KR102617679B1 - Image processing system for correcting distortion of image - Google Patents

Abstract

The present invention relates to an image processing system, and more specifically, includes an image output module, an image control module, a GNSS module, a relational calculation module, a distortion ratio confirmation module, a coordinate value setting module, and a coordinate correction module, wherein the image output module An aerial photography device that transmits captured images to; And characterized in that it further includes an aerial photography guidance device installed at the filming reference point so that the acquisition of the photographed image through the aerial photography device can be carried out at a determined location based on the preset photography reference point. Image processing that allows precise correction of distorted video images that can be provided to the image output module at a constant level without significant deviation every time, while the captured images provided to the image output module are always acquired at a fixed altitude and location centered on a preset shooting reference point. It's about the system.

Description

Image processing system that allows precise correction of video images by checking the distortion ratio {IMAGE PROCESSING SYSTEM FOR CORRECTING DISTORTION OF IMAGE}

The present invention relates to an image processing system, and more specifically, to an image processing system capable of precisely correcting distorted video images.

Orthoimages are obtained by correcting the deviation of an aerial photograph, which is a central projection, into an orthoprojection like a map. Here, deviation correction is the process of correcting the inclination (tilt) and scale (photography magnification) that occur when shooting using a camera.

For these orthoimages, ground images are secured through orthophoto projection, error-free orthoimages are extracted using a digital elevation model (DEM) on the secured orthophoto images, and the colors of the orthoimages are again corrected and aggregated to produce error-free orthoimages. It is constructed through a series of processes that include correction and final quality inspection.

The conventional method of producing an orthophoto from an aerial photo creates a corrected aerial photo through an internal facial expression process that corrects for the distortion of the aerial photo itself, and represents the relationship between the photo coordinates of the corrected aerial photo and ground coordinates. The 6 facial expression elements were obtained by performing external expression using the bundle adjustment method using the collinear condition equation and the ground reference point obtained from GNSS surveying, and an orthoimage was produced using the 6 facial expression elements and digital elevation data obtained in this way. For reference, the programs that can currently produce orthoimages using IKONOS images in commercial R/S tools include Socet Set ver4.3 or higher, ZI Imaging 3.0 or higher, ERDAS IMAGING 8.5.1 or higher, PCI 7.0 or higher, JX4A, ER- Examples include programs called OrthoWarp ER that can be used in Mapper.

In addition, the above-described conventional method of producing an orthophoto from an aerial photo uses the Newton-Rapson method when creating an aerial photo corrected through an internal facial expression process and when creating a normal image. Robson's method is a method of finding a close solution by repeatedly updating the initial value, so the calculation process requires a lot of time.

In addition, aerial photos scanned and stored on a computer usually have a data capacity of about 400 megabytes per sheet, but if distortion-corrected aerial photos are separately produced and stored as in the past, an equivalent amount of data capacity is needed. There was a problem.

To solve this problem, Korean Patent No. 10-0544345 (title of the invention: method for producing orthophotos from aerial photographs) was proposed.

However, although the above-mentioned 'method for producing orthoimages from aerial photos' is a technology to reduce the load on the computer in the process of carrying out the conventional method of producing orthoimages from aerial photos, the orthoimage coordinates are calculated for each reference point of the aerial photo. and distortion value calculations for this must be performed one by one, so the load on the computer has not been significantly reduced. Additionally, for this reason, there was a limitation in that orthocorrection of aerial photos could not be performed in real time on aircraft that collect aerial photos through aerial surveying.

The matters described as background technology above are only for the purpose of improving understanding of the background of the present invention, and should not be taken as recognition that they correspond to prior art already known to those skilled in the art.

The present invention is intended to solve the problems of the prior art described above. The captured image is acquired through an aerial photography device and provided to the image output module. The image is always acquired at a determined altitude and position around a preset shooting reference point, and the image output module The purpose is to provide an image processing system that allows precise correction of distorted video images that can be provided at a constant level without large deviations every time.

In addition, the present invention will greatly improve the function of orthocorrecting the captured image in real time and outputting the orthoimage as well as the ground reference point coordinates applied to the captured image with a minimum of time and system load. Another purpose is to provide an image processing system that can precisely correct distorted video images.

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

The configuration of the present invention to achieve the above object is to output a captured image while operating according to a control value, and to have a plurality of X-axis and Y-axis lines arranged in a grid so that the coordinates of each point in the captured image can be confirmed. An image output module that operates by applying the captured image coordinate system; An image control module that generates control values for controlling the operation of the image output module and transmits them to the image output module; GNSS module that determines the aircraft's current position in GNSS coordinates; A relational calculation module that calculates ground reference point coordinates with captured image coordinates; The input coordinate values of two or more ground reference points are transmitted to the relational calculation module to be calculated as the captured image coordinate value, the location of the captured image coordinate value received from the relational calculation module is checked based on the captured image coordinate system, and the origin of the captured image coordinate system is confirmed. The first distance, which is the distance between the coordinate values of the captured image, is calculated for each point, and the second distance, which is the distance between the ground reference point coordinate value of the origin confirmed in the GNSS module and the input ground reference point coordinate value, is calculated for each point. The distance difference between the confirmed second distance and the confirmed first distance for each point is checked for each point based on the second distance to check whether the first distance difference is greater than the second distance difference for each point, and the first distance difference for each point is checked. A distortion rate confirmation module that checks the distortion rate, which is the increase or decrease rate of; Set the ground control point along the latitude and longitude directions centered on the origin, check the interval between ground control points that changes with the distortion ratio, set the location of the ground control point in the captured image, and set multiple latitude axes and longitude lines connecting the set ground control points. A coordinate value setting module that generates a ground reference point coordinate system in which axes are arranged in a grid, and links the ground reference point coordinate system and the captured image coordinate system so that the captured image coordinate values corresponding to the ground reference point coordinate values are linked; and select the ground object to be confirmed in the captured image, check the first coordinate value of the ground control point coordinate system where the image of the ground object to be confirmed overlaps, search the ground control point DB for the actual ground control point coordinate value of the ground object to be confirmed, and enter it in the ground control point coordinate system. Check the applied coordinate value to be modified, move the longitude axis and latitude axis corresponding to the coordinate value to be modified so that they become the longitude axis and latitude axis corresponding to the first coordinate value, and move them to neighbors based on the moved longitude axis and latitude axis. A coordinate correction module that modifies and applies different longitude and latitude axes to the captured image so that they are arranged according to the distortion ratio; It is characterized by including.

An image processing system capable of precisely correcting distorted video images according to an embodiment of the present invention includes an aerial photography device that transmits a captured image to the image output module; and an aerial photography guidance device installed at the filming reference point so that the task of acquiring the photographed image through the aerial photography device can be carried out at a determined location based on the preset filming reference point; It is desirable to further include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the aerial photography guidance device includes a base installed on the ground; First vertical supports and second vertical supports installed upright on the upper part of the base; An absorption connection unit connecting the first vertical support and the second vertical support and cushioning the shock transmitted to the first vertical support and the second vertical support; A horizontal supporter installed horizontally on the upper part of the first vertical supporter and the second vertical supporter; A detachable fastening part mounted on the upper part of the horizontal support; A position indicator block coupled to the upper part of the detachable fastener; and a bird extermination unit installed on one side of the foundation; It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the detachable and fastening portion includes: a detachable case coupled to the upper part of the horizontal portion and forming a receiving space therein; A detachable depression formed in the upper surface based on the accommodation space of the detachable case; A detachment motor coupled to the inner top of the detachment depression; A detachment gear that is coupled to the lower part of the detachment motor and can rotate horizontally according to the operation of the detachment motor; A detachment spring coupled to the lower part of the detachment gear; A detachable lifting part coupled to the lower part of the detachable spring and capable of moving up and down by the elastic restoring force of the detachable spring; A detachable insertion portion that can be inserted and fastened into the receiving space of the detachable case; and an elevating entry part that is recessed in the lower surface of the detachable insertion part and allows the detachable elevating part to descend and enter. It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, a detachment stopper is further coupled to the inner front of the detachable and elevator entry portion, and the detachment stopper is arranged to have a predetermined inclination angle from the inner top of the elevator entry portion. It is preferable to include a detachment slope and a detachment height surface that is disposed below the detachment slope and is perpendicular to the bottom surface of the elevating entrance and is in contact with the entered elevating and detaching part.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the connection unit includes: an absorption base disposed between a first vertical support and a second vertical support; A pair of first connection parts that are detachably coupled to both sides of the absorption base and have variable lengths; a pair of second connectors each detachably coupled to the pair of first connectors; and a pair of column brackets, one side of which is detachably coupled to a pair of second connectors, and the other side of which is detachably coupled to the first vertical support and the second vertical support. It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the absorption base includes a pair of absorption base plates spaced apart from each other; A fastening lever for fastening a pair of absorption base plates; and a pair of connector parts, one side of which is rotatably coupled to a pair of absorbent base plates, and the other side of which is detachably coupled to the first connection part; It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the connector portion includes a connector ball rotatably supported in a plate hole provided in a pair of absorption base plates; A connector rod provided on one side of the connector ball; A connector head provided on the connector rod; And a connector bolt provided on the connector head and detachably coupled to the first connection part; It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the first connection means includes: a first connection body detachably coupled to a connect bolt; A connection spring member provided inside the first connection body; and a first connection bar, one side of which is supported by a connection spring member, and the other side of which is detachably coupled to the second connection part; It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, when an impact is applied to any one of the first and second vertical supports adjacent to each other, the absorbing base is rotated by the connector ball and the absorption base is rotated by the connector ball. It is desirable that the first connection bar is moved from the first connection body to reduce impact.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the bird repelling unit includes: a repelling base portion provided on the base portion; A repellent connection part provided at the repellent base; and a bird repelling unit that rotates at the repelling connection and blocks access to birds by generating ultrasonic waves and lasers. It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the bird repelling unit includes: a repelling rotating body rotatably coupled to the repelling connection; A first bird repelling unit that is coupled to the rotating body in parallel with the base and generates ultrasonic waves and lasers to block the approach of birds; and a second bird repelling unit that is coupled to a rotating body perpendicular to the first bird repelling unit and generates ultrasonic waves and lasers to block the approach of birds. It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the first bird repelling unit includes a repelling drive motor coupled to the upper part of the repelling rotating body; A first repellent connection bar coupled to the repellent rotation body and rotated clockwise or counterclockwise so as to be connected to the repellent drive motor; A first bird repelling body coupled to the first repelling connection bar and rotating like the first repelling connection 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 the birds; a first light irradiation unit provided in the first bird repelling body to be spaced apart from the first ultrasonic wave generator and irradiating light other than the laser to the birds; and a first solar cell provided on the first algae extermination body in the area where the first light irradiation unit is provided; It is desirable to include.

In the image processing system capable of precise correction of distorted video images according to an embodiment of the present invention, the repellent base unit includes a pair of first frames coupled to the base; A pair of first motors each coupled to a pair of first frames; a second frame movably coupled to a 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 with one side coupled to the frame housing and the other side coupled to the repellent connection; It is desirable to include.

In the present invention, which has the above configuration, the captured image obtained through an aerial photography device and provided to the image output module is always acquired at a determined altitude and location around a preset shooting reference point, and is provided to the image output module at a constant rate without significant deviation every time. As the level is provided, the function of orthocorrecting the captured image in real time and outputting the orthoimagery as well as the ground reference point coordinate values applied to the captured image with a minimum of time and system load is greatly improved. This has the effect of increasing work efficiency.

The attached drawings are intended as reference for understanding the technical idea of the present invention, and are not intended to limit the scope of the present invention.
1 is a block diagram showing the overall configuration of an image processing system capable of precisely correcting distorted video images according to an embodiment of the present invention.
Figure 2 is a flowchart showing the process of generating a ground reference point coordinate system within a captured image performed in an image processing system according to an embodiment of the present invention.
Figure 3 is a diagram illustrating a point corresponding to a ground reference point coordinate value displayed on a captured image coordinate system to calculate the distortion rate of a captured image in an image processing system according to an embodiment of the present invention.
Figure 4 is a diagram illustrating a ground control point coordinate system for inputting a ground control point in a captured image in an image processing system according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating the ground reference point coordinate value for a specific point of a captured image selected by an operator in the image processing system according to an embodiment of the present invention displayed in the ground reference point coordinate system of FIG. 4.
Figure 6 is a diagram illustrating confirmation of a matching state between the reference point coordinate system and a captured image in an image processing system according to an embodiment of the present invention.
Figure 7 is a diagram sequentially illustrating the modification of the ground reference point coordinate system in the image processing system according to an embodiment of the present invention.
Figure 8 is a diagram sequentially illustrating the orthoprocessing process of a captured image performed in an image processing system according to an embodiment of the present invention.
Figure 9 is a diagram illustrating an imaging geometry formed when driving an image processing system according to an embodiment of the present invention.
Figure 10 is a diagram showing the relationship between the coordinate value of a captured image formed when driving an image processing system according to an embodiment of the present invention and the shooting direction vector u.
FIG. 11 is a graphical diagram illustrating correction of distortion of a captured image in an image processing system according to an embodiment of the present invention.
Figure 12 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention.
Figure 13 is a diagram illustrating a state in which the acquisition position of a captured image is determined in an aerial photography device through an aerial photography guidance device according to an embodiment of the present invention.
Figure 14 is a diagram showing the overall appearance of an aerial photography guidance device according to an embodiment of the present invention.
Figure 15 is a cross-sectional view of a detachable fastening portion according to an embodiment of the present invention.
Figure 16 is a view showing each part of the absorption connection unit disassembled according to an embodiment of the present invention.
Figure 17 is a diagram schematically showing the absorption connection unit combined according to an embodiment of the present invention.
Figure 18 is a diagram showing the overall appearance of a bird repelling unit according to an embodiment of the present invention.
Figure 19 is a view showing the first bird extermination unit according to an embodiment of the present invention.

Hereinafter, based on the attached drawings, the present invention will be described in detail so that those skilled in the art can easily practice it. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts that are not relevant to the description are omitted, and identical or similar components are assigned the same reference numerals throughout the specification.

In addition, terms or words used in this specification and patent claims should not be construed as limited to their usual or dictionary meanings, and the inventor must appropriately use the concept of terms to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle of definability.

Figure 1 is a block diagram showing the overall configuration of an image processing system capable of precisely correcting distorted video images according to an embodiment of the present invention.

The image processing system according to the present invention orthocorrects aerial photos (captured images) taken by an aerial photography device in real time, and outputs the corresponding orthoimages as well as ground reference point coordinates applied to the captured images with minimal time and system load. It is a system that outputs composite images from captured images.

As shown, the image processing system according to the present invention includes a ground control point DB (11) that stores information about the ground control point, and location information of the ground control point coordinate value in the image captured by the aerial photography device (30). An image DB (12) that links and stores images, an image output module (21) that outputs captured images stored in the image DB (12), and an image output module (21) that allows the operator to control the captured images output to the image output module (21). An image control module 22 that controls the output module 21, a relational expression calculation module 23 that calculates the captured image coordinate value from the ground reference point coordinate value using the relational expression between the captured image coordinate value and the ground reference point coordinate value, A distortion rate confirmation module 24 that calculates the distortion rate of the captured image, a coordinate value setting module 25 that links the ground reference point coordinate value corresponding to each location to the captured image, and GNSS (Global Navigation) the current location of the aircraft. Through the GNSS module (26) that measures with the Satellite System, the coordinate correction module (27) that checks the location of the ground reference point coordinate value linked to the captured image and corrects it when an error is confirmed, and the aerial photography device (30) It consists of an aerial photography guidance device 40 that is installed and matched to each of the photographing reference points so that the task of acquiring the photographed image can be carried out at a determined location based on the preset photographing reference point.

The ground control point DB 11 stores ground control point information for each specific point on the ground. In order to process internal and external expressions of a captured image, a reference point must be set on the captured image. The image processing system according to the present invention can proceed by matching the reference point to be captured in the captured image to the ground reference point stored in the ground reference point DB (11). For reference, ground reference point information is a coordinate value made up of GNSS coordinates of a specific point selected on the ground. In this embodiment, the ground control point DB 11 stores the ground control point coordinates of the ground point located in the captured image.

The image DB 12 stores a captured image of the ground captured by the aerial imaging device 30 and a ground reference point coordinate value linked to the captured image. The process and technical details of linking the ground control point to the captured image are described in detail below.

The image output module 21 is a typical display device that outputs captured images and orthoimages stored in the image DB 12, and may be a general monitor or a touch screen. In general, the image output module 21, such as a monitor or touch screen, uses a captured image coordinate system (AX) in which multiple 3). Therefore, when a specific point is selected on the captured image, the image output module 21 tracks and confirms the captured image coordinate value for the specific point within the corresponding screen.

The image control module 22 is an operating means for controlling the image output by the image output module 21, and generates control values according to the operator's manipulation and transmits them to the image output module 21. The image control module 22 may be implemented using touch screen technology, or a separate keyboard or joystick may be used.

The relational expression calculation module 23 uses the relational expression between the captured image coordinate value and the ground reference point coordinate value to calculate the captured image coordinate value from the ground reference point coordinate value presented by the distortion ratio confirmation module 24. The modified collinear condition described below can be applied to the above relational expression.

The distortion rate confirmation module 24 confirms the actual distortion state of the captured image by checking the position of the ground reference point applied to the captured image, calculates the distortion ratio, and confirms the image arrangement state of the captured image.

The coordinate value setting module 25 creates a corresponding ground reference point coordinate system based on the distortion rate calculated by the distortion rate confirmation module 24, and links the coordinate value of the captured image and the coordinate value of the ground reference point in the coordinate system. do.

The GNSS module (26) measures and confirms the current location of the aircraft using GNSS. Since the device for GNSS measurement is a known and common technology, description of the operating principle and configuration of the GNSS module 26 will be omitted.

The coordinate correction module 27 compares the coordinate information of the ground reference point coordinate system combined with the captured image with the actual coordinate information for a specific point captured in the captured image, and adjusts the ground reference point coordinate system to the actual coordinate information. A more detailed description of the coordinate correction module 27 will be provided while explaining the driving process of the image processing system according to this embodiment.

Figure 2 is a flow chart showing the process of generating a ground reference point coordinate system in a captured image performed in an image processing system according to an embodiment of the present invention, and Figure 3 is a distortion of a captured image in an image processing system according to an embodiment of the present invention. It is a diagram illustrating the point corresponding to the ground reference point coordinate value displayed in the captured image coordinate system to calculate the ratio. Figure 4 shows how to input the ground reference point in the captured image in the image processing system according to an embodiment of the present invention. It is a diagram illustrating the ground control point coordinate system for, and FIG. 5 shows the ground control point coordinate value for a specific point of the captured image selected by the operator in the image processing system according to an embodiment of the present invention displayed in the ground control point coordinate system of FIG. is a diagram illustrating, and Figure 6 is a diagram illustrating the state of checking the matching state between the reference point coordinate system and the captured image in the image processing system according to an embodiment of the present invention, and Figure 7 is an embodiment of the present invention. This diagram sequentially illustrates the modification of the ground reference point coordinate system in the following image processing system.

S10; Distortion ratio confirmation step

When the operator selects a specific ground object in the captured image being output to the image output module 21 and inputs the ground reference point coordinate value of the ground object, the distortion rate confirmation module 24 that receives the ground reference point coordinate value inputs the ground reference point coordinate value of the ground object. The reference point coordinate value is transmitted to the relational calculation module 23, and the relational expression calculation module 23 uses the relational expression between the captured image coordinate value and the ground reference point coordinate value to calculate the corresponding captured image coordinate value. Here, the above relational expression may be an example of a modified collinear conditional expression.

As shown in FIG. 3, the relational expression calculation module 23 inputs the ground reference point coordinate value input by the operator into the modified collinear condition equation to calculate the coordinate value of the corresponding captured image, and the distortion ratio confirmation module 24 calculates the coordinate value of the corresponding captured image by using the relational expression. The captured image coordinate value, which is the result received from the calculation module 23, is applied to the coordinate system (AX) of the captured image. In this embodiment, the first selection point (AP) is located at the captured image coordinate values (-6, -4) centered on the origin (O) as a result of calculation through the modified collinear condition equation, and the second selection point (BP) is located at the captured image coordinate value (6, 6) centered on the origin (O) as a result of calculation through the modified collinear condition formula, and the third selection point (CP) is located at the origin (O) as a result of calculation through the modified collinear condition formula. ) is located at the captured image coordinate values (8,-11).

Subsequently, the distortion ratio confirmation module 24 determines the first distance between the origin (O) and each selected point (AP, BP, CP) based on the captured image coordinate values of the confirmed selected points (AP, BP, CP). Calculate.

Subsequently, the distortion rate confirmation module 24 checks the ground reference point coordinates of the selected point (AP, BP, CP) entered by the operator and the ground reference point coordinates of the origin (O) measured by the GNSS module 26. So, based on this, the second distance between the origin (O) and each selected point (AP, BP, CP) is calculated.

As described above, the first distance is the distance between the selected points (AP, BP, CP) on the background of the captured image and the origin (O), and the second distance is the selected point (AP, BP, CP, It is the distance between CP) and the origin (O). Therefore, the second distance is the actual distance between the location of the origin (P) and the location of the selection point (AP, BP, CP), and the first distance is a distorted distance in which the distance change occurred due to unknown distortion of the corresponding shooting. . Here, the coordinate value of the origin (O) is a GNSS coordinate value confirmed by the GNSS module 26 and is the aircraft position at the time of capturing the image.

The distortion ratio confirmation module 24 checks the difference ratio by distance for the first distance difference compared to the second distance difference between points. In other words, the farther the selected point (AP, BP, CP) is from the origin (O), the greater the first distance difference compared to the second distance difference between points, and the first distance difference for each point according to the distance. The purpose is to check the distortion ratio, which is the increase or decrease rate of . For example, the first distance between the origin (O) and the fourth selection point is 10, the second distance is 300m, the first distance between the origin (O) and the fifth selection point is 21, the second distance is 600m, and the origin If the first distance between (O) and the 6th selection point is confirmed to be 33 and the second distance is 900m, the first distance is 10 (10 - 0), 11 (21 - 10), 12 (33 - 21), etc. for each point. There is a difference, and the second distance varies from point to point, such as 300 (300 - 0), 300 (600 - 300), and 300 (900 - 600). In the end, the distance difference ratio for the first distance compared to the second distance difference increases to 10%, and through this, it can be seen that the captured image is distorted at a distortion rate of 10% as the distance increases.

For reference, the image captured by the camera becomes more distorted the further away it is from the center of the image. Accordingly, the shape deformation and size increase of the photographed object become more severe as it moves to the outskirts of the photographed image. In the end, the farther out the captured image goes, the farther away it is from its actual location, and it is output distorted into a large shape.

S20; Ground reference point coordinate system creation stage

The coordinate value setting module 25 generates a ground reference point coordinate system (BX) dedicated to the captured image according to the distortion ratio confirmed by the distortion ratio confirmation module 24. To this end, the coordinate value setting module 25 checks the direction of the captured image, determines the axial direction of the ground reference point coordinate system (BX), and determines the interval between ground reference points to be applied to the captured image.

Subsequently, the coordinate value setting module 25 inputs ground reference points in the latitude direction and longitude direction located in the above intervals with the origin O as the center, and ground reference points along the latitude direction and longitude direction at the previously confirmed distortion rate. By setting the spacing to be adjusted, as shown in Figures 4 and 5, a ground control point coordinate system (BX) consisting of a plurality of latitude and longitude axes connecting the ground control points is arranged in a grid form is completed.

In the ground reference point coordinate system (BX) shown in this embodiment, the distance between ground reference points increases as the distance from the origin (O) increases by the distortion rate confirmed by the distortion rate confirmation module 24.

Subsequently, as shown in FIG. 4, the coordinate value setting module 25 links the ground reference point coordinate value and the captured image coordinate value through linkage between the ground reference point coordinate system (BX) and the captured image coordinate system (AX), thereby arbitrarily It is possible to immediately check which coordinate value of the captured image the ground reference point is located in. Here, the captured image coordinate system (AX) is a known and common technology that is naturally created to determine the output point of the image when the image output module 21 outputs the captured image, and is an image processing system according to the present invention. applies and utilizes the above technology.

Ultimately, since the ground reference point coordinate system (BX) generated by the coordinate value setting module 25 provides an orthophoto processing effect in conjunction with the captured image coordinate system (AX), the operator can select a point (TP) of the captured image or When the ground reference point coordinates of a point (TP) are input, the captured image coordinate system (AX) associated with the point (TP) is immediately confirmed and output.

Therefore, in order to process orthoimages of captured images, the ground control points in the captured images can be corrected to correspond to the coordinates of the captured images without having to calculate them individually through complex relational expressions, etc., and through this, the captured images captured during aerial photography can be processed in real time. It can be processed quickly.

S25; Ground reference point coordinate system correction step

The coordinate correction module 27 checks the ground reference point coordinate system (BX) applied to the captured image and compares it with the ground reference point coordinate value of the ground object photographed in the captured image to determine whether there is an error in the ground reference point coordinate system (BX) applied to the captured image. Check .

To explain this in more detail, the coordinate correction module 27 selects the ground object (ST) to be confirmed and provides the first ground reference point coordinate value of the ground object (ST) to be confirmed based on the ground reference point coordinate system (BX). Check the coordinate value (OP1). For reference, the first coordinate value (OP1) is the coordinate value of a point in the ground reference point coordinate system (BX) where the image of the ground object (ST) to be confirmed overlaps.

Subsequently, the coordinate correction module 27 searches the ground reference point DB 11 for the actual ground reference point coordinate value of the ground object (ST) to be confirmed, and applies the searched ground reference point coordinate value to the ground reference point coordinate system (BX) to correct it. Check the target coordinate value (TP2).

Here, since there is a difference in the position of the first coordinate value (OP1) where the ground object (ST) to be confirmed is located and the coordinate value to be corrected (TP2), the coordinate correction module 27 makes an error in the corresponding ground reference point coordinate system (BX). Confirm that there is. In order to correct this error, the coordinate correction module 27, as shown in FIG. 7, sets the 'longitude axis' of the coordinate value to be corrected (TP2) that has a difference in longitude position from the first coordinate value (OP1) to the first coordinate value (OP1). Move it to the ‘longitude axis’ where the coordinate value (OP1) is located. In addition, the coordinate correction module 27 moves other 'longitude axes' configured in the ground reference point coordinate system (BX) to be adjacent to the 'longitude axis' according to the distortion rate applied to the ground reference point coordinate system (BX) (FIG. 7 ( b) Reference), ensure that the ground control point coordinate value of the ground object (ST) to be confirmed is accurately displayed at the corresponding point in the corrected ground control point coordinate system.

In this embodiment, the coordinate value to be modified (TP2) and the first coordinate value (OP1) having only a difference in longitude are exemplified, but in addition, there may be only a latitude difference (OP2), or there may be a difference in both longitude and latitude ( OP3).

FIG. 8 is a diagram sequentially illustrating the orthoprocessing process of a captured image performed in an image processing system according to an embodiment of the present invention, and FIG. 9 is a view showing a photograph formed when the image processing system is driven according to an embodiment of the present invention. It is a diagram illustrating geometry, and FIG. 10 is a diagram showing the relationship between the coordinate value of a captured image formed when driving an image processing system according to an embodiment of the present invention and the shooting direction vector u, and FIG. 11 is an embodiment of the present invention. This is a graph showing how distortion of a captured image is corrected in an image processing system according to an example.

S30; Reference point selection stage

During aerial surveying, the imaging device 30 mounted on the aircraft measures the ground in real time and stores it in the image DB 12, and the image output module 21 outputs a captured image of the orthocorrection target area. In addition, the GNSS module 26 measures the current shooting position of the aircraft in real time and links it to the captured image.

Next, the operator selects a reference point from the captured image output to the image output module 21, and the relational expression calculation module 23 receives and confirms this input.

Aerial images are usually saved as files after going through a scanning process. Since the images saved as files through the scanning process do not have ground coordinate values, they are easily identifiable points such as road intersections, bridges, etc. The peaks of waterways or road bends and mountain peaks are determined as reference point coordinates (xa,ya).

For reference, the operator operates the image control module 22 to select the reference point within the captured image being output to the image output module 21, and the relational expression calculation module 23 receives and confirms the reference point.

S40; Ground control point search stage

The operator selects a reference point in the captured image, searches the ground reference point DB (11) for (Px, Py, Pz), which is the ground reference point coordinate value corresponding to the selected point, and enters the corresponding input field provided by the aerial surveying system according to the present invention. Enter the ground reference point (not shown).

Since the aerial survey process aims to update the background image of the existing digital map, the ground control point corresponding to the reference point selected by the operator in the captured image can be immediately confirmed.

S50; First operation step

The step of determining the six facial expression elements can be said to be the step of performing the internal and external facial expressions of the captured image.

Internal expression corrects the distortion inherent in the aerial photo itself.

For reference, images taken of the ground from an aircraft are distorted by various factors such as camera characteristics, atmospheric refraction, and the curvature of the Earth. Due to this distortion, the point that should have the corrected coordinate value of (xa', ya') when there is no distortion on the captured image has the coordinate value of (xa, ya) due to the distortion. In this way, internal facial expression is rearranged from each coordinate value (xa, ya) of the captured image with distortion into new corrected coordinate values (xa', ya') with the distortion corrected.

Meanwhile, the external expression calculates the 6 expression elements (ω, Φ, ψ, Sx, Sy. Sz), which are unknown unknowns during aerial photography, from the ground reference point, and calculates the reference point coordinate value of the captured image whose distortion has been corrected through the internal expression. Establish the relationship between (xa', ya') and the corresponding ground reference point coordinate values (Px, Py, Pz).

In the present invention, there is no need to separately perform internal facial expression to produce an orthoimage with correction of distortion. Therefore, a new modified collinear condition equation including the internal expression is established and the six expression elements are calculated from the modified collinear condition equation.

For reference, orientation elements are elements that determine the position and posture of the camera required for facial expressions in aerial photos, and are composed of the components of the baseline and the angle of rotation around the baseline.

As can be seen in Figure 9, the relationship between the vector representing the position of the aircraft at the center of the Earth, the vector representing the position of the ground reference point captured from the center of the Earth, and the vector representing the shooting direction can be expressed as [Equation 1] below: there is.

[Equation 1]

Here μ is an arbitrary scale variable. In [Equation 1] above, and is expressed in an earth-centered coordinate system, is expressed by a photographic coordinate system as shown in Figure 10. In order to fit vectors with different coordinate systems into the same coordinate system, rotation matrices in the x, y, and z directions must be defined, and this rotation matrix M is as follows.

[Equation 2]

Here, ω, Φ, and Ψ represent rotation angles in the x, y, and z directions.

also, As shown in FIG. 10, can be determined by [Equation 3] by (xa,ya), which is the coordinate value of the captured image, and the focal length f.

[Equation 3]

However, when taking pictures, distortion caused by the lens, distortion due to the curvature of the Earth, and distortion in the atmosphere occurs.

This amount of distortion (δr) is the distance from the center of the captured image ( ), and [Equation 3] can be rewritten as follows.

[Equation 4]

Here, the amount of distortion δr is defined as follows.

[Equation 5]

Here, △r1 represents the distortion of the lens, △r2 represents the distortion due to the curvature of the Earth, and △r3 represents the distortion due to the refraction of the atmosphere. These values are values defined by the height of the aircraft and the characteristics of the photographing device 30 (refractive index of the lens, focal length, etc.), and since the solution can generally be easily obtained in photogrammetry, a detailed explanation thereof is omitted. do.

[Equation 1] can be expressed as follows from [Equations 2 and 4].

[Equation 6]

Here, m11 to m33 are elements of M.

[Equation 6] is obtained from the imaging geometry of the aircraft, and since μ is an unknown unknown, μ can be expressed as follows by canceling μ.

[Equation 7]

[Equation 8]

[Equation 7] and [Equation 8], which are the relational expressions calculated by the relational expression calculation module 23 through the above-described procedure, are distortion-corrected coordinate values (xa', ya') = (xa(1-δr), It is defined as a modified collinear condition equation as a relational expression expressing the relationship between ya(1-δr)) and the coordinate values (Px, Py, Pz) of the ground reference point.

Using the modified collinear condition equation [Equations 7 and 8], internal expression for correcting the distortion of the captured image and external expression for applying the ground reference point coordinate value to the reference point coordinate value of the captured image can be performed simultaneously.

By substituting the coordinate values (xa, ya) of the captured image, the coordinate values of the corresponding ground reference point (Px, Py, Pz), and the amount of distortion obtained from the coordinate values (xa, ya) of the captured image into the modified collinear condition equation, , six facial expression elements (ω, Φ, ψ, Sx, Sy. Sz) are calculated.

Since there are 6 unknowns in the 6 facial expression elements, 6 equations are needed. Therefore, the coordinate values (xa, ya) of the captured image and the coordinate values (Px, Py, Pz) of the corresponding ground reference point need to be at least 3 points. Typically, 5 or 6 points are used as the coordinate value. The process of calculating the six facial expression elements uses the method used in the bundle block adjustment method commonly applied in aerial surveying.

For reference, the luminous flux adjustment method is a representative georeferencing method that determines the external expression elements of multiple overlapping images.

The first operation step (S50) of producing the orthoimage is to convert an aerial photo by central projection into an orthoimage by orthogonal projection. In other words, the deviation caused by central projection is removed. The production of orthophotos is closely related to external facial expressions. This is because the production of an orthophoto image involves transferring the coordinate values (xa, ya) of the centrally projected captured image to the coordinate values (xb, yb) of the orthoprojected image. In other words, the coordinate values (xa, ya) of each captured image are obtained from the coordinate values (Px, Py, Pz) of the ground reference point using the modified collinear condition, and the coordinate values (xa, ya) of each captured image are An orthoimage is produced by extracting the brightness value (Brightness Value or Digital Number) and assigning the extracted brightness value to each orthoimage coordinate value (xb, yb). Since the captured image scanned and stored in the image DB 12 has coordinate values (xa, ya) and corresponding brightness values, the coordinate values (xa, If ya) is obtained, an orthophoto can be easily produced.

S60; Second operation stage

When the relational calculation module 23 calculates the 6 facial expression elements through the first calculation step (S30), the unknowns in the modified collinear condition equation [Equations 7 and 8] are taken with the ground reference point coordinate values (Px, Py, Pz). Image coordinate values (xa, ya).

Here, the coordinate value of the ground reference point is confirmed through a search of the ground reference point DB (11), which is digital elevation data. Therefore, the actual unknowns become the coordinate values (xa, ya) of the captured image. However, (1-δr) on the left side of the modified collinear condition equation is a function related to r (distance from the photo origin) (see [Equation 5]), and r is also a function related to xa and ya. Therefore, the solution cannot be found using simple methods.

Therefore, in order to simplify the calculation process, the relational expression calculation module 23 of the present invention uses the r-f(r) table.

If both sides of [Equation 7] and [Equation 8] are squared and added, the following equation is derived.

[Equation 9]

[Equation 10]

Here, U1, U2, and U3 are defined as follows, and f(r) is the distance from the origin in the photo in which internal expression has been performed and distortion has been corrected ( ).

[Equation 11]

[Equation 12]

[Equation 13]

In [Equation 9] above, As mentioned above, since is a value defined by the characteristics of the camera and the altitude at the time of shooting, it is possible to easily calculate the value of f(r) for r for the captured image, which is calculated as rf as shown in [Figure 11]. (r) Can be converted into a table. For example, regarding the method of calculating r from f(r) with reference to [FIG. 11], if ground reference point coordinate values (Px, Py, Pz) are given, using the ground point, [Equation 11, 12 and 13], calculate U1(Px, Py, Pz), U2(Px, Py, Pz), and U3(Px, Py, Pz), and calculate f(r) using [Equation 9] . As shown in [Figure 11], if f(r)=120, find the value of r=122.037 using the table of r and f(r). Using the above method, f(r) can be obtained for all desired ground points and the r value corresponding to f(r) can be easily found.

Additionally, since f(r)/r=1-δr, [Equation 7] and [Equation 8] can be re-expressed as follows.

[Equation 14]

[Equation 15]

[Equation 14] and [Equation 15] are substantially the same as [Equation 7] and [Equation 8].

Therefore, when the ground reference point coordinates (Px, Py, Pz) are entered through digital elevation data, the f(r) value is determined, the r value is determined from f(r) determined through the r-f(r) table, and the corrected collinear The coordinate values (xa, ya) of the distorted aerial image are easily and quickly calculated from the conditional expression ([Equation 7, 8] or [Equation 14, 15]).

When the coordinate values (xa, ya) of the aerial image are extracted in this way, the brightness value contained in the coordinate values (xa, ya) of the captured image is assigned to the coordinate values (xb, yb) of the orthophoto image. This process is performed for all coordinates, ultimately obtaining an orthoimage of the desired area. For reference, it can be said that the captured image coordinate values (xa, ya) of the orthoimage coordinate values (xb, yb) correspond to the ground reference point coordinate values (Px, Py) of digital elevation data.

Figure 12 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention, and Figure 13 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention. This is a diagram illustrating a state in which the image acquisition position is determined, and Figure 14 is a diagram showing the overall appearance of the aerial photography guidance device according to an embodiment of the present invention.

As shown, the aerial photography guidance device 40 includes a base 100 installed on the ground, a first vertical support 200 and a second vertical support 300 installed upright on the top of the base 100. ), an absorption connection unit 400 that connects the first vertical support 200 and the second vertical support 300 and cushions the shock transmitted to the first vertical support 200 and the second vertical support 300, The horizontal support 600 installed horizontally on the upper part of the first vertical support 200 and the second vertical support 300, the detachable fastening part 700 mounted on the upper part of the horizontal support 600, and the base 100. It includes a bird extermination unit 500 installed on one side. The position indication block 41 is coupled to the upper part of the detachable fastening part 700.

The aerial photography guidance device 40 functions to allow the acquisition of captured images through the aerial photography device 30 to proceed at a designated location based on a preset filming reference point. Accordingly, the aerial photography guidance device 40 It is installed and matched for each shooting reference point.

When acquiring a photographed image, the aerial photographing device 30 performs photographing at a predetermined altitude under the condition that all position marking blocks 41 of the aerial photographing guidance device 40 are within the photographing range.

Figure 15 is a cross-sectional view of a detachable fastening portion according to an embodiment of the present invention.

The detachable and fastening part 700 according to the present invention is mounted on the upper part of the horizontal support 600, and the position indicating block 41 is coupled to the upper part of the detachable and fastening part 700. The detachable fastening part 700 can easily attach and detach the position indication block 41.

Specifically, the detachable and fastening portion 700 is coupled to the upper part of the horizontal support 600 and has an accommodating space 711 formed therein, and is based on the accommodating space 711 of the detachable case 710. A detachment depression 712 formed in the upper surface, a detachment motor 730 coupled to the inner top of the detachment recess 712, and a detachment motor 730 coupled to the lower part of the detachment motor 730 and used for the operation of the detachment motor 730. A detachable gear 731 that can rotate horizontally, a detachable spring 732 coupled to the lower part of the detachable gear 731, and a detachable spring 732 that is coupled to the lower part of the detachable spring 732 and moves up and down by the elastic restoring force of the detachable spring 732. A movable detachable lifting part 720, a detachable insertion part 740 that can be inserted and fastened into the receiving space 711 of the detachable case 710, and a depression are formed on the lower surface of the detachable insertion part 740, and a detachable lifting part ( 720 includes an elevator entry section 742 that can be entered by descending.

The detachable case 710 has an accommodating space 711 formed therein and has a 'L' shaped cross section, and can be divided into an upper surface and a lower surface based on the accommodating space 711.

The detachable recessed portion 712 is disposed at the upper part of the receiving space 711, and the removable recessed portion 712 includes a detachable motor 730, a detachable gear 731, a detachable spring 732, and a detachable lifting part 720. can be accepted. The detachable lifting part 720 is accommodated inside the detachable depression 712 when it ascends, and is separated from the detachable depression 712 when it descends.

When the detachment motor 730 operates, the detachment gear 731 can rotate horizontally clockwise or counterclockwise, and the detachment spring 732 can also rotate according to the rotation of the detachment gear 731. When the detachable spring 732 rotates, the detachable lifting part 720 coupled to its lower end can also rotate.

The detachable spring 732 connects the detachable gear 731 and the detachable lifting part 720 and provides elastic restoring force to the detachable lifting part 720. The detachable lifting part 720 is normally lowered by the elastic restoring force of the detachable spring 732.

A lifting slope 721 having a predetermined inclination angle is formed on one side of the detachable lifting part 720. Due to the lifting slope 721, the detachable lifting part 720 has a cross-section in the shape of a right triangle.

The detachable insertion part 740 can be inserted and fastened into the receiving space 711 of the detachable case 710, and a position indicating block 41 is coupled to the upper part of the detachable insertion part 740. The detachable insertion portion 740 may be divided into a lower surface inserted into the receiving space 711 and an upper surface placed on the top of the detachable case 710 when inserted.

The lifting and lowering entry part 742 is formed on the lower surface of the detachable insertion part 740, and when the detachable insertion part 740 is inserted into the receiving space 711 of the detachable case 710, the detachable and lifting part 720 You can descend and enter the elevator entry section 742.

An insertion inclined surface 741 is formed at the front end of the lower surface of the detachable insertion part 740 and has an inclination angle corresponding to the ascending and descending slope surface 721 of the detachable and elevating part 720.

As the detachable insertion part 740 enters the detachable case 710 from the rear to the front, the insertion inclined surface 741 contacts the elevating incline surface 721 to push up the elevating incline surface 721, and the detachable elevating part 720 rises. The raised detachable lifting part 720 is lowered by the detachable spring 732 at the point where the lifting entering part 742 is located and is inserted into the lifting entering part 742.

A detachment stopper 750 is further coupled to the inner front of the lifting and lowering entrance portion 742. The detachment stopper 750 is disposed on the detachment slope 751 and the lower part of the detachment slope 751, which are arranged to have a predetermined inclination angle from the inner top of the elevating entrance part 742, and are placed on the bottom of the elevating entrance part 742. It includes a detachment height surface 752 that is perpendicular to and contacts the detachment and elevation part 720 that enters.

Normally, the detachable lifting part 720 is lowered by the elastic force of the detachable spring 732. As the detachable insertion part 740 enters the detachable case 710 from the rear to the front, the insertion inclined surface 741 contacts the lifting and lowering slope surface 721 to raise the detachable and lowering part 720. At this time, as in the illustrated embodiment, the lifting slope 721 is arranged to face rearward.

As shown, when the detachable insertion part 740 enters the front and the detachable elevating part 720 is located at the elevating entry part 742, the detachable elevating part 720 is lowered by the elastic force of the detachable spring 732. It is inserted into the elevator entry part 742. Accordingly, the detachable insertion part 740 can be fastened to the detachable case 710.

At this time, the detachment height surface 752 of the detachment stopper 750 contacts and supports the front of the detachable lifting part 720, so the detachable insertion part 740 cannot be separated to the rear and remains fastened.

When the detachable insertion part 740 is to be separated from the detachable case 710, the detachable motor 730 operates to rotate the detachable gear 731, and the detachable spring 732 and the detachable lifting part 720 rotate 180 degrees. It rotates. At this time, the lifting slope 721 is arranged to face forward.

When the detachable insertion part 740 moves rearward, the elevating slope 721 comes into contact with the detachment incline surface 751 of the detachment stopper 750 and goes over the detachment incline surface 751, and the detachable elevating part 720 It rises. When the detachable lifting part 720 is raised, the detachable insertion part 740 can be separated from the detachable case 710, and the position indicating block 41 is separated.

Figure 16 is a view showing each part of the absorption connection unit disassembled according to an embodiment of the present invention, and Figure 17 is a diagram schematically showing the absorption connection unit combined according to an embodiment of the present invention. It is a drawing.

The absorption connection unit 400 alleviates the impact transmitted to the first vertical support 200 and the second vertical support 300 and simultaneously connects the first vertical support 200 and the second vertical support 300. . Additionally, the absorption connection unit 400 can rotate and adjust its length on its own to prevent damage.

The absorption connection unit 400 is detachably coupled to both sides of the absorption base portion 410 and the absorption base portion 410 disposed between the first vertical support 200 and the second vertical support 300, and has a length. A pair of variable first connection parts 420, a pair of second connection parts 430 that are each detachably coupled to the pair of first connection parts 420, and one side part is each detachable to the pair of second connection parts 430. The other side portion includes a pair of column brackets 440 that are detachably coupled to the first vertical support 200 and the second vertical support 300.

The absorption base portion 410 includes a pair of absorption base plates 411 spaced apart from each other, a fastening lever 412 for fastening the pair of absorption base plates 411, and a pair of absorption base plates on one side ( 411) and includes a pair of connector parts 413 that are rotatably coupled to the other side and are detachably coupled to the first connection part 420.

A plate hole 411a is provided in the pair of absorbent base plates 411 of the absorbent base portion 410 to allow the connector ball 413a of the connector portion 413 to rotate smoothly. The plate hole 411a is provided at a position corresponding to the connector ball 413a, and a pair of plate holes 411a are provided to be spaced apart from each other on the absorption base plate 411 disposed at the upper portion, and a pair of plate holes 411a are provided to be spaced apart from each other at the absorption base plate 411 disposed at the lower portion. It can be.

The lower end of the fastening lever 412 of the absorbent base portion 410 is screwed to the absorbent base plate 411 disposed below, so that the pair of absorbent base plates 411 presses a pair of connector balls 413a. A pair of absorbent base plates 411 can be combined to do so.

One side of the connector portion 413 of the absorbent base portion 410 is rotatably coupled to a pair of absorbent base plates 411, so that when an external force is applied, the absorbent base portion 410 is deformed in position to form the absorbent base portion 410. The impact applied can be alleviated.

The connector portion 413 includes a connector ball 413a rotatably supported in a plate hole 411a provided in a pair of absorption base plates 411, and a connector rod 413b provided on one side of the connector ball 413a. , a connector head 413c provided on the connector rod 413b, a connector bolt 413d provided on the connector head 413c and detachably coupled to the first connection portion 420, and a connector provided on the outer wall of the connector ball 413a. It includes a first packing member 413e that prevents the ball 413a from being separated from the pair of absorbent base plates 411 and provides frictional force.

The connector bolt 413d of the connector portion 413 may be detachably screwed into a screw groove provided in the first connection body 421 of the first connection portion 420. The first packing member 413e of the connector portion 413 may be provided to be located in the center of the plate hole 411a and the center of the connector ball 413a.

One side of the first connection portion 420 may be detachably coupled to the connector portion 413 and the other side may be detachably coupled to the second connection portion 430 . When an external force is applied to either the adjacent first vertical support 200 or the second vertical support 300, the first connection part 420 has a variable length to reduce the external force, and the absorption base part 410 ) can reduce the transmission of shock.

The first connection part 420 includes a first connection body 421 that is detachably coupled to the connector bolt 413d of the connector part 413, and a connection spring member 422 provided inside the first connection body 421. And a first connection bar 423, one side of which is supported by the connection spring member 422 and the other side of which is detachably coupled to the second connection part 430.

The first connection body 421 is provided with a cut hole 421a to reduce the frictional force with the connection spring member 422, so that the connection spring member 422 can be easily expanded and contracted.

One end of the first connection bar 423 is screwed to the second connection body 431 of the second connection part 430, and the other end is connected to the first connection body 421 inside the first connection body 421. It can be arranged to move in the longitudinal direction. As a result, when an external force is applied to the adjacent first vertical support 200 and the second vertical support 300, the first connection body 421 can be moved in the right direction, and at this time, the connection spring member 422 expands. do. And in this embodiment, a stopper protrusion is provided on the first connection bar 423 to prevent the first connection bar 423 from being separated from the first connection body 421.

One side of the second connection portion 430 may be detachably coupled to the first connection portion 420 and the other side may be detachably coupled to the pillar bracket 440. When an external force is applied to one of the adjacent first vertical support 200 and the second vertical support 300, the second connection part 430 has a variable angle to reduce the external force, and the absorption base part 410 ) can reduce the transmission of shock.

At this time, the absorption base unit 410 is provided so that the connector ball 413a rotates on the pair of absorption base plates 411, so that the impact can be alleviated and is transmitted from the second connection unit 430 to the absorption base unit 410. The impact can also be reduced by varying the length of the first connection part 420 and expanding and contracting the connection spring member 422.

The second connection portion 430 is connected to a second connection body 431 that is detachably coupled to the first connection bar 423, a connection rod 432 provided on the second connection body 431, and a connection rod 432. A connection ball 433 is provided and detachably coupled to the column bracket 440, and is provided on the outer wall of the connection ball 433 to prevent the connection ball 433 from being separated from the pair of bracket flanges 441 and to provide friction. Includes a second packing member 434.

The connection ball 433 of the second connection portion 430 is supported by the convex portion 442 provided on the pair of bracket flanges 441 and can rotate smoothly.

The pillar bracket 440 is coupled to the first vertical support 200 and the second vertical support 300, respectively, and may serve as a connection location for the second connection part 430. A pair of bracket flanges 441 are provided on one side of the column bracket 440 and spaced apart from each other, and the pair of bracket flanges 441 are fastened and connected by a coupling member 443 made of a nut and a bolt. The position of the ball 433 can be fixed.

The pillar bracket 440 is provided with a plurality of bracket holes 444 to reduce the weight of the pillar bracket 440.

Figure 18 is a diagram showing the overall appearance of the bird repelling unit according to an embodiment of the present invention, and Figure 19 is a diagram showing the appearance of the first bird repelling unit according to an embodiment of the present invention.

The bird extermination unit 500 is provided on the upper part of the base 100 and can block the approach of birds by irradiating diffused light, excluding lasers, ultrasonic waves, and lasers, to birds approaching the position indicating block 41.

As shown, the bird repelling unit 500 is provided to rotate on the repelling base portion 510 provided on the base 100, the repelling connecting portion 520 provided on the base, and the repelling connecting portion 520, and is provided with ultrasonic waves and It includes a laser and a bird repelling unit 530 that blocks the approach of birds by generating diffused light excluding the laser.

The repellent base unit 510 includes a pair of first frames 511, a pair of first motors 512 each coupled to the pair of first frames 511, and a pair of first frames 511. A second frame 513 coupled to move, a second motor 514 coupled to the second frame 513, a third frame 515 coupled to the second frame 513, and a third frame 515. It includes a frame housing 516 that is detachably coupled to a support post 517, one side of which is coupled to the frame housing 516, and the other side of which is coupled to the repulsion connection portion 520.

The pair of first frames 511 may be detachably coupled to the upper surface of the base 100 with bolts or screws.

The pair of first motors 512 are connected to a screw shaft provided to rotate on a pair of first frames 511, and a second frame 513 is connected to this screw shaft. can be moved in the forward and backward directions.

The second motor 514 is connected to a screw shaft provided to rotate in the second frame 513, and a third frame 515 is connected to this screw shaft so that the third frame 515 can be moved in the left and right directions. You can.

That is, the second frame 513 and the third frame 515 can be moved in directions orthogonal to each other, and the second frame 513 and the third frame 515 are detected by a detection sensor (not shown). It can be activated, and the detection sensor can be designed to detect the approach of a bird when the bird approaches within a preset distance.

The repelling connection portion 520 is coupled to the support post 517 of the repelling base portion 510 and can be moved in the same direction as the second frame 513 and the third frame 515, and the bird repelling portion 530 ) can be rotated clockwise or counterclockwise.

The repellent connection part 520 includes a connection frame 521 that is detachably coupled to the support post 517, a plurality of connection posts 522 on one side of which are coupled to the connection frame 521, and an upper part of the plurality of connection posts 522. A rotation support body 523 that is coupled to support the retraction rotation body 531 to be rotated, and a first drive motor that is coupled to the rotation support body 523 to rotate the retraction rotation body 531 clockwise or counterclockwise ( 524).

The connection frame 521 may be detachably coupled to the support post 517 with bolts or screws.

The first drive motor 524 is rotatably coupled to the repelling rotating body 531 of the bird repelling unit 530 and can horizontally rotate the repelling rotating body 531 clockwise or counterclockwise.

The bird repelling unit 530 is provided in the repelling connection unit 520 and can block access of birds by generating ultrasonic waves, lasers, and diffused light excluding lasers.

The bird repelling unit 530 includes a repelling rotating body 531 that is rotatably coupled to the repelling connection portion 520, an ultrasonic wave that is coupled to the repelling rotating body 531 in parallel with the base 100 to block access of birds, and A laser and a first bird repelling unit (532) that generates diffused light excluding the laser, ultrasonic waves and a laser that are coupled to the repelling rotating body (531) perpendicular to the first bird repelling unit (532) to block the approach of birds. It includes a second bird repelling unit 533 that generates diffused light excluding a laser.

The repulsion rotation body 531 includes a rotation base 531a rotatably coupled to the rotation support body 523, and a pair of rotation posts 531b provided perpendicular to the rotation base 531a on both sides of the rotation base 531a. ) includes.

A rotation shaft is provided on the bottom of the rotation base 531a, and this rotation shaft is rotatably coupled to a bearing provided in the rotation support body 523 and is connected to the first drive motor 524 through a connection means such as a coupling. can be rotated.

The first bird repelling unit 532 is vertically coupled to a pair of rotating posts 531b and can irradiate birds with diffused light, excluding ultrasonic waves and lasers.

The first bird repelling unit 532 is coupled to the rotating post (531b) to be connected to the repelling drive motor (532a) and the repelling driving motor (532a) coupled to the upper part of the rotating post (531b) in a clockwise or counterclockwise direction. A first repelling connection bar (532b) that rotates, a first algae repelling body (532c) that is coupled to the first repelling connection bar (532b) and rotates with the first repelling connection bar (532b), and a first algae repelling body ( A first laser irradiation unit 532d provided in 532c) to irradiate a laser to birds, and a first ultrasonic wave generator 532e provided in the first bird repelling body 532c to be spaced apart from the first laser irradiation unit 532d to generate ultrasonic waves to birds. ), a first light irradiation unit (532f) provided on the first bird repelling body (532c) to be spaced apart from the first ultrasonic wave generator (532e) and irradiating light other than the laser to the birds, an area where the first light irradiation unit (532f) is provided It includes a first solar cell (532g) provided in the first algae extermination body (532c).

The repulsion drive motor 532a and the first repulsion connection bar 532b may be connected through a connection means including a coupling.

The first laser irradiation unit 532d can irradiate a green laser to birds.

The first ultrasonic wave generator 532e emits ultrasonic waves (20-50 kHz) that directly affect the bird's brain waves, but the ultrasonic frequency band is randomized every certain time (2-5 seconds) to prevent resistance. can be changed.

In this embodiment, the first ultrasound generator 532e 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.

The first light irradiation unit 532f may irradiate diffused light, excluding the laser, from the bird to avoid the first laser irradiation unit 532d and irradiate the diffused light from the approaching bird. The first light irradiation unit 532f may include an LED and a diffusion plate to diffuse the light emitted from the LED.

A pair of the first bird repelling units 532 are arranged on the same line, and each pair is rotatably coupled to each other to prevent birds from approaching from the side.

The second bird repelling units 533 are each coupled perpendicularly to the rotating base 531a and can irradiate diffused light, excluding ultrasonic waves and lasers, to birds.

The second bird repelling unit 533 is provided on an elevating cylinder 533a coupled to the rotating base 531a, a second bird repelling body 533b coupled to the cylinder, and a laser laser for birds. A second laser irradiation unit (533c) that irradiates, a second ultrasonic wave generator (533d) that is provided on the second bird repelling body (533b) to be spaced apart from the second laser irradiation unit (533c) and generates ultrasonic waves to birds. A second light irradiation unit 533e is provided in the second bird repelling body 533b to be spaced apart from the unit 533d and irradiates light other than a laser to the birds, and a second bird repelling body in the area where the second light irradiation unit 533e is provided. It includes a second solar cell (533f) provided in (533b).

The lifting cylinder 533a is provided to be raised and lowered in the height direction of the repellent connection part 520, so that it can irradiate the irradiated laser or the irradiation height of light excluding the laser.

The second laser irradiation unit 533c can irradiate green laser to birds.

The second ultrasonic wave generator (533d) emits ultrasonic waves (20-50 kHz) that directly affect the bird's brain waves, but the ultrasonic frequency band is randomized every certain time (2-5 seconds) to prevent resistance. can be changed. In this embodiment, the second ultrasound generator 533d 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.

The second light irradiation unit 533e can irradiate diffused light, excluding the laser, at the bird, avoiding the second laser irradiation unit 533c, and irradiate the diffused light at the approaching bird. In this embodiment, the second light irradiation unit 533e includes an LED and may include a diffusion plate to diffuse the light emitted from the LED.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is commonly known in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be clear to those who have the knowledge of.

40: Aerial photography guidance device 41: Position display block 42: Main control unit
43: Main communication module 100: Base 200: First vertical support
300: Second vertical support 400: Absorption connection unit 410: Absorption base unit
411: Absorption base plate 411a: Plate hole 412: Fastening lever
413: Connector portion 413a: Connector ball 413b: Connector rod
413c: Connector head 413d: Connector bolt 413e: First packing member
420: first connection part 421: first connection body 421a: cut hole
422: Connection spring member 423: First connection bar 430: Second connection part
431: Second connection body 432: Connection rod 433: Connection ball
434: Second packing member 440: Column bracket 441: Bracket flange
442: Convex portion 443: Coupling member 444: Bracket hole
500: Bird repelling unit 510: Repelling base unit 511: First frame
512: 1st motor 513: 2nd frame 514: 2nd motor
515: Third frame 516: Frame housing 517: Support post
520: Repellent connection 521: Connection frame 522: Connection post
523: Rotation support body 524: First drive motor 530: Bird extermination unit
531: Repellent rotating body 531a: Rotating base 531b: Rotating post
532: First bird repelling unit 532a: Repelling drive motor 532b: First bird repelling connection bar
532c: First bird repelling body 532d: First laser irradiation unit 532e: First ultrasonic wave generator
532f: 1st light irradiation unit 532g: 1st solar cell 533: 2nd algae extermination unit
533a: Elevating cylinder 533b: Second bird repelling body 533c: Second laser irradiation unit
533d: second ultrasonic wave generation unit 533e: second light irradiation unit 533f: second solar cell
600: Horizontal support 700: Removable fastener 710: Removable case
711: Accommodation space 712: Detachable depression 720: Detachable lifting part
721: Elevating slope 730: Detachable motor 731: Detachable gear
732: Detachable spring 740: Detachable insertion part 741: Insertion slope
742: Elevation entrance 750: Detachment stopper 751: Detachment slope
752: If you increase the attachment and detachment

Claims (1)

An image output module that outputs a captured image while operating according to control values, and operates by applying a captured image coordinate system in which multiple X and Y axes are arranged in a grid so that the coordinates of each point in the captured image can be checked;
An image control module that generates control values for controlling the operation of the image output module and transmits them to the image output module;
GNSS module that determines the aircraft's current position in GNSS coordinates;
A relational calculation module that calculates ground reference point coordinates with captured image coordinates;
The input coordinate values of two or more ground reference points are transmitted to the relational calculation module to be calculated as the captured image coordinate value, the location of the captured image coordinate value received from the relational calculation module is checked based on the captured image coordinate system, and the origin of the captured image coordinate system is confirmed. The first distance, which is the distance between the coordinate values of the captured image, is calculated for each point, and the second distance, which is the distance between the ground reference point coordinate value of the origin confirmed in the GNSS module and the input ground reference point coordinate value, is calculated for each point. The distance difference between the confirmed second distance and the confirmed first distance for each point is checked for each point based on the second distance to check whether the first distance difference is greater than the second distance difference for each point, and the first distance difference for each point is checked. A distortion rate confirmation module that checks the distortion rate, which is the increase or decrease rate of;
Set the ground control point along the latitude and longitude directions centered on the origin, check the interval between ground control points that changes with the distortion ratio, set the location of the ground control point in the captured image, and set multiple latitude axes and longitude lines connecting the set ground control points. A coordinate value setting module that generates a ground reference point coordinate system in which axes are arranged in a grid, and links the ground reference point coordinate system and the captured image coordinate system so that the captured image coordinate values corresponding to the ground reference point coordinate values are linked; and
Select the ground object to be confirmed in the captured image, check the first coordinate value of the ground control point coordinate system where the image of the object to be confirmed overlaps, search the ground control point DB for the actual ground control point coordinate value of the ground object to be confirmed, and apply it to the ground control point coordinate system. Check the coordinate value to be modified, move the longitude axis and latitude axis corresponding to the coordinate value to be modified to become the longitude axis and latitude axis corresponding to the first coordinate value, and move the neighboring longitude axis and latitude axis based on the moved longitude axis and latitude axis. A coordinate correction module that applies to captured images by modifying different longitude and latitude axes to be arranged according to the distortion ratio; Including,
An aerial photography device that transmits captured images to the image output module; and an aerial photography guidance device installed at the filming reference point so that the task of acquiring the photographed image through the aerial photography device can be carried out at a determined location based on the preset filming reference point; It further includes,
The aerial photography guidance device,
A foundation installed on the ground; First vertical supports and second vertical supports installed upright on the upper part of the base; An absorption connection unit connecting the first vertical support and the second vertical support and cushioning the shock transmitted to the first vertical support and the second vertical support; A horizontal supporter installed horizontally on the upper part of the first vertical supporter and the second vertical supporter; A detachable fastening part mounted on the upper part of the horizontal support; A position indicator block coupled to the upper part of the detachable fastener; and a bird extermination unit installed on one side of the foundation; Including,
The detachable fastening part,
A detachable case coupled to the upper part of the horizontal support and having a receiving space therein; A detachable depression formed in the upper surface based on the accommodation space of the detachable case; A detachment motor coupled to the inner top of the detachment depression; A detachment gear that is coupled to the lower part of the detachment motor and can rotate horizontally according to the operation of the detachment motor; A detachment spring coupled to the lower part of the detachment gear; A detachable lifting part coupled to the lower part of the detachable spring and capable of moving up and down by the elastic restoring force of the detachable spring; A detachable insertion portion that can be inserted and fastened into the receiving space of the detachable case; and an elevating entry part that is recessed in the lower surface of the detachable insertion part and allows the detachable elevating part to descend and enter. Including,
A detachment stopper is further coupled to the inner front of the elevating entrance, and the detachment stopper is disposed at the bottom of the detachment slope and the detachment slope arranged to have a predetermined inclination angle from the inner top of the elevating and elevating entrance, and is perpendicular to the bottom surface of the elevating and elevating entrance. It includes a detachment height surface that is in contact with the entered detachment lifting part,
The absorption connection unit is,
An absorption base portion disposed between the first vertical support and the second vertical support; A pair of first connection parts that are detachably coupled to both sides of the absorption base and have variable lengths; a pair of second connectors each detachably coupled to the pair of first connectors; and a pair of column brackets, one side of which is detachably coupled to a pair of second connectors, and the other side of which is detachably coupled to the first vertical support and the second vertical support. Includes,
The absorption base is,
A pair of absorbent base plates spaced apart from each other; A fastening lever for fastening a pair of absorption base plates; and a pair of connector parts, one side of which is rotatably coupled to a pair of absorbent base plates, and the other side of which is detachably coupled to the first connection part; Including,
The connector part,
a connector ball rotatably supported in a plate hole provided in a pair of absorption base plates; A connector rod provided on one side of the connector ball; A connector head provided on the connector rod; And a connector bolt provided on the connector head and detachably coupled to the first connection part; Includes,
The first connection part is,
A first connection body detachably coupled to the connect bolt; A connection spring member provided inside the first connection body; and a first connection bar, one side of which is supported by a connection spring member, and the other side of which is detachably coupled to the second connection part; Including,
When an impact is applied to one of the first and second vertical supports that are close to each other, the absorbing base is rotated by the connector ball and the first connection bar is moved from the first connection body to reduce the impact,
The bird extermination unit is,
A repellent base portion provided on the foundation; A repellent connection part provided at the repellent base; and a bird repelling unit that rotates at the repelling connection and blocks access to birds by generating ultrasonic waves and lasers. Including,
The bird extermination department,
A repellent rotating body rotatably coupled to the repellent connection; A first bird repelling unit that is coupled to the repelling rotating body in parallel with the base and generates ultrasonic waves and lasers to block the approach of birds; and a second bird repelling unit that is coupled to a rotating body perpendicular to the first bird repelling unit and generates ultrasonic waves and lasers to block the approach of birds. Includes,
The first bird eradication department said,
A repulsion drive motor coupled to the upper part of the repulsion rotating body; A first repulsion connection bar coupled to the repulsion rotation body and rotated clockwise or counterclockwise so as to be connected to the repulsion drive motor; A first bird repelling body coupled to the first repelling connection bar and rotating like the first repelling connection 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 the birds; a first light irradiation unit provided in the first bird repelling body to be spaced apart from the first ultrasonic wave generator and irradiating light other than the laser to the birds; and a first solar cell provided on the first algae extermination body in the area where the first light irradiation unit is provided; Including,
The repellent base unit,
A pair of first frames coupled to the base; A pair of first motors each coupled to a pair of first frames; a second frame movably coupled to a 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 on one side of which is coupled to the frame housing and on the other side of which is coupled to the retraction connection. An image processing system capable of precise correction of video images by checking the distortion ratio, which includes a.

Images