KR20230070793A - SYSTEM AND METHOD FOR MEASURING 3D SPATiAL COORDINATE USING DRONE - Google Patents

Abstract

The present invention relates to a system and method for measuring coordinates in a 3D space using a drone capable of measuring the distance between two points in a 3D space or for land surveying, and more specifically, each around two measurement points for measurement. a drone positioned at at least four locations around each measurement point and equipped with a GPS receiver, a camera, and a distance sensor; a drone controller that is connected to the drone through wireless communication, receives GPS information, image information, and distance information between the drone and a measurement point from the drone wherever the drone is located, and controls the drone; and being connected to the drone controller to receive information from the drone controller, calculating spatial coordinates of each measurement point using the information received from the drone controller, and using each spatial coordinate to calculate a straight-line distance between two measurement points. It relates to a system and method for measuring 3D spatial coordinates using a drone including a calculation processing unit that calculates.

Description

3D spatial coordinate measurement system and method using drone {SYSTEM AND METHOD FOR MEASURING 3D SPATiAL COORDINATE USING DRONE}

The present invention relates to a system and method for measuring 3D space coordinates using drones, and more particularly, to a system and method for measuring 3D space coordinates using drones that can measure the distance between two points in a 3D space or be used for cadastral surveying. It is about.

In general, measuring the spatial coordinates of an object located in a high-altitude 3D space requires a large amount of equipment and manpower or is a very dangerous task. For example, in order to measure the length of a power line cable to be connected between transmission towers, spatial coordinates of each link must be found and the distance calculated. The position of the connecting link is a small point located at a considerable altitude from the ground, and finding the spatial coordinates is inaccurate or very difficult to calculate on the ground, so it will be a very difficult task for a measuring person to move to that position and measure it.

In particular, a typical transmission tower is located on a mountain, and most of the surroundings of the transmission tower are densely forested, making it difficult for workers to access, and it is not easy for workers to climb up to a high transmission tower.

Moreover, since it is necessary to climb with a separate distance measuring device, there is a very poor aspect in terms of work safety as well as work convenience and work efficiency.

(0001) Korean Patent No. 10-1552585

A technical problem to be solved by the present invention is to provide a system and method for measuring coordinates in a 3D space using a drone configured to easily and quickly measure a distance between two points in a 3D space using a drone.

To achieve the above technical problem, the present invention, a 3D space coordinate measurement system using a drone, relates to a 3D space coordinate measurement system using a drone that measures a straight-line distance between two measurement points located at different locations. a drone positioned around two measurement points for performing a drone, located at at least four locations around each measurement point, and equipped with a GPS receiver, a camera, and a distance sensor; a drone controller that is connected to the drone through wireless communication, receives GPS information, image information, and distance information between the drone and a measurement point from the drone wherever the drone is located, and controls the drone; and being connected to the drone controller to receive information from the drone controller, calculating spatial coordinates of each measurement point using the information received from the drone controller, and using each spatial coordinate to calculate a straight-line distance between two measurement points. Characterized in that it comprises a; calculation processing unit for calculating.

At this time, the drone is composed of one drone per measurement point and the location of the drone is changed to at least four places, or the drone is positioned at at least four different places around each measurement point, and the drone controller It is characterized in that it consists of a plurality of pieces.

In addition, the distance detection sensor may further include an irradiation means for irradiating light to an object to be sensed so that the distance can be confirmed through the image of the camera.

In addition, the drone controller may further include a display unit displaying information received from the drone.

On the other hand, in the method of measuring 3D spatial coordinates using a drone according to the present invention, drones equipped with a camera, a GPS receiver, and a distance sensor for measuring the distance from themselves to the measurement point are positioned around two measurement points, respectively. step; an information collection step of changing the location of a drone to at least four locations at each measurement point or disposing drones at at least four different locations at each measurement point and then collecting information obtained from the drones at each location; a spatial coordinate calculation step of obtaining spatial coordinates of the measurement points using the information collected through the information collection step and a sphere equation; and a straight-line distance calculation step of obtaining a straight-line distance between two measurement points using the two spatial coordinates acquired through the spatial coordinate calculation step.

In addition, it is characterized in that the latitude, longitude, and altitude information obtained from the GPS receiver of the drone at each location is displayed as coordinate values and a sphere equation is used.

The 3D spatial coordinate measurement system and method using the drone according to the present invention described above have the following effects.

First, since the operator uses a drone instead of going directly to the measuring point, it is possible to measure the distance between the measuring points more easily and quickly than before.

In addition, it is possible to secure the safety of workers compared to the prior art, and improve work convenience and work efficiency.

In addition, if coordinate values are received from 5 or more places around the measuring point, the error range for the measuring point can be narrowed, and thus more accurate straight-line distance calculation is possible.

1 is a configuration diagram according to an embodiment of a 3D space coordinate measurement system using a drone of the present invention;
2 is a configuration diagram according to an embodiment of a method for measuring 3D spatial coordinates using a drone of the present invention;
3 is a conceptual diagram showing a state in which latitude, longitude, and altitude information is obtained using a GPS receiver and expressed as coordinate values in a state in which four drones are positioned around a transmission tower according to an embodiment of the present invention;
4 is a conceptual diagram showing a state in which a distance 'r' value is measured using a distance sensor in a state in which four drones are positioned around a transmission tower according to an embodiment of the present invention;
5 is a conceptual diagram showing measurement points obtained using four sphere equations calculated through a drone according to an embodiment of the present invention;
6 is a conceptual diagram illustrating a state in which coordinate values of measurement points are corrected by measuring coordinate values at more locations in order to reduce an error range according to an embodiment of the present invention;

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing components of an embodiment of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element may be directly connected or connected to the other element, but there may be another element between the elements. It should be understood that may be "connected", "coupled" or "connected".

1 is a configuration diagram according to an embodiment of a 3D spatial coordinate measurement system using a drone of the present invention, and with reference to this, a 3D spatial coordinate measurement system using a drone according to the present invention is configured in two Applying it to finding the straight-line distance between the top points of transmission towers, the explanation is as follows.

First, it will be understood that the straight-line distance between the transmission towers 1 refers to the straight-line distance between the top points (measurement points) of each of the two transmission towers 1 .

A 3D spatial coordinate measurement system using a drone according to the present invention may include a drone 10, a drone controller 20, and an arithmetic processing unit 30.

The drone 10 includes a GPS receiver 11, a camera 12, and a distance sensor 13, and may further include an irradiation unit 14. Of course, it is natural to include a wireless transceiver (not shown) for communication with the drone controller 20 to be described later.

Global Positioning System (GPS) information may be received through the GPS receiver 11, and the GPS information includes latitude, longitude, and altitude information. The position of the drone 10 located at a predetermined distance from the top point of the transmission tower 1 can be identified through the GPS receiver 11, and the position of the drone 10 determined can be calculated as spatial coordinates through the calculation processing unit 30 to be described later. can indicate

The image captured by the camera 12 may be transmitted in real time to the drone controller 20 to be described later, and the moving path and current location of the drone 10 may be grasped through the transmitted image. Of course, using the information received from the GPS receiver 11 and the image information of the camera 12, the location of the drone 10 is displayed through the display unit 21 to be described later, and through this, the moving path of the drone 10 It is also possible to know the current location and so on. In addition, it is also possible to determine whether the distance to the top point of the transmission tower 1 is accurately measured through the distance sensor 13 using the image captured by the camera 12 . That is, it is possible to measure the distance to the object to be detected using the distance sensor 13, but the distance sensor 13 mounted on the drone 10 located in the air accurately aims at the top of the transmission tower 1 It is not easy to determine whether the distance is measured or not. Therefore, the distance sensor 13 may further include an irradiation means 14 for irradiating light in the same direction as the measurement direction, for example, irradiating light with strong linearity such as laser. When the camera 12 sees the image taken and the light emitted from the irradiation means 14 is irradiated to the top point of the transmission tower 1, for example, a red laser light is being irradiated, the distance sensor 13 accurately locates the top point of the transmission tower 1 You can judge that you are aiming. When it is determined that the drone is aiming accurately, the distance sensor 13 may be controlled to measure the distance from the top point of the transmission tower 1 through the drone controller 20.

Meanwhile, a pointer receiver (not shown) may be provided at the apex of the transmission tower 1 to display the irradiation means 14, for example, a laser irradiated from a laser pointer. Here, the pointer receiver is for checking whether the light emitted from the laser pointer is being irradiated in the correct direction, and may be composed of a sphere on a white background, for example. That is, the fact that the laser irradiated from the laser pointer is being irradiated to the pointer receiver means that the distance between the drone 10 and the top of the transmission tower 1 is accurately measured by the distance sensor 13, which is the same as the camera as described above. It can be confirmed through the photographed image of (12).

The drones 10 are respectively positioned around the vertices of the two power transmission towers 1 for straight-line distance measurement. Since it is necessary to know the spatial coordinates of at least four points around the apex of the transmission tower (1), the drone 10 is composed of one unit and moved to at least four locations, and the GPS information and distance from the apex of the transmission tower (1) are obtained at each location. generate information Alternatively, the drone 10 may be configured to float in each of at least four locations, and this may be applied differently depending on the number of drones 10 and how they are used.

The drone controller 20 may be connected to the drone 10 through wireless communication and transmit control information to the drone 10 or receive information generated from the drone 10 . The drone controller 20 may be configured in plurality. In order to measure the straight-line distance between the two transmission towers (1), one drone (10) should be configured for each of the two transmission towers (1). Of course, it will be possible to acquire information using one drone 10 in one transmission tower 1 and then move to the other transmission tower 1 and acquire information in the same way, but this is time consuming. , Since it can be a physically hindering factor, information is obtained by simultaneously floating at least one drone 10 on each of the two transmission towers 1, and a straight line between the top points of the two transmission towers 1 is obtained using the acquired information. It is desirable to measure the distance.

The drone controller 20 may include a display unit 21, and using the display unit 21, the moving path and current location of the drone 10 and image information acquired from a camera mounted on the drone 10, etc. can confirm. The drone controller 20 includes control buttons (not shown) for controlling the drone 10, for example, ON/OFF of the drone 10, movement direction and speed adjustment, camera 12 shooting direction and camera (12) A plurality of control buttons for on/off and operating state adjustment, on/off and operating state adjustment of the distance sensor 13, and operation state adjustment of the GPS receiver 11 may be provided.

The operation processing unit 30 may be configured as one body with the drone controller 20 or may be configured separately. The calculation processing unit 30 may perform wired/wireless communication with the drone controller 20 and the drone 10. That is, although the calculation processing unit 30 and the drone controller 20 are described as separate components, it can be understood that they are configured together in one component. Therefore, the calculation processing unit 30 and the drone controller 20 may be regarded as one control unit.

The calculation processing unit 30 receives information from the drone controller 20 or the drone 10. The received information can be understood as the aforementioned series of information acquired from the drone 10. The calculation processing unit 30 forms spatial coordinates of the vertices of the two transmission towers 1 using the received information, and calculates the straight-line distance between the vertices of the two transmission towers 1 using each spatial coordinate. can A method for forming spatial coordinates and calculating a straight-line distance will be described in more detail in a method for measuring a straight-line distance between transmission towers 1 to be described later.

The communication network that connects the drone 10 and the drone controller 20, the drone controller 20 and the calculation processing unit 30, and the calculation processing unit 30 and the drone 10 includes both wired and wireless networks. , It refers to a communication network that supports various communication standards or protocols for data transmission and reception.

These wired/wireless networks include all communication networks currently or to be supported in the future according to standards, and can support all one or more communication protocols therefor. Wired/wireless networks include, for example, USB (Universal Serial Bus), CVBS (Composite Video Banking Sync), Component, S-Video (Analog), DVI (Digital Visual Interface), HDMI (High Definition Multimedia Interface), RGB , networks for wired connections such as D-SUB, communication standards or protocols for them, Bluetooth, RFID (Radio Frequency Identification), infrared communication (IrDA: Infrared Data Association), UWB (Ultra Wideband), ZigBee ( ZigBee), Digital Living Network Alliance (DLNA), Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), LTE/LTE- It can be formed by a network for wireless connection such as A (Long Term Evolution/LTE-Advanced) and Wi-Fi direct and a communication standard or protocol for it.

Although the drone 10 and the drone controller 20 can perform wired and wireless communication under a network environment, it is preferable to configure them to perform wireless communication in order to utilize characteristics applicable to various spaces. Wireless communication can be configured to perform known short-range communication, and for short-range communication, Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), UWB ( At least one of Ultra Wideband), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, and Wireless Universal Serial Bus (USB) technologies may be used.

2 is a configuration diagram according to an embodiment of a method for measuring 3D spatial coordinates using a drone of the present invention, and FIG. 3 is a GPS receiver in a state in which four drones are positioned around a power transmission tower according to an embodiment of the present invention. Figure 4 is a conceptual diagram showing a state in which latitude, longitude, and altitude information is obtained and expressed as coordinate values using a distance sensor. It is a conceptual diagram showing a state of measuring the 'r' value, and FIG. 5 is a conceptual diagram showing measurement points obtained using the equation of four spheres calculated through a drone according to an embodiment of the present invention. FIG. It is a conceptual diagram showing a state of correcting the coordinate values of measurement points by measuring coordinate values at more locations in order to reduce the error range according to the embodiment. For description of each drawing, refer to FIG. 1 together to identify reference numerals. .

First, the method of measuring 3D spatial coordinates using a drone of the present invention uses the 3D spatial coordinate measuring system using a drone described based on FIG. There will be.

Referring to FIG. 2, the method of measuring 3D spatial coordinates using a drone according to the present invention includes a drone arrangement step (S10), an information collection step (S20), a spatial coordinate calculation step (S30), and a straight-line distance calculation step (S40). can be configured.

In the drone deployment step (S10), a camera, a GPS receiver 11, and a distance sensor 13 measuring the distance from the camera, the GPS receiver 11, and the top point of the transmission tower 1 to the top point of the two transmission towers 1 to obtain the straight line distance are located. ) This is a step of positioning the drones 10 equipped with each.

That is, after positioning the drone 10 at at least four locations around the top of the transmission tower 1 as shown in FIG. Receives GPS information including longitude and altitude information. The received GPS information may be transmitted to the calculation processing unit 30 through the drone controller 20 or may be directly transmitted from the drone 10 to the calculation processing unit 30.

In the calculation processing unit 30, it is assumed that the spatial coordinates of the apex of the transmission tower 1 are (x, y, z), and the latitude, longitude, and altitude received from the drone 10 located at four locations around the apex of the transmission tower 1 Information is expressed as (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ), (x ₃ , y ₃ , z ₃ ), (x ₄ , y ₄ , z ₄ ). That is, each of x ₁ to x ₄ , y ₁ to y ₄ , and z ₁ to z ₄ is displayed by matching the received latitude value, longitude value, and altitude value.

At the same time, as shown in FIG. 4 , the distances (r ₁ , r ₂ , r ₃ , r ₄ ) from the drone 10 to the top of the transmission tower 1 are measured using the distance sensor 13 . The measured distance information may also be transmitted to the calculation processing unit 30 through the drone controller 20, or may be directly transmitted from the drone 10 to the calculation processing unit 30.

In the information collection step (S20) performed by the calculation processing unit 30, the location of the drone 10 in each transmission tower 1 is changed to at least four places, or at least four different locations in each transmission tower 1. This is a step of collecting information obtained from the drones 10 at each position after each drone 10 is placed, and the above description can be referred to for the acquired information.

The spatial coordinate calculation step (S30) performed by the calculation processing unit 30 is a step of obtaining the spatial coordinates of the vertices of the two transmission towers (1) using the information collected through the information collection step (S20) and the equation of the sphere.

The drone GPS system according to the present invention is a method in which a drone replaces the role of an artificial satellite that obtains (latitude, longitude, altitude) values of a GPS receiver in an existing GPS system. That is, the target coordinates of the apex of the transmission tower 1 can be obtained using the coordinate equations calculated at four locations.

로, 송전탑(1) 꼭대기점의 (위도, 경도, 고도) 값을 (x, y, z)로, 드론 'n'과 송전탑(1) 꼭대기점과의 거리를 'r_n'이라고 가정하고, 아래와 같이 원의 방정식을 이용하여 드론 'n'과 송전탑 사이의 방정식, 'Eqn n'을 정의할 수 있다. 여기서, 'n'은 드론(10)의 개수 또는 드론이 위치한 곳의 개수로 이해할 수 있다.That is, the (latitude, longitude, altitude) value of drone 'n'

Assuming that the (latitude, longitude, altitude) value of the apex of the transmission tower (1) is (x, y, z), and the distance between the drone 'n' and the apex of the transmission tower (1) is 'r _n ', As shown below, the equation between the drone 'n' and the transmission tower, 'Eqn n', can be defined using the equation of a circle. Here, 'n' can be understood as the number of drones 10 or the number of places where drones are located.

Eqn 1:

Eqn 2:

Eqn 3:

Eqn 4:

In addition, by combining the four equations as follows, the spatial coordinates of (x, y, z) of the apex of the transmission tower 1 can be obtained.

The spatial coordinates of the top points of each transmission tower 1 can be obtained as shown in FIG. 5 through the same calculation process for the two transmission towers 1 . 'A' in FIG. 5 is a point where four circles obtained by the above procedure (the drone's position is the center point of the circle) intersect, and can be understood as the top point of the transmission tower 1.

However, since an error may occur in the GPS information received due to various environmental factors such as weather conditions while the drone 10 is in flight, more than four drones 10 or more than four locations Through GPS information, (x, y, z) coordinate values can be corrected as shown in FIG. 6 .

6 (a) conceptually shows a state in which GPS information is received through four drones 10 and the top point 'A' of the transmission tower 1 generated based on the received GPS information is formed as an example under an environment in which an error occurs in GPS information. is depicted as In such an environment where an error occurs, it is possible to calculate a more accurate coordinate value of the top point 'A' of the transmission tower 1 by adding the position of the drone 10 or the number of drones to reduce the range of error. 6(b) conceptually shows a state in which GPS information is received through five drones 10 and the top point 'A' of the transmission tower 1 generated based thereon is formed, as an example, under an environment in which an error occurs. 6(c) conceptually shows a state in which GPS information is received through six drones 10 and the top point 'A' of the transmission tower 1 is formed based thereon. Referring to FIG. 6 , it can be seen that the size of the point 'A' indicated in red in the drawing decreases from (a) to (c), which can be understood as a decrease in the error range.

The straight-line distance calculation step (S40) performed by the calculation processing unit 30 is a step of obtaining the straight-line distance between the top points of the two transmission towers (1) using the two spatial coordinates obtained through the spatial coordinate calculation step (S30). , the formula itself for obtaining the straight-line distance between two points using spatial coordinates is a well-known technology, so a detailed description thereof will be omitted.

That is, if only the spatial coordinates of the vertices of the two transmission towers (1) are obtained, the straight-line distance between the vertices of the two transmission towers (1) can be obtained by substituting it into a known equation, and this formula is programmed in the calculation processing unit (30). can be dealt with.

According to the present invention described above, since the operator uses a drone instead of going to the measurement point directly, it is possible to measure the distance between the transmission towers more easily and quickly than before, thereby securing the safety of the operator as well as work convenience and work efficiency. can improve

In the above, even though all components constituting the embodiments of the present invention have been described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate. In addition, terms such as "comprise", "comprise" or "having" described above mean that the corresponding component may be present unless otherwise stated, and thus exclude other components. It should be construed as being able to further include other components. All terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Commonly used terms, such as terms defined in a dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and unless explicitly defined in the present invention, they are not interpreted in an ideal or excessively formal meaning.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these examples. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

1 : transmission tower
10: drone 11: GPS receiver
12: camera 13: distance sensor
14: investigation means
20: drone controller 21: display unit
30: calculation processing unit
S10: drone deployment step S20: information collection step
S30: Spatial coordinate calculation step S40: Straight line distance calculation step

Claims (6)

It relates to a 3D spatial coordinate measurement system using a drone that measures the straight-line distance between two measurement points located at different locations.
drones located around two measurement points for measurement, located at least four locations around each measurement point, and equipped with a GPS receiver, a camera, and a distance sensor;
a drone controller that is connected to the drone through wireless communication, receives GPS information, image information, and distance information between the drone and a measurement point from the drone wherever the drone is located, and controls the drone; and
It is connected to the drone controller to receive information from the drone controller, calculates the spatial coordinates of each measurement point using the information received from the drone controller, and calculates the straight-line distance between the two measurement points using each spatial coordinate. A three-dimensional spatial coordinate measurement system using a drone including a calculating processing unit. According to claim 1,
The drone,
Each drone is configured around each measurement point, and the location of the drone is changed to at least four locations, or each drone is located at at least four different locations around each measurement point.
The drone controller is a three-dimensional space coordinate measurement system using drones consisting of a plurality of drones. According to claim 1,
In the distance sensor,
A three-dimensional space coordinate measurement system using a drone further provided with an irradiation means for irradiating light to an object to be sensed so that the distance can be confirmed through the image of the camera. According to claim 1,
The drone controller further includes a display unit for displaying information received from the drone. It relates to a 3D spatial coordinate measurement method using a drone using a 3D spatial coordinate measurement system using a drone according to claim 1,
A drone arrangement step of positioning each drone equipped with a camera, a GPS receiver, and a distance sensor for measuring the distance from itself to the measurement point around the two measurement points;
an information collection step of changing the location of the drone to at least four locations at each measurement point or disposing the drones at at least four different locations at each measurement point and then collecting information obtained from the drone at each location;
a spatial coordinate calculation step of obtaining spatial coordinates of the measurement points using the information collected through the information collection step and a sphere equation; and
A method of measuring 3-dimensional spatial coordinates using a drone, comprising: a straight-line distance calculation step of obtaining a straight-line distance between two measurement points using the two spatial coordinates acquired through the spatial coordinate calculation step. According to claim 5,
A method of measuring three-dimensional space coordinates using a drone using a sphere equation by displaying latitude, longitude, and altitude information obtained from a GPS receiver of the drone at each location as coordinate values.

Images