KR102630364B1 - Digital map production system for synthesizing digital map by constructing object unit according to reference point setting - Google Patents

Abstract

The present invention relates to a digital map production system, and more specifically, to edit ground information data collected by ground cameras or LiDAR equipment installed on a movable vehicle and video data collected from aircraft photography equipment into video data images, Multiple video data images taken at different locations are combined and edited into one integrated video data image, and the GNSS coordinates and object names for each object image included in the integrated video data image are linked to the collected data to create the video. Characterized by including a data collection device that generates data, setting a reference point that can selectively modify only the object to be updated by deleting or inserting an object image to be newly built or discarded and releasing or adding a link to the corresponding UFID This is about a digital map production system that can synthesize digital maps using an entity-unit construction method.

Description

A digital map production system that can synthesize digital maps by building individual units according to reference point settings.

The present invention relates to a digital map production system, and more specifically, to a digital map production system capable of synthesizing a digital map by building a unit of objects according to reference point settings.

In general, a digital map refers to a map that expresses the geographical and topographic content to be expressed in numbers, such as a chart showing the water depth in numbers, a topographic map showing the relief of the terrain, etc. there is. In other words, a digital map expresses the geographical/topographical characteristics of a specific point as numerical information and applies it to a drawn image.

The process of building a numerical map is completed through several processes as follows. First, the paper map becomes a digital map through digitizing or scanning, and then goes through procedures to correct various input errors.

Subsequently, through coordinate transformation, it is converted into an actual coordinate system to suit the user's purpose, and then a topological structure is established to determine the mutual location and correlation between spatial objects. Afterwards, attribute data related to each geometrical data are entered into the numerical map whose topological structure has been established.

At this time, the above-mentioned attribute data includes various identifier information, and as an example, a feature electronic identifier (UFID: Unique Feature Identifier) is used as an identifier for a feature in a digital map of the National Geographic Information Institute, which is used for a feature. It is a single identifier that represents the assigned location information, management agency, other attribute information, etc. and is uniquely assigned to a geographical feature. It is composed of an organization code, map number, geographical feature identification code, and serial number field, and is used to manage the geographical feature, It is used as an identifier for linking with other geographic information or cross-referencing between geographical features for search and utilization.

The digital maps produced in this way enable faster and more accurate map searches than paper maps, and are superior in terms of information management and usability, allowing them to more effectively support various planning and decision-making.

UFID is a name that combines unique, meaning unique, feature, meaning object, and identifier. It is spatial information given to artificial objects to efficiently manage and utilize spatial information. It means that it is a unique identifier.

Conventionally, the classification of ground objects such as artificial structures uses different unique identification numbers (IDs) from different systems such as Saeumteo, New Address, and statistical spatial information digital maps. This made it difficult to share information between each system, and as a result, management of the same object was overlapping or different areas were occurring. In the end, it was almost impossible to compile the above object-related data into one.

As a result of the Ministry of Land, Transport and Maritime Affairs collecting and analyzing each statistical spatial information, new address, digital map integration, and building integration system data, it was confirmed that the information matching rate decreased significantly depending on the map reduction ratio. In the survey at the time, the information matching rate between each system data was only about 80% on average. This means that even though the same space is displayed, more than 20% of it is expressed differently. In addition, since the same information was built and managed in each individual system, there was an aspect of duplication of investment.

To solve this problem, a technology to collectively manage ground objects using UFID was proposed.

However, when updating the existing digital map due to frequent changes in terrain due to the construction and disposal of ground objects, the UFID of the object subject to new construction or disposal is also performed in real time, but the UFID management process linked to other neighboring objects must be maintained. Therefore, there were difficulties in managing digital map updates through UFID reinforcement.

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, and sets a reference point that can selectively modify only the object to be updated by deleting or inserting the object image to be newly built or discarded and releasing or adding the link of the corresponding UFID. The purpose is to provide a digital map production system that can synthesize digital maps using an entity-based construction method.

In addition, another purpose of the present invention is to provide a digital map production system that can synthesize a digital map through an object-unit construction method according to the setting of a reference point that can accurately digitalize and update only the target image in the digital map. .

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 edit ground information data collected by a ground camera or LiDAR equipment installed on a movable vehicle and video data collected from an aircraft's photography equipment into video data images, and Multiple video data images captured at a location are combined and edited into one integrated video data image, and GNSS (Global Navigation Satellite System) coordinates and object names are collected for each object image included in the integrated video data image. A data collection device that generates image data by linking to; A digital map device that creates a digital map based on video data images edited and produced by a data collection device and updates existing digital map images; A reference device that generates reference point information for numerical mapping of a digital map device; UFID general server that creates and removes UFID for each object by GNSS coordinates; and a UFID management server that searches for the UFID generated by the UFID general server and sets and manages the corresponding object image in the digital map image. It is characterized by including.

In the digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, the UFID management server includes a UFID DB that stores the UFID of objects for each GNSS coordinate as data; Management of retrieving the UFID corresponding to the GNSS coordinates of the new object image received from the link module of the digital map device from the UFID general server and delivering it to the link module, and receiving the UFID corresponding to the GNSS coordinates of the object image to be deleted from the link module. module; and an update module that stores the UFID of the new object image received by the management module in the UFID DB and deletes the UFID of the object image to be deleted stored in the UFID DB; It is desirable to include.

In the digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, the data collection device includes a coupling portion coupled to the upper surface of a movable vehicle; A lifting and lowering control unit provided on one side of the coupling portion; A movable control unit connected to the coupling part and the other side of the lifting control unit to control the inclination and distance; and a ground camera mounted on one side of the movable control unit; It is desirable to include.

In the digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, the coupling portion includes a base body supported on a vehicle; A coupling flange provided at the edge of the base body and provided with a plurality of coupling holes; A base plate disposed on the upper part of the base body and spaced apart from the base body; A guide rail provided on the upper surface of the base plate to guide the movement of the movable control unit; A plurality of ball bodies provided on the upper surface of the base body and having support balls; A plurality of elliptical bodies disposed on top of the plurality of ball bodies and supported by support balls; A plurality of grid supports, one side of which is coupled to the base plate and the other side of which is coupled to the oval body to support the base plate; and a plurality of support lines, one side of which is coupled to a plurality of ball bodies and the other side of which is coupled to a plurality of oval bodies to support the plurality of oval bodies. It is desirable to include.

In a digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, one side of the elevating part is hinged to the base body and the other side is hinged to the base plate to form a base. A first lifting cylinder that elevates the plate; and a second elevating cylinder, one side of which is hinged to the base body and the other side of which is hinged to the base plate to elevate and lower the base plate. It is preferable that the first lifting cylinder and the second lifting cylinder are provided to cross each other.

In the digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, the movable control module includes: an LM guide movably coupled to a guide rail; A support base provided on the upper part of the LM guide; A support cylinder whose one side is coupled to the support base; A cylinder connector coupled to the other side of the support cylinder; A connecting piece on one side of which is rotatably coupled to the cylinder connector; A support plate on one side of which is hinged to the support base and on the other side of which is coupled to the other side of the connecting piece and rotated like the connecting piece; A first support provided on the support plate to support one side of the ground camera; and a second support provided on the support plate to be spaced apart from the first support and supporting the other side of the ground camera. It is desirable to include.

In the digital map production system that can synthesize digital maps by object-unit construction method according to reference point setting according to an embodiment of the present invention, a receiving groove is provided at the support base, and when the ground camera is not supported, a support plate is placed in the receiving groove. is accommodated, and the support plate is provided with a plurality of coupling grooves, and it is preferable that the positions of the first support and the second support can be varied by coupling the first support and the second support to the coupling groove selected from the plurality of coupling grooves. do.

According to an embodiment of the present invention, a digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting includes a variable pressurizing part that is lifted and lowered and coupled to the base body to pressurize the base body to the vehicle; It is desirable to further include.

In the digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention, the variable part includes: a pressure body disposed in the body groove of the base body and having a semicircular shape; A connection body whose one side is provided on the pressurizing body and whose other side is screwed to the base body; and a rotating part disposed on the upper part of the base body and provided on the connection body to rotate the connection body. It is desirable to include.

The present invention having the above configuration has the effect of selectively modifying only the object to be updated by deleting or inserting the object image to be newly built or discarded and releasing or adding the link of the corresponding UFID.

In addition, the present invention can easily update only those parts in which changes have been confirmed in the digital map, and this has the effect of enabling rapid update processing for the digital map.

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.
Figure 1 is a block diagram illustrating each configuration of a digital map production system capable of synthesizing a digital map by object-unit construction method according to reference point setting according to an embodiment of the present invention.
Figure 2 is a diagram showing a video data image to be processed by a digital map production system according to an embodiment of the present invention.
Figure 3 is a numerical diagram in section units based on video data images according to an embodiment of the present invention.
Figure 4 is a perspective view showing the installation of a reference device for displaying precise object positions in a digital map production system according to an embodiment of the present invention.
Figure 5 is an exploded perspective view of a reference device according to an embodiment of the present invention.
Figure 6 is a diagram showing how the digital map production system according to an embodiment of the present invention displays a distance standard for comparing digital map images before and after change.
Figure 7 is a diagram showing how the digital map production system according to an embodiment of the present invention compares digital map images before and after change to confirm an updated object.
Figure 8 is a diagram showing how the digital map production system according to an embodiment of the present invention adjusts the arrangement position to match the objects of the digital map image after the change to the objects of the digital map image before the change.
Figure 9 is a diagram showing how the digital map production system according to an embodiment of the present invention displays an effective range on an object of a digital map image.
Figure 10 is a diagram showing how the digital map production system according to an embodiment of the present invention separates and updates objects in sections from the digital map image.
Figure 11 is a diagram showing the overall appearance of a data collection device equipped with a ground camera according to an embodiment of the present invention.
Figure 12 is a diagram schematically showing the configuration of a coupling part and a lifting control part according to an embodiment of the present invention.
Figure 13 is a perspective view showing the movable control unit according to an embodiment of the present invention.
Figure 14 is a diagram showing the operation of the movable control 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 each configuration of a digital map production system capable of synthesizing a digital map using an entity-based construction method according to reference point setting according to an embodiment of the present invention, and Figure 2 is an embodiment of the present invention. It is a diagram showing an image data image to be processed by a digital map production system according to , and FIG. 3 is a diagram illustrating a numerical diagram in sections based on the image data image according to an embodiment of the present invention.

The digital map production system of this implementation includes ground information data collected by a ground camera 200 or LiDAR equipment installed on a movable vehicle 100, and aerial photos collected from photography equipment such as a digital camera of an aircraft. Video data is edited into the video data image shown in FIG. 2, and more specifically, a plurality of video data images taken at different locations are combined and edited into one integrated video data image, and the integrated video A data collection device 10 that generates image data by linking GNSS (Global Navigation Satellite System) coordinates and object names for each object image included in the data image to the collected data; A digital map device (20) that creates a digital map based on the video data image edited and produced by the data collection device (10) and updates the existing digital map image; A reference device (30) that generates reference point information for numerical drawing of the numerical map device (20); UFID general server 40 that creates and removes UFID for each object by GNSS coordinates; It consists of a UFID management server (50) that searches for the UFID generated by the UFID general server (40), sets it in the corresponding object image (B) in the digital map image, and manages it.

Here, the digital map device 20 includes an image DB 21 that stores video data and digital map image data created by integrating and editing video data into images in the data collection device 10, and an object image recorded in the video data ( B) a collection data DB 21' that stores collected data including link information and information collected from the reference device 30, and a digital map image based on the image data, digital map image data, and collected data. A numerical processing module 22 creates and stores the object in the image DB 21, and sends the GNSS coordinates of the object to the UFID management server 50, links the received UFID to the new object image of the object, and deletes the object to be deleted. A link module 27 that releases the UFID linked to the image and transmits the GNSS coordinates of the object image to be deleted to the UFID management server 50, and digital map image data before change and after change retrieved from the image DB 21. In the analysis module 23, which checks the digital map image data, analyzes the arrangement position and shape of the object image (B), and checks the difference between the digital map image before and after the change, and the analysis module 23. An update target classification module 24 for checking the update target object image (B) according to the confirmed difference, a digital map editing module 25 for modifying and editing the digital map image for the update target object (B), and an editing It includes an update module 26 that updates the completed section unit by inserting it into the corresponding section unit of the existing digital map image.

In addition, the UFID management server 50 has a UFID DB 51 that stores the UFID of objects for each GNSS coordinate as data, and a GNSS coordinate corresponding to the GNSS coordinates of the new object image received from the link module 27 of the digital map device 20. A management module 52 that retrieves the UFID from the UFID general server 40, transmits it to the link module 27, and receives the UFID corresponding to the GNSS coordinates of the object image to be deleted from the link module 27; ) stores the UFID of the new object image received in the UFID DB 51 and includes an update module 53 that deletes the UFID of the object image to be deleted stored in the UFID DB 51.

The functions and operation flow of each device and module configured in the digital map production system of this implementation described above will be described in more detail.

STEP 1) Collection of aerial photos and data

The data collection device 10 receives video data and ground information data collected from the vehicle 100 and the aircraft respectively and completes one integrated video data image based on the video data images. The video data image is completed by combining multiple video data images taken at different locations with information such as location and magnification of the GNSS location and object image (B), and during the combination process, the information between the video data images is combined. The border section is given an integrated, natural appearance through editing of colors and images.

Subsequently, the data collection device 10 links collected data such as GNSS coordinates and object names for each object image (B) during the video data image editing process. The information linked in this way is stored and managed as collected data in the collected data DB 21' of the numerical guidance device 20.

Since the integrated editing of video data images performed by the data collection device 10 and the link work for each object image (B) of the basic collected data are already known and common technologies, information on editing technology for video data images and linking technology for collected data is already known. Detailed technical descriptions are omitted here.

Figure 4 is a perspective view showing the installation of a reference device for displaying precise object positions in a digital map production system according to an embodiment of the present invention, and Figure 5 is an exploded perspective view of the reference device according to an embodiment of the present invention.

Meanwhile, three or more reference devices (20, 20', 20") shown in Figures 4 and 5 are installed on the ground at specific GNSS coordinates that serve as reference points. Here, the reference points are the digital map images for each section shown in Figure 3. The digital map image processed by the digital map production system of this implementation is divided into sections based on the reference point (x, x', x"), and the section unit is a constant It forms a grid of sizes. Therefore, the intervals and sections of GNSS coordinates can be maintained at constant intervals for each unit. Ultimately, the digital map image can be managed by separating it into sections by the digital map production system of this implementation.

For reference, the digital map image managed by the digital map production system of this implementation is managed in section units as described above, and therefore, as shown in Figure 3 (a), one object image (B-5) is managed. It is managed as an object assembly 101 made up of a number of sections. At this time, the object assembly 101 includes placement location information unique to the corresponding digital map image, and therefore the digital map editing module 25 inserts it into the designated section D1 of the digital map image based on the placement location information. Or delete it.

In addition, the digital map production system of this implementation sets the effective range image 201 together with the object image (B), as shown in Figure 3 (b), and the management of the effective range image 201 involves a collection of multiple sections. The solution is managed as an effective range aggregate 301. At this time, the effective range assembly 301 includes placement location information in the corresponding digital map image, and therefore, the digital map editing module 25 selects the location corresponding to the designated section (D2) of the digital map image based on the placement location information. Compose or delete aggregates.

For reference, the effective range image 201 corresponds to a floor structure that is installed together when an object is installed at the actual ground location and is removed together when demolished. Therefore, when an object is installed at an actual ground location, the effective range is also installed. Therefore, when an object is installed at an actual ground location, an effective range image (201) is created along with the corresponding object image (B) and included in the digital map image.

The method of combining the object set 101 and the effective range set 301 shown in FIG. 3 will be described in more detail below.

The reference device (20, 20', 20") is installed at the actual ground location corresponding to the reference point of the digital map image to be updated, and recognizes objects located within a certain range and the reference device (20, 20', 20") to determine the corresponding distance. Measure. From the distance measured in this way, the distance to the object is stored and displayed as 'y1 to y6' in the digital map image, and the distance to other reference devices (20, 20', 20") is stored and displayed as 'M1 to M3' in the digital map image. do.

The configuration and structure of the reference devices (20, 20', 20") will be described in more detail.

The reference device 20 (see FIG. 5) of this embodiment includes a drive motor 31 and a tubular guide frame 32 that is installed perpendicular to the drive motor 31 and forms a hole line 32a along the longitudinal direction. and a screw 33 that is inserted into the guide frame 32 and rolls under the power of the drive motor 31, and a holder 34a that is drawn out through the hole line 32a, and the spiral pitch of the screw 33 is provided. The mover 34, which engages with and moves up and down along the rotation direction of the screw 33, and the guide frame 32 are installed to be movable through and are seated on the holder 34a and move according to the movement of the mover 34. The lidar (35) measures the distance between objects within a certain range and other reference devices (20', 20"), and the screw (33) inserted into the guide frame (32) is rolled and supported, and the guide frame (32) It controls the operation of the stopper (36) that closes the top of the GNSS device, the GNSS measuring device (37) installed on the stopper (36), which detects the current GNSS position and is the top of the reference device (20), and the drive motor (31). It includes a controller 38 that outputs the GNSS position detected by the GNSS measuring device 37 and stores it as distance information about the distance to the object measured by the LIDAR 35 and the distance to other reference devices.

Here, the LIDAR 35 is opened to measure the distance by recognizing objects or other reference devices (20, 20', 20"), which are surrounding objects located around 360 degrees, and for this purpose, the guide frame 32 is It is installed to penetrate (35).

Meanwhile, the distance information collected by the controller 38 is stored in the collection data DB 21' as collection data.

For reference, in order to apply a two-dimensional grid-shaped section to a digital map image, the operator sets three or more reference devices (20, 20', 20") to the reference points (x, x) designated for each digital map image to form reference points for section formation. ', x") is placed exactly at the corresponding position. To explain this in more detail, the reference points (x, x', x") described above are set for the digital map image managed by the digital map production system of this implementation. In this case, the reference points (x, x', x") Since GNSS coordinates are linked, the operator checks the GNSS coordinates and establishes the reference devices (20, 20', 20") at the corresponding actual ground location. The operator reports the measurement results of the GNSS instrument 37 to the controller 38. ), check and adjust the position of the reference device (20, 20', 20"), and when it reaches the actual ground position corresponding to the reference point (x, Measure the distance between different reference devices (20, 20', 20").

From the distance information, which is the collection data collected in this way, it is possible to roughly check the distance between the object and the reference device (20, 20', 20") as well as the external shape of the object, and based on this, the midpoint, which can be called the location of the object, can be confirmed. Therefore, based on the midpoint, the midpoint (c2) of the object image (B-2) in the digital map image shown in (a) of Figure 3 can be identified, and the GNSS coordinates of this midpoint (c2) can also be confirmed. Furthermore, based on the midpoint (c2) and reference point (x, By accurately adjusting, you can complete high-precision numerical drawings.

For reference, the digital map production system of this implementation separates the digital map image into sections based on reference points (x, x', x") based on three or more reference devices (20, 20', 20"). and the object image (B) can also be placed accurately.

The reference point information using the reference device (20, 20', 20") in this implementation is used when creating the digital map image before the change, and is not used separately when creating the digital map image after the change. This is the digital map image after the change. This is because the numerical processing module 22 is an image that draws only an object image based on a new video data image in which a change has occurred in the object, and the digital map image after the change produced in this way is not linked to other collected information about the object image, etc.

STEP 2) Production of digital map image after change

The numerical processing module 22 of this embodiment searches for new video data images in the image DB 21, draws object images and effective ranges based on them, and creates a digital map image after change. The digital map image after the change produced in this way is stored in the image DB (21).

At this time, since the existing video data image corresponding to the new video data image is stored in the image DB 21 and the digital map image before change corresponding to the existing video data image is stored, the numerical processing module 22 is newly It is desirable to store the digital map image after the change in pairs with the new video data image, the existing video data image, and the digital map image before the change.

Figure 6 is a diagram showing how the digital map production system according to an embodiment of the present invention displays distance standards for comparing digital map images before and after change, and Figure 7 is a digital map according to an embodiment of the present invention. This diagram shows how the production system compares digital map images before and after change to confirm updated objects.

STEP 3) Digital map image analysis

As shown in Figures 6 and 7, the analysis module 23 searches the aerial photos and digital map images before and after the change stored in the image DB 21 and compares the digital map image before the change with the digital map image after the change. do. Here, the digital map image before the change is shown in Figure 6 (a), and the digital map image after the change is shown in Figure 6 (b). In addition, a digital map image is an image created by digital drawing based on aerial photography, and can generally be expressed in two dimensions, but can also be expressed in three dimensions if necessary.

As mentioned above, the digital map image before the change links not only the object image but also collected data such as GNSS coordinates and object names, whereas the digital map image after the change is based on the video data image of the image DB 21. Only the object image and effective range image can be drawn, and if necessary, collected data such as the object's GNSS coordinates can be linked. To be more specific, the 'B-1'' object image in the digital map image after change in Figure 6 (b) is the 'B-1' object in the digital map image before change in Figure 6 (a). Since it has the same shape as the image, the locations of 'c1' and 'c1'', the center of each object image, are at the same location within the range of the object image (B-1, B-1') regardless of before or after the change. do. Likewise, the locations of the midpoints (c2, c2') of the 'B-2' object image and the 'B-2'' object image are also the same in the corresponding object images (B-2, B-2').

However, during the process of aerial photography and aerial photo editing, there may be slight changes in the positions of object images, and after the position changes, the object images (B-1', B-2') are separated into sections and accurately There are bound to be limitations in inserting the digital map image as it was created before the change. Therefore, the object images shown in the digital map image after the change must be aligned to the same positions as the object images shown in the digital map image before the change.

For this purpose, the analysis module 23 of this implementation connects the midpoints (c1, c2) of the neighboring object images (B-1, B-2) in the digital map image before the change with the connection line before the change (T1), and , in the same way, the midpoints (c1', c2', c3) of the object images (B-1', B-2', NB-1) in the digital map image after change are connected to each other with a connection line (T1') after change. . At this time, the connecting lines (T1, T1') connect the midpoints of all neighboring object images within a certain range, and in this embodiment, the connecting lines (T1, T1') connect the midpoints (c1, c2) and the midpoints (c1', c2', c3) of the object images (B-1', B-2', NB-1) were connected respectively. Although not explained, the before and after change connection lines are connected to the center of other object images in the same way. For example, in the digital map image before the change, each midpoint (c5, c8) of the object image 'B-5' and 'B-8' was connected with a connection line before the change (T2), and in the digital map image after the change, the ' Each midpoint (c5, c8, c2N) of the B-5'' object image, 'B-8'' object image, and 'NB-2' object image was connected with a connection line (T2') after change.

However, in the case of the digital map image before the change, only the midpoints (c1, c2) of the two object images (B-1, B-2) are connected by the connection line (T1) before the change, whereas in the case of the digital map image after the change, is connected to the midpoints (c1, c2, c3) of the three object images (B-1', B-2', NB-1). This means that in the process of the analysis module 23 analyzing and comparing the digital map images before and after the change, the object images (B-3, B-15, B-) in the digital map image before the change, as shown in (a) of FIG. This is because 8) disappeared, and the object images (NB-1, NB-2) in the digital map image were created after the change. In other words, there was a difference in the object image in the digital map image before and after the change. Therefore, the connection lines (T1, T1', T2, T2') before and after the change in this implementation have differences such as straight lines and triangles.

For reference, the analysis module 23 does not check the change in the object image in the digital map image before and after the change, but rather identifies the midpoint of each object image and connects the midpoints with connection lines (T1, T1', T2). , T2') is displayed.

STEP 4) Confirm renewal target

When the analysis module 23 in this implementation analyzes and creates connection lines (T1, T1', T2, T2'), the update target classification module 24 analyzes the object images of the digital map image before and after the change. Check the connection lines (T1, T1', T2, T2') to check the object image to be updated.

As a result of checking the update target classification module 24, the object images subject to deletion in the digital map image before the change are 'B-3', 'B-15', and 'B-8', and the new object images in the digital map image after the change are are 'NB-1' and 'NB-2'. For reference, the digital map image to be updated is checked for differences in the connection lines (T1, T1', T2, T2') connecting the midpoints of the object image as described above, and the connection lines (T1, T1', T2, If the shape of T2') is not the same, the creation or disappearance of the corresponding object image is identified by checking whether the midpoint exists.

STEP 5) UFID renewal

The link module 27 checks the new object image, the object image to be deleted, and the GNSS coordinates of the object images. The GNSS coordinates confirmed in this way are transmitted to the UFID management server 50, and the management module 52 of the UFID management server 50 searches the UFID general server 40 to confirm the corresponding UFID, and the confirmed UFID is linked. It is transmitted to the module 27, and the link module 27 links the UFID to the new object image.

Meanwhile, the link module 27 releases the UFID corresponding to the GNSS coordinates of the object image to be deleted, and the update module 53 of the UFID management server 50 stores the UFID corresponding to the GNSS coordinates of the object image to be deleted in the UFID DB. Search in (51) and delete it. Of course, the UFID of the new object image is updated by newly entering it into the UFID DB 51.

Figure 8 is a diagram showing the arrangement position adjustment of the digital map production system according to an embodiment of the present invention to match the objects of the digital map image after the change to the objects of the digital map image before the change, and Figure 9 is a diagram showing the arrangement of the digital map production system according to an embodiment of the present invention. It is a diagram showing how a digital map production system according to an embodiment displays an effective range on an object in a digital map image, and Figure 10 shows how a digital map production system according to an embodiment of the present invention displays an object in a digital map image. This is a diagram showing how to separate and update sections.

STEP 6) Edit numerical diagram

The digital map editing module 25 of this embodiment inserts and deletes the object image to be updated, confirmed by the update object classification module 24, and synthesizes it as shown in (b) of FIG. 7. However, there may be some difference in location between the object image of the digital map image before change and the object image of the digital map image after change, as shown in (a) of FIG. 7. In this case, it is necessary to move the object image of the digital map image after the change to match the object image of the digital map image before the change. However, in the case of an object image that does not change in both the digital map image before and after the change, there is a point that needs to be moved, so the object image in the digital map image after the change can be easily moved, but as in this implementation, the object image in the digital map image after the change can be easily moved. The new object images (NB-1, NB-2) of the digital map image do not have an exact location to move to. Of course, it is also ambiguous whether the point located in the digital map image after the change is correct.

Therefore, as shown in Figure 8 (a), the connection line (T') displayed in the digital map image after the change is adjusted to the ratio of the arrangement angle and length of the connection line (T) displayed in the digital map image before the change. A new connection line (T") is created as shown in (b) of FIG. 8, and at this time, the new object image (NB-1) is moved with respect to the midpoint (c3) to complete as shown in (b) of FIG. 7. For reference, the digital map editing module in this implementation only moves the midpoint in the process of adjusting the connection lines (T, T'), and the object image maintains its original shape.

STEP 7) Check effective range

As described above, the digital map image is set to an effective range image 201 together with an object image B. Therefore, as shown in FIG. 9, effective range images 202 and 206 are added to the digital map images before and after the change stored in the image DB 21 around the new object images (NB-1', NB-2') in this embodiment. Included, the digital map editing module 25 checks the new effective range image 202 and the effective range images to be deleted (203 and 204), respectively.

Meanwhile, in this implementation, as shown in (a) of FIG. 9, a gap occurs in the new effective range image 202 and the effective range images 203 and 204 to be deleted in the digital map image for which the primary editing has been completed, The digital map editing module 25 accurately determines the location and extent of the identified gaps (S1, S2).

STEP 8) Section unit composition

As described above, the digital map production system of this implementation manages digital map images in sections. Therefore, the object image (B) as well as the effective range image are managed by being composed of an object aggregate 401 and an effective range aggregate 601, as shown in Figure 10, and the base of the corresponding digital map image also contains an object aggregate 401 and an effective range. Sections D3 and D4 where the aggregates 601 are respectively placed are set.

Accordingly, the update module 26 sets the section where the new object images (NB-1', NB-2') are located and the section where the new effective range images (202, 206) are located, respectively, and the new object aggregate, which is a collection of sections set in this way, is (401) and a new effective range aggregate (601) are created.

Meanwhile, the gaps (S1, S2) confirmed by the digital map editing module 25 mean that there is a change in the object aggregate or effective range aggregate in the digital map image before and after the change, and accordingly, the object aggregate or effective range aggregate is changed. This means that there is a change in the section within the base of the inserted digital map image.

For the above-mentioned reasons, the update module 26 checks the gap (S1, S2) between the new effective range image 202 and the effective range images 203 and 204 to be deleted, as well as the gap between the new object image and the object image to be deleted. And, the insertion section of the effective range set to be deleted (303, 315) and the insertion section of the object set to be deleted (103, 115) are deleted from the base of the digital map image before change. Instead, the update module 26 creates sections D3 and D4 into which the new object set 401 and the new effective range set 601 are inserted.

Subsequently, the update module 26 inserts both the new object set 401 and the new effective range set 601 into the sections (D3, D4) within the base of the newly created digital map image.

For reference, the base section and aggregate in the digital map image are only reference information for confirming the target and location of each effective range image and object image to be inserted or deleted in the digital map image, so an arbitrary aggregate as shown in FIG. 10 Even if the effective range image or object image of another group overlaps, the effective range image or object image of the other group is not obscured or deleted, and only the effective range image or object image within any group is inserted or deleted in the digital map image.

In the end, it is possible to easily complete a new digital map image and use it as a map with just a new image created by simple drawing work based on aerial photography.

FIG. 11 is a diagram showing the overall appearance of a data collection device equipped with a ground camera according to an embodiment of the present invention, and FIG. 12 is a schematic diagram of the configuration of a coupling fastener and a lifting control unit according to an embodiment of the present invention. Figure 13 is a perspective view showing the movable control unit according to an embodiment of the present invention, and Figure 14 is a view showing the operation of the movable control unit according to an embodiment of the present invention.

As shown, the data collection device 10 according to the present invention includes a coupling portion 300 coupled to the upper surface of the movable vehicle 100, and a lift control portion 400 provided on one side of the coupling portion 300. ), a movable control unit 500 that is connected to the other side of the coupling unit 300 and the lift control unit 400 to control the tilt and distance, and a ground camera 200 mounted on one side of the movable control unit 500. Includes.

The coupling portion 300 is coupled to the vehicle 100, and is supported on the vehicle 100 and includes a base body 310 with a body groove on the bottom, provided at the edge of the base body 310, and a plurality of coupling holes. A coupling flange 320 provided with (321), a base plate 330 disposed on the upper part of the base body 310 and spaced apart from the base body 310, and a movable control unit provided on the upper surface of the base plate 330 ( A guide rail 340 that guides the movement of the 500), a plurality of ball bodies 350 provided on the upper surface of the base body 310 and having support balls 351, and disposed on the upper part of the plurality of ball bodies 350 A plurality of elliptical bodies 360 supported on the support ball 351, the upper part is coupled to the base plate 330, and the lower part is coupled to the elliptical body 360, a plurality of grid supports (360) supporting the base plate 330 370), the lower part is coupled to the plurality of ball bodies 350, and the upper part is coupled to the plurality of oval bodies 360 and includes a plurality of support lines 380 for supporting the plurality of oval bodies 360.

In this embodiment, the coupling portion 300 can be stably fixed to the vehicle 100 by coupling bolts, etc. to the vehicle 100 through a plurality of coupling holes 321.

The guide rail 340 is provided in the longitudinal direction of the base plate 330 and can guide the movement of the movable control unit 500.

The support ball 351 may support the elliptical body 360 by contacting the groove 361 provided in the elliptical body 360. In this embodiment, the groove portion 361 is provided in a circular shape corresponding to the support ball 351 and can stably support the movement of the elliptical body 360.

The plurality of grid supports 370 can support the base plate 330 more sensitively by hingedly combining a plurality of bars in a zigzag shape.

The support line 380 is provided with a coil spring and can elastically support the elliptical body 360.

The elevation control unit 400 can adjust the inclination of the base plate 330 by raising and lowering the base plate 330.

In this embodiment, the lifting control unit 400 includes a first lifting cylinder 410, the lower part of which is hinged to the base body 310 and the upper part of which is hinged to the base plate 330 to raise and lower the base plate 330. The lower part is hinged to the base body 310, and the upper part is hinged to the base plate 330 to include a second lifting cylinder 420 that elevates the base plate 330.

In this embodiment, the first lifting cylinder 410 and the second lifting cylinder 420 may be arranged to cross each other.

The movable control unit 500 is connected to the coupling unit 300 and the elevation control unit 400 to support the ground camera 200 and to control the distance and tilt of the ground camera 200.

In this embodiment, the movable control unit 500 is connected to the LM guide 510 movably coupled to the guide rail 340, the support base 520 provided on the upper part of the LM guide 510, and the support base 520. A support cylinder 530 whose lower side is hinged, a cylinder connector 540 coupled to the upper side of the support cylinder 530, a connection piece 550 whose lower side is rotatably coupled to the cylinder connector 540, one side of which is a support base ( A support plate 560 that is hinged to 520 and the other side is coupled to the other side of the connection piece 550 and rotates like the connection piece 550, and is provided on the support plate 560 to support one side of the ground camera 200. It includes a first support 570 and a second support 580 provided on the support plate 560 to be spaced apart from the first support 570 and supporting the other side of the ground camera 200.

The LM guide 510 can be moved in the longitudinal direction of the guide rail 340. As a result, the ground camera 200 supported on the first support 570 and the second support 580 can be moved along the longitudinal direction.

The left side of the support cylinder 530 may be provided to be accommodated in the receiving groove 521 provided in the support base 520. As a result, the support cylinder 530 is accommodated in the receiving groove 521 provided in the support base 520, and the support plate 560 can be arranged parallel to the support base 520 as shown in drawing (b). .

The cylinder connector 540 and the connecting piece 550 may be rotatably coupled to each other with a pin or shaft, and the rotated state may be designed to be maintained by mutual friction between the cylinder connector 540 and the connecting piece 550.

A plurality of coupling grooves 561 are spaced apart from each other on the upper surface of the support plate 560. In this embodiment, the positions of the first support 570 and the second support 580 are determined by coupling the first support 570 and the second support 580 to the selected coupling groove 561 among the plurality of coupling grooves 561. can be changed.

In this embodiment, a first coupling protrusion 571 is provided on the first support 570, and a second coupling protrusion 581 is provided on the second support 580, so that the first support 570 and the second support 580 Can be detachably fitted and coupled to a plurality of coupling grooves 561 by combining protrusions and grooves.

A variable pressure unit 600 is coupled to the base body 310 so as to be capable of being raised and lowered. The variable pressurizing unit 600 can pressurize the base body 310 to the vehicle 100.

In this embodiment, the variable pressure unit 600 is a pressure body 610 disposed in the body groove of the base body 310 and has a semicircular shape, the lower part is connected to the pressure body 610, and the other side is connected to the base body 310. ) is screwed to the connection body 620, and is disposed on the upper part of the base body 310 and includes a rotating part 630 provided on the connection body 620 to rotate the connection body 620.

The curved area of the pressing body 610 may be disposed in the direction of the vehicle 100. In this embodiment, the curved area of the pressing body 610 is in contact with the vehicle 100, so that the coupling portion 300 can be supported more stably.

In addition, the variable pressing part 600 is provided to have an adjustable length, so that the height can be adjusted to suit the vehicle 100.

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.

10: Data collection device 20: Numerical guidance device 30: Standard device
40: UFID general server 50: UFID management server 100: vehicle
200: Ground camera 300: Coupler 310: Base body
320: Coupling flange 321: Coupling hole 330: Base plate
340: Guide rail 350: Ball body 351: Support ball
360: Oval body 361: Groove 370: Grid support
380: Support line 400: Lifting control unit 410: First lifting cylinder
420: Second lifting cylinder 500: Movable control unit 510: LM guide
520: Support base 521: Receiving groove 530: Support cylinder
540: Cylinder connector 550: Connection piece 560: Support plate
561: Coupling groove 570: First support 571: First coupling protrusion
580: second support 581: second coupling protrusion 600: variable pressure portion
610: Pressurizing body 620: Connecting body 630: Rotating part

Claims (1)

Ground information data collected by ground cameras or LiDAR equipment installed on mobile vehicles and video data collected from aircraft photography equipment are edited into video data images, and multiple video data images taken at different locations are combined together. A data collection device that creates video data by editing each other into one integrated video data image and linking GNSS (Global Navigation Satellite System) coordinates and object names to the collected data for each object image included in the integrated video data image; A digital map device that creates a digital map based on video data images edited and produced by a data collection device and updates existing digital map images; A reference device that generates reference point information for numerical mapping of a digital map device; UFID general server that creates and removes UFID for each object by GNSS coordinates; and a UFID management server that searches for the UFID generated by the UFID general server and sets and manages the corresponding object image in the digital map image. Including,
The UFID management server is,
UFID DB, which stores the UFID of objects by GNSS coordinates as data; Management of retrieving the UFID corresponding to the GNSS coordinates of the new object image received from the link module of the digital map device from the UFID general server and delivering it to the link module, and receiving the UFID corresponding to the GNSS coordinates of the object image to be deleted from the link module. module; and an update module that stores the UFID of the new object image received by the management module in the UFID DB and deletes the UFID of the object image to be deleted stored in the UFID DB; Includes,
The data collection device is,
A coupling portion coupled to the upper surface of a movable vehicle; A lifting and lowering control unit provided on one side of the coupling portion; A movable control unit connected to the coupling part and the other side of the lifting control unit to control the inclination and distance; and a ground camera mounted on one side of the movable control unit; Including,
The coupling part,
A base body supported on the vehicle; A coupling flange provided at the edge of the base body and provided with a plurality of coupling holes; A base plate disposed on the upper part of the base body and spaced apart from the base body; A guide rail provided on the upper surface of the base plate to guide the movement of the movable control unit; A plurality of ball bodies provided on the upper surface of the base body and having support balls; A plurality of elliptical bodies disposed on top of the plurality of ball bodies and supported by support balls; A plurality of grid supports, one side of which is coupled to the base plate and the other side of which is coupled to the oval body to support the base plate; and a plurality of support lines, one side of which is coupled to a plurality of ball bodies and the other side of which is coupled to a plurality of oval bodies to support the plurality of oval bodies. Includes,
The lifting control unit,
A first lifting cylinder, one side of which is hinged to the base body and the other side of which is hinged to the base plate to elevate and lower the base plate; and a second elevating cylinder, one side of which is hinged to the base body and the other side of which is hinged to the base plate to elevate and lower the base plate. It includes, wherein the first elevating cylinder and the second elevating cylinder are provided to cross each other,
The movable control unit,
LM guide movably coupled to the guide rail; A support base provided on the upper part of the LM guide; A support cylinder whose one side is coupled to the support base; A cylinder connector coupled to the other side of the support cylinder; A connecting piece on one side of which is rotatably coupled to the cylinder connector; A support plate on one side of which is hinged to the support base and on the other side of which is coupled to the other side of the connecting piece and rotated like the connecting piece; A first support provided on the support plate to support one side of the ground camera; and a second support provided on the support plate to be spaced apart from the first support to support the other side of the ground camera. Including,
The support base is provided with a receiving groove, and when the ground camera is not supported, the support plate is accommodated in the receiving groove. The support plate is provided with a plurality of coupling grooves, and a first support and a first support are installed in a selected coupling groove among the plurality of coupling grooves. By combining the second support, the positions of the first and second supports can be changed,
a variable pressurizing part that is coupled to the base body to be lifted and pressed to press the base body to the vehicle; It further includes,
The variable pressure part,
A pressurizing body disposed in the body groove of the base body and having a semicircular shape; A connection body whose one side is provided on the pressurizing body and whose other side is screwed to the base body; and a rotating part disposed on the upper part of the base body and provided on the connection body to rotate the connection body. A digital map production system capable of synthesizing a digital map using an object-unit construction method according to reference point settings, characterized in that it includes a.

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