KR102630367B1 - Digital map production system for automatically searching for location and identifying route - Google Patents

Abstract

The present invention relates to a digital map production system, and more specifically, to a collection device that collects digital map images through a camera installed on an aircraft, and a topographic image of a feature in a digital map image collected from the collection device to a topographic image in an existing digital map image. It includes a digital map processing device that checks changes by comparing it with an image, an input/output terminal that checks and controls the operation of the digital map processing device, and an information processing device that collects information data and provides information data corresponding to the digital map processing device. It relates to a digital map production system capable of automatic location search and route determination that can accurately determine the exact location of a terrain feature as well as whether the terrain is new or disappears.

Description

Digital map production system capable of automatically searching for locations and identifying routes {DIGITAL MAP PRODUCTION SYSTEM FOR AUTOMATICALLY SEARCHING FOR LOCATION AND IDENTIFYING ROUTE}

The present invention relates to a digital map production system, and more specifically, to a digital map production system capable of automatically searching locations and determining routes.

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 spatial 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.

Currently, according to changes in spatial information, data are collected through survey work such as aerial photogrammetry, and digital maps are collectively and partially updated based on this, but the precision of the construction of complex digital maps and imaging of other spatial information is guaranteed. Because there are limitations, there was a problem that there was a difference between the digital map and the actual terrain.

In addition, until the digital map is updated, the actual topography with new changes is not reflected in the recent digital map, so the public's reliability in the digital map is decreasing and its usability is also decreasing.

Furthermore, because updates to topographical features are done on a semi-annual or annual basis, there is a limitation in that it is not possible to provide users with the latest digital maps containing accurate spatial information in line with changes in actual topography that occur in various places.

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 purpose of the present invention is to provide a digital map production system capable of automatically searching the location and determining the route, which can accurately determine the exact location of the terrain feature as well as whether the terrain is new or disappears. There is.

In addition, another purpose of the present invention is to provide a digital map production system capable of automatically searching the location and identifying the route, which can accurately confirm and service the movement route searched based on spatial information.

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 includes a collection device that collects digital map images through a camera installed on an aircraft; A digital map processing device that checks for changes by comparing the topographic image of the feature in the digital map image collected from the collection device with the topographic image in the existing digital map image; An input/output terminal that checks and controls the operation of the numerical map processing device; and an information processing device that collects information data and provides information data corresponding to the digital map processing device; It is characterized by including.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the information processing device consists of GNSS coordinate values for each terrain, terrain name, and information link data collected by connecting to the government office network through a communication network. Geographic information DB that stores and manages information data; Digital map DB that receives updated information data and digital map images from the digital map processing device and stores and manages them; A location tracking module that tracks the location of the user terminal; A route search module that searches for a possible route within a limited range based on the information data of the topographic information DB and digital map DB according to the starting point and destination point information confirmed in the user terminal and processes it to be posted on the corresponding digital map image; and storing the collected and searched information data in the geographical information DB, updating new information data in the digital map DB of the digital map processing device, and receiving the updated digital map image in the digital map DB of the digital map processing device to create a digital map database. an information processing module that searches the route in the route search module and transmits the processed information to the user terminal to be posted on the corresponding digital map image; It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the collection device includes a horizontal control unit coupled to the bottom of the aircraft to control the level; An automatic leveling unit that is mounted at the bottom of the horizontal control unit and automatically maintains the level of the camera; and a camera coupled to the bottom of the automatic leveling unit; It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the automatic leveling unit includes a first base plate on which a camera is provided; a second base plate spaced apart from the upper part of the first base plate; A first semicircular body provided on the upper surface of the first base plate; a second semicircular body provided on the bottom of the second base plate and coupled to the first semicircular body; A plurality of support legs provided on the upper surface of the second base plate; Tilt measurement sensors provided on each of the first base plate and the second base plate to measure the tilt; A plurality of lifting cylinders, one side of which is provided on a first base plate and the other side of which is provided on a second base plate, to elevate and lower the first base plate; and a battery provided on the second base plate to supply electrical energy to the plurality of lifting cylinders and the plurality of support legs. It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the first semicircular portion includes a base support ball rotatably coupled to the second semicircular portion, and the plurality of support legs include 2A leg body coupled to the upper surface of the base plate; And a lifting leg that is coupled to the leg body to be lifted. It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the lifting leg is operated based on a signal detected by a tilt measurement sensor provided on the second base plate, and a plurality of lifting cylinders are It is preferable to operate based on a signal detected by a tilt measurement sensor provided on the first base plate.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the horizontal support part includes a support base body; A leg fastening part provided on the support base body to which the lifting leg is coupled; A lifting drive unit installed on the support base body and lifting the leg fastening unit; and a plurality of height adjustment units coupled between the support base body and the aircraft to adjust the height. It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the leg fastening support portion includes a leg coupling body to which an elevating leg is coupled; An elevating ball provided on the upper part of the leg combination body and raised and lowered in an elevating guide groove provided on the support base body; A threaded body provided on the upper part of the lifting ball and raised and lowered by rotation of the lifting drive unit; A damping portion supported on one side by the elevating ball and the other side by the threaded body to reduce vibration transmitted from the threaded body to the elevating ball; and a plurality of guide rollers rotatably coupled to the elevating ball to guide the elevating ball. It is desirable to include.

In the digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, the lifting drive unit includes a rotating part rotatably disposed on the outside of the leg combination body; A rotating shaft, one end of which is connected to the rotating part and rotated with the rotating part; A rotating body that is connected to a rotating shaft and rotates and is screwed together with the threaded body to raise and lower the threaded body; and a support shaft on one side connected to the rotating body and on the other side supported in a hole provided in the support base body. It is preferred that the rotating body has a trapezoidal shape.

The present invention, which has the above configuration, has the effect of accurately identifying the exact location of the terrain feature as well as whether the terrain is new or disappears, and thereby accurately confirming the movement path searched based on spatial information and providing services.

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 showing the overall configuration of a digital map production system capable of automatic location search and route identification according to an embodiment of the present invention.
Figure 2 is a block diagram showing the configuration of an information processing device that communicates with and drives a numerical map processing device according to an embodiment of the present invention.
Figure 3 is a diagram showing how the digital map production system according to an embodiment of the present invention applies a reference coordinate system to a digital map image.
Figure 4 is a flow chart sequentially showing the operation sequence of the digital map production system according to an embodiment of the present invention.
Figure 5 is a diagram showing how the digital map production system according to an embodiment of the present invention corrects the position of a feature according to the reference coordinate system.
Figure 6 is a diagram in which the digital map production system according to an embodiment of the present invention blocks the terrain into sections and sets and displays the target area of the feature.
Figure 7 is a diagram showing the configuration of coordinate points for calculating the area of the target area by the digital map production system according to an embodiment of the present invention.
Figure 8 is a diagram showing an example of checking whether there is a terrain error in the digital map production system according to an embodiment of the present invention.
Figure 9 is a diagram schematically showing a result image output by a digital map production system searching a route to a target point according to an embodiment of the present invention.
Figure 10 is a diagram showing the overall appearance of a collection device according to an embodiment of the present invention.
Figure 11 is a cross-sectional view of a horizontal control unit according to an embodiment of the present invention.
Figure 12 is a diagram showing the operation of the horizontal 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 the overall configuration of a digital map production system capable of automatic location search and route identification according to an embodiment of the present invention, and Figure 2 is a digital map processing device and a digital map processing device according to an embodiment of the present invention. It is a block diagram showing the configuration of an information processing device that communicates and operates, and Figure 3 is a diagram showing the digital map production system according to an embodiment of the present invention applying a reference coordinate system to a digital map image.

As shown, the digital map production system according to the present invention includes a collection device 10 that collects digital map images through a camera 20 installed on the aircraft 11, and digital map images collected from the collection device 10. A digital map processing device 100 that checks for changes by comparing the topographic image of the feature within the existing digital map image with the topographic image in the existing digital map image, an input/output terminal 200 and information data that checks and controls the operation of the digital map processing device 100. It includes an information processing device 300 that collects and provides information data corresponding to the digital map processing device 100.

The digital map image is produced by performing drawing work according to the aerial image collected through aerial photography through the camera 20 of the aircraft 11.

Since the digital map image produced in this way relies only on aerial images, errors may occur in the placement location of terrain sections during the process of producing the digital map image. Furthermore, digital map images may also change due to changes in terrain features such as buildings, terrain, and other civil engineering structures, so existing digital map images must be checked and updated periodically.

To this end, the digital map production system of this implementation compares the topographic image of the arrangement position and shape of features in the digital map image with the topographic image in the existing digital map image and checks for changes. At this time, the digital map production system applies a reference coordinate system unrelated to general GNSS (Global Navigation Satellite System) coordinate information to the digital map image including the terrain image, and applies reference coordinate information tailored to the reference coordinate system to the terrain image. Thus, multiple terrain images that make up the digital map image are managed.

The digital map processing device 100 consists of a coordinate comparison confirmation module 150, a range calculation module 160, a target area confirmation module 170, a topographic change confirmation module 180, and a control module 190.

The terrain image DB 110 stores and manages the digital map image collected from the collection device 10 and the data of the terrain image composed of the digital map image, respectively. Here, the terrain image may be a general building, road, or other artificial structure installed on the ground, or may be a naturally formed landform. In addition, a digital map image is a combination of one or more terrain images to form an overall image, and a digital map is formed by combining numerical information and other specific information for each terrain.

The numerical coordinate DB 120 stores and manages data of numerical coordinate values for each terrain image and numerical coordinate values for reference points of the corresponding area. The numerical coordinate value is a GNSS coordinate value that becomes the location of the corresponding terrain image and reference point on the digital map.

The reference coordinate DB 130 stores and manages data of reference coordinate values corresponding to the numerical coordinate values. The digital map production system according to the present invention checks for errors in the terrain image based on a reference coordinate system independent of the GNSS coordinate system, and therefore, the latest terrain image already has reference coordinate values according to the reference coordinate system. The reference coordinate value includes the reference coordinate value for each corner of the recent terrain image, as well as the corresponding reference coordinate value of the numerical coordinate value for confirming the GNSS location of the recent terrain image.

The reference area DB 140 stores and manages data on the reference area for each terrain image calculated by calculating the area of the corresponding part of the terrain image located within the block section based on the reference coordinate system. The reference coordinate system allows the operator to set boundary lines as needed. If the digital map image is divided into blocks according to the boundary reference line set in this way, the range occupied by the terrain image within the block section can be confirmed, and the confirmed area is stored and managed as data as the reference area.

The digital map DB 191 stores and manages information data consisting of GNSS coordinate values for each terrain image, terrain name, and information link data.

The coordinate comparison confirmation module 150 overlaps the reference coordinate system with the recent terrain image stored in the terrain image DB 110 according to the reference point, checks the new reference coordinate value for each corner of the new terrain image according to the reference coordinate system, and By comparing the new reference coordinate value and the latest reference coordinate value stored in the reference coordinate DB 130, if the average difference value between the new reference coordinate value and the recent reference coordinate value is outside the first reference range, the latest terrain image and the new reference coordinate value are compared. The image form of the terrain image is compared, and if they match, the arrangement form of the new terrain image is matched to the recent terrain image. In other words, the new reference coordinate value of the new terrain image confirmed based on the reference coordinate system is compared with the recent reference coordinate value of the recent terrain image stored in the reference coordinate DB 130 to check whether they match.

The range calculation module 160 generates the corresponding portion of the terrain image located within the block section based on the reference coordinate system as a range setting reference coordinate value tailored to the reference coordinate system, and determines the terrain according to the range setting reference coordinate value. Calculate the range area for each part of the image. More specific details about terrain images are explained below.

The target area confirmation module 170 compares the reference area of the latest terrain image in the reference area DB 140 with the range area of the new terrain image calculated by the range calculation module 160. Since the range calculation module 160 calculates the range area of the new terrain image located within the block section, the difference can be confirmed by comparing it with the reference area of the recent terrain image.

If the difference between the reference area of the recent terrain image and the range area of the new terrain image is outside the second reference range, the terrain change confirmation module 180 determines the difference as the error of the new terrain image. As a result of the comparison confirmed by the target area confirmation module 170, if the difference between the reference area and range area for each terrain image is outside the second standard range, a new terrain image is created within the blocking section, the existing terrain image is destroyed, or There is an error in the location of the new terrain image.

When the coordinate comparison confirmation module 150 decides to create a new terrain image, the information data input module 192 links the information data stored in the digital map DB 191 to the new terrain image and outputs it together when the digital map image is output. If possible, if it is decided to destroy the new terrain image, the information data of the new terrain image stored in the digital map DB 191 is deleted.

The control module 190 includes a terrain image DB 110, a numerical coordinate DB 120, a reference coordinate DB 130, a reference area DB 140, a digital map DB 191, and a coordinate comparison confirmation module 150. The range calculation module 160, the target area confirmation module 170, the terrain change confirmation module 180, and the information data input module 192 are controlled to operate in conjunction with each other. In addition, the control module 190 communicates with the user terminal 400 of the user connected to the digital map processing device 100 and provides corresponding digital map information in response to the application received from the user terminal 400.

The input/output terminal 200 inputs the data and numerical coordinate values of the new terrain image into the coordinate comparison confirmation module 150, and the coordinate comparison confirmation module 150, the range calculation module 160, and the target area confirmation module 170. ) and the operation control signals of the terrain change confirmation module 180 and the control module 190 are input, and the result signal is received from the digital map processing device 100 and output. Therefore, the operator controls the operation of the numerical map processing device 100 using the input/output terminal 200.

The information processing device 300 includes a terrain information DB 310 that stores and manages information data consisting of GNSS coordinate values for each terrain, terrain name, and information link data collected by connecting to a government office network through a communication network; a digital map DB (350) that receives updated information data and digital map images from the digital map processing device (100) and stores and manages them; A location tracking module 340 that tracks the location of the user terminal 400; According to the information related to the starting point (H) and destination point (T) confirmed by the user terminal 400, the limited range is based on the information data of the terrain information DB 310 and the digital map DB 350 of the digital map DB 350. A route search module 340 that searches for possible routes within the route and processes them to be posted on the corresponding digital map image; The collected and searched information data is stored in the geographical information DB 310, new information data is updated in the digital map DB 191 of the digital map processing device 100, and the digital map DB of the digital map processing device 100 ( 191), the updated digital map image is received and stored in the digital map DB (350), and the route search module (340) searches for the route and transmits the processed information to be posted on the corresponding digital map image to the user terminal (400). It consists of an information processing module 320 that does. Therefore, the digital map DB 191 of the digital map processing device 100 is managed by the information processing device 300, and the digital map is output by linking accurate information according to the result of checking the terrain image. In addition, since the user's requested travel route is accurately searched and provided according to the latest digital map information, a highly reliable travel route can be provided.

The components and operation process of the digital map production system described above will be described in more detail below according to the error confirmation method.

Figure 4 is a flow chart sequentially showing the operation sequence of the digital map production system according to an embodiment of the present invention, and Figure 5 shows the digital map production system according to an embodiment of the present invention to correct the position of the feature in accordance with the reference coordinate system. Figure 6 is a diagram showing how the digital map production system according to an embodiment of the present invention blocks the terrain into sections and sets and displays the target area of the feature, and Figure 7 is an embodiment of the present invention. It is a diagram showing the configuration of coordinate points for calculating the area of the target area by the digital map production system according to , and Figure 8 shows an example of checking whether there is a feature error in the digital map production system according to an embodiment of the present invention. This is a drawing, and Figure 9 is a diagram schematically showing the result image output by the digital map production system according to an embodiment of the present invention by searching the path to the target point.

S10; Reference coordinate system application steps

As shown in (a) of FIG. 3, when a new digital map image is completed, the coordinate comparison confirmation module 150 overlaps the new digital map image with a reference coordinate system as shown in FIG. 5. At this time, the reference coordinate system (CF) is placed by matching the reference point (S) of the new digital map image. That is, based on the reference coordinate value set as the reference point (S) in the new digital map image, the coordinate comparison confirmation module 150 overlaps the reference coordinate system (CF) with the digital map image.

For reference, the reference coordinate system (CF) in this implementation is aligned with the general GNSS numerical coordinate system, but the actual numerical coordinate value and the reference coordinate value do not necessarily match.

Subsequently, the reference coordinate system (CF) is composed of a boundary reference line (CF1) for blocking the digital map image and a dividing line (CF2) that divides the adjacent boundary reference lines (CF1) at regular intervals. At this time, the boundary reference line (CF1) and the dividing line (CF2) form coordinate lines to form reference coordinate values, and the blocking of the digital map image is done according to the boundary reference line (CF1).

S20; Terrain image comparison stage

The coordinate comparison confirmation module 150 generates new reference coordinate values (x', y') for each corner of the new terrain image (M2) and new reference coordinate values (x0', y0') for the midpoint (A') in accordance with the reference coordinate system. ) Check each. That is, as shown in Figure 5, the reference coordinate values (x', y') of 'P'' of the new terrain image (M2) with five corners and the new coordinate values (x0', y0') of the midpoint (A'). is checked based on the reference coordinate system (CF). In this embodiment and drawings, the corner refers only to the vertex of the outer border forming a simple two-dimensional terrain image, but it also includes vertices due to changes in the shape of the part identified by differences in color, etc. within the terrain image. Here, if the color is black, which is the specified saturation, it is regarded as a shadow, and the vertex created by the color difference in the corresponding part is not recognized as a corner of the terrain image and is ignored.

The coordinate comparison confirmation module 150, which confirms the reference coordinate values (x', y') for each corner, selects the latest terrain image (M1) corresponding to the new terrain image (M2) from the reference coordinate DB 130 through the control module 190. )'s latest reference coordinate values (x, y) are searched and compared with the new reference coordinate values (x', y'), which are the reference coordinate values of 'P'' confirmed earlier. In addition, the coordinate comparison confirmation module 150 confirms the new reference coordinate values (x0', y0') of the midpoint (A') of the new terrain image (M2) based on the reference coordinate system (CF), and the reference coordinate DB ( 130) is compared with the latest reference coordinate values (x0, y0) of the recent terrain image (M1) corresponding to the new terrain image (M2) stored in .

S30; Terrain error confirmation step

The coordinate comparison confirmation module 150 sets the reference coordinate value of the corner (P') of the new terrain image (M2) and the reference coordinate value of the midpoint (A') to the standard coordinate value of the corner (P) of the recent terrain image (M1). Comparing the coordinate value and the reference coordinate value of the midpoint (A), respectively, if the number of reference coordinate values whose difference is within the first reference range is more than half, the feature of the recent terrain image (M1) is included in the new terrain image (M2) It is considered to be the same as the terrain of . However, if the number of reference coordinate values whose difference is outside the first reference range is more than half, the coordinate comparison confirmation module 150 compares the image form of the recent terrain image (M1) and the new terrain image (M2). Image form comparison between terrain images is made based on the number and shape of edges connecting corners.

For reference, the first reference range refers to a section designated by using the reference coordinate value of the most recent terrain image (M1) as zero.

If it is confirmed that the image shapes between the terrain images are not the same as a result of comparison, the features of the recent terrain image (M1) are considered to be different from the features of the new terrain image (M2). In addition, as shown in (a) of FIG. 5, the new terrain image (M2') was confirmed, but the recent terrain image (M1) corresponding to the new terrain image (M2') was not confirmed in the coordinate comparison confirmation module 150. Or, in the opposite case, as shown in (b) of Figure 5, the feature is considered to have been newly established or disappeared.

As a result of comparing the reference coordinate values of the new terrain image (M2) and the recent terrain image (M1) and comparing the image shapes between the terrain images, the new terrain image (M2) and the recent terrain image (M1) are not the same. If confirmed, check whether there is a re-confirmation error (S41). If, as a result of the above check, it is confirmed that the comparison result is not an error confirmed through the re-confirmation process, the comparison result indicates that the re-confirmation process for comparing the reference coordinate value and image form has not been performed, and the process starts again from the terrain image comparison step (S20). . However, if the error is confirmed to be an error through the re-confirmation process, the comparison result is confirmed and the error result guidance step (S90) is followed. A more specific process for the error result guidance step (S90) is described again below.

Continuing, if it is confirmed that the feature of the recent terrain image (M1) is the same as the feature of the new terrain image (M2), the coordinate comparison confirmation module 150 selects the midpoint (A') of the new terrain image (M2). Move it to fit the midpoint (A) of the terrain image (M1).

S50; Target terrain division stage by section

The range calculation module 160 generates the corresponding part (W) of the terrain image (M) within the block section (DV) in units of a reference coordinate system (CF) as a range setting reference coordinate value tailored to the reference coordinate system (CF), The range area for each part (W) of the terrain image (M) is calculated according to the range setting reference coordinate values.

For this purpose, the range calculation module 160 checks the intersection point (CP) where the border reference line (CF1) and the edge of the terrain image (M) intersect in order to calculate the range area of the corresponding part (W) of the terrain image (M). do. There are three intersection points (CP) identified in this way: (x1, y1), (x2, y2), and (x5, y5). In the end, the corresponding part (W) of the terrain image (M) for which the range area must be calculated in the blocked section (DV) is a pentagonal shape consisting of 3 intersection points (CP) and 2 corners within the range of the blocked section (DV). It's a polygon.

S60; Split range area confirmation step

Subsequently, the range calculation module 160 calculates the range area of the corresponding part (W). Since calculating the area of a polygon is already a known technology, descriptions of specific formulas and calculation processes will be omitted here.

S70; Reference area comparison step

The target area confirmation module 170 searches the reference area of the latest terrain image (M1) in the reference area DB 140 through the control module 190, and retrieves the new terrain image (M2) calculated by the range calculation module 160. ) Compare the range area of the corresponding part (W) with the reference area.

The comparison between the range area and the reference area is made according to reference coordinate values based on the reference coordinate system (CP).

The terrain change confirmation module 180 checks whether there is a difference between the reference area of the recent terrain image (M1) and the range area of the new terrain image (M2), and if the difference is confirmed to be within the second reference range, the main comparison is performed. The results are confirmed and the result guidance step for errors (S90) is followed up.

However, if the difference is outside the second reference range, the terrain change confirmation module 180 checks whether there is a re-confirmation error (S41). If, as a result of the above check, it is confirmed that the comparison result is not an error confirmed through the re-confirmation process, the comparison result indicates that the re-confirmation process for the reference coordinate value, image shape comparison, and area comparison has not been performed, starting from the terrain image comparison step (S20). Start again. However, if the error is confirmed to be an error through the re-confirmation process, the comparison result is confirmed and the error result guidance step (S90) is followed.

Meanwhile, as shown in (a) and (b) of FIG. 8, the topographic change confirmation module 180 includes the total area of the corresponding portion (W) of the new terrain image (M2) belonging to the blocked section (DV) and , you can first compare the total sum of the reference areas of the recent terrain image (M1) belonging to the block section (DV). If the area difference is within the standard range through first comparison of the total of the range area and the total of the standard area, the procedure of comparing each terrain image within the corresponding blocking section (DV) can be omitted. However, if the area difference is outside the standard range through first comparison of the total of the range area and the total of the standard area, each terrain image within the block section (DV) is compared one by one to identify a new terrain image causing the difference in area. do.

If the error is not confirmed as a result of the confirmation, the next procedure, error result guidance (S90), is performed. If the confirmation result is confirmed to be an error, it is additionally checked whether the error is a reconfirmed error (S41), and if it is not a reconfirmed error, the terrain image is sent. It starts again from the comparison step (S20), and if it is confirmed to be a re-confirmation error, the final result of the error is provided (S90).

S90; Error result guidance stage

The location of the terrain image confirmed through the coordinate comparison confirmation module 150 and the terrain change confirmation module 180 and the difference in area for each block section (DV) are checked through the input/output terminal 200 under the control of the control module 190. Print it out.

The difference in the location of these terrain images makes it possible to check the placement position error of the new terrain images (M2, M2') compared to the recent terrain images (M1, M1'), and the difference in the area of the terrain images can be seen in the entire digital map image. Allows you to check errors in numerical coordinate values. In other words, the placement position error makes it possible to determine whether there is an error in the placement point of the new terrain image (M2, M2') compared to the recent terrain image (M1, M1') or whether incorrect collection of front, back, left, and right widths, etc. was made. In addition, the error in the numerical coordinate value makes it possible to identify errors in the numerical coordinate value of the entire digital map image due to malfunctions of GNSS equipment, etc. during the process of producing the digital map image, even though all terrain images are collected and created correctly.

S100; Error correction steps

If an error is confirmed through the above-described error check, the error in the new terrain image (M2, M2') is corrected based on the confirmed error.

Since the error correction method is performed by the operator manually checking each item, the specific method for this is omitted from this description.

S110; Spatial information update stage to be modified

When the coordinate comparison confirmation module 150 determines to create a new terrain image (M2, M2'), the information data input module 192 stores the information data stored in the digital map DB 191 as the new terrain image (M2, M2). ') so that it is output together with the digital map image.

However, if the coordinate comparison confirmation module 150 decides to destroy the new terrain images (M2, M2'), the information data of the new terrain image stored in the digital map DB 191 is deleted.

As described above, information data on terrain images, etc. are generated in the information processing device 300 and updated in the digital map DB 191, and the information data input module 192 updates the digital map DB according to the decision to create or eliminate a terrain image. Update the information data of (191).

S120; Location tracking and collection steps

The location tracking module 340 confirms the location of the user terminal 400 through a GNSS service, or collects and confirms the location entered by the user terminal 400.

Additionally, the location tracking module 340 checks information about the destination point (T) entered by the user through the user terminal 400.

Through the above-described confirmation process of the location tracking module 340, all information needed to navigate the route requested by the user is collected.

The location tracking module 340 uses technology to check the location of the user terminal 400 or technology to check the starting point (H) and destination point (T) input from the user terminal 400 in general navigation technology, Here, detailed descriptions of location tracking technology and collection are omitted.

S130; Route navigation steps

The route search module 330 uses the information data of the terrain information DB 310 and the digital map DB of the digital map DB 350 ( 350), a route that can be moved within the limit is searched and processed to be posted on the corresponding digital map image.

To explain this in more detail, the terrain information DB 310 includes information data that is specific information about the terrain image, including sidewalks and general roads on which people can walk on foot, as well as roadways, etc. . Therefore, the route search module 330 confirms the location of the starting point (H) and destination point (T) suggested by the user in the information data included in the geographical information DB 310 through the location tracking module 340, and Centering on (H) and the destination point (T), one or more routes (R1 to R3) that the user can travel within a limited range are searched. At this time, as shown in Figure 9, there may be countless routes within the limited range, so among these, the routes (R1 to R3) are checked according to the means of transportation, and the shortest or optimal route is selected as shown in (b) of Figure 9. Final output.

Figure 10 is a diagram showing the overall appearance of the collection device according to an embodiment of the present invention, Figure 11 is a diagram showing a cross-section of the horizontal control unit according to an embodiment of the present invention, and Figure 12 is a diagram showing the overall appearance of the collection device according to an embodiment of the present invention. This is a diagram showing the operation of the horizontal control unit according to one embodiment.

As shown, the collection device 10 is mounted on the bottom of the horizontal control unit 600, which is coupled to the bottom of the aircraft 11 and controls the level, and automatically adjusts the level of the camera 20. It includes an automatic leveling unit 500 that maintains and a camera 20 coupled to the bottom of the automatic leveling unit 500.

The automatic leveling unit 500 includes a first base plate 510 on which the camera 20 is provided, a second base plate 520 spaced apart from the upper part of the first base plate 510, and a first base plate. A first semicircular body 530 provided on the upper surface of the second base plate 520, a second semicircular body 540 provided on the lower surface of the second base plate 520, and a plurality of semicircular bodies provided on the upper surface of the second base plate 520. A tilt measurement sensor 560 is provided on the support leg portion 550, the first base plate 510 and the second base plate 520 to measure the tilt, one side is provided on the first base plate 510 and the other side is provided on the second base plate 520 and includes a plurality of elevating cylinders 570 to elevate and support the first base plate 510, and a plurality of elevating cylinders 570 and a plurality of supports provided on the second base plate 520. It includes a battery 580 that supplies electrical energy to the leg portion 550.

In this embodiment, the automatic leveling unit 500 includes a known communication means connected to a communication network, and uses a plurality of functions based on the inclination detected by the inclination sensor 560 provided on the bottom of the first base plate 510. The horizontal level of the first base plate 510 can be adjusted by driving the lifting cylinder 570.

In addition, in this embodiment, the automatic leveling unit 500 drives a plurality of support legs 550 based on the inclination detected by the inclination sensor 560 provided on the upper surface of the second base plate 520. The horizontality of the second base plate 520 can be adjusted.

The first semicircular body 530 is provided with a base support ball 531, and the base support ball 531 is coupled to a groove provided in the second semicircular body 540 and can rotate freely.

The support leg portion 550 includes a leg body 551 coupled to the upper surface of the second base plate 520, and an elevating leg 552 coupled to the leg body 551 to be lifted.

In this embodiment, the lifting leg 552 may be operated based on a signal detected by the tilt measurement sensor 560 provided on the second base plate 520.

Additionally, in this embodiment, the lifting leg 552 may be operated with electrical energy supplied from the battery 580 and may be provided as a known screw shaft type.

The lower portion of the plurality of lifting cylinders 570 may be hinged to the upper surface of the first base plate 510, and the upper portion may be hinged to the lower surface of the second base plate 520.

In this embodiment, the plurality of lifting cylinders 570 may be operated by electricity and may be operated by receiving electrical energy from the battery 580.

And in this embodiment, the automatic leveling unit 500 may be used alone without the leveling control unit 600.

The horizontal control unit 600 is coupled to the upper end of the plurality of lifting legs 552 and can maintain the level of the automatic leveling unit 500.

The horizontal control unit 600 includes a support base body 610, a leg fastening part 620 provided on the support base body 610 and coupled to the lifting leg 552, and a leg fastening part 620 rotatably coupled to the support base body. ) and a lifting drive unit 630 that is screwed together to raise and lower the leg fastening unit 620, and a plurality of height adjustment units 640 provided to adjust the height between the support base body and the aircraft 11.

The support base body 610 is provided in communication with the first space 611 and the first space 611 in which the lifting ball 622 of the leg fastening part 620 is accommodated, and the lifting drive eastern part 630 It includes a second space 612, which is a space where the rotation axis 632 and the rotation body 633 move.

In this embodiment, a lifting guide groove 613 is provided on the inner wall of the support base body 610 where the first space 611 is provided to guide the lifting of the lifting ball 622.

The leg fastening part 620 is coupled to the lifting leg 552 and communicates with the lifting drive eastern part 630 to elevate the lifting leg 552.

The leg fastening portion 620 is provided on the leg coupling body 621, and is provided on the upper part of the leg coupling body 621. A threaded body 623 is provided on the upper part of the ball 622 and is raised and lowered by the rotation of the elevating mechanism 630. One side is supported by the elevating ball 622 and the other side is supported by the threaded body 623 to form a threaded body ( 623), a damping part 624 that reduces the vibration transmitted to the lifting ball 622, and a plurality of guide rollers 625 that are rotatably coupled to the lifting ball 622 and guide the lifting of the lifting ball 622. Includes.

The leg coupling body 621 is provided with a support groove 621a, and this support groove 621a is inclined to correspond to the inclination direction of the lifting leg 552, considering that the lifting leg 552 is inclinedly coupled. You can.

The lifting ball 622 is lifted up and down together with the leg coupling body 621, and can be moved up and down by the operation of the lifting drive unit 630.

The threaded body 623 is connected to the lifting ball 622 by a plurality of connecting rods 623a and can be moved up and down together with the lifting ball 622.

In this embodiment, a screw thread is provided on the upper surface of the threaded body 623, and this screw thread may be screw-engaged with a screw thread provided on the rotating body 633 of the lifting drive unit 630. As a result, when the rotary body 633 having a trapezoidal shape is moved from left to right, the threaded body 623 is lifted and lowered, and at this time, the lifting ball 622 and the leg coupling body 621 are also lifted and lowered. This raised height is marked "H".

The damping part 624 is supported on one side by the elevating ball 622 and on the other side by the threaded body 623, thereby reducing vibration transmitted from the threaded body 623 to the elevating ball 622.

In this embodiment, the damping unit 624 includes a damping spring 624a that is disposed between the elevating ball 622 and the threaded body 623 to reduce vibration transmitted from the threaded body 623 to the elevating ball 622, and , a first support (624b) coupled to the upper end of the damping spring (624a) and supported on the inside of the threaded body 623, and a first support (624b) coupled to the lower end of the damping spring (624a) and supported on the upper surface of the lifting ball (622). 2Includes pedestal 624c.

The guide roller 625 is provided to rotate on the elevating ball 622 and is supported by the elevating guide groove 613 to guide the elevating ball 622.

The lifting drive unit 630 includes a rotary part 631 rotatably disposed on the outside of the leg coupling body 621, a rotary shaft 632 whose one end is connected to the rotary part 631 and rotates like the rotary part 631, and a rotary shaft ( A rotating body 633 is connected to and rotates with the threaded body 623 and is screwed together with the threaded body 623 to raise and lower the threaded body 623. One side is connected to the rotating body 633 and the other side is connected to the support base body 610. It includes a support shaft 634 supported in the provided hole.

The rotating body 633 may have a trapezoidal shape, and when the rotating body 633 moves from left to right, the leg fastening portion 620 may be lowered by the height “H”. Conversely, when the rotating body 633 moves from right to left, the leg fastening portion 620 may move upward.

The height adjustment unit 640 is coupled to the support base body 610 and can raise and lower the overall height of the support base body 610.

In this embodiment, overall leveling can be achieved by operating the lifting leg 552 of the automatic leveling unit 500, and fine leveling is achieved through the lifting cylinder 570, the level control unit 600, and the height adjusting unit 640. It can be adjusted.

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: collection device 11: aircraft 20: camera
100: Numerical map processing device 200: Input/output terminal 300: Information processing device
400: User terminal 500: Automatic leveling unit 510: First base plate
520: Second base plate 530: First semicircular body 531: Base support ball
540: Second semicircle body 550: Support leg portion 551: Leg body
552: Elevating leg 560: Tilt measurement sensor 570: Elevating cylinder
580: Battery 600: Horizontal control unit 610: Support base body
611: First space part 612: Second space part 613: Elevating guide home
620: Leg connection part 621: Leg combination body 621a: Support groove
622: Elevating ball 623: Threaded body 623a: Connecting rod
624: Damping part 624a: Damping spring 624b: First support
624c: Second pedestal 625: Guide roller 630: Accommodating lifting drive unit
631: Rotating part 632: Rotating shaft 633: Rotating body
634: Support shaft 640: Height adjustment unit

Claims (1)

A collection device that collects digital map images through a camera installed on an aircraft; A digital map processing device that checks for changes by comparing the topographic image of the feature in the digital map image collected from the collection device with the topographic image in the existing digital map image; An input/output terminal that checks and controls the operation of the numerical map processing device; and an information processing device that collects information data and provides information data corresponding to the digital map processing device; Including,
The information processing device,
A terrain information DB that stores and manages information data consisting of GNSS coordinate values for each terrain, terrain name, and information link data collected by connecting to the government office network through a communication network; Digital map DB that receives updated information data and digital map images from the digital map processing device and stores and manages them; A location tracking module that tracks the location of the user terminal; A route search module that searches for a possible route within a limited range based on the information data of the topographic information DB and digital map DB according to the starting point and destination point information confirmed in the user terminal and processes it to be posted on the corresponding digital map image; and storing the collected and searched information data in the geographical information DB, updating new information data in the digital map DB of the digital map processing device, and receiving the updated digital map image in the digital map DB of the digital map processing device to create a digital map database. an information processing module that searches the route in the route search module and transmits the processed information to the user terminal to be posted on the corresponding digital map image; Includes,
The collection device is,
A horizontal control unit coupled to the bottom of the aircraft to control the level; An automatic leveling unit that is mounted at the bottom of the horizontal control unit and automatically maintains the level of the camera; and a camera coupled to the bottom of the automatic leveling unit; Includes,
The automatic leveling unit,
A first base plate on which a camera is provided; a second base plate spaced apart from the upper part of the first base plate; A first semicircular body provided on the upper surface of the first base plate; a second semicircular body provided on the bottom of the second base plate and coupled to the first semicircular body; A plurality of support legs provided on the upper surface of the second base plate; Tilt measurement sensors provided on each of the first base plate and the second base plate to measure the tilt; A plurality of lifting cylinders, one side of which is provided on a first base plate and the other side of which is provided on a second base plate, to elevate and lower the first base plate; and a battery provided on the second base plate to supply electrical energy to the plurality of lifting cylinders and the plurality of support legs. Including,
The first semicircular body includes a base support ball rotatably coupled to the second semicircular body, and the plurality of support legs include a leg body coupled to the upper surface of the second base plate; And a lifting leg that is coupled to the leg body to be lifted. Including,
The lifting leg is operated based on a signal detected by a tilt measurement sensor provided on the second base plate, and the plurality of lifting cylinders are operated based on a signal detected by a tilt measuring sensor provided on the first base plate,
The horizontal control unit,
Support base body; A leg fastening part provided on the support base body to which the lifting leg is coupled; A lifting drive unit installed on the support base body and lifting the leg fastening unit; and a plurality of height adjustment units coupled between the support base body and the aircraft to adjust the height. Including,
The leg fastening part,
A leg combination body to which the lifting legs are connected; An elevating ball provided on the upper part of the leg combination body and raised and lowered in an elevating guide groove provided on the support base body; A threaded body provided on the upper part of the lifting ball and raised and lowered by rotation of the lifting drive unit; A damping portion supported on one side by the elevating ball and the other side by the threaded body to reduce vibration transmitted from the threaded body to the elevating ball; and a plurality of guide rollers rotatably coupled to the elevating ball to guide the elevating ball. Includes,
The elevator shaft section,
A rotating part rotatably disposed on the outside of the leg coupling body; A rotating shaft, one end of which is connected to the rotating part and rotated with the rotating part; A rotating body that is connected to a rotating shaft and rotates and is screwed together with the threaded body to raise and lower the threaded body; and a support shaft having one side connected to the rotating body and the other side supported in a hole provided in the support base body. A digital map production system capable of automatically searching locations and determining routes, wherein the rotating body has a trapezoidal shape.

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