KR20240036290A - Unmanned mobile assistant robots for geospatial surveys - Google Patents

Abstract

An unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention includes a robot body in which a global positioning system (GPS) and a communication module are installed inside and a moving means in contact with the ground is installed on the outside of the robot body. It includes a depth camera coupled to the other end of a support means, one end of which is hinged to the surface, and inside the robot body, a motor and gear set for driving the moving means, control other components, and use a communication module to receive information from the central control center. It is characterized in that a battery is installed to provide power to the control unit and other components that receive commands or transmit measurement results. According to the present invention having the above configuration, by developing an unmanned mobile robot equipped with a prism that can remotely approach the target measurement point in conjunction with an electronic flat panel, unmanned mobile assistance for cadastral surveying is possible for both diagrammatic and numerical area surveying. This has the effect of being able to provide robots.

Description

{UNMANNED MOBILE ASSISTANT ROBOTS FOR GEOSPATIAL SURVEYS}

The present invention relates to an unmanned mobile robot, and more specifically, to reach an accurate measurement point, it uses a system capable of autonomous driving based on GPS, including LTE modem-based video communication technology, and remotely approaches the target measurement point in conjunction with an electronic flat panel. It is about an unmanned mobile robot equipped with a prism that can

In performing cadastral surveys, most mapped areas and numerical areas (boundary point coordinate register implementation areas) use GPS surveys for cadastral control point surveys, and electronic plate surveys are used for cadastral detailed surveys.

Through the introduction of GPS technology in cadastral control point surveying, effects such as accuracy, convenience, and economic efficiency of surveying are being promoted, and cadastral detailed surveying is also transitioning and developing from the existing analog plate survey to a digital cadastral survey method through the introduction of electronic plate surveying. achieved.

When performing detailed cadastral surveys using electronic plates, a team of three people is generally formed (one person to operate the electronic plate surveys and two people to install prisms at land boundary points), and in the survey of inland areas, the performance determination method according to the current law is used. I mainly use it around

Due to the additional work process required for the current boundary line survey, it takes relatively more time than cadastral survey work in numerical areas.

Currently, the Korea Land and Infrastructure Information Corporation is pursuing various spatial information-related projects, such as building a digital twin in the era of the 4th Industrial Revolution, building autonomous driving dynamic maps (LDM) and AI learning data, and conducting a drone-based national land use status survey.

As cadastral detailed surveying was converted to electronic planar surveying and digital cadastral plans and surveying methods were introduced, the foundation for the introduction of cadastral surveying technology using new technologies in the era of the 4th Industrial Revolution was laid.

The Korea Land and Geospatial Information Corporation has been putting a lot of effort into creating future business by improving work efficiency and securing available manpower by improving traditional team personnel through the introduction of new cadastral surveying technology.

Taking advantage of this environment, cadastral surveying techniques using drones have been actively researched, but a complete solution has not yet been found due to various limitations of aerial photogrammetry.

Republic of Korea Patent No. 10-2351747 (Name: Drone surveying system according to terrain changes, registration date: January 12, 2022) Republic of Korea Patent No. 10-2345140 (Name: Method and device for acquiring survey information on one plot using drone orthoimagery, Registration date: December 27, 2021) Republic of Korea Patent No. 10-2200908 (Name: Topographical feature surveying system using drones, Registration date: January 5, 2021) Republic of Korea Patent No. 10-2130655 (Name: Drone for modifying geographic information with improved identification, registration date: June 30, 2020) Republic of Korea Patent No. 10-2129502 (Name: Cadastral surveying system and method using drones, Registration date: June 26, 2020)

The present invention was invented to improve the above-mentioned problems, and one purpose of the present invention is to develop an unmanned mobile robot equipped with a prism that can remotely approach the target measurement point in conjunction with an electronic flat panel, thereby providing illustration and numerical information. The goal is to provide an unmanned mobile assistance robot for cadastral surveying that can perform all surveys.

Another object of the present invention is to provide an unmanned mobile assistance robot for cadastral surveying that includes a system capable of autonomous navigation based on GPS and also applies LTE modem-based video communication technology to reach an accurate measurement point.

The technical problems of the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

An unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention, invented to achieve the above problem, is a mobile means that has a global positioning system (GPS) and a communication module installed inside and contacts the ground on the outside. It includes a depth camera coupled to the installed robot body and the other end of a support means, one end of which is hinged to the surface of the robot body, and inside the robot body, a motor and gear set for driving the moving means, and other components are controlled and communicated. It is characterized in that a battery is installed to provide power to the control unit and other components that receive commands from the central control center or transmit measurement results using the module.

In addition, the support means of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention includes a camera standing axis, both ends of which are hinged to the surface of the robot body, and a camera support rod, one end of which is coupled between both ends of the camera standing axis. It includes a depth camera rotatably coupled to the other end of the camera support rod.

In addition, the moving means of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention is characterized by being any one selected from a plurality of wheels, a caterpillar, or a multi-legged walker.

In addition, the robot body of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention is apparently coupled near the edge and includes a support that can selectively support the ground through a rotating or extending operation. It is characterized by:

According to an embodiment of the present invention, an unmanned mobile assistant robot for cadastral surveying capable of both diagrammatic and numerical area surveying is developed by developing an unmanned mobile robot equipped with a prism that can remotely approach a target measurement point in conjunction with an electronic flat panel. There is an effect that can be provided.

According to one embodiment of the present invention, it is possible to provide an unmanned mobile assistance robot for cadastral surveying that includes a system capable of GPS-based autonomous driving and also applies LTE modem-based video communication technology to reach an accurate measurement point. There is.

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

1 is an external perspective view of a first embodiment of an unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention.
Figure 2 is an external perspective view of a second embodiment of an unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily practice the present invention.

In describing the embodiments, descriptions of technical content that is well known in the technical field to which the present invention belongs and that are not directly related to the present invention will be omitted. This is to convey the gist of the present invention more clearly without obscuring it by omitting unnecessary explanation.

For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings. Additionally, the size of each component does not entirely reflect its actual size. In each drawing, identical or corresponding components are assigned the same reference numbers.

Figure 1 is an external perspective view of a first embodiment 100 of an unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention.

Figure 2 is an external perspective view of a second embodiment 200 of an unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention.

An unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention includes a robot body ( 50) and a depth camera 90 coupled to the other end of a support means 81, one end of which is hinged to the surface of the robot body 50, and inside the robot body 50, a device for driving the moving means 10. It is characterized by a control unit that controls the motor, gear set, and other components, and uses a communication module to receive commands from a central control center or transmit measurement results, and a battery that provides power to the other components.

Through the above configuration, the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention can autonomously drive on the terrain that is the subject of cadastral surveying, photograph the surface to be surveyed, and store the image, and the central Survey results can be delivered to the control center, and if necessary, additional surveying and photography can be conducted under orders from the central control center.

The location that serves as the standard for autonomous driving of such unmanned mobility assistance robots is the electronic flat panel, and by comparing the location of the electronic flat panel with the location obtained by the GPS system, the current location can be determined and the driving route can be set.

The body of the unmanned mobile assistance robot is made of a vehicle moving body, and the upper part is manufactured in a form where a prism, a measuring device, is mounted. After the robot moves to the measuring position, the upper panel is connected to the gear structure and manufactured to remotely slide, so that the prism This allows rotation of 180 degrees left and right.

In addition, in order to be perpendicular to the ground, it is corrected to be vertical using an inertial coordinate system, and a camera is mounted on the lower part of the upper support connected to the prism to remotely check the measurement point. Video communication is configured to use an LTE modem. .

Referring to Figures 1 and 2, it can be seen that a caterpillar is applied as a moving means 10 in the first embodiment 100 of the unmanned mobile assistance robot for cadastral surveying, and in the second embodiment 200 You can see that it has four wheels like a typical vehicle.

In addition, although not shown in the drawings included in the present specification, a multi-legged walking device may be selected and applied as the means of transportation 10. This is to select and apply a suitable form according to the environment of each embodiment, so the present invention It has no influence on major technical ideas.

In the above, embodiments of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention have been classified according to the type of the mobile means 10, but it is not intended to force the classification as such. put it

In addition, the support means 15 of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention includes a camera standing axis 81, both ends of which are hinged to the surface of the robot body, and a camera standing axis 81. It includes a camera support rod 85, one end of which is coupled between both ends, and a depth camera 90 is rotatably coupled to the other end of the camera support rod 85.

In addition, the robot body of the unmanned mobile assistance robot for cadastral surveying according to a preferred embodiment of the present invention is apparently coupled near the edge and includes a support (15) capable of selectively supporting the ground through a rotating or extending operation. ) is characterized in that it includes.

The support 15 described above is used to obtain images with minimized shaking by stabilizing the robot body 50 and the depth camera 90 when the unmanned mobile assistance robot photographs a survey point.

The support 15 is rotatably coupled to the robot body 50 and, if necessary, rotates and extends to point downward to support the ground, performs filming, and can be rotated to contact the robot body 50 when moving again. .

In addition, the Internet of Things (IoT) function is added to the communication module to enable communication and interworking with drones, so that the vehicle-type unmanned mobile assistance robot of the present invention and surveying data can complement each other.

By providing an unmanned mobile assistance robot for cadastral surveying of the present invention as described above with reference to FIGS. 1 and 2, the traditional cadastral surveying method has been improved to enable one-person cadastral surveying using a futuristic unmanned mobile robot in line with the era of the 4th Industrial Revolution. Innovation that makes this possible can be achieved.

Meanwhile, the specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, they are used in a general sense to easily explain the technical content of the present invention and aid understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

10: means of transportation 15: rotation support
50: Robot body
81: Camera standing axis 85: Camera support rod
90: Depth camera 99: Communication antenna
100: first embodiment
200: Second embodiment

Claims (4)

A robot body in which a global positioning system (GPS) and a communication module are installed inside and a moving means in contact with the ground is installed on the outside; and
It includes a depth camera coupled to the other end of a support means, one end of which is hinged to the surface of the robot body,
Inside the robot body,
A motor and gear set for driving the means of transportation,
A control unit that controls other components and receives commands from the central control center or delivers measurement results using the communication module, and
An unmanned mobile assistance robot for cadastral surveying, characterized by an installed battery that provides power to other components.
According to clause 1,
The support means are,
A camera standing axis whose both ends are hinged to the surface of the robot body,
It includes a camera support rod, one end of which is coupled between both ends of the camera standing axis,
An unmanned mobile assistance robot for cadastral surveying, characterized in that the depth camera is rotatably coupled to the other end of the camera support rod.
According to clause 1,
The means of transportation is,
An unmanned mobile assistance robot for cadastral surveying, characterized in that it is one of a plurality of wheels, a caterpillar, or a multi-legged walker.
According to clause 1,
The robot body is,
An unmanned mobile assistance robot for cadastral surveying, characterized in that it includes a support base that is coupled near an edge and can selectively support the ground through a rotating or extending operation.

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