KR20180121702A - Earthwork area photograph system - Google Patents

Abstract

The present invention relates to an earthwork area modeling system and a utilization platform thereof. Provided is the earthwork area modeling system including a plural of ground reference points with different patterns, an unmanned vehicle for photographing a terrain of an earthwork area and transmitting a plurality of 2D topographic photos, a correction unit for converting the plurality of ground reference points included in the plurality of 2D topographic photos into predetermined coordinates to generate a correction value corresponding to the coordinates, and a topographic map producing unit for producing a 3D topographic map by applying the correction value. Accordingly, a construction company using the 3D topographic map can reduce costs and shorten a construction period.

Description

{EARTHWORK AREA PHOTOGRAPH SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an earthwork construction site modeling system and a use platform thereof, and more particularly, to a system for generating a three-dimensional topographic map using aerial photographs obtained using a drones and a platform of systems for using the system.

Generally, a drone belongs to an unmanned aerial vehicle which can be controlled using a radio wave, and a driving system, a photographing system, a communication system, and the like are mounted in the unmanned aerial vehicle to perform various tasks. Although the drones were originally developed for military use, they are now being used not only for shooting at high altitudes but also for delivering goods.

However, there are fatal disadvantages with these advantages. For example, a criminal may carry a dangerous substance to a drones and deliver it to a specific person, causing personal injury, a sudden breakdown in the drones resulting in a collision resulting from a fall, or a camera in order to steal the privacy of another person And criminal behavior are pointed out as disadvantages. Therefore, the user of the drone must try himself or herself to become familiar with the proper operation and establish the morality, and the government should prepare rules and laws that can limit the indiscriminate use of the drone.

On the other hand, in order to construct a large-scale facility such as a road or a factory on a natural terrain, a foundation ground formation work must be performed. Such foundation foundation forming work means soil working such as ground cutting or soil piling. Since the earthworking work is done literally before the construction of a large-scale facility, it must be very planned. In order to do the earthworking work, it is essential to make the overall topography of the earthwork construction area.

Nowadays, it is common for a construction company to acquire a three dimensional topographic map of the earthwork construction area using a topographical specialty manufacturer. At this time, professional producers acquire 2-D topographical images by using drone, and professional experts of makers connect 3-D topographical maps manually by hand.

Therefore, on the side of construction companies, the cost of renting the drones and the cost of producing 3D topographical maps must be consumed, and it takes a considerable amount of time to complete the 3D topographical map. This leads directly to an increase in construction costs and a longer construction period.

Therefore, it is required to research and develop a system for making a three dimensional topographical map and a usable platform which can easily use it.

On the other hand, prior art related to the present invention are Korean Patent Registration No. 10-1695914, Korean Registration No. 10-1678105, and Korean Registered Patent No. 10-1628750.

(Document 1) Korean Patent Registration No. 10-1695914 (Jan. (Document 2) Korean Patent Registration No. 10-1678105 (Nov. 15, 2016) (Document 3) Korean Patent Registration No. 10-1628750 (Jun. 26, 2016)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to acquire and transmit a two-dimensional topographical image, which is source data of a three-dimensional topographic map, by photographing an earthwork construction area including a plurality of ground reference points having different patterns, The object of the present invention is to provide an earthwork construction site modeling system capable of producing a three dimensional topographic map by applying a correction value based on a ground reference point.

In addition, the present invention has another object to provide a platform for using the earthwork construction site modeling system in which a single transaction route is established between the drones rental company and the construction company by obtaining a three-dimensional topographical map through the earthwork construction site modeling system.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for controlling the same.

According to an aspect of the present invention, there is provided an image processing apparatus including: a plurality of ground reference points disposed on an upper surface of an earthwork construction area and having different patterns in aerial photographing; An unmanned aerial vehicle for photographing a terrain of the earthwork construction area including the plurality of ground reference points while flying over the earthwork construction area to transmit a plurality of two-dimensional topographic photographs; A correction unit for wirelessly communicating with the unmanned aerial vehicle and converting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs into predetermined coordinates to generate correction values corresponding to the coordinates; And a topographical map producing unit for applying the correction values to the plurality of two-dimensional topographical photographs to produce a three-dimensional topographical map.

In the present invention, the correction unit may include: an extraction unit for extracting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs; A matching unit for matching the predetermined coordinates corresponding to each of the plurality of ground reference points extracted by the extracting unit; And a value generator for generating the correction value corresponding to the coordinates output from the matching unit.

In the present invention, it is preferable that the storage unit further stores a pattern of each of the plurality of ground reference points and coordinates corresponding to the pattern.

In the present invention, each of the plurality of ground reference points includes a unique pattern for specifying the ground reference point; And a recognition pattern disposed on one side of the unique pattern to recognize that the unique pattern is disposed.

In the present invention, the predetermined coordinates corresponding to the plurality of ground reference points may be relative coordinates defined on the basis of either the actual coordinates received by the GPS or the plurality of ground reference points.

In the present invention, it is preferable that the unmanned air vehicle includes a gyro sensor.

According to another aspect of the present invention, there is provided a navigation system for a navigation system, the navigation system comprising: a navigation system for navigating a flight path through coordinates corresponding to a plurality of ground reference points, Inputting; The unmanned aerial vehicle starts to fly; Wherein the unmanned aerial vehicle is located at any one of the plurality of ground control points; Sequentially photographing the earthwork construction area; Determining that the photographing step is finished; Moving to the next ground reference point or terminating the flight according to the determination result of the determining step; And generating a three-dimensional topographic map with a plurality of two-dimensional topographic photographs received through the photographing step.

In the present invention, the step of positioning includes moving the unmanned aerial vehicle with coordinates corresponding to a reference ground reference point among coordinates corresponding to a plurality of ground reference points input through the inputting of the flight path as an initial position; Performing photographing at the initial position to obtain a reference photograph; Extracting a ground reference point included in the reference photograph and comparing the ground reference point with the reference ground reference point; And modifying the predetermined coordinates in the step of inputting the flight path according to a result obtained through the comparing step.

Detecting a horizontal state of the unmanned aerial vehicle according to the present invention; And adjusting the unmanned aerial vehicle to a horizontal state according to a detection result of the detecting step.

In the present invention, the step of generating the three-dimensional topographic map may include receiving and superposing the plurality of two-dimensional topographic photographs to generate an overlapped topographic map; Matching and extracting coordinates corresponding to the plurality of ground reference points; Correcting the three-dimensional topographic map by applying coordinates corresponding to the plurality of ground reference points to the overlapping topographic map as a correction value; And providing the three-dimensional topographic map to the operator.

Detecting a departure of the unmanned air vehicle from a predetermined flight path in the present invention; And encrypting the plurality of two-dimensional topographic photographs photographed by the unmanned aerial vehicle in response to the detecting step.

In the present invention, it is preferable that the step of detecting the departure is to adjust the departure range margin of the predetermined flight path according to the current wind intensity.

In the present invention, the coordinates corresponding to the plurality of ground reference points may be relative coordinates defined on the basis of either the actual coordinates received from the GPS or the plurality of ground reference points.

In the present invention, the step of inputting the flight path may include: inputting coordinates corresponding to the earthwork construction area; And inputting coordinates corresponding to a part of the earthwork construction area.

According to another aspect of the present invention, there is provided a rental system for renting an unmanned air vehicle, And a plurality of ground reference points having different patterns on the upper surface of the earthwork construction area are installed, and a flight path corresponding to the earthwork construction area is input to the unmanned air vehicle rented from the rental system, Dimensional modeling system for generating a three-dimensional topographical map in real time using a plurality of two-dimensional topographic photographs including ground reference points of the plurality of ground reference points and correction values corresponding to the coordinates of the plurality of ground reference points A usage platform is provided.

According to another aspect of the present invention, there is provided a method of manufacturing an aerial photographing apparatus, the method comprising: disposing a plurality of ground reference points having different patterns on an upper surface of an earthwork construction area; Capturing a plurality of two-dimensional topographic photographs by photographing all terrains of the earthwork construction area including the plurality of ground reference points while flying over the earthwork construction area using an unmanned aerial vehicle; Converting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs into predetermined coordinates, generating correction values corresponding to the coordinates, and applying the correction values to produce the first three-dimensional topographic map; And photographing a part of the terrain of the earthwork construction area to rebuild the final three-dimensional topographic map.

In the re-producing step of the present invention, it is preferable to set coordinates corresponding to a predetermined terrain in the earthwork construction area and photograph the corresponding part of the terrain.

Capturing an entire reference photograph corresponding to the earthwork construction area by moving to a higher altitude than the photographing height of the step of acquiring a plurality of two-dimensional topographical photographs according to the present invention; And photographing an entire comparison photograph corresponding to the entire reference photograph when the earthwork construction area is deformed, wherein the reconstructing includes comparing the entire reference photograph with the entire comparison photograph, And photographing the corresponding part of the terrain.

It is possible to generate a three-dimensional topographic map without passing through a separate topographic map maker for producing the topographic map according to the present invention, thereby providing cost reduction and air shortening effect.

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

1 is a schematic view for explaining an earthwork construction site modeling system according to an embodiment of the present invention;
Fig. 2 is a block diagram for explaining an internal configuration of the correction unit of Fig. 1; Fig.
FIGS. 3 to 5 are flowcharts for explaining a method of generating a three-dimensional topographic map through the wireless navigator of FIG. 1. FIG.
6 is a view for explaining a use platform to which an earthwork construction site modeling system according to an embodiment of the present invention is applied.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include "or" have ", as used herein, is intended to encompass a plurality of expressions, unless the context clearly dictates otherwise, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a schematic view for explaining an earthwork construction site modeling system according to an embodiment of the present invention.

Referring to FIG. 1, the earthwork construction site modeling system includes a plurality of ground reference points 100 disposed on the upper surface of the earthwork construction area A and having different patterns at the time of aerial photographing; A plurality of two-dimensional topographical photographs P are captured by photographing the topography of the earthwork construction area A including the plurality of ground reference points 100 while flying over the earthwork construction area A, 200); And a plurality of ground reference points (100) included in the plurality of two-dimensional topographic photographs (P) in wireless communication with the unmanned aerial vehicle (200) are converted into predetermined coordinates to generate correction values (R) corresponding to the coordinates A correction unit 300; And a topographic map producing unit 400 for producing the three-dimensional topographic map M by applying the correction value R to the plurality of two-dimensional topographic photographs P.

First, the ground reference point 100 is disposed in the earthwork construction area and is formed so as to face upward in a predetermined size so that a specific pattern is photographed at the time of aerial photographing by the unmanned aerial vehicle 200. Here, it is assumed that each of the ground reference points 100 has "a", "c", "d", "k", "i", and pattern. However, if the ground reference point 100 has a different pattern, . For example, butterfly motifs, cross motifs, star motifs may be possible. As will be described later, each of the ground reference points 100 is transformed into coordinates predetermined by the correction unit 300, and is used to define a correction value for making a three-dimensional topographical map more clearly.

Here, each of the plurality of ground reference points 100 may be disposed corresponding to the actual coordinates received in the GPS, or may be arranged corresponding to relative coordinates spaced by a predetermined distance based on any one of the plurality of ground reference points 100, The position where the plurality of ground reference points 100 are arranged will be described again in FIG.

Next, the unmanned aerial vehicle 200 photographs the terrain of the earthwork construction area A while flying the earthworks construction area A at a certain altitude to obtain a plurality of two-dimensional topography photographs P, To the topographic map producing unit 400, and may be constituted by a drone controlled by an operator. At this time, the drone is equipped with a receiving device for receiving a control signal by the operator, a photographing device such as a camera C, and a transmitting device for transmitting a plurality of two-dimensional topographical photographs P photographed by the photographing device . The gyro sensor J is mounted on the unmanned air vehicle 200 and the relationship between the camera C and the gyro sensor J will be described again with reference to FIG.

The unmanned air vehicle 200 is capable of capturing a plurality of two-dimensional topographic photographs P by aerial photographing the earthwork construction area A. At this time, the plurality of two-dimensional topographic photographs P include a plurality of ground reference points 100), but a photograph including a plurality of ground reference points 100 must be included. This is because in the embodiment of the present invention, the correction value R is generated using a plurality of ground reference points 100 and the three-dimensional topographic map M must be compensated through the correction value R. [

Next, the correction unit 300 receives a plurality of two-dimensional topographic photographs P through wireless communication with the unmanned air vehicle 200, and receives a plurality of ground reference points 100 included in the plurality of two- ) To predetermined coordinates and generate a correction value (R) corresponding to the coordinates. A more detailed description of the correction unit 300 will be given again in FIG.

Finally, the topographic map producing unit 400 is a construction for producing a three-dimensional topographic map M by applying a correction value R to a plurality of two-dimensional topographic photographs P. The topographical map producing unit 400 can detect a portion overlapping a plurality of two-dimensional topographic photographs P and superpose the topographic maps P and combine them to produce a three-dimensional topographic map M. Here, a plurality of ground reference points 100 It is possible to produce a more accurate three-dimensional topographic map M by applying the correction value R according to the coordinates corresponding to the three-

The earthwork construction site modeling system according to the embodiment of the present invention photographs a two-dimensional topographic photograph P so that a plurality of ground reference points 100 of different patterns are included, converts a plurality of ground reference points 100 into predetermined coordinates It is possible to produce a very precise three-dimensional topographic map M by applying the correction value R to the two-dimensional topographic photograph P after generating the correction value R corresponding to the coordinates.

In addition, since such a series of three-dimensional topographical maps (M) do not require the manual work of experts, the construction company can produce its own three-dimensional topographical map (M) It is possible.

2 is a block diagram for explaining the internal configuration of the correction unit 300 of FIG.

Referring to FIG. 2, the correction unit 300 includes an extraction unit 310 for extracting the plurality of ground reference points 100 included in the plurality of two-dimensional topographic photographs P; A matching unit 320 for matching the predetermined coordinates corresponding to the plurality of ground reference points extracted by the extraction unit 310; And a value generator 330 for generating the correction value R corresponding to the coordinate output from the matching unit 320. [ The storage unit 340 further stores a pattern of each of the plurality of ground reference points 100 and a coordinate corresponding to the pattern.

The extracting unit 310 extracts a plurality of ground reference points 100 contained in a plurality of two-dimensional topographic photographs P.

Hereinafter, for convenience of explanation, the "a" ground reference point among the plurality of ground reference points 100 will be described.

The extracting unit 310 recognizes and extracts the "a" ground reference point from a plurality of two-dimensional topographic photographs P including a plurality of ground reference points 100. [ At this time, the storage unit 340 stores various patterns and coordinate values corresponding to the corresponding patterns. The extracting unit 310 extracts a plurality of ground reference points 100 corresponding to a plurality of ground reference points 100 so that the extracting unit 310 can recognize the " Data. Various methods can be used for the method for the extraction unit 310 to recognize the "a" ground reference point. For example, the "a" ground reference point can be recognized and extracted through a digital processing method.

Here, the extracting unit 310 can detect "ㅇ", which is a border pattern of the "a" ground reference point, and recognize the "a" ground reference point inside the frame first, in order to better recognize the "a" ground reference point. Here, the "ㅇ" pattern corresponds to the recognition pattern for recognizing the "a" ground reference point, and the "a" ground reference point corresponds to the unique pattern for specifying each of the plurality of ground reference points 100.

For reference, if the pattern is formed only by a unique pattern, the extracting unit 310 may malfunction in a similar pattern, and it is possible to increase the recognition rate of the unique pattern through the recognition pattern.

Next, the matching unit 320 is configured to match and output the coordinates corresponding to the "a" ground reference point extracted by the extraction unit 310. [ At this time, the matching unit 320 receives the coordinates corresponding to the "a" ground reference point from the storage unit 340 and outputs the coordinates.

Here, the coordinates provided by the matching unit 320 may be divided into an actual coordinate and a relative coordinate.

First, the actual coordinates refer to the actual coordinates provided by the GPS. In the case of a large number of two-dimensional topographical photographs (P), a three-dimensional topographic map (M) is generated by a superimposition operation. If there is no coordinate value, an error occurs in the actual topography and the three- dimensional topographic map (M). Therefore, it is possible to model almost the same as the actual terrain by correcting the three-dimensional topographic map (M) through the actual coordinate values by the GPS.

Next, the relative coordinate means a coordinate value defined based on any one of the plurality of ground reference points 100. For example, if a plurality of ground reference points 100 are defined with reference to the "a" ground reference point, the other reference ground points, "d" ground reference point, "ㅁ" ground reference point, and " Can be defined as relative coordinates that are scheduled on the basis of.

Since the ground reference point, the ground reference point, the ground reference point, and the ground reference point are arranged at predetermined positions with respect to the ground reference point, the ground reference point, the ground reference point, It is possible to arrange the display device 100 quickly.

Finally, the value generating unit 330 is configured to generate a correction value R corresponding to the coordinates output from the matching unit 320. Here, the correction value R is a value for correcting an error that occurs when a plurality of two-dimensional topographic photographs P are produced in the three-dimensional topographic map M through the superimposing operation.

1, the topographical map producing unit 400 is capable of producing a three-dimensional topographic map M using the two-dimensional topographic photograph P and the correction value R transmitted from the correction unit 300 , And the correction value (R) are applied, the produced three-dimensional topographic map (M) guarantees quality similar to the actual terrain.

3 and 5 are flowcharts for explaining a method of generating a three-dimensional topographic map M through the wireless navigation device 200 of FIG. 1. FIG. 3 is a flowchart illustrating a method of acquiring a two- And FIG. 5 is a method of acquiring a two-dimensional topographic photograph to generate a three-dimensional topographic map.

Referring to FIG. 3, a method for acquiring a two-dimensional topographical photograph is performed by using a coordinate corresponding to a plurality of ground reference points 100 having coordinates corresponding to the earthwork construction area A and different patterns on the unmanned air vehicle 200 Inputting a flight path (S210); A step S220 of starting the flight of the unmanned air vehicle 200; A step S230 in which the unmanned aerial vehicle 200 is located at any one of the plurality of ground reference points 100; Detecting a horizontal state of the unmanned air vehicle 200 (S240); (S250) adjusting the unmanned air vehicle 200 to a horizontal state according to a detection result of the detecting step S240; Sequentially photographing the earthwork construction area A (S260); A step S270 of determining that the photographing step S260 is finished; (S280) or finishing the flight (S290) to the next ground reference point (100) according to the determination result of the determining step (S270).

In step S210, a coordinate corresponding to the earthwork construction area A and coordinates corresponding to a plurality of ground reference points 100 are input to the unmanned aerial vehicle 200 as a step of inputting a flight path. The coordinates corresponding to the earthwork construction area A are coordinates for defining an area to be photographed by the unmanned object 200. Coordinates corresponding to the plurality of ground reference points 100 are coordinates of a two- Dimensional ground photograph including a plurality of ground reference points 100 since a plurality of ground reference points 100 must be included in the reference image.

Step S220 is a step for driving the unmanned air vehicle 200 to float above the earthwork construction area A. The unmanned aerial vehicle 200 can move the desired air route along the coordinates inputted in step S210 and photograph the earthwork construction area A sequentially.

For reference, although not shown in the drawing, the unmanned air vehicle 200 detects that the unmanned air vehicle 200 leaves the predetermined flight path; And encrypting the plurality of two-dimensional topographic photographs (P) photographed in the unmanned air vehicle (200) in response to the detecting step.

In other words, the unmanned aerial vehicle 200 can deviate from the scheduled flight path due to an accidental hacking or an accident, and the unmanned air vehicle 200 detects that the unmanned air vehicle 200 leaves the flight path, And encrypts a plurality of two-dimensional topographic photographs (P). Therefore, even if an unwanted person other than the operator acquires the unmanned aerial vehicle 200, it is impossible to view the two-dimensional topographic photograph P photographed by the unmanned aerial vehicle 200.

Next, in step S230, the UAV 200 is positioned above any one of the plurality of ground control points 100. Here, for convenience of explanation, it is assumed that the UAV 200 is located above the ground reference point among the plurality of ground reference points 100. At this time, the unmanned aerial vehicle 200 is positioned above the ground reference point according to the path input in step S210. In step S230, the user must confirm whether the unmanned air vehicle 200 is positioned at a desired position. Accordingly, in step S230, it is preferable to check whether the "a" ground reference point is included in the initially photographed two-dimensional topographic photograph, and then proceed with the operation thereafter.

4 is a flowchart for explaining the step S230 at the ground reference point of FIG. For convenience of explanation, it is assumed that the UAV 200 is located at a position corresponding to the "a" ground reference point.

Thus, the step S230 located at the ground reference point includes the unmanned aerial vehicle moving step S231, the reference photograph acquisition step S232, the ground reference point extraction and comparison step S233, the coordinate correction step 234, Step S235.

In step S231, the unmanned air vehicle 200 moves to the initial position. The unmanned aerial vehicle 200 moves to the corresponding position according to the coordinates corresponding to the "a" ground reference point input in step S210 of FIG. Here, the "a" ground reference point is referred to as a "reference ground reference point"

Step S232 is a step of photographing at the initial position to acquire a reference photograph. Herein, the reference photograph means a photograph taken at the initial position where the unmanned aerial vehicle 200 has moved.

Step S233 is a step for extracting a ground reference point included in the reference photograph and comparing the ground reference point with the reference ground reference point. In step S233, the pattern of the "a" ground reference point included in the reference photograph is extracted and it is determined whether or not the corresponding pattern and the patterns corresponding to the reference ground reference point are identical to each other. If the pattern extracted from the reference photograph and the pattern corresponding to the reference ground reference point are different from each other, the predetermined coordinates are corrected through step S234. If the pattern extracted from the reference photograph and the patterns corresponding to the reference ground reference point are the same And then proceeds to step S235.

Ideally, the unmanned aerial vehicle 200 should be positioned above the correct point according to predetermined coordinates. However, the unmanned aerial vehicle 200 may not be positioned above the correct point due to an error occurring for various reasons. Accordingly, the unmanned aerial vehicle 200 according to the present invention can control the unmanned aerial vehicle 200 to be located at a precise point using a reference photograph for determining the initial position separately from the three-dimensional topographic map M.

Referring again to FIG. 3, step S240 is a step of detecting the horizontal state of the unmanned air vehicle 200. As described above, the gyro sensor J is mounted inside the unmanned object 200, and the unmanned object 200 can detect the horizontal state of the unmanned object 200 through the gyro sensor.

In step S250, the unmanned object 200 is adjusted in a horizontal state. In step S240, the unmanned object 200 can be adjusted to a horizontal state when the unmanned object 200 is not in a horizontal state (NO) Do.

In step S260, it is determined whether the unmanned object 200 is in a horizontal state (step S240) or not (step S250). For example, when the unmanned object 200 is in a horizontal state It is possible to capture a plurality of two-dimensional topographic photographs P by photographing the earthwork construction area A.

Step S270 is a step of determining a shooting end point. The operator can set information about the shooting end point in advance, and the unmanned aerial vehicle 200 judges the corresponding position, and when the current position is not the last shooting point (No), the ground reference point other than the ground reference point is photographed If the current position is the last photographing point (YES), the flight is terminated through step S290.

In other words, the unmanned aerial vehicle 200 is able to acquire a plurality of two-dimensional topographical photographs P by photographing the earthwork construction area A by flying through the flight path inputted by the operator and horizontally adjusting the main body, If an unwanted accident occurs, it is possible to increase the security capability by encrypting a plurality of two-dimensional topographic photographs (P).

For reference, the unmanned aerial vehicle (200) is directly influenced by the body swing according to the wind intensity in the sky. That is, when the wind is high, the unmanned aerial vehicle 200 may be deviated from the predetermined route, which may be misinterpreted as the unmanned air vehicle 200 departs the scheduled flight path. Therefore, it is desirable that the UAV 200 adjusts the margin of the departure range that can be deviated from the predetermined flight path according to the intensity of the wind. In other words, when the wind is high, it is possible to carry out the continuous shooting operation by largely adjusting the leaving range margin and considering the departure of the wind by the normal operation.

5 is a method for acquiring a two-dimensional topographic photograph to generate a three-dimensional topographic map.

Referring to FIG. 5, in the earthwork construction spot photographing method, the step of generating the three-dimensional topographic map M includes a step of obtaining a plurality of two-dimensional topographical photographs P received through the photographing step S260 of FIG. Receiving (S310); A step (S320) of superimposing the plurality of two-dimensional topographic photographs P to generate an overlapped topographic map; A step S330 of matching and extracting coordinates corresponding to the plurality of ground reference points 100; And correcting the three-dimensional topographic map (M) by applying coordinates corresponding to the plurality of ground reference points (100) to the overlapping topographic map as a correction value (R) (S340); And providing the three-dimensional topographic map M to the operator (S350).

Step S310 is a step of receiving a plurality of two-dimensional topographic photographs P from the unmanned aerial vehicle 200. The correction unit 300 of FIG. 1 and communication equipment (not shown) for transmission and reception are mounted in the unmanned air vehicle 200, and the remote control of the two-dimensional terrain type photograph P Transmission is possible.

Step S320 is a step of superposing a plurality of two-dimensional topographic photographs P to generate an overlapped topographic map. Here, the superimposing process means that a three-dimensional topographic map M is produced by image-processing the portions overlapping each other among a plurality of two-dimensional topographic photographs P, and this operation is performed in the topographical map producing unit 400 of FIG. 1 do.

In operation S330, coordinates corresponding to the plurality of ground reference points 100 are matched and extracted. A plurality of ground reference points 100 are included in a plurality of two-dimensional topographic photographs P and coordinates corresponding to a plurality of ground reference points 100 are stored in the correction unit 300 of FIG. It is possible to extract a plurality of ground reference points 100 included in a plurality of two-dimensional topographic photographs P and to extract the corresponding coordinates by matching the respective coordinates.

Step S340 is a step of correcting the three-dimensional topographic map M and applies coordinates extracted in step S330 to the overlapped topographic map formed in step S320. In the case of the overlapped topographic map, since the topographic map is produced by processing only the overlapping portion among the plurality of two-dimensional topographic photographs (P), the actual topography and the error occur. Accordingly, in step S340, the three-dimensional topographic map M is substantially similar to the actual terrain by applying the coordinates corresponding to the plurality of ground reference points 100 to the overlapped topography with the correction value R to eliminate the error. The correction to the three-dimensional topographic map M is performed in the topographical authoring unit 400 of Fig.

In step S350, it is possible to provide the three-dimensional topographic map M to the operator through the display device connected to the topographical authoring unit 400 of FIG. 1 as a step of providing the produced three-dimensional topographic map M to the operator.

3 to 5, the earthwork construction site modeling system according to the embodiment of the present invention acquires a plurality of two-dimensional topographic photographs P through the unmanned air vehicle 200, It is possible to produce a three-dimensional topographic map M substantially similar to the actual topography by extracting the corresponding coordinates and correcting the three-dimensional topographic map M with the correction value R. [

In addition, the above-mentioned earthwork construction site modeling system does not require the manual work of the experts in the production of the three-dimensional topographic map (M), and it is possible to construct the three-dimensional topographic map (M) of the construction company itself. Therefore, rental companies and construction companies that produce and rent drones can work on three dimensional topographic map (M) without specializing in the production of 3D topographical maps.

Therefore, it is possible to produce a three-dimensional topographic map M before the planning step and to produce a three-dimensional topographic map M at each subsequent construction stage, . Therefore, it is possible to guarantee an environment in which more accurate construction can be performed through the real-time three-dimensional topographic map (M), and it is possible to prevent large accidents such as landslides from occurring unintentionally.

On the other hand, in producing and using the three-dimensional topographic map M, all terrains of the earthwork construction area A are first photographed, and then only some of the terrains of the earthwork construction area A are photographed It is possible.

Here, the operator can set coordinates to capture all the terrain of the earthwork construction area A or to photograph only a part of the area through the flight path input (S210) of FIG. Therefore, the newly produced three-dimensional topographic map M uses a plurality of two-dimensional topographical photographs P corresponding to a part of the earthwork construction area A in comparison with the three-dimensional topographic map M initially produced, Can be minimized.

1 will be described again.

The method includes the steps of disposing a plurality of ground reference points (100) having different patterns at the time of aerial photographing on the upper surface of the earthwork construction area (A) Photographing all the terrain of the earthwork construction area A including the plurality of ground reference points 100 while flying over the construction area A to obtain a plurality of two-dimensional topographic photographs P; The method comprising: converting the plurality of ground reference points (100) included in the plurality of two-dimensional topographic photographs (P) into predetermined coordinates to generate a correction value (R) corresponding to the coordinates, Producing a three-dimensional topographic map M1; And photographing a part of the terrain of the earthwork construction area (A) and reproducing the final three-dimensional topographic map (M2).

The steps of disposing a plurality of ground reference points 100 on the upper surface of the soil-erosion area A, obtaining a plurality of two-dimensional topographic photographs P, and producing the initial three- The description has been omitted. Here, the first three-dimensional topographic map (M1) represents a three-dimensional topographic map (M) for all terrains in the earthwork construction area (A) (M).

As described above, since the final three-dimensional topographical map M2 captures only a part of the terrain of the earthwork construction area A to produce the three-dimensional topographic map M, it is possible to minimize the completion time of the construction.

Then, in the step of reconstructing the final three-dimensional topographic map M2, only the planned topography in the earthwork construction area A is obtained as the two-dimensional topographical photograph P, It is possible to photograph the corresponding terrain by setting coordinates corresponding to the terrain, and it is possible to produce the final three-dimensional topographic map M2 through the obtained two-dimensional topographic photograph P

Although not shown in the drawing, another example of the step of re-manufacturing will be described.

In the above description, the operator inputs the coordinate corresponding to the deformed topography in the earthwork construction area (A) to the unmanned air vehicle (200), and the unmanned air vehicle (200) As an example. In the example described below, it is possible to omit the coordinate input procedure of the operator in the re-production step.

First, the unmanned air vehicle 200 moves to a higher altitude than the photographing altitude before photographing the first two-dimensional topographic photograph P for the earthwork construction area A, and photographs the entire reference photograph corresponding to the earthwork construction area A . Here, it is preferable that the entire reference photograph includes all the earthwork construction area (A), and it is possible to have sharpness comparable to the entire comparative photograph to be described later. For convenience of explanation, it is assumed that the earthwork construction area (A) is photographed with one entire reference photograph.

Thereafter, when the construction of the earthwork construction area (A) is progressed or the terrain of the earthwork construction area (A) is deformed due to natural disaster, the unmanned vehicle (200) moves to a high altitude A) is photographed again to take one entire comparison photograph.

Then, the entire reference photograph is compared with the entire comparative photograph to detect the changed terrain, and the two-dimensional topographic photograph (P) is taken by moving to the corresponding terrain. At this time, it is preferable that the unmanned aerial vehicle 200 moves at a high altitude for photographing the two-dimensional topographical photograph P in order to reproduce the final three-dimensional topographic map M2.

The earthwork construction site photographing method according to the embodiment of the present invention can quickly reproduce the final three-dimensional topography map by using the coordinate method or the photograph comparing method, and can update the earthwork construction area A whenever desired Dimensional topographic map (M) can be obtained. That is, the 3D topographic map (M) for the earthwork construction area (A) can be obtained in real time, and more accurate and safe construction planning and implementation can be performed using the map.

FIG. 6 is a view for explaining a use platform to which the earthwork construction site modeling system according to an embodiment of the present invention is applied.

Referring to FIG. 6, the platform for using the earthwork construction site modeling system includes a drones rental system 500 for producing or managing the unmanned aerial vehicle 200 including the drones; And a plurality of ground reference points 100 having different patterns on the top surface of the earthwork construction area A are installed and the earthwork construction area A is installed in the unmanned air vehicle 200 rented from the drones rental system 500, (P) corresponding to the coordinates of the plurality of ground reference points (100) and the plurality of two-dimensional topographic photographs (P) including the plurality of ground reference points (100) And an earthwork construction site modeling system 600 for producing a three-dimensional topographical map M in real time using the system.

Here, the drones rental system 500 manages the drones and can be a lender who rents the drones to the companies in need and receives the expenses for them. The earthwork construction site modeling system 600 includes the construction and manufacturing method already described with reference to FIG. 1 to FIG. 5, and is a construction company that requires a three-dimensional topographic map (M) for the earthwork construction area A. .

As described above, the earthwork construction site modeling system 600 according to the embodiment of the present invention does not require manual work by an expert in manufacturing a three-dimensional topographic map M. Therefore, it is possible for the construction company to obtain a three-dimensional topographic map (M) for the earthwork construction area (A) by paying only the cost to borrow the drones.

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Therefore, it is to be understood that the embodiments disclosed herein are not for purposes of limiting the technical idea of the present invention, but rather are not intended to limit the scope of the technical idea of the present invention. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: ground reference point
200: unmanned aerial vehicle
300: correction unit
400: Topographic production unit

Claims (18)

A plurality of ground reference points disposed on the upper surface of the earthwork construction area and having different patterns in aerial photographing;
An unmanned aerial vehicle for photographing a terrain of the earthwork construction area including the plurality of ground reference points while flying over the earthwork construction area to transmit a plurality of two-dimensional topographic photographs;
A correction unit for wirelessly communicating with the unmanned aerial vehicle and converting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs into predetermined coordinates to generate correction values corresponding to the coordinates; And
And a topographic map producing unit for applying the correction values to the plurality of two-dimensional topographic photographs to produce a three-dimensional topographic map
Earthwork construction site modeling system.
The method according to claim 1,
Wherein the correction unit comprises:
An extraction unit for extracting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs;
A matching unit for matching the predetermined coordinates corresponding to each of the plurality of ground reference points extracted by the extracting unit; And
And a value generation unit for generating the correction value corresponding to the coordinates output from the matching unit
Earthwork construction site modeling system.
3. The method of claim 2,
Further comprising a storage unit for storing a pattern of each of the plurality of ground reference points and coordinates corresponding to the pattern
Earthwork construction site modeling system.
The method according to claim 1,
Wherein each of the plurality of ground reference points comprises:
A unique pattern for specifying the ground reference point; And
A unique pattern placed on one side of the unique pattern, and a recognition pattern for recognizing that the unique pattern is disposed
Earthwork construction site modeling system.
The method according to claim 1,
Wherein the predetermined coordinates corresponding to the plurality of ground reference points are relative coordinates defined on the basis of either the actual coordinates received by the GPS or the plurality of ground reference points
Earthwork construction site modeling system.
The method according to claim 1,
Characterized in that the unmanned air vehicle comprises a gyro sensor
Earthwork construction site modeling system.
Inputting a flight path through coordinates corresponding to a plurality of ground reference points having coordinates corresponding to the earthwork construction area and different patterns on the unmanned aerial vehicle;
The unmanned aerial vehicle starts to fly;
Wherein the unmanned aerial vehicle is located at any one of the plurality of ground control points;
Sequentially photographing the earthwork construction area;
Determining that the photographing step is finished;
Moving to the next ground reference point or terminating the flight according to the determination result of the determining step; And
And generating a three-dimensional topographic map with the plurality of two-dimensional topographic photographs received through the photographing step
How to shoot the earthwork construction site.
8. The method of claim 7,
Wherein the positioning comprises:
Moving the unmanned aerial vehicle with coordinates corresponding to a reference ground reference point among coordinates corresponding to a plurality of ground reference points inputted through the step of inputting the flight path as an initial position;
Performing photographing at the initial position to obtain a reference photograph;
Extracting a ground reference point included in the reference photograph and comparing the ground reference point with the reference ground reference point; And
And modifying the predetermined coordinates in the step of inputting the flight path according to the result obtained through the comparing step
How to shoot the earthwork construction site.
8. The method of claim 7,
Detecting a horizontal state of the unmanned aerial vehicle; And
And adjusting the unmanned aerial vehicle to a horizontal state according to the detection result of the detecting step
How to shoot the earthwork construction site.
8. The method of claim 7,
Wherein the generating the three-
Receiving the plurality of two-dimensional topographic photographs and superimposing them to generate an overlapped topographic map;
Matching and extracting coordinates corresponding to the plurality of ground reference points;
Correcting the three-dimensional topographic map by applying coordinates corresponding to the plurality of ground reference points to the overlapping topographic map as a correction value; And
Providing the three-dimensional topographical map to an operator
How to shoot the earthwork construction site.
8. The method of claim 7,
Detecting that the unmanned air vehicle leaves the predetermined flight path; And
Further comprising the step of encrypting said plurality of two-dimensional terrain pictures photographed in said unmanned air vehicle in response to said detecting step
How to shoot the earthwork construction site.
10. The method of claim 9,
Wherein the step of detecting the departure includes adjusting a departure range margin of the predetermined flight path according to a current wind intensity
How to shoot the earthwork construction site.
8. The method of claim 7,
Wherein the coordinates corresponding to the plurality of ground reference points are relative coordinates defined on the basis of either the actual coordinates received by the GPS or the plurality of ground reference points
How to shoot the earthwork construction site.
8. The method of claim 7,
The step of inputting the flight path includes:
Inputting coordinates corresponding to the earthwork construction area; And
And inputting coordinates corresponding to a part of the earthwork construction area
How to shoot the earthwork construction site.
Rental system for renting unmanned aerial vehicles; And
A plurality of ground reference points having different patterns on the upper surface of the earthwork construction area are installed and a flight path corresponding to the earthwork construction area is input to the unmanned air vehicle rented from the rental system, And a groundwork construction site modeling system for realizing a three-dimensional topographic map in real time using a plurality of two-dimensional topographic photographs including ground reference points and correction values corresponding to the coordinates of the plurality of ground reference points
Use platform of earthwork construction site modeling system.
Disposing a plurality of ground reference points having different patterns at the time of aerial photographing on the upper surface of the earthwork construction area;
Capturing a plurality of two-dimensional topographic photographs by photographing all terrains of the earthwork construction area including the plurality of ground reference points while flying over the earthwork construction area using an unmanned aerial vehicle;
Converting the plurality of ground reference points included in the plurality of two-dimensional topographic photographs into predetermined coordinates, generating correction values corresponding to the coordinates, and applying the correction values to produce the first three-dimensional topographic map; And
And photographing a part of the terrain of the earthwork construction area to reproduce the final three-dimensional topographic map
How to shoot the earthwork construction site.
17. The method of claim 16,
Wherein the step of re-
And setting coordinates corresponding to a predetermined terrain in the earthwork construction area to photograph the corresponding part of the terrain.
How to shoot the earthwork construction site.
17. The method of claim 16,
Capturing an entire reference photograph corresponding to the earthwork construction area by moving to a higher altitude than a photographing height of a step of acquiring a plurality of two-dimensional topographic photographs; And
Further comprising photographing an entire comparison photograph corresponding to the entire reference photograph when the earthwork construction area is deformed,
Wherein the step of re-
And comparing the entire reference photograph with the entire comparison photograph to photograph the partial topography at a predetermined altitude
How to shoot the earthwork construction site.

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