KR20180021604A - Setting method of ground control point using drone - Google Patents

Abstract

Disclosed is a ground reference point setting method using a drone. According to the present invention, the ground reference point setting method using a drone comprises: a step of installing an antenna for a RTK-GPS on an upper surface of a body of the drone while forming a photo identification unit on an upper surface of the antenna; a step of inputting a position coordinate value to a control unit of the drone so as to enable the drone to be automatically moved to a position where the ground reference point is to be set, or to enable the drone to be manually moved to the position where the ground reference point is to be set; a step of setting the drone itself as the ground reference point when the drone is landing on the position where the ground reference point is to be set to decide the position value of the drone obtained from the RTK-GPS as the ground reference point; and a step of transmitting a control signal to the controller or controlling the drone to return to the predetermined position when an aerial photography with respect to the position where the landed drone is considered as the ground reference point is completed. Therefore, time, workforce, and effort used for installing and measuring the ground reference point through a photogrammetry using the drone or flight vehicles.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a ground-

[0001] The present invention relates to a method of setting a ground reference point using a drone, and more particularly, to a method of setting a ground reference point using a drone, And a ground reference point setting method using a dron that is automatically returned after the irradiation is finished.

Generally, the main purpose of photogrammetry using drones is to capture the superimposed photographs using the camera-equipped drones and acquire 3D terrain data using them.

However, since these 3D terrain data can only acquire relative terrain values, they must be converted to absolute coordinates used in surveying. In addition, several tens or hundreds of pictures need to be mosaicked, which can cause errors. In order to minimize the error, it is necessary to measure the position that is easy to read in the photograph and input the position value after matching. This point is called the ground control point (GCP). The ground reference point usually uses a point that is easy to read. If there is no such point, it is artificially displayed and its position information is measured and used in post-processing.

A prior art for setting the ground reference point is disclosed in Korean Patent No. 10-1258560 (Announcement: 2013.04.26), which discloses a method of setting a ground reference point for airborne triangulation. The setter uses one point in the aerial photograph image that knows the coordinate value as the ground reference point and applies the constant coordinates based on the determined ground reference point. However, in the method of setting the ground reference point, the coordinate value for the point has to be directly visited by the setter and confirmed by a conventional position measurement such as GPS / INS, or indirectly from a digital map. In other words, the setter had to measure and collect the coordinate value of the point set as the ground reference point by visiting the actual position corresponding to the ground reference point directly.

On the other hand, Korean Patent Registration No. 10-915600 (public announcement: 2009.09.07) discloses a method for measuring three-dimensional coordinates of an image using a ground reference point. This method of measuring three-dimensional coordinates is a method of acquiring three-dimensional coordinates of an image without separately performing a ground reference point measurement by using a mark that can be identified in the aerial image at a reference point that knows the three-dimensional coordinates as a ground reference point .

As described above, the conventional methods of setting the ground reference point are such that the setter visits the actual ground corresponding to the ground reference point and measures and collects the coordinate value of the ground reference point, or installs an identifiable marker, There is a problem in that it is inefficient in cost.

. Korean Patent No. 10-1258560 (public announcement date: March 26, 2013) . Korean Patent No. 10-0915600 (Notice: 2009.09.07)

It is an object of the present invention to provide an automatic planned ground reference point (GCP) to minimize the time, manpower and effort required to install and measure the most time-consuming ground reference point in photogrammetry using a drone, And to provide a ground reference point setting method using a drone which is moved to an installation point so that the drone itself serves as a ground reference point and is automatically returned to the ground after the investigation is finished.

The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to at least partially solve the problems in the conventional arts. It can be understood.

According to the present invention, the above object is achieved by a method for measuring a position of a vehicle, comprising the steps of: a) a driving unit for generating a lift and a flying force, a battery for supplying power to the driving unit, And a controller for controlling the driving unit to obtain position coordinates from the position measuring unit in real time and to record the same in a logger and return to a set position, Forming an image identification unit on an upper surface of the antenna; b) a position coordinate value for a point at which a ground reference point is to be set in the control unit of the drone, so that the drone automatically moves to a point at which the ground reference point is set, ; c) setting the dron itself as a ground reference point when the dron landed at a point where the ground reference point is to be set, and defining the position value of the dron obtained from the position measuring means as a ground reference point; And d) when the aerial photographing for the area where the landed drones are set as the ground reference points is completed, the control unit transmits a control signal to the control unit so that the drones automatically take off and return to the set position, And then returning the ground reference point to the ground.

The photo identification unit may color the upper surface of the antenna with different colors so that the drones set as the ground reference points can be easily identified during the aerial photographing for the region where the ground reference point is set.

Wherein the step (c) comprises the steps of: sensing a tilting of the dron due to the unevenness of the ground when the dron lands on the ground, and controlling the horizontal holding means provided on the dron so that the photo identifying unit maintains the horizontal state, And adjusting the inclination of the second lens group.

The horizontal holding means may include a horizontal detection sensor provided on the body for sensing that the body tilts in the X and Y axes; Three or more landing strips inclined outwardly from the bottom surface of the body to the direct downward or vertical line; Each of the height adjusting legs being provided in multiple stages within each of the respective landing platforms so as to be selectively drawn out by an electrically operated actuator; And a controller for detecting a tilting direction of the body on the basis of a signal sensed by the horizontal sensor and drawing the height adjusting leg by an actuator provided inside the landing gear corresponding to a tilting direction of the body, The control unit may be configured to maintain the control unit.

In the step b), when the operator manually controls the drones, the controller acquires images of the direction of the dron in real time through the camera provided on the drones, And to move the drones to a point at which the ground reference point is to be set based on the image.

According to the present invention, it is possible to quickly and easily set the ground reference point by setting the dron itself as the ground reference point after landing the dron in the area where the ground reference point is to be installed automatically or manually after installing the photograph identification unit on the dron Thereby providing the effect of minimizing the time, manpower and effort required to install and measure the ground reference point, which takes the most time in photogrammetry using drone or other aircraft.

1 is a flowchart illustrating a method of setting a land reference point using a drone according to the present invention.
FIG. 2 is a schematic diagram for explaining a ground reference point setting method using a drone according to the present invention.
Fig. 3 is a schematic view for explaining the horizontal holding means of the drones shown in Fig. 2;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the well-known functions or constructions are not described in order to simplify the gist of the present invention.

FIG. 1 is a flowchart illustrating a method of setting a land reference point using a drone according to the present invention. FIG. 2 is a schematic diagram for explaining a land reference point setting method using a drone according to the present invention. 3 is a schematic view for explaining the horizontal holding means of the drones shown in Fig.

1 to 3, a ground reference point setting method using a drone according to the present invention includes a driving unit 22 for generating lifting and flying force, a battery (not shown) for supplying power to the driving unit 22, GPS 26 as an example of a position measuring means composed of at least one or more positioning means for grasping a position using an artificial satellite, The antenna 27 for the RTK-GPS 26 is installed on the upper surface of the body of the dron 20 including the controller 29 for acquiring in real time and recording in the logger 28 and returning to the set position A step S1 of forming a picture identifying section 17A on the upper surface of the antenna 27 and a position coordinate value of a point at which a ground reference point is to be set in the control section 29 of the drones 20, (20) is automatically moved to the point where the ground reference point is to be set, or the drone (20) is manually moved B) step S2 of moving the drones 20 to a point at which the ground reference point is to be set and drones 20 are set as ground reference points when the drones 20 are landed at points where the ground reference points are to be set, 26. The method according to claim 1, further comprising the steps of: c) obtaining a position value of the drones 20 from the landing drones 20; D) transmitting a control signal to the control unit 29 so as to return to the set position or returning the control unit to the set position by controlling the drones 20 (S4).

The ground reference point setting method using the drones will be described in more detail.

The drone 20 to which the present invention is applied includes a driving unit 22 for generating lifting force and a flying force, a battery 24 for providing power to the driving unit 22, The RTK-GPS 26 and the driving unit 22 are controlled by the RTK-GPS 26 to obtain position coordinates in real time and recorded in the logger 28 And a control unit 29 for controlling the control unit 29 to return to the set position. The control unit 29 can be configured to be manually adjusted, and has a configuration capable of taking-off and landing automatically based on input coordinate values and control signals. That is, the controller 20 is configured to automatically operate the dron 20 as the operator inputs the flight related data (including the coordinates) using the controller. The details of the automatic navigation system and the like of the drones 20 are well known and will not be described in detail.

Although the RTK-GPS 26 is described as an example of the position measuring means, various techniques for obtaining the position value of the drone through the satellite can be applied.

In the reference numerals, 'A' denotes an area where the ground reference point is set, 'P1' denotes a set position where the drone returns, and 'P2' denotes a point or area where the ground reference point is to be set.

An antenna 27 for the RTK-GPS 26 is provided on the upper surface of the body of the drone 10. The antenna 27 is formed in a circular plate shape whose upper surface is flat. On the upper surface of the antenna 27, a photo identification portion 27A is formed. The photograph identifying section 27A identifies the drones 20 that are set as ground reference points in aerial photographing for the region A where the ground reference point is set, And black color are formed by alternately painting each color in a quadrant circle. In the present embodiment, the antenna 27 is shown as a disk, but it is not limited thereto and may be formed in various forms.

Horizontal holding means 30 is provided on the drone 20. When the drones 20 are tilted due to the unevenness of the ground when the drones 20 land on the ground as shown in Figs. 3 (a) and 3 (b) And controls the tilting of the drones 20 so that the image identification unit 27A maintains a horizontal state.

The horizontal holding means 30 includes a horizontal detection sensor 32 provided on the body 21 of the dron 20 for detecting the inclination of the body 21 in the X and Y axes, Three or more landing strips 34 that are sloped outwardly from the bottom surface or a vertical line and a plurality of landing strips 34 that are provided in each of the respective landing strips 34 so as to be selectively drawn out by an electrically operated actuator 38 The height of the body 21 and the height of the body of the body 21 are detected by the height adjustment legs 36 of the body 21 and the signal detected by the horizontal detection sensor 32, And a controller 29 for taking out the height adjusting legs 36 with the actuators 38 provided in the image capturing unit 27A to keep the photograph identifying unit 27A in a horizontal state.

At this time, the landing platform (34) is hollow and an actuator (38) is installed inside the platform. The actuator 38 applied to the present embodiment may be constituted by a step motor, a solenoid, an electric motor, or the like.

In the present embodiment, the actuator 38 is composed of a drive motor, and the operation by the drive motor 38A can be configured as follows. That is, as shown in Fig. 3A, the electric motor 38A installed in the landing gear 34 is coupled to the screw rod 38B that rotates in place, and is rotated in the forward or reverse direction of the screw rod 38B And a moving member 38C that moves along the longitudinal direction of the screw rod 38B. At this time, the shifting member 38C and the outermost height adjusting leg 36 are connected by a connecting member 38D. Therefore, as the screw rod 38B is rotated by the operation of the electric motor 38A, the movable member 38C moves in the longitudinal direction, and the height adjusting leg 36 coupled to the outermost connecting member 38D is pulled, So that the length of the height adjusting legs 36 coupled to overlap each other can be adjusted. It is needless to say that the actuating structure of the actuator 38 may be configured in various manners to control the length of the height adjusting legs 36.

The horizontal holding means 30 is configured such that when the drones 20 are landed, the control unit 29 detects the inclination of the landing platform 34 in the inclined direction based on the inclination value of the body 21 sensed by the horizontal detection sensor 32, The actuator 38 provided in the inside of the landing platform 34 is operated so that the height adjusting legs 36 stacked inside the landing platform 34 are pulled out so that the body 21 is in a horizontal state. By this operation, since the antenna 27 including the body 21 of the drone 20 can maintain the horizontal state, the discrimination power of the photo identification part 27A formed on the upper surface of the antenna 27 can be improved. That is, even if the dron 20 lands on irregular terrain, the body 21 is maintained in a horizontal state by the horizontal holding means 30, so that the antenna 27 also maintains the horizontal state, The identification of the photograph identification part 27A can be clearly made at the time of aerial photographing with respect to the photographing part P2.

On the other hand, the dron 20 may be provided with a camera 40. [ The camera 40 is for acquiring an image of the flying progress direction of the dron 20 in real time. When the operator manually controls the dron 20, the camera 40 The dron 20 is moved to a point P2 at which the ground reference point is to be set based on the image of the traveling direction of the dron 20 acquired in real time, . That is, when the operator manually adjusts the drone 20 to move to the point P2 at which the ground reference point is to be set, the operator checks the real time image acquired by the camera 40 provided in the dron 20, It is possible to facilitate the avoidance of the obstacle while the drones 20 are moving to the point P2 at which the ground reference point is to be set and to directly land the drones 20 at a desired point.

A method of setting the ground reference point using the drones 20 constructed as above will be described.

a) step (S1)

As described above, the drones 20 provided with the RTK-GPS 26 are provided with the horizontal holding means 30 and the camera 40 is provided. On the upper surface of the antenna 27 for the RTK-GPS 26, a photo identification part 27A is formed.

b) In step S2,

When the drone 20 is prepared, the position coordinate value for the point P2 at which the ground reference point is to be set is inputted to the control unit 29 of the drone 20, and the drone 20 is automatically set to the point P2 ). That is, the automatic navigation system allows the drone 20 to automatically move to the input coordinates. At this time, the drone 20 can be manually adjusted and moved to the point P2 at which the ground reference point is to be set. This is because it is possible to manually adjust the drones 20 to move to the point P2 at which the ground reference point is to be set when the point P2 at which the ground reference point is to be set is visually confirmed at the set position P1 where the operator is present .

If the camera 40 is provided in the dron 20, the operator can set the dron 20 to a point at which the ground reference point is to be set based on the real-time image of the traveling direction of the dron 20 acquired from the camera 40. [ (P2).

c) Step S3:

When the drone 20 is moved to the point P2 at which the ground reference point is to be set and landed at the set point (point corresponding to the inputted position coordinate value), the drone 20 itself is set as the ground reference point GCP And acquires the position value of the drone 20 from the RTK-GPS 26 as a coordinate value for the ground reference point (GCP).

That is, when the drone 20 lands, the position value (coordinate value) detected by the RTK-GPS 26 is acquired as the position value of the drone 20, and the position value of the drone 20 is set as the ground reference point GCP. As shown in FIG.

Thus, by setting the position value of the landed drone 20 itself to the ground reference point GCP by moving to the point P2 at which the ground reference point is to be set, the drone 20 itself becomes the ground reference point GCP , It is not necessary for the operator to go to the point P2 where the ground reference point is to be set and manually set the ground reference point (GCP).

d) In step S4,

When the aerial photographing of the area A set at the ground reference point (GCP) is completed, the dron 20 is automatically taken off and returned to the set position P1 so that the controller 29 , Or manually controls the drone 20 to return to the set position P1.

As described above, the drone 20 having the RTK-GPS 26 is moved to the ground control point (GCP) installation point, and the drone 20 itself is set as the ground reference point (GCP) 20 and the position coordinate value (X, Y, Z value) of the drone 20 is set as the ground reference point GCP and the position coordinates of the drones 20 with respect to the ground reference point GCP A 3D topographic map of the aerial photographing area can be obtained by inputting the values to the images obtained by aerial photographing using a program.

 In addition, since the drone 20 serves as a ground control point (GCP), the time and manpower required to set the ground reference point (GCP) in photogrammetry using an unmanned aerial vehicle can be remarkably improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious to those who have. Accordingly, it should be understood that such modifications or alterations should not be understood individually from the technical spirit and viewpoint of the present invention, and that modified embodiments fall within the scope of the claims of the present invention.

20: Drone 21: Body
22: drive unit 24: battery
26: RTK-GPS 27: Antenna
27A: Picture identification part 28: Logger
30: Horizontal holding means 32: Horizontal detection sensor
34: Landing platform 36: height adjustment leg
38: Actuator 38A: Electric motor
38B: screw rod 38C: movable member
40: camera

Claims (5)

a) a driving unit for generating a lift and a flying force, a battery for supplying power to the driving unit, a position measuring unit configured to detect a position using artificial satellites, at least one position measuring unit, The position measuring means is provided on the upper surface of the body of the dron including a control unit for obtaining position coordinates from the measuring means in real time and recording the same in a logger and returning to a set position, ;
b) a position coordinate value for a point at which a ground reference point is to be set in the control unit of the drone, so that the drone automatically moves to a point at which the ground reference point is set, ;
c) setting the dron itself as a ground reference point when the dron landed at a point where the ground reference point is to be set, and defining the position value of the dron obtained from the position measuring means as a ground reference point; And
d) When the aerial photographing is completed for the area where the landed drones are set as the ground reference points, a control signal is sent to the control unit so that the drones automatically take off and return to the set position, Comprising the steps of:
A ground reference point setting method using a drones. The method according to claim 1,
Wherein the photo identification unit comprises:
Characterized in that different colors are painted on the top surface of the antenna so that the drones set as the ground reference points can be easily identified during aerial photographing for the area where the ground reference point is set.
A ground reference point setting method using a drones. 3. The method of claim 2,
The step c)
Controlling the tilting of the dron by controlling the horizontal holding means provided on the dron so that the photographic identifying unit is kept horizontal when the dron lands on the ground by sensing the inclination of the dron due to the unevenness of the ground, Lt; RTI ID = 0.0 > 1, < / RTI &
A ground reference point setting method using a drones. The method of claim 3,
Wherein the horizontal holding means comprises:
A horizontal sensor disposed on the body for detecting inclination of the body in the X and Y axes;
Three or more landing strips inclined outwardly from the bottom surface of the body to the direct downward or vertical line;
Each of the height adjusting legs being provided in multiple stages within each of the respective landing platforms so as to be selectively drawn out by an electrically operated actuator; And
And a controller for detecting a tilting direction of the body on the basis of a signal sensed by the horizontal sensor and drawing the height adjusting leg with an actuator provided inside the landing strip corresponding to a tilting direction of the body, Wherein the control unit comprises:
A ground reference point setting method using a drones. The method according to claim 1,
The step b)
In the case where the operator controls the drones manually, the controller acquires an image of the traveling direction of the dron in real time through a camera provided on the drones, and based on the image of the traveling direction of the dron, To a point at which the ground reference point is to be set.
A ground reference point setting method using a drones.

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