KR20210126915A - system for land boundary restoration measurement using drone and radio wave - Google Patents

Abstract

The present invention relates to a cadastral boundary restoration measurement system based on drone and radio wave measurement, which comprises: a drone system performing measurement for boundary restoration on a cadaster through a flying drone; a controller for controlling flight of the drone and a portable terminal receiving boundary restoration data on the cadaster, which is measured by the drone system, from a satellite and remotely controlling measurement on the cadastral boundary restoration of the drone; and an auxiliary server storing the boundary restoration data transmitted from the portable terminal in DB or transmitting the DB to the portable terminal. The present invention can provide an accurate result.

Description

Drone and radio wave measurement-based cadastral boundary restoration measurement system {system for land boundary restoration measurement using drone and radio wave}

The present invention relates to a drone and radio wave measurement-based cadastral boundary restoration surveying system, and more particularly, to a drone flying for measuring cadastral boundaries, devices to which radio waves and lasers are applied are grafted, and to measure the location and cadastral boundary of the drone It is about a drone and radio wave measurement-based cadastral boundary restoration surveying system that can easily perform cadastral boundary restoration work by monitoring and remote control with a portable terminal.

In general, in the cadastral field, most of the cadastral surveys for cadastral boundary restoration use manual surveying methods by manpower, and the only equipment used in the manual surveying methods for these cadastral surveys is a total station and an electronic flat plate.

A total station is a device for observing distance, vertical and horizontal angles with one machine, and is also called an electronic tacheometer in other terms. Of course, electronic reputation is referred to as an electronic plane surveying system, and it is used as a method of directly manpowering data such as cadastral surveying, facility surveying, and urban structures in numerical format in the field.

In other words, workers are manually processing cadastral surveying tasks by displaying data on cadastral surveying at the site of cadastral surveying work through a total station and electronic flat plate.

In particular, the cadastral survey work required for boundary restoration surveying in forested areas is a reality that workers are putting a lot of manpower and time in poor working conditions such as hard-to-reach and difficult-to-access areas, such as forested areas. The need for innovative improvement of cadastral surveying methods is urgently needed.

On the other hand, it can be referred to that the patent documents disclosed in the following prior art documents are patent documents related to the cadastral map restoration method.

Patent Document 001: Republic of Korea Patent Registration No. 10-0803525 (Registration date February 04, 2008)

The present invention for solving the above problems, together with the efficiency of the work for the cadastral restoration surveying, enables the boundary restoration surveying work for the existing inaccessible terrain, and the excellence of the cadastral boundary restoration survey workability It aims to provide a drone and radio wave measurement-based cadastral boundary restoration survey system that can present the accuracy of results for cadastral boundary restoration survey along with improvement of speed and speed.

The present invention for achieving the above objects is a drone system that performs surveying for boundary restoration of the cadastral through a flying drone, a manipulator for flight control of the drone, and the boundary for the cadastre measured from the drone system A portable terminal that receives the restoration data from the satellite and remotely operates the measurement of the drone's cadastral boundary restoration, and an auxiliary server that stores the boundary restoration data transmitted from the portable terminal as a DB or transmits the DB to the portable terminal. There is an example of a drone and radio wave measurement-based cadastral boundary restoration survey system that includes.

A detection terminal that detects and transmits tracking data for flight location tracking of the drone through a radio signal transmitted from a location tracker mounted on the drone, and transmits it to the portable terminal, and the drone mounted on the drone to measure the distance to the cadastral boundary and a drone and radio wave measurement-based cadastral boundary restoration surveying system that further includes a distance measurement unit that transmits distance measurement data to the cadastral boundary to the portable terminal through a satellite.

In the survey process for the restoration of the cadastral boundary of the drone, the drone is mounted on the drone and further includes a sensor unit for sensing a detection signal that is a reading standard of a weather change in a way to detect the amount of light for a solar light source in the air atmosphere, and The cadastral boundary restoration survey system based on radio wave measurement has an exemplary characteristic.

It is coupled to the main body of the drone and connected to the distance measuring unit by a hinge structure to automatically calculate the separation distance between the laser recovery point and the firing point. A base plate that rotates the distance measuring unit through the distance measuring unit, and a servo that controls the rotational operation of the motor in a manner that calculates the number of rotations of the motor based on the derived inclination value is further included in the distance measuring unit. The boundary restoration survey system has an exemplary feature.

As a light source sensor, the sensor unit is a drone and radio wave measurement-based intellectual boundary using a Doppler sensor that accurately and easily detects the wave source of the solar light source without being particularly affected by environmental factors such as dust and noise in the air atmosphere. A reconstructive survey system has an exemplary feature.

As described above, according to the present invention according to the above, it is possible to easily perform cadastral surveying work for restoration of cadastral boundaries even in inaccessible terrain, and boundary by boundary or boundary point coordinates registered in existing cadastral maps and forest maps can be set locally. It not only improves the accurate boundary restoration of the cadastral in a way that clearly distinguishes the limits of the lot by accurately marking the The effect of shortening the restoration period can be expected along with cost reduction.

1 is a diagram schematically illustrating the configuration of a drone and radio wave measurement-based cadastral boundary restoration surveying system according to an embodiment of the present invention.
FIG. 2 is a diagram schematically illustrating the rotational operation of the distance measuring unit grafted onto the drone body in the cadastral boundary restoration surveying system based on drone and radio wave measurement according to an embodiment of the present invention.
3 is a view showing, as an example, a capture screen aiming at a boundary point corresponding to a target with a crosshair point of a laser that appears on the display window screen through the view screen of the distance measurement unit on the liquid crystal screen of the portable terminal.
4 is a diagram illustrating an example of a distance measurement image between boundary points through a flight path of a drone that appears on a display window screen through a view screen of a distance measurement unit.

It is revealed that the drawings attached to this specification are exaggerated for clarity and convenience of explanation, and the embodiments described in the present specification are only the most preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention. Therefore, it should be understood that there may be various equivalents and modifications that can be substituted for them at the time of the present application. In addition, the scope of the present invention is not limited to the embodiments, but should be interpreted based on the technical idea throughout the specification in consideration of various other modifications.

Hereinafter, with reference to the accompanying drawings, a survey system for cadastral boundary restoration based on drone and radio wave measurement according to an embodiment of the present invention will be described in detail. Alternatively, it means a survey that distinguishes the limits of one parcel by accurately displaying the boundary by the boundary point coordinates locally, and the system of the present invention can easily implement such boundary restoration surveying.

The cadastral boundary restoration survey system based on drone and radio wave measurement according to an embodiment of the present invention is a drone system 100, a detection terminal 200, a portable terminal 300, and an auxiliary server 400 as shown in FIG. ), the drone system 100 is a drone 110 capable of flying for cadastral boundary restoration surveying, a GPS receiver 120 grafted to the drone and installed, a sensor unit 130, inertia The navigation device 140 , the location tracking unit 150 , and the distance measuring unit 160 may be further included.

Of course, the auxiliary server 400 may be used for storing boundary restoration data transmitted from the portable terminal 300 as a DB or transmitting the DB to the portable terminal 300 , and the drone 110 . is a drone system 100 equipped with a GPS receiver 120 , a sensor unit 130 , an inertial navigation device 140 , a location tracking unit 150 , and a distance measurement unit 160 .

The drone 110 can fly automatically through the inertial navigation device 140, and in some cases, it can also fly by an artificial control method through a manipulator, and the location tracking unit installed in the drone 110 ( 150) detects and tracks the flight position of the drone 110 in such a way that the detection terminal 200 detects a radio signal transmitted from the satellite as the radio wave is transmitted to the satellite during the flight process of the drone 110 can do.

Of course, the flight position of the drone 110 detected and tracked by the detection terminal 200 may also be shared with the portable terminal 300 through a communication chip such as Bluetooth or a beacon as an example of a wireless communication method.

On the other hand, the distance measuring unit 160 can measure the distance between the coordinates of the boundary point in a way that measures the time or phase change when the laser is returned, and in particular, a remote operation program to enable remote operation from the portable terminal 300 . It is built-in, for example, operation using an icon-type menu displayed on the display window 161 of the LCD window as shown in FIG. 3 and a camera equipped with a zoom-in function, so that when measuring the distance between the boundary point coordinates, the field It is possible to store distance measurement data together with a photograph of the scene as an image file, for example, as shown in FIG. 4 .

Moreover, the support piece 162 for angle adjustment according to the distance is further configured, for example, as shown in FIG. 2, and the support piece 162 automatically calculates the separation distance between the recovery point and the firing point of the reflected laser. The distance measuring unit 160 can be rotated from the main body of the drone 110 through the rotational power of the motor based on the inclination value derived from the inclination measurement program, and the servo The rotational operation of the motor can be precisely controlled by calculating the number of rotations.

Therefore, the distance measuring unit 160 can accurately measure the distance to the boundary point in a way that automatically detects the posture of its own end piece in the drone 110 by adjusting the rotation of the support piece 162 . will be.

That is, the distance measuring unit 160 installed in the main body of the drone 110 automatically detects its end piece posture and accurately measures the distance to the boundary point in a way that adjusts the angle according to the distance between the boundary point coordinates. , which is ultimately possible for absolute angle reading.

In other words, since the distance measuring unit 160 can measure the distance to the boundary point (object) in an absolute angle reading method, in other words, the boundary point (object), which is the object of the distance measurement, is taken The distance to the corresponding boundary point (object) can be accurately measured through the distance measuring unit 160 despite being located at the corner or corner of the area. Even the problem of laser aiming difficult due to the indistinguishability of the laser point due to strong sunlight can be easily aimed through the view screen.

On the other hand, the sensor unit 130 uses a light source sensor that senses the amount of light for the solar light source in the airborne atmosphere in the flight process of the drone 110, and this light source sensor senses the light amount for the solar light source in the air In this way, the return flight of the drone 110 may be accelerated by predicting a weather change (a weather phenomenon such as heavy rain or a gust of wind). Since the amount of light in the air atmosphere is large especially in clear weather and relatively small in the weather in which heavy rain or gusts occur, weather changes can be predicted by sensing the amount of light with the light source sensor.

Since such a light source sensor can easily detect the wave source of the solar light source without being particularly affected by environmental factors such as dust and noise, particularly in the area within the air atmosphere, the light source can be used to detect the wavelength band and light quantity of the light source. The application of a Doppler sensor as a sensor would be desirable. Of course, since the Doppler sensor is combined with the illuminance sensor, the return flight of the drone 110 may be determined based on the detection signal data for the amount of light in the air atmosphere.

The operation process for the cadastral boundary restoration surveying system based on drone and radio wave measurement according to an embodiment of the present invention will be described as follows.

When the coordinates of the boundary points registered on the cadastral map and the forest map are input into the drone system 100 and take off, the GPS receiver 120 capable of receiving L1 and L2 frequencies, the sensor unit 130, and the inertial navigation device (140, IMU) are mounted. One drone 110 maintains precise stationary flight at the horizontal position of the boundary restoration point while controlling the coordinate position information of several centimeters.

The direction and distance information of the operator himself and the drone 110 through the portable terminal 300 interlocked with the detection terminal 200 for radio signals transmitted from the location tracking unit 150 mounted on the drone 110 in advance. can be grasped, and the drone 110 can be moved to the boundary point while checking the current position of the drone 110 and the position of the operator from preset map information.

A guide signal may be continuously transmitted from the drone 110 so that the operator can easily find the drone 110 in flight, and when it is determined that the drone 110 is close to the vertical point of the drone 110, the operator can use the detection terminal 200 ), it is possible to start tracking the vertical position of the drone 110 . After finding the point with the highest signal tone level and repeating confirmation, install the boundary point marker at the boundary restoration point coordinate point.

While the operator installs the boundary point sign, the coordinates of the boundary point are obtained using the distance measuring unit 160 mounted on the drone 110, and the photographed picture is stored. It can be stored in a way that is displayed.

Continue repeating the same method to sequentially carry out boundary restoration surveying to complete the survey, and when creating a survey result map and a measurement point location explanatory map, it is possible to attach the coordinate information measured by the drone 110 and a photo.

Of course, in general, in the cadastral boundary restoration surveying work of flat terrain, after the drone 110 flies close to within 1~2m horizontally, it is also possible to proceed quickly with the existing surveying method.

In particular, in the process of obtaining the boundary point coordinates of the distance measurement unit 160, the distance measurement unit 160 measures the distance between the boundary point coordinates, based on a built-in remote operation program, the distance in the portable terminal 300 A remote operation of the measurement unit 200 is possible.

In the process of measuring the distance between the boundary point coordinates of the distance measuring unit 160, the separation distance between the recovery point and the firing point of the laser that the support piece 162 is reflected back to according to the inclination of the drone 110 is automatically calculated. The distance measurement unit 160 is rotated from the main body of the drone 110 through the rotational power of the motor based on the inclination value derived from the inclination measurement program to reduce the error in the distance measurement value between the boundary point coordinates.

Since the inclination measuring program is installed in the MCU built into the distance measuring unit 160, the MCU can instruct the rotational power of the motor based on the inclination value derived from the inclination measuring program, and the rotation of the motor is It can be controlled via servo.

Therefore, the distance measuring unit 160 can accurately measure the distance to the boundary point in a way that automatically detects the posture of its own end piece in the drone 110 by adjusting the rotation of the support piece 162 . will be.

In addition, the distance measuring unit 160 measures the distance by emitting a laser to an outdoor boundary point (object) in the process of flying through the drone 110 and measuring the time or phase change of the returning laser, In particular, if the sunlight is strong, aiming easily at the target with the crosshair point of the laser that appears on the screen of the display window 161 through the view screen installed in itself to solve the difficulty in identifying the laser point, or easily aiming the target through the zoom function when measuring a long distance In this way, it is possible to measure the distance to the boundary point (object) outdoors.

The view screen is a digital app that can solve the problem of inability to identify laser points due to strong sunlight in the outdoor distance measurement process. By using the view screen mode, it is possible to aim at a target in the field and at a distance through the LCD screen of the display window 161 with the crosshair point of the laser, so the existing measurement limit is also improved in an expanded way, and the accuracy of measurement can be improved. there will be

The distance measuring unit 160 further includes not only distance measurement and view screen function (digital liquid crystal screen), but also area measurement, volume measurement, indirect distance measurement (pitacoras), digital leveler (angle measurement), and continuous measurement functions. can have The distance measuring unit 160 is small and light, and is suitable for being installed and utilized in the drone 110 .

For example, in indirect distance measurement (Pythagoras), horizontal distance (b) and vertical height (h) can be known from hypotenuse measurement value (a) and angle (alpha), and vertical height (a) and horizontal distance (b) are measured. to know the hypotenuse (x), the height value (x) by measuring the triangulation value (a+b+c), and the total height value by measuring the trigonometric value (a+b+c) (x) can be found. This indirect distance measurement method can be measured using the indirect measurement (Pythagorean) calculation method when direct measurement is difficult.

On the other hand, the detection terminal 200 captures the radio signal transmitted from the location tracking unit 150 installed in the drone 110 and displays the frequency through the liquid crystal screen of the portable terminal 300 connected with the Bluetooth function. 110) can be found. Of course, the detection terminal 200 may filter and display the radio wave signal transmitted from the location tracking unit 150 on the display window screen of the portable terminal 300 .

In addition, the return flight of the drone 110 is required in the event of an unexpected strong wind, gust or typhoon, such as a typhoon. Even if a fall of the drone 110 occurs due to a gust of wind, the distance measuring unit 160 may be protected.

Protection through the quick return operation of the distance measuring unit 160 is a shock absorbing case (not shown) covering the rim and rear of the distance measuring unit 160 and the distance measuring unit 160 by the return operation of the distance measuring unit 160 . A shock absorbing pad (not shown) that is in contact with the front surface of the drone 110, that is, coupled to the body portion of the drone 110, and a spring (not shown) that provides elasticity for rotational bending of the distance measuring unit 160 It can be implemented with a configuration including.

It is preferable to use a torsion spring as the spring, which is synchronized with the blinking of the motor power according to the detection of the amount of light for the solar light source of the sensor unit 130 to be described later for predicting a change in weather (e.g., a gust of wind or heavy rain). Through the instantaneous rotation and bending operation of the distance measuring unit 160 in the direction of the elastic action of the torsion spring, it can be closely attached to the drone 110 body shown in FIG. It can be protected by the part 160. Of course, it can be noted that the shock-absorbing case, the shock-absorbing pad, and the spring are not shown in separate drawings because their structures and organic connectivity are understood as detailed descriptions. have.

On the other hand, the operator determines the return flight of the drone 110 through the portable terminal 300 that receives the detection signal from the satellite transmitted from the sensor unit 130 that detects the amount of light in the air atmosphere during the flight process of the drone 110. The sensor unit 130 can easily detect the amount of light in the air atmosphere by using a Doppler sensor as a light source sensor.

Drone system (100)
Drone 110 GPS Receiver 120
sensor unit 130 inertial navigation device 140
Location tracking unit 150 Distance measuring unit 160
detection terminal 200 portable terminal 300
Auxiliary Server (400)

Claims (5)

a drone system that performs surveys for the restoration of boundaries for cadastral areas through flying drones;
a manipulator for flight control of the drone, and a portable terminal for receiving boundary restoration data for cadastral cadastral measurement measured from the drone system from a satellite, and remotely operating the measurement for cadastral perimeter restoration of the drone; and
an auxiliary server for storing boundary restoration data transmitted from the portable terminal as a DB or transmitting the DB to the portable terminal;
Drone and radio wave measurement-based cadastral boundary restoration survey system comprising a. According to claim 1,
A detection terminal that detects and transmits tracking data for flight location tracking of the drone through a radio signal transmitted from a location tracker mounted on the drone, and transmits it to the portable terminal, and the drone mounted on the drone to measure the distance to the cadastral boundary And, a drone and radio wave measurement-based cadastral boundary restoration surveying system, characterized in that it further comprises a distance measurement unit for transmitting data on the distance measurement to the cadastral boundary to the portable terminal through a satellite. According to claim 1,
In the surveying process for the restoration of the cadastral boundary of the drone, it is mounted on the drone and a sensor unit for sensing a detection signal that is a reading standard of a weather change in a way to detect the amount of light for a solar light source in the air atmosphere is further included A drone and radio wave measurement-based cadastral boundary restoration survey system. 3. The method of claim 2,
It is coupled to the main body of the drone and connected to the distance measuring unit by a hinge structure to automatically calculate the separation distance between the laser recovery point and the firing point. Drone and radio waves, characterized in that the distance measurement unit further includes a support plate for rotating the distance measurement unit through the distance measurement unit, and a servo for controlling the rotational operation of the motor in a manner that calculates the number of rotations of the motor based on the derived inclination value A measurement-based cadastral boundary restoration survey system. 4. The method of claim 3,
The sensor unit is a light source sensor, drone and radio wave measurement, characterized in that the Doppler sensor that accurately and easily detects the wave source of the solar light source without being particularly affected by environmental factors such as dust and noise in the air atmosphere is used. Based cadastral boundary restoration survey system.

Images