, and each point of this map image is provided with corresponding coordinate information, location information, and numerical information by coordinates (numerical values). What is reflected is the electronic map image.

이러한 영상신호 처리는 그 대상이 도심지역 및 도심이외 지역에 구분없이 일정하게 적용된다. This video signal processing is applied consistently to both urban and non-urban areas.

그러나 도심의 경우 도심 외 지역에 비해 신축건물이 수시로 생겨나고 노후 건물이 철거되는 등의 많은 변화가 일어남에도 불구하고 이러한 지형지물의 변화가 빠르고 정확하게 반영되지 못한다면 도화와 편집을 위한 영상처리 작업은 그 의미를 상실하게 된다.However, in the case of the city center, compared to areas outside the city center, many changes occur, such as new buildings being built and old buildings being demolished, but if these changes in geographical features are not reflected quickly and accurately, image processing for drawing and editing is meaningless. will be lost.

이를 해결하기 위해 실제 지형물에 위치측정기를 설치하고, 항공촬영을 통해 지형물의 이미지를 확인한 후 위치측정기의 좌표값과 항공촬영된 지상확보이미지를 결합하여 기존 정보를 갱신하고 있다. To solve this problem, a position measuring device is installed on an actual feature, the image of the feature is confirmed through aerial photography, and the existing information is updated by combining the coordinate values of the positioning device and aerially captured ground images.

그런데, 항공촬영은 비교적 비용이 많이 들기 때문에 주기적으로 반복해서 자주 촬영할 수 없어 수시로 변화되는 지형지물의 형상 특성을 신속하게 반영하기 어렵다는 한계는 물론, 항공촬영은 항공기가 촬영지점을 스캔하듯이 지나가는 방식이기 때문에 촬영지역에 머물러 있을 수 없어 필요하다면 항공기를 선회시켜 매번 재촬영해야 하는 번거로움, 그에 따른 시간상, 비용상 매우 큰 낭비가 초래되는 한계가 있다. However, because aerial photography is relatively expensive, it cannot be photographed periodically and repeatedly, so it has the limitation of not only making it difficult to quickly reflect the shape characteristics of geographical features that change from time to time, but also because aerial photography is a method in which an aircraft passes by as if scanning the shooting point. Therefore, there is a limitation that it is impossible to stay in the filming area, so it is inconvenient to turn the aircraft around and re-film every time if necessary, resulting in a huge waste of time and money.

뿐만 아니라, 변형 또는 움직이는 지형지물을 관측할 경우, 이를 실시간으로 반영하는 것도 어렵다는 한계에 있다. In addition, when observing deformed or moving features, it is difficult to reflect them in real time.

대한민국 등록특허 제10-2065750호(2020.01.07.) '위치정보와 영상이미지를 실시간으로 수신하여 합성할 수 있는 영상처리시스템'Republic of Korea Patent No. 10-2065750 (2020.01.07.) ‘Image processing system that can receive and synthesize location information and video images in real time’

본 발명은 상술한 바와 같은 종래 기술상의 제반 문제점을 감안하여 이를 해결하고자 창출된 것으로, 특히 도심의 경우 지상기준점을 중심으로 설정된 경로를 따라 비행하는 드론과 같은 무인기에 의해 촬상된 지상확보이미지를 실시간으로 제공하고, 이를 통해 움직이는 지형지물의 지상확보이미지가 실시간으로 반영되어 새로운 지상확보이미지 정보로 갱신함으로써 지형지물의 움직임 또는 변화를 단시간내에 빠르게 반영할 수 있어 보다 정확하고 정밀하며 신뢰성 있는 전자지도제작이 가능함은 물론, 무인기를 싣고 다니는 더미차량의 제동 능력을 크게 강화시켜 현장을 이동하면서도 영상신호 처리를 빠르면서 정확하게 반영하도록 이동시 고정안정성을 확보 개선된 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템을 제공함에 그 주된 목적이 있다. The present invention was created in consideration of various problems in the prior art as described above to solve them. In particular, in the case of urban areas, ground images captured by an unmanned aerial vehicle such as a drone flying along a set path centered on a ground reference point are used in real time. Through this, ground-secured images of moving features are reflected in real time and updated with new ground-secured image information, allowing the movement or change of features to be reflected quickly within a short period of time, enabling more accurate, precise, and reliable electronic map production. In addition, by significantly strengthening the braking ability of the dummy vehicle carrying the unmanned aerial vehicle, we provide a video signal processing system that observes and captures improved moving terrain features by securing fixed stability while moving to quickly and accurately reflect video signal processing while moving around the site. That's the main purpose.

본 발명은 상기한 목적을 달성하기 위한 수단으로, 드론(D) 지상이미지확보를 위한 지역을 다수의 구역으로 구획한 섹터(S1)와, 상기 섹터(S1)의 각 꼭지점 부근에 설치된 지상기준점(G1,G2,G3,G4)과, 상기 지상기준점(G1,G2,G3,G4)을 기점으로 지상기준점(G1,G2,G3,G4)과 통신하면서 설정된 경로를 따라 비행함과 아울러 지형지물을 촬영하는 드론(D)과, 상기 드론(D)과 위성통신하여 좌표정보를 송신하는 GPS위성(ST)과, 상기 드론(D)과 무선통신하여 드론(D)이 촬상한 지상확보이미지와 촬영지점의 좌표값을 수신한 후 지상확보이미지와 좌표값을 합성하는 영상처리서버(30)와, 상기 영상처리서버(30)가 탑재된 더미차량(10)과, 상기 더미차량(10)에 실장되어 상기 드론(D) 및 영상처리서버(30)의 구동을 제어하는 제어부(20)를 포함하는 것을 특징으로 하는 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템을 제공한다.The present invention is a means to achieve the above-described object, comprising a sector (S1) dividing the area for securing ground images of a drone (D) into a plurality of zones, and a ground reference point installed near each vertex of the sector (S1) G1, G2, G3, G4), and based on the ground control point (G1, G2, G3, G4), it communicates with the ground control point (G1, G2, G3, G4), flies along a set route, and observes terrain features. A drone (D) that takes pictures, a GPS satellite (ST) that transmits coordinate information through satellite communication with the drone (D), and ground-secured images and shooting captured by the drone (D) through wireless communication with the drone (D) An image processing server 30 that receives the coordinate values of a point and then synthesizes the ground secured image and the coordinate value, a dummy vehicle 10 on which the image processing server 30 is mounted, and is mounted on the dummy vehicle 10. Provides an image signal processing system for observing and photographing moving landmarks, including a control unit 20 that controls the operation of the drone (D) and the image processing server 30.

본 발명에 따르면, 특히 도심의 경우 지상기준점을 중심으로 설정된 경로를 따라 비행하는 드론과 같은 무인기에 의해 촬상된 지상확보이미지를 실시간으로 제공하고, 이를 통해 움직이는 지형지물의 지상확보이미지가 전자지도에 실시간으로 반영되어 지상확보이미지 정보를 빠르게 갱신함으로써 지형지물의 변화를 단시간내에 반영할 수 있어 보다 정확하고 정밀하며 신뢰송 높은 전자지도제작이 가능하도록 함은 물론, 무인기를 싣고 다니는 더미차량의 제동 능력을 강화시켜 현장에서 변화된 지형지물의 지상확보 이미지를 빠르게 영상신호 처리하여 반영하도록 하는 시스템의 이동시 고정안정성을 확보하도록 개선된 효과를 얻을 수 있다. According to the present invention, especially in the case of urban areas, ground secured images captured by unmanned aerial vehicles such as drones flying along a set path centered on a ground control point are provided in real time, and ground secured images of moving features are displayed in real time on an electronic map. By quickly updating ground-secured image information, changes in terrain features can be reflected within a short period of time, enabling more accurate, precise, and reliable electronic map production, as well as strengthening the braking ability of dummy vehicles carrying unmanned aerial vehicles. An improved effect can be obtained by securing fixed stability when moving the system, which quickly processes and reflects ground images of changed terrain features in the field.

도 1은 본 발명에 따른 시스템을 설명하는 예시적인 구성도이다.
도 2는 본 발명에 따른 시스템을 구성하는 더미차량 및 제어부의 구성블럭도이다.
도 3은 본 발명에 따른 시스템을 구성하는 더미차량의 예시도이다.
도 4는 본 발명에 따른 시스템을 구성하는 드론의 구성블럭도이다.
도 5는 본 발명에 따른 시스템을 구성하는 제동모듈의 예시도이다.
도 6은 본 발명에 따른 시스템을 구성하는 지상기준점의 예시도이다.1 is an exemplary configuration diagram illustrating a system according to the present invention.
Figure 2 is a block diagram of a dummy vehicle and a control unit constituting the system according to the present invention.
Figure 3 is an exemplary diagram of a dummy vehicle constituting a system according to the present invention.
Figure 4 is a block diagram of a drone constituting a system according to the present invention.
Figure 5 is an exemplary diagram of a braking module constituting a system according to the present invention.
Figure 6 is an exemplary diagram of a ground control point constituting a system according to the present invention.

이하에서는, 첨부도면을 참고하여 본 발명에 따른 바람직한 실시예를 보다 상세하게 설명하기로 한다. Hereinafter, preferred embodiments according to the present invention will be described in more detail with reference to the accompanying drawings.

도 1에 도시된 바와 같이, 본 발명에 따른 시스템은 드론(D) 지상이미지확보를 위한 지역을 다수의 구역으로 구획한 섹터(S1)와, 상기 섹터(S1)의 각 꼭지점 부근에 설치된 지상기준점(G1,G2,G3,G4)과, 상기 지상기준점(G1,G2,G3,G4)을 기점으로 지상기준점(G1,G2,G3,G4)과 통신하면서 설정된 경로를 따라 비행함과 아울러 지형지물을 촬영하는 드론(D)과, 상기 드론(D)과 위성통신하여 좌표정보를 송신하는 GPS위성(ST)과, 상기 드론(D)과 무선통신하여 드론(D)이 촬상한 지상확보이미지와 촬영지점의 좌표값을 수신한 후 지상확보이미지와 좌표값을 합성하는 영상처리서버(30)와, 상기 영상처리서버(30)가 탑재된 더미차량(10)과, 상기 더미차량(10)에 실장되어 상기 드론(D) 및 영상처리서버(30)의 구동을 제어하는 제어부(20)를 포함한다. As shown in Figure 1, the system according to the present invention includes a sector (S1) dividing the area for securing ground images of the drone (D) into multiple zones, and a ground reference point installed near each vertex of the sector (S1). (G1, G2, G3, G4), and based on the ground reference point (G1, G2, G3, G4), it flies along a set route while communicating with the ground reference point (G1, G2, G3, G4) and terrain features. A drone (D) that takes pictures, a GPS satellite (ST) that transmits coordinate information through satellite communication with the drone (D), and a ground-secured image captured by the drone (D) through wireless communication with the drone (D) An image processing server 30 that receives the coordinate value of the shooting point and then combines the ground secured image and the coordinate value, a dummy vehicle 10 on which the image processing server 30 is mounted, and the dummy vehicle 10. It includes a control unit 20 that is mounted and controls the operation of the drone D and the image processing server 30.

이때, 상기 섹터(S1)는 다수개로 분할 구획되어 S1,S2,,....Sn개가 될 수 있다. 또한 상기 지상기준점(G1,G2,G3,G4)은 섹터(S1)를 사각형상으로 구획했을 때를 기준으로 각 꼭지점당 하나씩 총 4개를 구비함이 바람직하며, 각각의 위치는 설치시 측량하여 정확한 좌표값이 고정된 상태로 설치된다.At this time, the sector S1 may be divided into a plurality of sectors S1, S2,...Sn. In addition, it is desirable to have a total of four ground reference points (G1, G2, G3, G4), one for each vertex, based on the sector S1 being divided into a square shape, and each location is measured at the time of installation. It is installed with the exact coordinate values fixed.

특히, 상기 지상기준점(G1,G2,G3,G4)은 무선통신이 가능한데, 드론(D)이 통신거리 내에서 송출하는 특정신호에만 반응하여 응답하도록 설계될 수 있다.In particular, the ground reference points (G1, G2, G3, G4) are capable of wireless communication, and can be designed to respond only to specific signals transmitted by the drone (D) within the communication range.

즉, 드론(D)이 발신한 특정신호에 반응하여 지상기준점(G1,G2,G3,G4)이 가지고 있는 좌표정보를 드론(D)에게 송신하도록 구성되며, 각 지상기준점(G1,G2,G3,G4)은 고유번호를 가지고 있어 각각이 구분될 수 있도록 구성된다.In other words, it is configured to transmit the coordinate information held by the ground control points (G1, G2, G3, G4) to the drone (D) in response to a specific signal sent by the drone (D), and each ground control point (G1, G2, G3 ,G4) has a unique number and is configured so that each can be distinguished.

이때, 상기 더미차량(10)은 도 2 및 도 3의 예시와 같이, 일측면에 링크암(11)이 고정되어 자체 동력으로 움직이는 자동차에 접속할 수 있도록 구성된다.At this time, as shown in the examples of FIGS. 2 and 3, the dummy vehicle 10 is configured to have a link arm 11 fixed to one side so that it can be connected to a car moving under its own power.

그리하여, 더미차량(10)을 이동시킬 필요가 있을 때에는 자동차에 링크암(11)을 연결하여 촬영장소로 이동시키면 된다.Therefore, when it is necessary to move the dummy vehicle 10, the link arm 11 is connected to the car and the dummy vehicle 10 is moved to the filming location.

또한, 상기 더미차량(10)의 타측면에는 서버접속단(12)이 구비된다.In addition, a server connection terminal 12 is provided on the other side of the dummy vehicle 10.

상기 서버접속단(12)은 단자 형태로서 영상처리서버(30)에 접속하여 저장된 정보를 입출력할 수 있도록 구성된다.The server connection terminal 12 is in the form of a terminal and is configured to connect to the image processing server 30 to input and output stored information.

뿐만 아니라, 상기 영상처리서버(30)를 포함한 메모리(21), GPS수신기(22), 제어기(23), 펌프(24) 등의 구동에 필요한 전원은 원격지의 경우 배터리(25)로 공급하지만, 주둔지 등에서는 상용전원을 사용할 수도 있음은 물론이다. 즉, 전원공급 구조가 배터리와 상용전원으로 이중화되어 있어 사용상 편리성과 효율성을 높이도록 구성된다.In addition, the power required to drive the memory 21, GPS receiver 22, controller 23, and pump 24, including the image processing server 30, is supplied by the battery 25 in remote locations. Of course, commercial power can be used in places such as garrisons. In other words, the power supply structure is dualized with batteries and commercial power, so it is designed to increase convenience and efficiency in use.

아울러, 상기 GPS수신기(22)는 더미차량(10)에 설치되어 제어기(23)에 의해 작동제어되며, 촬영지역의 위치정보를 획득한다. 이것은 드론(D)이 지상기준점으로 비행했을 때 더미차량(10)과의 거리정보 산출을 위해 필요하며, 이를 통해 무선통신이 가능한 반경을 확인하고 드론(D)의 구동을 제어하는 정보로 활용한다.In addition, the GPS receiver 22 is installed on the dummy vehicle 10 and controlled by the controller 23, and obtains location information of the shooting area. This is necessary to calculate the distance information to the dummy vehicle 10 when the drone (D) flies to the ground reference point, and through this, the radius where wireless communication is possible is confirmed and used as information to control the operation of the drone (D). .

이때, GPS수신기(22)는 GPS인공위성으로부터 수신된 위치정보를 통해 더미차량(10)의 현재위치정보를 획득하는 것으로, 공지된 것이므로 이에 대한 자세한 설명은 생략하기로 한다.At this time, the GPS receiver 22 acquires the current location information of the dummy vehicle 10 through location information received from a GPS satellite, and since it is known, a detailed description thereof will be omitted.

또한, 상기 제어기(23)는 상기 드론(D)이 획득한 영상이미지 및 GPS수신기(22)로부터 수신한 위치정보를 영상처리서버(30)로 출력한다.Additionally, the controller 23 outputs the video image acquired by the drone D and the location information received from the GPS receiver 22 to the image processing server 30.

그리고, 상기 영상처리서버(30)는 촬영정보 및 촬영지역 위치정보를 수신하여 촬영지역에 따른 획득된 지상확보이미지를 기준점에 일치시켜 상호 합성하여 최종적인 전자지도이미지를 도화한다.In addition, the image processing server 30 receives the shooting information and the location information of the shooting area, matches the acquired ground images according to the shooting area to the reference point, synthesizes them, and draws the final electronic map image.

뿐만 아니라, 상기 더미차량(10)에는 공압탱크(40)가 실장되고, 상기 펌프(24)는 공압탱크(40)의 공기를 인출하여 공급위치로 공급하도록 동작하게 된다.In addition, a pneumatic tank 40 is mounted on the dummy vehicle 10, and the pump 24 operates to withdraw air from the pneumatic tank 40 and supply it to the supply location.

한편, 상기 제어부(20)는 영상이미지를 비롯한 각종 정보를 임시 저장하는 메모리(21)와, 더미차량(10)의 위치정보를 획득하는 GPS수신기(22)와, 메모리(21)·GPS수신기(22)ㆍ드론(D)을 제어하여 위치정보 및 촬상 정보를 영상처리서버(30)로 입출력하는 제어기(23)와, 상기 제어기(23)의 제어신호에 따라 공압을 공급하는 펌프(24)와, 상기 제어기(23)의 제어신호에 따라 전원을 공급하는 배터리(25)를 포함한다.Meanwhile, the control unit 20 includes a memory 21 for temporarily storing various information including video images, a GPS receiver 22 for acquiring location information of the dummy vehicle 10, and a memory 21·GPS receiver ( 22) ㆍA controller 23 that controls the drone (D) to input and output location information and imaging information to the image processing server 30, and a pump 24 that supplies pneumatic pressure according to a control signal from the controller 23, and , and includes a battery 25 that supplies power according to a control signal from the controller 23.

아울러, 상기 드론(D)은 도 3의 예시와 같이, 상기 더미차량(10)의 내부 천정부에 구비된 격납고(R)상에 탑재된다.In addition, as shown in the example of FIG. 3, the drone D is mounted on a hangar R provided on the inner ceiling of the dummy vehicle 10.

그리고, 상기 드론(D)은 제어부(20)를 구성하는 제어기(23)의 제어신호에 따라 더미차량(10)으로부터 비행하여 촬영대상 지역의 지상기준점 좌표로 이동한 다음 일정시간 동안 호버링하여 지상기준점을 정확하게 체크한 후 정해진 코스를 따라 비행하면서 대상지역을 촬영하게 된다.In addition, the drone (D) flies from the dummy vehicle (10) in accordance with a control signal from the controller (23) constituting the control unit (20), moves to the ground reference point coordinates of the shooting target area, and then hovers for a certain period of time to reach the ground reference point. After accurately checking, the target area is photographed while flying along a designated course.

또한, 촬영된 영상은 일정 프레임 단위로 압축되어 무인무선통신모듈(62)을 통해 제어부(20)를 구성하는 제어기(23)로 송신된다.In addition, the captured video is compressed in units of certain frames and transmitted to the controller 23 of the control unit 20 through the unmanned wireless communication module 62.

이를 위해, 상기 드론(D)은 도 4의 예시와 같이, 메모리를 포함하고 비행을 제어하는 무인컨트롤러(61)와, 상기 무인컨트롤러(61)의 제어신호에 따라 상기 제어기(23)와 무선통신하여 기준점 좌표로 비행하도록 안내하는 무인무선통신모듈(62)과, 상기 무인컨트롤러(61)의 제어신호에 따라 위성통신을 통해 드론(D)을 무인무선통신모듈(62)이 수신한 기준점 좌표 안내하는 무인GPS수신기(64)와, 기준점을 기점으로 정해진 코스를 타고 비행하면서 대상지역의 영상이미지를 촬영하는 무인촬영카메라(63)를 포함한다. To this end, as shown in the example of FIG. 4, the drone (D) has an unmanned controller (61) that includes a memory and controls flight, and wirelessly communicates with the controller (23) according to a control signal from the unmanned controller (61). an unmanned wireless communication module (62) that guides the drone (D) to fly to the reference point coordinates, and a reference point coordinate guide received by the unmanned wireless communication module (62) through satellite communication in accordance with a control signal from the unmanned controller (61). It includes an unmanned GPS receiver (64) that takes pictures of the target area while flying on a set course starting from a reference point and an unmanned camera (63) that takes video images of the target area.

이때, 상기 무인컨트롤러(61)는 상기 무인촬영카메라(63)가 촬영한 영상이미지를 일정 프레임단위로 압축한 후 상기 무인무선통신모듈(62)을 통해 제어기(23)로 송신한다. At this time, the unmanned controller 61 compresses the video image captured by the unmanned camera 63 into a certain frame unit and transmits it to the controller 23 through the unmanned wireless communication module 62.

그러면, 제어기(23)는 수신된 영상이미지를 영상처리서버(30)로 보내 전자지도이미지 제작에 필요한 도화작업을 수행한다. Then, the controller 23 sends the received video image to the video processing server 30 and performs the drawing work required to produce the electronic map image.

다른 한편, 도 5의 예시와 같이, 상기 더미차량(10)의 하면에는 차륜(W)을 직접 고정하여 움직이지 못하게 하는 제동모듈(50)이 더 설치된다. On the other hand, as shown in the example of FIG. 5, a braking module 50 is further installed on the lower surface of the dummy vehicle 10 to directly fix the wheels W and prevent them from moving.

상기 제동모듈(50)은 더미차량(10)이 구동 차량이 아니므로 차량과 같은 제동장치가 설치되어 있지 않으므로 이를 보완하기 위해 추가되는 것으로, 도 3의 예시와 같이, 차륜(W)의 휠드럼(D)에 끼워진 상태에서 볼트체결되는 언록킹부재(51)와, 상기 언록킹부재(51)의 외주면에 형성된 다수의 록킹홈(52)과, 상기 언록킹부재(51)에 끼워지고 차체에 볼트 체결된 고정환(53)과, 상기 고정환(53)에 직경방향으로 고정된 한 쌍이 구비되어 상기 록킹홈(52)에 선택적으로 삽탈되면서 상기 언록킹부재(51)를 록킹하는 록킹부재(54)와, 펌프(24)가 공급한 공기를 분배하도록 상기 고정환(53) 상에 체결되고 호스를 통해 펌프(24)와 연결된 공압분배기(55)와, 상기 공압분배기(55)와 한 쌍의 록킹부재(54)를 연결하여 록킹부재(54)가 공압으로 동작되도록 배관된 공압분배호스(56)를 포함한다. The braking module 50 is added to compensate for the fact that the dummy vehicle 10 is not a driving vehicle and is not installed with a braking device like a vehicle. As shown in the example of FIG. 3, the wheel drum of the wheel W An unlocking member 51 that is bolted in a state inserted into (D), a plurality of locking grooves 52 formed on the outer peripheral surface of the unlocking member 51, and a locking member 51 that is inserted into the unlocking member 51 and is attached to the vehicle body. A locking member 54 provided with a bolted fixing ring 53 and a pair radially fixed to the fixing ring 53 to lock the unlocking member 51 by selectively inserting and removing it from the locking groove 52. and a pneumatic distributor 55 fastened to the fixed ring 53 and connected to the pump 24 through a hose to distribute the air supplied by the pump 24, and a pair of locking members with the pneumatic distributor 55. It includes a pneumatic distribution hose (56) connected to (54) so that the locking member (54) operates by pneumatic pressure.

이때, 상기 휠드럼(D)은 차륜(W)과 함께 회전하는 회전체로서 이에 고정된 언록킹부재(51)와 함께 회전되며, 차체에 고정된 상기 고정환(53)은 고정체로서 회전하지 않고 고정된 상태를 유지한다. At this time, the wheel drum (D) is a rotating body that rotates together with the wheel (W) and rotates together with the unlocking member (51) fixed thereto, and the fixing ring (53) fixed to the vehicle body is a fixed body and does not rotate. remain fixed.

이 경우, 상기 언록킹부재(51)와 고정환(53)은 양자 모두 환 형, 즉 고리 형상으로 형성된다. In this case, both the unlocking member 51 and the fixing ring 53 are formed in a ring shape, that is, in a ring shape.

그리고, 상기 록킹홈(52)은 록킹부재(54)의 삽탈을 원활하게 하기 위해 양측이 테이퍼지게 가공된다. In addition, the locking groove 52 is processed to be tapered on both sides to facilitate insertion and removal of the locking member 54.

특히, 상기 언록킹부재(51)는 가공성과 조립성을 좋게 하기 위해 폴리카보네이트수지 100중량부에 대해, 크리스토발라이트 10중량부, 폴리옥시에틸렌알킬에테르 5중량부, 디소듐이디티에이 5중량부, 디아릴프탈레이트 5중량부, 티타늄옥사이드 5중량부를 첨가 혼합한 조성물로 성형된다.In particular, in order to improve processability and assembly, the unlocking member 51 contains 100 parts by weight of polycarbonate resin, 10 parts by weight of cristobalite, 5 parts by weight of polyoxyethylene alkyl ether, 5 parts by weight of disodium EDTA, It is molded from a composition mixed by adding 5 parts by weight of diaryl phthalate and 5 parts by weight of titanium oxide.

이때, 상기 크리스토발라이트(cristobalite)는 분말 형태로 첨가되며, 석영성분을 포함하고 있어 디스크의 내구성을 증대시키고, 크리스토발라이트 분말의 공극 사이로 베이스수지가 침투하여 이들을 바인딩시킴으로써 내열성 증대와 동시에 탄성유지 기능을 동시에 만족시키게 된다.At this time, the cristobalite is added in powder form and contains quartz, which increases the durability of the disk. The base resin penetrates into the pores of the cristobalite powder and binds them, thereby increasing heat resistance and maintaining elasticity at the same time. It will be done.

그리고, 상기 폴리옥시에틸렌알킬에테르(Polyoxyethylene Alkyl Ether)은 일종의 비이온계 계면활성제로서, 유화성과 분산성을 증대시켜 교반성과 혼화성을 증대시키기 위해 첨가된다.In addition, the polyoxyethylene alkyl ether is a type of nonionic surfactant and is added to increase emulsibility and dispersibility, thereby increasing agitation and miscibility.

또한, 상기 디소듐이디티에이(Disodium EDTA)는 디스크의 표면이 산화에 의한 산패를 막기 위해 첨가된다.In addition, Disodium EDTA is added to prevent the surface of the disk from becoming rancid due to oxidation.

아울러, 상기 디아릴프탈레이트(diarylphthalae)는 성분간 접착성과 인성을 개선하여 크랙발생 억제를 포함한 내열성, 치수안정성, 내약품성을 높이기 위해 첨가된다.In addition, diarylphthalates are added to improve adhesion and toughness between components and increase heat resistance, dimensional stability, and chemical resistance, including crack generation inhibition.

그리고, 상기 티타늄옥사이드(Titanium Dioxide)는 CAS 번호 13463-67-7에 해당하는 물질로서, 자외선을 차단하고, 디스크의 표면 산성화를 방지하여 내구성 저하, 수명 열화를 억제하기 위해 첨가된다.In addition, the titanium oxide (Titanium Dioxide) is a material corresponding to CAS number 13463-67-7, and is added to block ultraviolet rays and prevent surface acidification of the disk, thereby suppressing durability degradation and deterioration of lifespan.

뿐만 아니라, 상기 록킹부재(54)는 록킹실린더(54a)와, 상기 록킹실린더(54a)에 내장된 록킹피스톤(54b)과, 상기 록킹피스톤(54b)의 일면에 고정되고 상기 록킹실린더(54a)에서 출몰되는 록킹로드(54c)와, 상기 록킹로드(54c)의 삽입단부쪽 내벽면에 고정된 제1원형자석(54d)과, 상기 록킹로드(54c)에 감긴 제1스프링(54e)과, 상기 제1원형자석(54d)을 마주보는 록킹피스톤(54b) 면에 고정되되 상기 제1원형자석(54d)과 척력이 발생하도록 동일 극이 배치 고정된 제2원형자석(54f)과, 상기 록킹피스톤(54b)과 상기 록킹실린더(54a)의 내부 상단면 사이에 배치되는 제2스프링(54g)을 포함하되, 상기 제1스프링(54e)의 탄성계수가 상기 제2스프링(54g) 보다 크게 구성되어 공압이 공급되지 않을 때는 록킹피스톤(54b)이 최대한 상방향으로 상승한 상태를 유지한 것이 홈포지션인 것을 특징으로 한다.In addition, the locking member 54 is fixed to the locking cylinder 54a, the locking piston 54b built into the locking cylinder 54a, and one surface of the locking piston 54b and the locking cylinder 54a. A locking rod (54c) protruding from, a first circular magnet (54d) fixed to the inner wall of the insertion end of the locking rod (54c), a first spring (54e) wound around the locking rod (54c), a second circular magnet (54f) fixed to the surface of the locking piston (54b) facing the first circular magnet (54d) and having the same polarity as that of the first circular magnet (54d) to generate a repulsive force; It includes a second spring (54g) disposed between the piston (54b) and the inner upper surface of the locking cylinder (54a), and the elastic modulus of the first spring (54e) is larger than that of the second spring (54g). When pneumatic pressure is not supplied, the home position is characterized in that the locking piston (54b) is maintained in a state of rising upward as much as possible.

이때, 상기 공압분배호스(56)는 상기 록킹피스톤(54b)의 상측 공간, 즉 제2스프링(54g)이 설치된 공간 상으로 연통되게 연결배관된다.At this time, the pneumatic distribution hose 56 is piped to communicate with the space above the locking piston 54b, that is, the space where the second spring 54g is installed.

또한, 공압은 펌프(24) 가동시 발생하고, 펌프(24) 가동이 중단되면 제1스프링(54e)과 자석간의 척력에 의한 밀림으로 자연스럽게 공기가 빠져나가게 된다.In addition, pneumatic pressure is generated when the pump 24 is in operation, and when the operation of the pump 24 is stopped, the air is naturally released due to the push due to the repulsive force between the first spring 54e and the magnet.

이와 같은 구성으로 이루어진 상태에서 공압이 가해지면, 공압은 상기 코일스프링(55)의 탄발력과 자석의 척력을 이기고 록킹피스톤(54b)을 밀어 록킹로드(54c)가 록킹하우징(54a)으로부터 돌출되게 동작시킨다.When pneumatic pressure is applied in this configuration, the pneumatic pressure overcomes the elastic force of the coil spring 55 and the repulsive force of the magnet and pushes the locking piston (54b) so that the locking rod (54c) protrudes from the locking housing (54a). Operate it.

그러면, 돌출되던 록킹로드(54c)는 록킹홈(52) 속으로 들어가면서 록킹되게 된다.Then, the protruding locking rod 54c enters the locking groove 52 and is locked.

만약, 록킹로드(54c)와 록킹홈(52)이 일치되지 않으면 더미차량(10)을 조금 움직이면 자동적으로 맞물리게 된다.If the locking rod 54c and the locking groove 52 do not match, the dummy vehicle 10 is automatically engaged by moving the dummy vehicle 10 slightly.

따라서, 차륜(W)은 안정적으로 제동되며, 해제시에는 펌프(24)의 가동을 중지시키면 공압이 풀리면서 자동적으로 제동이 해제된다.Accordingly, the wheel W is stably braked, and when the pump 24 is stopped, the pneumatic pressure is released and the brake is automatically released.

여기에서, 록킹하우징(54a)과 록킹실린더(54b) 및 록킹로드(54c)는 높은 내열성과 내경화성을 갖도록 폴리카보네이트 수지 100중량부에 대해, 탄산나트륨과 이산화규소가 1:1의 중량비로 혼합된 혼합물 15중량부, 히드록시프롤린 10중량부, 탄산바륨 8.5중량부, 비스페놀 A-에피클로로히드린-메타크릴 산 폴리머 5.5중량부, 과산화벤조일(BPO:Benzoyl Peroxide) 5.5중량부, 사이클로메티콘 3.5중량부를 혼합하여 조성된 조성물로 성형된다.Here, the locking housing (54a), the locking cylinder (54b), and the locking rod (54c) are made by mixing sodium carbonate and silicon dioxide in a weight ratio of 1:1 with respect to 100 parts by weight of polycarbonate resin to have high heat resistance and hardening resistance. 15 parts by weight of mixture, 10 parts by weight of hydroxyproline, 8.5 parts by weight of barium carbonate, 5.5 parts by weight of bisphenol A-epichlorohydrin-methacrylic acid polymer, 5.5 parts by weight of Benzoyl Peroxide (BPO), 3.5 parts by weight of cyclomethicone It is molded into a composition made by mixing parts by weight.

이때, 폴리카보네이트 수지는 고강도, 내식성, 내크랙성 및 내화성과 내열성, 내구성이 뛰어난 베이스 수지이다.At this time, polycarbonate resin is a base resin with high strength, corrosion resistance, crack resistance, fire resistance, heat resistance, and durability.

그리고, 탄산나트륨과 이산화규소가 1:1의 중량비로 혼합된 혼합물은 탄산나트륨이 이산화규소와 반응하여 규산나트륨을 형성함으로써 내열성과 내화성을 강화시킨다.Additionally, a mixture of sodium carbonate and silicon dioxide in a weight ratio of 1:1 enhances heat resistance and fire resistance by reacting sodium carbonate with silicon dioxide to form sodium silicate.

즉, Na2CO3 + SiO2 → Na2SiO3 + CO2 That is, Na 2 CO 3 + SiO 2 → Na 2 SiO 3 + CO 2

이 경우, 이산화규소는 규소의 산화물로 규산(실리카)라고도 하며, 녹는점과 끓는점이 매우 높은 모래와 유리의 주성분이다. 때문에, 자체만으로서 내열성이 매우 뛰어나다.In this case, silicon dioxide is an oxide of silicon, also called silicic acid (silica), and is the main component of sand and glass with very high melting and boiling points. Therefore, it has excellent heat resistance on its own.

아울러, 히드록시프롤린(hydroxyproline)은 코팅층의 표면 크랙발생을 억제하고, 갈라짐 방지, 내부식화를 강화시킨다.In addition, hydroxyproline suppresses the occurrence of surface cracks in the coating layer, prevents cracking, and strengthens corrosion resistance.

뿐만 아니라, 탄산바륨은 응집을 촉진하여 경화성을 좋게 하고, 마찰저항성을 증대시켜 제동력을 높이게 된다.In addition, barium carbonate promotes cohesion, improves hardenability, and increases friction resistance, thereby increasing braking power.

또한, 비스페놀 A-에피클로로히드린-메타크릴 산 폴리머(bisphenol A-epichlorohydrin-methacrylic acid polymer)는 CAS 번호 36425-15-7에 해당하는 물질로서, 내침식성, 내부식성과 오염방지성을 강화시키기 위해 첨가된다.In addition, bisphenol A-epichlorohydrin-methacrylic acid polymer is a material corresponding to CAS number 36425-15-7, which enhances corrosion resistance, corrosion resistance, and anti-pollution properties. It is added for

그리고, 과산화벤조일(BPO:Benzoyl Peroxide)은 코팅층의 강성 향상을 위해 더 첨가되며; 사이클로메티콘(Cyclomethicone)은 산화를 억제하여 표면을 보호하고, 내구성을 강화시키기 위해 첨가된다.In addition, benzoyl peroxide (BPO: Benzoyl Peroxide) is further added to improve the rigidity of the coating layer; Cyclomethicone is added to protect the surface by inhibiting oxidation and to enhance durability.

또다른 한편, 도 3의 예시와 같이, 상기 더미차량(10)의 링크암(11) 양측에는 완충유닛(80)을 더 설치하되, 상기 완충유닛(80)은 원통형상의 유닛하우징(81)과, 상기 유닛하우징(81)의 양측면에 직경방향으로 대칭되게 형성되고 일정길이를 갖는 장방형의 가이드홀(82)과, 일단은 상기 유닛하우징(81)에 장입된 상태에서 고정되고 타단은 개방단으로 남겨진 탄성스프링(83)과, 상기 가이드홀(82)을 관통하여 유닛하우징(81)에 직경방향으로 걸려 고정된 로드(84)와, 상기 탄성스프링(83)의 길이 일부 지점들이 결속되고 단부는 상기 유닛하우징(81) 속에서 상기 로드(84)에 감겨 고정된 고무밴드(85)를 포함한다.On the other hand, as shown in the example of FIG. 3, buffer units 80 are further installed on both sides of the link arm 11 of the dummy vehicle 10, and the buffer units 80 include a cylindrical unit housing 81 and , a rectangular guide hole 82 formed symmetrically in the diametric direction on both sides of the unit housing 81 and having a certain length, one end of which is fixed while being inserted into the unit housing 81, and the other end of which is an open end. The remaining elastic spring 83, the rod 84 fixed to the unit housing 81 in the diametric direction through the guide hole 82, and some points along the length of the elastic spring 83 are bound, and the ends It includes a rubber band 85 wound around and fixed to the rod 84 in the unit housing 81.

그러면, 구동 차량에 더미차량(10)을 접속할 때 링크암(11)이 접촉되기 전에 먼저 탄성스프링(83)이 접촉된 상태에서 탄성압축되며, 그 과정에서 고무밴드(85)가 이중 신축되게 잡아주기 때문에 안정적으로 더미차량(10)을 구동 차량에 접속시킬 수 있게 된다.Then, when connecting the dummy vehicle 10 to the driving vehicle, the elastic spring 83 is first elastically compressed in a contact state before the link arm 11 is contacted, and in the process, the rubber band 85 is double stretched and held. Because of the cycle, the dummy vehicle 10 can be stably connected to the driving vehicle.

즉, 상기 완충유닛(80)의 완충기능 때문에 링크암(11)이 구동 차량에 과도하게 충돌하면서 링크암(11)이 파단되거나 휘어지는 변형을 방지할 수 있어 안전성을 높일 수 있게 된다.That is, due to the buffering function of the buffer unit 80, it is possible to prevent the link arm 11 from being broken or bent when the link arm 11 excessively collides with the driving vehicle, thereby improving safety.

또다른 한편, 상기 지상기준점(G1,G2,G3,G4)은 도 6의 예시와 같이, 기준점 설치 바닥면에 고정되는 고정하우징(91)과, 상기 고정하우징(91)에 내장된 모터(92)와, 상기 모터(92)와 연결된 축전지(93)와, 상기 축전지(93)를 교체할 수 있도록 상기 고정하우징(91)의 하단 외주면에 개폐가능하게 설치된 도어(94)와, 상기 고정하우징(91)의 내부에 설치되고 메모리를 포함하며 기준점 좌표값을 송출하는 기준점컨트롤러(95)와, 상기 고정하우징(91)의 상단에 회전가능하게 조립된 회전볼(96)과, 상기 회전볼(96)을 관통하여 상기 모터(92)의 모터축에 연결고정된 방사형 안테나(97)를 포함한다.On the other hand, as shown in the example of FIG. 6, the ground reference points (G1, G2, G3, G4) have a fixed housing 91 fixed to the floor where the reference point is installed, and a motor 92 built into the fixed housing 91. ), a storage battery 93 connected to the motor 92, a door 94 that can be opened and closed on the lower outer peripheral surface of the fixed housing 91 so that the storage battery 93 can be replaced, and the fixed housing ( A reference point controller 95 that is installed inside the 91, includes a memory, and transmits reference point coordinate values, a rotation ball 96 rotatably assembled on the top of the fixed housing 91, and the rotation ball 96. ) and includes a radial antenna 97 connected and fixed to the motor shaft of the motor 92.

이때, 상기 회전볼(96)은 일종의 구형 보호체가 되어 눈, 비로부터 고정하우징(91) 내부의 내장물을 보호한다.At this time, the rotating ball 96 becomes a kind of spherical protector to protect the contents inside the fixed housing 91 from snow and rain.

뿐만 아니라, 기준점컨트롤러(95)는 드론(D)이 보내는 특정신호에 반응하여 응답신호를 송신할 수 있도록 구성된다.In addition, the reference point controller 95 is configured to transmit a response signal in response to a specific signal sent by the drone D.

따라서, 드론(D)은 도 1과 같이 특정 지상기준점(영상처리서버가 송신한 제어신호에 따른)으로부터 정해진 지상기준점을 향해 도시된 화살표 패턴으로 비행하면서 섹터(S1) 내의 지상물을 촬영하고, 촬영된 영상이미지는 좌표값과 함께 영상처리서버(30)로 전송된다.Therefore, the drone D photographs ground objects in the sector S1 while flying in the arrow pattern shown in FIG. 1 from a specific ground control point (according to a control signal transmitted by the image processing server) toward a determined ground control point, The captured video image is transmitted to the video processing server 30 along with the coordinate values.

이때, 드론(D)은 GPS위성(ST)으로부터 수신한 자신의 좌표값과, 지상기준점 좌표값도 함께 송신하도록 구성되는데, 각 지상기준점 좌표값은 최초 확인되는 시점에 한번만 송신하면 된다.At this time, the drone (D) is configured to transmit its own coordinates received from the GPS satellite (ST) and the ground control point coordinates, and each ground control point coordinate value only needs to be transmitted once when it is first confirmed.

ST: GPS위성 30: 영상처리서버
D: 드론 ST: GPS satellite 30: Image processing server
D: drone

Claims (2)

삭제delete 드론(D) 지상이미지확보를 위한 지역을 다수의 구역으로 구획한 섹터(S1)와, 상기 섹터(S1)의 각 꼭지점 부근에 설치된 지상기준점(G1,G2,G3,G4)과, 상기 지상기준점(G1,G2,G3,G4)을 기점으로 지상기준점(G1,G2,G3,G4)과 통신하면서 설정된 경로를 따라 비행함과 아울러 지형지물을 촬영하는 드론(D)과, 상기 드론(D)과 위성통신하여 좌표정보를 송신하는 GPS위성(ST)과, 상기 드론(D)과 무선통신하여 드론(D)이 촬상한 지상확보이미지와 촬영지점의 좌표값을 수신한 후 지상확보이미지와 좌표값을 합성하는 영상처리서버(30)와, 상기 영상처리서버(30)가 탑재된 더미차량(10)과, 상기 더미차량(10)에 실장되어 상기 드론(D) 및 영상처리서버(30)의 구동을 제어하는 제어부(20)를 포함하는 것을 특징으로 하는 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템에 있어서,
상기 드론(D)은 메모리를 포함하고 비행을 제어하는 무인컨트롤러(61)와, 상기 무인컨트롤러(61)의 제어신호에 따라 제어기(23)와 무선통신하여 기준점 좌표로 비행하도록 안내하는 무인무선통신모듈(62)과, 상기 무인컨트롤러(61)의 제어신호에 따라 위성통신을 통해 드론(D)을 무인무선통신모듈(62)이 수신한 기준점 좌표 안내하는 무인GPS수신기(64)와, 기준점을 기점으로 정해진 코스를 타고 비행하면서 대상지역의 영상이미지를 촬영하는 무인촬영카메라(63)를 포함하고;
상기 제어부(20)는 영상이미지를 비롯한 각종 정보를 임시 저장하는 메모리(21)와, 더미차량(10)의 위치정보를 획득하는 GPS수신기(22)와, 메모리(21)·GPS수신기(22)ㆍ드론(D)을 제어하여 위치정보 및 촬상 정보를 영상처리서버(30)로 입출력하는 제어기(23)와, 상기 제어기(23)의 제어신호에 따라 공압을 공급하는 펌프(24)와, 상기 제어기(23)의 제어신호에 따라 전원을 공급하는 배터리(25)를 포함하며;
상기 더미차량(10)의 하면에는 차륜(W)을 직접 고정하여 움직이지 못하게 하는 제동모듈(50)이 더 설치되되, 상기 제동모듈(50)은 차륜(W)의 휠드럼(D)에 끼워진 상태에서 볼트체결되는 언록킹부재(51)와, 상기 언록킹부재(51)의 외주면에 형성된 다수의 록킹홈(52)과, 상기 언록킹부재(51)에 끼워지고 차체에 볼트 체결된 고정환(53)과, 상기 고정환(53)에 직경방향으로 고정된 한 쌍이 구비되어 상기 록킹홈(52)에 선택적으로 삽탈되면서 상기 언록킹부재(51)를 록킹하는 록킹부재(54)와, 펌프(24)가 공급한 공기를 분배하도록 상기 고정환(53) 상에 체결되고 호스를 통해 펌프(24)와 연결된 공압분배기(55)와, 상기 공압분배기(55)와 한 쌍의 록킹부재(54)를 연결하여 록킹부재(54)가 공압으로 동작되도록 배관된 공압분배호스(56)를 포함하고,
상기 록킹부재(54)는
록킹실린더(54a)와,
상기 록킹실린더(54a)에 내장된 록킹피스톤(54b)과,
상기 록킹피스톤(54b)의 일면에 고정되고 상기 록킹실린더(54a)에서 출몰되는 록킹로드(54c)와,
상기 록킹로드(54c)의 삽입단부쪽 내벽면에 고정된 제1원형자석(54d)과, 상기 록킹로드(54c)에 감긴 제1스프링(54e)과,
상기 제1원형자석(54d)을 마주보는 록킹피스톤(54b) 면에 고정되되 상기 제1원형자석(54d)과 척력이 발생하도록 동일 극이 배치 고정된 제2원형자석(54f)과,
상기 록킹피스톤(54b)과 상기 록킹실린더(54a)의 내부 상단면 사이에 배치되는 제2스프링(54g)을 포함하되,
상기 제1스프링(54e)의 탄성계수가 상기 제2스프링(54g) 보다 크게 구성되어 공압이 공급되지 않을 때는 록킹피스톤(54b)이 최대한 상방향으로 상승한 상태를 유지한 것이 홈포지션이고,
상기 지상기준점(G1,G2,G3,G4)은
기준점 설치 바닥면에 고정되는 고정하우징(91)과,
상기 고정하우징(91)에 내장된 모터(92)와,
상기 모터(92)와 연결된 축전지(93)와,
상기 축전지(93)를 교체할 수 있도록 상기 고정하우징(91)의 하단 외주면에 개폐가능하게 설치된 도어(94)와,
상기 고정하우징(91)의 내부에 설치되고 메모리를 포함하며 기준점 좌표값을 송출하는 기준점컨트롤러(95)와,
상기 고정하우징(91)의 상단에 회전가능하게 조립된 회전볼(96)과,
상기 회전볼(96)을 관통하여 상기 모터(92)의 모터축에 연결고정된 방사형 안테나(97)를 포함하는 것을 특징으로 하는 움직이는 지형지물을 관측 촬영한 영상신호 처리시스템. A sector (S1) dividing the area for securing ground images of the drone (D) into multiple zones, ground reference points (G1, G2, G3, G4) installed near each vertex of the sector (S1), and the ground reference point A drone (D) that flies along a set route while communicating with a ground reference point (G1, G2, G3, G4) starting from (G1, G2, G3, G4) and photographs terrain features, and the drone (D) A GPS satellite (ST) transmits coordinate information through satellite communication, and wirelessly communicates with the drone (D) to receive ground-secured images and coordinates of the shooting point captured by the drone (D), and then receives ground-secured images and coordinates. An image processing server 30 that synthesizes values, a dummy vehicle 10 on which the image processing server 30 is mounted, and the drone D and the image processing server 30 mounted on the dummy vehicle 10. In the image signal processing system for observing and photographing moving features, comprising a control unit 20 that controls the operation of,
The drone (D) includes an unmanned controller (61) that includes memory and controls flight, and wirelessly communicates with the controller (23) according to control signals from the unmanned controller (61) to guide the drone to fly to the reference point coordinates. A module 62, an unmanned GPS receiver 64 that guides the drone (D) to the reference point coordinates received by the unmanned wireless communication module 62 through satellite communication according to a control signal from the unmanned controller 61, and a reference point It includes an unmanned camera 63 that takes video images of the target area while flying on a set course from a starting point;
The control unit 20 includes a memory 21 that temporarily stores various information including video images, a GPS receiver 22 that acquires location information of the dummy vehicle 10, and a memory 21·GPS receiver 22. ㆍA controller 23 that controls the drone (D) to input and output location information and imaging information to the image processing server 30, a pump 24 that supplies pneumatic pressure according to a control signal from the controller 23, and It includes a battery 25 that supplies power according to a control signal from the controller 23;
A braking module 50 is further installed on the lower surface of the dummy vehicle 10 to directly fix the wheel W to prevent it from moving. The braking module 50 is inserted into the wheel drum D of the wheel W. An unlocking member 51 that is bolted in the state, a plurality of locking grooves 52 formed on the outer peripheral surface of the unlocking member 51, and a fixing ring (51) inserted into the unlocking member 51 and bolted to the vehicle body. 53), a locking member 54 provided in a pair radially fixed to the fixing ring 53 and selectively inserted into and removed from the locking groove 52 to lock the unlocking member 51, and a pump 24 ) connects a pneumatic distributor 55 fastened to the fixed ring 53 and connected to the pump 24 through a hose to distribute the air supplied by the pneumatic distributor 55 and a pair of locking members 54. The locking member 54 includes a pneumatic distribution hose 56 piped to operate pneumatically,
The locking member 54 is
A locking cylinder (54a),
A locking piston (54b) built into the locking cylinder (54a),
a locking rod (54c) fixed to one surface of the locking piston (54b) and protruding from the locking cylinder (54a);
A first circular magnet (54d) fixed to the inner wall at the insertion end of the locking rod (54c), a first spring (54e) wound around the locking rod (54c),
A second circular magnet (54f) fixed to the surface of the locking piston (54b) facing the first circular magnet (54d) and arranged with the same pole to generate a repulsive force as the first circular magnet (54d);
It includes a second spring (54g) disposed between the locking piston (54b) and the inner upper surface of the locking cylinder (54a),
The elastic modulus of the first spring (54e) is greater than that of the second spring (54g), so that when pneumatic pressure is not supplied, the home position is that the locking piston (54b) is maintained in a state of rising upward as much as possible,
The ground reference points (G1, G2, G3, G4) are
A fixed housing (91) fixed to the reference point installation floor,
A motor (92) built into the fixed housing (91),
A storage battery 93 connected to the motor 92,
A door 94 installed to be openable and closed on the lower outer peripheral surface of the fixed housing 91 so that the storage battery 93 can be replaced,
A reference point controller (95) installed inside the fixed housing (91), includes a memory, and transmits reference point coordinate values,
A rotating ball (96) rotatably assembled at the top of the fixed housing (91),
An image signal processing system for observing and photographing a moving feature, comprising a radial antenna (97) that penetrates the rotating ball (96) and is connected and fixed to the motor shaft of the motor (92).
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