KR101550700B1 - System of updating data in numerical map with immediately correcting error - Google Patents

Abstract

The present invention relates to a numerical information updating system for instantly correcting error numerical information, and more particularly, to a numerical information updating system for accurately correcting coordinate information by moving a site on which a feature to be updated is located to a vehicle, Since the positional information of the terminal is received and the corresponding portion of the digital map is updated with the coordinates obtained by arithmetic mean calculation, the error of the coordinate information can be immediately corrected at a low cost to improve the accuracy and reliability of the digital map, So that the accuracy and reliability of the digital map can be further improved. Further, since the horizontal adjustment means is provided, the disc portion on which the plurality of the GSAS antennas are installed is always kept horizontal , And thus, a plurality of pieces of the fiber- I always keep the same height so that I can get accurate geospatial information and produce accurate numerical map.

Description

[0001] The present invention relates to a numerical information updating system for correcting error numerical information immediately,

More particularly, the present invention relates to a numerical information updating system for immediately correcting error numerical information, and more particularly to a numerical information updating system for correcting error numerical information by a first and a second horizontal adjusting means in a field in which numerical information (coordinate information) Since a large number of GPS antennas are installed on the disk, the distance from the satellite is always kept the same, and the numerical information (coordinate information) of the site is precisely received The present invention relates to a numerical information updating system for immediately correcting error numerical information by enhancing precision of a digital map.

It is an image of the topographic map of the ground using the ground image taken from the aircraft. It is a numerical map that reflects coordinate information, position information or numerical information by numerical values at each point of the map. It is generally manufactured by a drawing method or a numerical value drawing method.

All terrain features on the ground can be partially changed due to large-scale construction, etc., and numerical maps that digitize the image of drawings should update or update numerical information (coordinate information) of the changed areas from time to time.

Since aerial photographs are taken using aircrafts that require high maintenance costs and all the images taken are required to be individually inspected by national agencies such as the National Intelligence Service, it is very cumbersome and time consuming in terms of cost and procedural aspects It is common.

In addition, the topographical features of the ground can be changed by construction, development, construction, etc., and the shape of the landforms in some areas may be changed from time to time, and repeating the expensive aerial photographing may be burdensome.

On the other hand, the photographed image is difficult to be photographed in a perfect plane even when an aircraft is used, and in a region where high-rise buildings are concentrated due to optical limitations such as a curvature (distortion factor, distortion rate) It is common to include flexion.

That is, a plurality of photographed images or picture images, which are photographed and partially distorted, are synthesized and edited as one integrated image, and the numerical information applied to the picture image produced by such an integrated image may have a partial error, Update is required.

Therefore, it is necessary to measure the accurate numerical information (coordinate information) of the site in order to solve the error of the digital map due to the distortion of the figure image due to the partial shape feature change by the construction etc. and the curvature of the lens, have.

As an example, a system and a method for producing a digital map using a GPS and an ES are disclosed in Patent Registration No. 10-0558367 (registered on Mar. 28, 2006) have.

1 is a functional block diagram illustrating a digital map production system using geospatial information according to an embodiment of the prior art.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Each of the GPS sensor 100 and the UI sensor 110 is installed on an aircraft to measure movement path information of an aircraft and output it to the control means 130. [

On the other hand, the camera 120 is mounted on an aircraft, photographs the ground for map production, and outputs it to the control means 130.

The control means 130 adds time information to the photographic image photographed by the camera 120. [

Meanwhile, the control means 130 complements and processes the position information input from the GPS sensor 100 and the position information input from the UI sensor 110 in a Kalman filtering manner at the time the photographic image is captured.

The control means 130 applies numerical information (positional information) complementarily processed by the Kalman filtering method to coordinate information on the center position of the photographic image to complete the digital map.

The picture-taking camera (120) shoots at 50-60 frames per second and images 60% overlap so that distortion of the camera lens and distortion due to the photographing angle are generally compensated as much as possible. However, Distortion still remains.

Conventional art has the advantage of improving the accuracy because it calculates the center coordinates of an image taken on an aircraft by using the information of the GIS and ES, but it does not solve the distortion or distortion occurring at the edge of the photographed image, There is a problem that the reliability of the numerical information (coordinate information)

Therefore, it is necessary to develop a technique to accurately update the balance information (coordinate information) of the topographical feature in the field and partially apply it to the digital map so as to quickly update and correct it at a low cost.

In the related art, "Numerical information updating system for immediately correcting error numerical information" according to Korean Patent Registration No. 1220264 (Mar. 03, 2013), which is an improved prior art, includes a vehicle actual portion and a drawing update server , The vehicle body side portion includes a turning portion and a coordinate processing portion, and the coordinate processing portion includes a step motor driving portion, a control unit portion, a grounding portion processing portion, an elbow ratio processing portion, a buffer portion, and a coordinate processing portion, A second fiber module section, a third fiber module section, a moving speed value averaging section, a latitude value averaging section, a hardness value averaging section, and a altitude averaging section.

Each of the first through third fiber module modules includes a GPS receiver, a movement direction analysis module, a movement speed analysis module, a hardness analysis module, a latitude analysis module, and a sea level analysis module.

The improved prior art has the advantage that the numerical information (coordinate information) on the field where there is an error in the numerical information in the digital map is measured and reflected quickly.

However, in the improved prior art, when the vehicle travels in an inclined section in the forward and backward directions and the lateral direction in the course of traveling, the disc portions are inclined in the corresponding directions, and the height of the respective SAW antennas provided on the disc portion are different from each other.

That is, the distances between the GPS satellite and the first to third GPS SOAs are different from each other due to inclination of the disk, and the first to third GPS SOAs generate different position information (coordinate information) There is a problem that a precise numerical map can not be produced.

Therefore, it is necessary to develop a technique for always keeping the disk constant in the horizontal portion even in the region where the bending in the front-back direction and the lateral direction is severe.

Korean Patent Registration No. 0558367 (Registered on Feb. 28, 2006) "Digital Mapping System and Method Using ZPES and IES" Korea Patent Registration No. 1220264, Jan. 31, 2013. Registration) "numerical information update system that immediately corrects error numerical information"

In order to solve the problems and necessities of the related art as described above, the numerical information update system which immediately corrects the error numerical information of the present invention, which is devised in accordance with the present invention, moves the position information (coordinate information) (Coordinate information) obtained by actually measuring positional information (coordinate information) obtained by measuring the positional information (coordinate information) obtained by measuring the positional information

According to the present invention, there is provided a numerical information updating system for immediately correcting erroneous numerical information. The numerical information updating system immediately maintains the disc level at a constant level in two steps. (Coordinate information) obtained by correctly receiving and calculating the positional information (coordinate information) to the digital map, and correcting and supplementing the digital map.

In order to achieve the above object, there is provided a numerical information updating system for immediately correcting erroneous numerical information according to the present invention, which is installed in a vehicle, and which receives signals of a geosynthetical satellite from three GPS satellites repeating a left turn and a right turn, A vehicle actual-side unit that transmits the real-time data through mobile communication by encrypting the 1-coordinate information and the second coordinate information received as an average by arithmetic mean calculation and encrypting the data frame; And a display update server connected to the vehicle body side through a communication network and decrypting the received average coordinate value encrypted and reflecting the received average coordinate value in a corresponding area of the digital map to correct coordinate values in real time; Wherein the vehicle body side portion includes first to third SAW antennae disposed at an upper flat edge of a disk shape and having a disk portion that rotates about a rotation axis and forms a follower fisher portion on the circumference and a disk portion that is smaller than a radius of the disk portion, And a step motor unit which is coupled with a shaft of the main synchronizer and is rotated in a forward or reverse direction by a corresponding control signal, ; A step motor driving unit connected to the step motor unit and outputting a control signal rotating forward or backward according to the command signal, and a control unit connected to the step motor driving unit, And outputs the first coordinate information calculated by arithmetically averaging the plurality of pieces of the GPS information received in real time from the GPS satellite by the control signal of the control unit unit The mobile communication system according to claim 1, further comprising: an LV processing unit connected to the GPS satellite processing unit and the mobile communication system and receiving the LV-based location information provided by the mobile communication system and outputting the LV-based location information as second coordinate information; And the second coordinate A coordinate processor comprising a mobile communication unit to store the allocated regions and connected to the detected operation parameters, the program, designated by the buffer unit and the control signal of the control unit for outputting data to the other party and the mobile; Wherein the data frame includes a field area in which an overhead area and an average coordinate value are recorded, a check area in which an error is detected, and a time area in which time information is recorded, And the control unit controls the mobile communication unit to transmit the average coordinate information to the designated counterpart, and the GPS satellite processing unit is connected to the first and second GPS satellite antennas, And outputting respective values analyzed as a moving direction, a moving speed, a latitude, a longitude, and a sea level, and a second GPS module module connected to the second GPS satellite antenna and receiving geospatial information from the GPS satellite, Direction, moving speed, latitude, longitude, and sea level respectively And outputting respective values analyzed as a moving direction, a moving speed, a latitude, a longitude, and a sea level by receiving the GSPS information from the GSPS satellite and connected to the third GSPS antenna, A movement direction value average operation unit for inputting a value of the direction of movement analyzed from at least one selected from among the first through third web module modules and the first through third web module modules, A moving speed value average operation unit for inputting a moving speed value analyzed from at least one selected from among the first to third GPS module units, And outputs an arithmetic mean value to the latitude value average calculating unit A hardness value average operation unit for inputting a value of hardness analyzed from at least one selected from among the first and second wafer module units and arithmetically averaging and outputting the value, And an altitude average calculating unit for calculating and outputting an arithmetic average of the analyzed elevation values, wherein at least one of the first to third D / A module units is configured to receive the geosust information broadcasted by the DS / A moving direction analysis module for receiving the geospatial information from the antenna and receiving and outputting the geospatial information from the geospatial information receiver, analyzing and outputting the geospatial information from the geospatial information receiver, and outputting the geospatial information from the geospatial data receiver, So A latitude and longitude analysis module for inputting the geospatial information from the geospatial data receiver and analyzing and outputting the geospatial information; a latitude analysis module for inputting the geospatial information from the geospatial data receiver and analyzing and outputting latitude information; And a pivoting part for pivoting the pivoting part such that the pivoting part always keeps the pivot part in a horizontal position and the first to third pieces of the grounding fiber antennas provided on the disc are always the same And the first horizontal holding means comprises a fixing plate fixed to the vehicle at a position spaced downwardly from the mounting plate, and a lower plate fixed to the lower center of the mounting plate, And the spherical portion having the spherical outer peripheral surface and the spherical portion A three-dimensional rotary body integrally formed on a surface of the three-dimensional rotary body and having a vertical rod fixed at the center of the mounting plate, and a lower circular inner peripheral surface fixed to the center of the upper surface of the fixed plate and corresponding to a lower half of the rectangular outer peripheral surface An upper three-dimensional rotatable supporter fixed to the upper portion of the lower three-dimensional rotatable supporter and having an upper spherical inner peripheral surface corresponding to the upper half of the spherical outer peripheral surface of the three-dimensional rotary member; A plurality of horizontal adjustment motor units fixed to the upper surface of the fixing plate at regular angular intervals and having a hollow motor shaft having an internal thread on an inner peripheral surface thereof and a male screw portion engaged with a female screw portion of the hollow motor shaft, And a horizontal adjustment screw which is brought into close contact with a bottom surface of the mounting plate, And a horizontal adjustment motor driving unit connected to the horizontal adjustment motor unit and the control unit unit and outputting a control signal rotating forward or backward according to the command signal, A buoyant plate made of a material having a buoyancy and installed in the shape of a disk having the same diameter, a male threaded portion fixed to the center of the buoyant plate and the fixed plate in a downward direction and screwed to the fixed plate at the upper side, A buoyant central holding portion including a central harvesting rope and a center weight extending downwardly from the central gathering rope and having a spherical shape; and a buoyant centering portion having the first horizontal holding means inside and having a generally cylindrical shape, A grip portion which is closed while being in a spherical shape, A first fixing key formed at one end of the body block to form the same plane as the lower surface of the body block and formed with a stepped lower surface and forming a female threaded portion at a central portion of the body block, And a second fixed key formed on the left side and the right side, respectively, the lower side of the switch lever part being formed at a lower level with respect to the upper surface of the switch lever part, A first fixing groove in which the first fixing key is inserted and a second fixing groove formed in a lower side of the first fixing groove and into which the second fixing key is inserted and the lower side is opened, A fixing hole formed to communicate with the first fixing groove and formed at a position corresponding to the female threaded portion, a fixing hole inserted in the fixing hole and screwed to the female threaded portion, A lever fixing portion including a fixing screw for fixing the position lever portion to the outer periphery of the fixing plate; a movement restricting groove formed on the side surface of the grip portion so as to be inserted in the vertical length direction; A lower limiting protrusion formed on the lower end of the movement restricting groove so as to protrude to the inside of the gripping part and a lower limiting protrusion fixed to a lower end surface of the upper limiting protrusion, A lower limit sensor which is fixed to the upper end surface of the lower limit projection and detects a state in which the switch lever is moved downward to a limited range and notifies the control unit of the state, And a flow restriction unit including the flow restriction unit.

According to the present invention, the position information (coordinate information) generated by the GPS and ESB is precisely measured and measured while moving the field to the vehicle where the position information (coordinate information) needs to be corrected or updated in the digital map, The mean value of the average computed values is an advantage of correcting and correcting the corresponding part of the digital map.

Further, according to the present invention having such a configuration as described above, since a plurality of the GSAS antennas are always positioned on the same plane irrespective of the bending of the feature material, the position information (coordinate information) The reliability of the map is further enhanced at a low cost.

According to the present invention as described above, since the horizontal portion of the disc portion provided with the plurality of the SAW antenna is always kept constant by the horizontal adjustment means of the two stages, the plurality of the SAW antennas provided on the disc portion are always positioned on the same plane, (Coordinate information) of the digital map with the calculated position information (coordinate information), thereby improving the precision and reliability of the digital map.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram of a digital map production system using geospatial information according to an embodiment of the prior art; FIG.
2 is an explanatory diagram of a numerical information updating system for immediately correcting error numerical information according to an embodiment of the present invention;
3 is a detailed explanatory diagram of a turning unit according to an embodiment of the present invention,
FIG. 4 is a detailed exploded perspective view of a turning unit according to an embodiment of the present invention,
FIG. 5 is a longitudinal sectional side view of an operation state explanatory view of a rotary part according to an embodiment of the present invention,
6 is a detailed functional configuration diagram of a coordinate processing unit according to an embodiment of the present invention,
And
FIG. 7 is a detailed functional configuration diagram of a dust-fuse processing unit according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a functional block diagram of a numerical information updating system for immediately correcting error numerical information according to an embodiment of the present invention. FIG. 3 is a perspective view of a turning unit according to an embodiment of the present invention, FIG. 5 is a longitudinal sectional side view explaining an operation state of the rotary unit according to an embodiment of the present invention, and FIG. 6 is a sectional side view of the rotary unit according to an embodiment of the present invention. FIG. 7 is a detailed functional configuration diagram of the GPS processor according to an embodiment of the present invention.

2, the numerical information updating system 900 for immediately correcting the error numerical information according to the present embodiment includes a vehicle actual side unit 1000, a GPS satellite 2000, a communication network 3000, (4000).

The figure image is a map of aerial photographed terrain image, and coordinate information including latitude, longitude, and altitude is applied to each point of the map.

Although the aerial photographed image is photographed at a high altitude, partial distortion occurs due to the difference in the photographed angle, and distortion may also be caused by the curvature of the lens.

Aerial photographed images are photographed so that they are overlapped by an average of 60%. In the course of conversion to synthesized and pictorial images, the images are corrected to have no distortion, and the corrected image is digitized, thereby improving the reliability of the digital map.

A picture image expressed by a flat plane is difficult to completely solve the partial distortion and the coordinate information is inaccurate at the portion where the distortion occurs, so that it is inconvenient for the actual user and it is difficult to apply the digital map to the real life.

It is costly to reuse the aircraft to compensate for the difference between the coordinate values of the digital map and the error part. Since it takes a lot of time to synthesize the figure image, the coordinates of the digital map can be quickly and accurately It is a technical idea of the present invention to update the information.

On the other hand, the topography of the ground can be changed by various development, construction, etc., and it is necessary to update coordinate information of this area.

In the following description, a bolt through hole through which various bolts are inserted and a bolt fastening hole through which various bolts are fastened are shown in the drawings, but the reference numerals and explanations thereof may be omitted.

The vehicle actual side part 1000 receives the GPS information of the GPS satellite 2000 while being loaded on the mobile device including the vehicle and transmits the first coordinate information analyzed and the mobile communication system moving based on the base station position (LBS) service for confirming the position of the mobile terminal. LBS services are well known and will not be described in detail.

The vehicle actual side unit 1000 transmits the image data to the drawing update server 4000 in real time wirelessly after the arithmetic average value of the first and second coordinate information is calculated and included in a predetermined data frame, (1100), and a coordinate processing unit (1200).

The rotation unit 1100 sequentially and repeatedly rotates in the forward direction and the reverse direction (leftward rotation and rightward rotation) according to a corresponding control signal applied for each unit of elapsed time or movement distance by the corresponding control signal of the coordinate processing unit 1200, 820 and 830, a follower motor 1120, a disc 1130, a main synchronizer 1140 and a stepping motor 1150. The first through third SAW antennas 810,

The disc portion 1130 has a disc shape and is rotated or pivoted about a rotation axis 1131 formed on the center portion and a follower fisher portion 1120 having a predetermined size is formed on the outer circumference.

The disc portion 1130 is fixedly coupled to the upper end of the rotary shaft 1131 and the rotary shaft 1131 is rotatably supported by a bearing 1132 fixed to the mounting plate 1111. A flange 1133 is formed at the lower end of the bearing 1132 and a fixing bolt 1134 penetrating through the flange 1133 is fastened to the mounting plate 1111 so that the rotary shaft 1131 and the disc portion 1130 are mounted And can be rotatably supported by the plate 1111.

The step motor unit 1150 can be mounted on the mounting plate 1111 by forming a motor base 1151 at the lower end and fastening a mounting bolt 1152 penetrating the motor base 1151 to the mounting plate 1111 have.

The first through third dust and noise antennas 810, 820 and 830 are installed at equiangular intervals (? = 120 degrees) with respect to the rotation axis 1131 in the upper flat edge portion of the disk portion 1130.

The main synchronizer 1140 has a disk shape and has a diameter smaller than the radius of the disk 1130 and forms a gear shape that engages with the follower synchronizer 1120 at the outer periphery.

The step motor unit 1150 is connected to the rotation axis of the main synchronizer 1140 so that the rotation axis of the step motor unit 1150 is connected to the rotation axis of the main synchronizer 1140. In response to the control signal of the coordinate processor 1200, Rotate or reverse (turn left or right).

The swivel unit 1100 allows the disc 1130 to be kept horizontal at all times and the first to third dust-free antennas 810, 820 and 830 installed on the disc 1130 are always located at the same height The first horizontal holding means 1500 and the second horizontal holding means 1600 are further included.

The first horizontal holding means 1500 includes a fixing plate 1112 which is provided at a position spaced downward from the mounting plate 1111 and is fixed to the vehicle and a fixing plate 1112 fixed to the lower center of the mounting plate 1111 and having a spherical outer peripheral surface 1162 A three-dimensional rotating body 1160 having a spherical portion 1161 and a vertical rod 1163 integrally formed on the upper surface of the spherical portion 1161 and having an upper end fixed to the center of the mounting plate 1111,

A lower three-dimensional rotating support body 1171 fixed to the upper center of the upper surface of the fixing plate 1112 and having a lower circular inner peripheral surface 1172 corresponding to the lower half of the spherical outer peripheral surface 1161 of the three-dimensional rotary body 1160, An upper three-dimensional rotating support 1173 fixed to the upper portion of the support body 1171 and having an upper spherical inner peripheral surface 1174 corresponding to the upper half of the spherical outer peripheral surface 1162 of the three-dimensional rotary body 1160,

(Not shown) having a hollow motor shaft 1181 fixed to the upper surface of the fixing plate 1112 at an equal angle with reference to the central portion of the fixing plate 1112 and having a female screw portion 1182 formed on the inner peripheral surface thereof Three horizontal adjustment motor units 1180,

And a horizontal adjustment screw 1190 having a male screw portion 1191 engaged with a female screw portion 1182 of the hollow motor shaft 1181 and having an upper end closely fitted to the lower surface of the mounting plate 1111.

The three-dimensional pivotable body 1160 has a male screw portion 1164 formed on the outer peripheral surface of the upper end of the vertical rod 1163 and a male screw portion 1164 penetrating the mounting plate 1111 and contacting the upper surface side of the mounting plate 1111 It can be fixed to the mounting plate 1111 by fastening the fixing nut 1165 to the male screw portion 1164. [

The lower three-dimensional rotating support body 1171 and the upper three-dimensional rotation supporting body 1173 are fixed to the fixed plate 1112 with fixing bolts 1175 passing through the upper three-dimensional rotation supporting body 173 and the lower three- And fixed to the fixing plate 1112 by fastening.

The horizontal adjustment motor unit 1180 is mounted on the fixing plate 1112 by forming a motor base 1183 at the lower end and fastening a mounting bolt 1184 passing through the motor base 1183 to the fixing plate 1112 .

A second horizontal holding means 1600 is provided at a side surface and a lower end of a fixing plate 1112 constituting the first horizontal holding means 1500.

The second horizontal holding means 1600 is formed of a foamed styrofoil whose outer surface is waterproofed, a foamed natural rubber, a foamed synthetic rubber, a natural wood plate A synthetic resin plate, and other buoyancy means. The thickness of the first horizontal holding means 1500 and that of the first horizontal holding means 1500 are not limited to those described above. A buoyant plate 1610 having a thickness of 2 to 4 times the thickness of the fixing plate 1112 so as to receive buoyancy in a state of being included,

Here, it is relatively preferable that the buoyant plate 1610 is formed to have a thickness three times as thick as the fixing plate 1112.

A male screw portion 1622 made of a metal and screwed to the center of the disk of the fixing plate 1112 on the upper side through the center of the disk of the buoyancy plate 1610 and fixed to the center of the disk of the fixing plate 1112, A center harvesting rectilinear section 1624 which is formed of the same material as the male thread section 1622 and extends below the male thread section 1622 and the center harvesting rectilinear section 1624, A buoyancy center holding portion 1620 including a center weight 1626 extending in a spherical shape,

Here, it is highly desirable that the center of buoyancy holding portion 1620 is made of a metal material containing tungsten (tungsten, symbol W) and not rusted in water.

The first through third SAW antennae 810, 820 and 830, the subsidiary synchronizing part 1120, the disc part 1130, the main synchronizing part 1140, the step motor part 1150 and the first horizontal holding part 1500 And a lower end portion of which is formed in a hemispherical shape and is hermetically sealed,

It is preferable that the semi-spherical shape forming the lower end of the grip portion 1630 has a diameter larger than the diameter of the fixing plate 1112 or the buoyant plate portion 1610.

A body block 1642 having one or more (four in the figure) fixedly mounted on a part of the outer periphery of the fixing plate 1112, the body block 1642 having a generally rectangular parallelepiped shape; The lower end of the body block 1642 is formed to be flush with the upper surface of the body block 1642 and the lower end of the body block 1642 is formed to be lower than the upper surface of the body block 1642, A first fixed key 1646 to form a first fixed key 1646; The lower surface of the body block 1642 or the first fixed key 1646 is flush with the upper surface of the first fixed key 1646, And a second fixed key 1648 formed on the right side of the switch lever portion 1640

One or more (four in the figure) are formed on a part of the outer periphery of the fixing plate 1112 so that the switch lever portion 1640 is inserted and fixed by screwing, and the first fixing key 1646 is inserted 1 fixing groove 1652; A second fixing groove 1654 formed below the first fixing groove 1652 and inserted into the second fixing key 1648 and opened at a lower side; A fixing hole 1656 formed to communicate with the first fixing groove 1652 and formed at a position corresponding to the female threaded portion 1644; And a fixing screw 1658 inserted in the fixing hole 1656 and screwed to the female screw portion 1644 to fix the switch lever portion 1640 to the outer circumference of the fixing plate 1112. [ (1650) and

And is formed at a hemispherical end of the grip portion 1630 and is formed at a position corresponding to the lever fixing portion 1650 so as to restrict a vertical movement range of the fixed lever portion 1650, A movement restricting groove 1661 inserted in the vertical direction; An upper limiting protrusion 1662 formed at an upper end portion of the movement restricting groove 1661 so as to protrude inward of the grip portion 1630; A lower limiting protrusion 1663 protruding from the lower end of the movement restricting groove 1662 to the inside of the gripping part 1630; An upper limit sensor 1664 which is fixed to the lower end surface of the upper limit projection 1662 and detects a state in which the switch lever portion 1640 is moved up to a limited range and notifies the control unit 1220; A lower limit sensor 1665 fixed to the upper end surface of the lower limiting projection 1662 and detecting the state in which the switch lever portion 1640 is moved downward to a limited range and notifying the control unit 1220 A flow restricting portion 1660 including

And a liquid 1670 housed inside the grip portion 1630 and floating the corresponding structure supported by the second horizontal holding means 1600 and the second horizontal holding means 1600.

The upper and lower lengths of the movement restricting groove 1661 constitute a corresponding length so that the fixing plate 1112 is allowed to flow in a range of 5 ° to 10 ° in the horizontal direction, . Therefore, it is quite natural that the vertical length value of the movement restricting groove 1661 can correspond to the length value of the fixing plate 1112. [

The coordinate processing unit 1200 outputs a control signal for causing the step motor unit 1150 constituting the rotating unit 1100 to rotate in the forward or reverse direction and receives the geSs information from the geSs artificial satellite 2000 and outputs the precisely analyzed position information A control unit 1220, a laser processing unit 1230, an optical processing unit 1240, a buffer unit 1250, a mobile communication unit 1260, a horizontal sensing sensor 1270 And a horizontal adjustment motor driver 1280. [

The step motor driving unit 1210 is connected to the step motor unit 1150 and analyzes the command signal inputted from the control unit 1220 and outputs a corresponding control signal for rotating the step motor unit 1150 in the normal direction or in the reverse direction.

The control unit 1220 monitors the respective functional units connected by the loaded program, operation parameters, data, etc. from the buffer unit 1250 and outputs the corresponding control signals. The control unit 1220 outputs the control signals to the control unit 1220 in units of time elapsed from the step motor unit 1150 And outputs the corresponding control signal to rotate in the forward direction or the reverse direction using any one of the moving distance units.

The GSPS processing unit 1230 receives the GSPS information broadcasted by the GSPS 2000 in real time based on the corresponding control signal of the control unit 1220 and accurately grasps the GSPS including the moving direction, the moving speed, the latitude, the longitude, A second fiber module module 1232, a third fiber module module 1233, a moving direction value average operation unit 1234, a moving speed value average operation unit 1235, A latitude value average calculation unit 1236, a hardness value average calculation unit 1237, and a altitude value average calculation unit 1238. [

At least one selected from the first, second and third fiber module modules 1231, 1232 and 1233 is a fiber receiver 840, a moving direction analysis module 850, An analysis module 860, a latitude analysis module 870, a hardness analysis module 880, and a sea level analysis module 890, and the corresponding sequence numbers of the respective fiber module modules are respectively given.

The GPS receiver 840 is connected to any one of the first to third SAW antennae 810, 820, and 830 that directly receive the GPS information broadcasted by the GPS satellite 2000. The GPS receiver 840 receives the GPS signal from the GPS signal received by the connected GPS satellite The noise is removed and amplified to a required level and supplied to the moving direction analysis module 850, the moving speed analysis module 860, the latitude analysis module 870, the hardness analysis module 880 and the altitude analysis module 890 do.

The first through third GPS receiver units 840 respectively output the GPS information that can be analyzed as coordinate information when receiving at least three GPS satellites 2000 broadcast geospatial information.

The first to third moving direction analysis module 850 analyzes the geofos information input from the corresponding fiber reception unit 840 and judges in real time the current moving direction of the vehicle body side part 1000 and outputs them.

The first to third moving speed analysis module 860 analyzes the geofos information input from the corresponding fiber reception unit 840 and determines and outputs the speed at which the vehicle body side unit 1000 is currently moving in real time.

The first through third latitude analysis modules 870 analyze the GPS information input from the corresponding GPS receiver section 840 and determine and output latitude information of the place where the vehicle body side part 1000 is currently located.

The first to third hardness analyzing module 880 analyzes the geofos information input from the corresponding geophone receiver 840 and determines and outputs longitude information of the place where the vehicle body side part 1000 is currently located.

The first to third elevation analysis modules 890 analyze geospatial information inputted from the corresponding GPS receiver section 840 and judge and output sea level information of a place where the vehicle body side part 1000 is currently located .

The moving direction value average calculation unit 1234 receives the analysis values of the current moving direction of the vehicle body side part 1000 as analyzed respectively from the first to third moving direction analysis modules 850 and arithmetically averages them, Of the moving direction is increased to three times or more.

The arithmetic mean calculation processing performed by the moving direction value average arithmetic operation unit 1234 is as follows.

(First movement direction analysis value + second movement direction analysis value + third movement direction analysis value) / 3 = arithmetic mean movement direction analysis value calculation formula is calculated by the corresponding algorithm, and when the formula is changed, And the following arithmetic mean operation algorithm will not be described in duplicate because a similar method is applied.

The moving speed value average calculating unit 1235 receives the current moving speed analysis values of the vehicle body side portion 1000 as analyzed respectively from the first to third moving speed analysis modules 860 and arithmetically averages the calculated values, To a value of three times or more.

The latitude value average calculation unit 1236 receives the latitude analysis values of the place where the vehicle actual side unit 1000 is currently located, analyzed by the first to third latitude analysis modules 870, To a value of three times or more.

The hardness value average calculator 1237 receives the hardness analysis values of the places where the vehicle actual side part 1000 is currently located, analyzed from the first to third hardness analysis modules 880, The value of the hardness increased to three times or more is output in real time.

The altitude value calculation unit 1238 receives the altitude analysis values of the places where the vehicle actual side unit 1000 is currently located, which are respectively analyzed from the first to third altitude analysis modules 890, Of the sea level to 3 times or more.

The coordinate values composed of the moving direction, the moving speed, the latitude, the hardness, and the sea level output from the GSPS processing unit 1230 are applied to the control unit 1220 as the first coordinate information.

The LVS processor 1240 is configured to receive location information of the mobile communication unit through the mobile communication system 3000 registered with the mobile communication unit 1260.

The horizontal sensing sensor 1270 senses the level of the mounting board 1111 and transmits the sensed horizontal level to the control unit 1220. The control unit 1220 controls the horizontal And the horizontal adjustment motor driving unit 1280 analyzes the command signal inputted from the control unit 1220 and transmits the corresponding control signal for rotating the horizontal adjustment motor unit 1180 in the forward direction or the backward direction, .

In this case, the control unit 1120 controls the horizontal adjustment motor unit of the plurality of horizontal adjustment motor units 1180 to rotate in a clockwise direction in a plan view according to the detection signal of the horizontal detection sensor 1270, The horizontal adjustment motor portion is raised by the screw action of the male screw portion 1191 of the horizontal adjustment screw 1190 engaged with the female screw portion 1182 of the upper horizontal adjustment motor 1181, So that the horizontal adjustment screw 1190 is lowered by the screw action of the male screw portion 1191 of the horizontal adjustment screw 1190 engaged with the female screw portion 1182 of the motor shaft 1181 do.

Here, it is assumed that the communication network 3000 is the same as a mobile communication system (hereinafter, referred to as a " communication network ") and includes a wired communication network and the Internet. A mobile communication system is generally known and will not be described in detail.

The communication network 3000 should confirm the position of the mobile communication unit 1260 or the mobile terminal (hereinafter, referred to as "mobile communication unit") based on its operating characteristic, with the base station (BS) as its center.

The base station is a direct connection of the mobile communication unit 1260 by radio, forming a certain service area, and a plurality of base stations are continuously installed at regular intervals to form a nationwide service area.

The communication network 3000 must calculate the direction of movement of the mobile communication unit 1260 and handover the base station located in the direction of moving based on the currently connected base station to allocate a channel to be connected to the mobile communication unit 1260, It is necessary to specify the time point at which the handover is calculated by calculating the moving speed.

The communication network 3000 should always check the location information of the mobile communication unit 1260 in the moving state according to the operational characteristics.

At this time, the communication network 3000 confirms the position of the mobile communication unit 1260 around the position of the base station, and the coordinate information of the base station is already known accurately.

When three base stations around the mobile communication unit 1260 calculate the straight line distance to the mobile communication unit 1260, the position of the mobile communication unit 1260 can be accurately measured by the triangulation method.

The service for confirming and providing the coordinate information on the position of the mobile communication unit 1260 around the base station already knowing the coordinate information is called an LBS (Location Based Service) service.

The LBS processing unit 1240 requests the LBS service to the communication network 3000 connected to the mobile communication unit 1260 and provides the location information of the mobile communication unit by the LBS service provided by the communication network, And also applies the same to the control unit 1220 as the second coordinate information.

The control unit 1220 records the first coordinate information applied from the laser processing unit 1230 and the second coordinate information applied from the laser processing unit 1240 in the allocated area of the buffer unit 1250, Average operation.

A plurality of programs, operation parameters, operation data, and the like are recorded in the buffer unit 1250 and can be retrieved by the corresponding control signals of the control unit 1220.

The coordinate values obtained by arithmetic mean calculation by the control unit 1220 are referred to as average coordinate values.

The control unit 1220 encrypts the average coordinate value arithmetically averaged in the specified data format.

The data format can be classified into an overhead area, a field area in which average coordinate values are recorded, a check area to search for errors, a time area in which time information is recorded, and the like. Can also be encrypted.

(Decryption) can not be performed unless the order in which the respective regions of the data format are arranged, the size of the data that can be allocated and recorded, and the data size of the entire frame are known.

The control unit 1220 applies the average coordinate value encrypted in the data format to the mobile communication unit 1260 in real time and the mobile communication unit 1260 transmits the average coordinate value to the drawing update server 4000 through the communication network 3000 in real time .

On the other hand, the control unit 1220 may receive a control command signal from the drawing update server 4000. [

The drawing update server 4000 decodes the received data format in real time to extract an average coordinate value and quickly updates the average coordinate value received in the corresponding area of the existing digital map being managed.

In this configuration, since the vehicle actual sensing unit 1000 measures the precise coordinate information of the scene in real time while traveling on a site requiring updating of the coordinate information, and transmits it to the picture updating server 4000 in real time via the communication network, the picture updating server 4000 There is an advantage that the coordinate information (numerical information) can be reflected and updated in real time.

On the other hand, there is an advantage that there is no possibility of an error because it is encrypted and transmitted.

Also, there is an advantage in that the accuracy is increased to three times or more since arithmetic mean calculation is performed on the values obtained by constituting each of the first to third pieces of the GPS receiver 840.

Further, the laser-receiving portions 840 are installed on the disc portion 1130 at equal intervals (uniform intervals) of 120 degrees, and the left and right rotations of the disc portion 1130 are repeated by any one of the elapsed time and moving distance It is possible to eliminate the error caused by the reception antenna installation position of the GPS receiver 840 and to receive the GPS signals received from the respective reception antennas under the same condition.

The Global Positioning System (GPS) 2000 is composed of 24 GPS satellites operating at an altitude of 20 to 25 km (Km) above ground, preferably at an average altitude of about 20,183 km, Is a global positioning system that broadcasts free-of-charge GPS signals that can be analyzed by sea level, longitude, latitude and time. On the other hand, the GPS signal processor 1230 must receive the GPS signal from at least three GPS satellites 2000 to analyze position information.

The communication network 3000 is a general structure including all types of communication networks such as a mobile communication network, a wireless communication network, a wired communication network, a data communication network, and the Internet.

The drawing update server 4000 is connected to the vehicle actual side part 1000 and the communication network 3000 including the mobile communication system and receives the positional information and applies the same to the corresponding portion of the picture image. Based on the applied part, The coordinate value data of the entire digital map can be updated.

According to an embodiment of the present invention, a method of operating a numerical information update system for immediately correcting error numerical information will be described in detail. The control unit unit constituting the coordinate processing unit searches the buffer unit and loads operation parameters, data, etc., Set the activation state.

The control unit analyzes the loaded information (data, parameters) and judges whether it is set to control based on elapsed time or to control based on the moved distance.

If it is determined that the control unit unit is set to control based on the elapsed time, the elapsed time information after the field measurement unit starts to be operated in the field is continuously analyzed in real time.

The control unit may change the driving direction of the step motor unit from forward rotation to reverse rotation in a predetermined unit of time specified by the information loaded by the analyzed elapsed time information in real time, And outputs the corresponding control signal.

On the other hand, if it is determined that the control unit unit is set to control based on the distance traveled, the moving distance information after the field measurement unit starts to be operated in the field is continuously analyzed in real time.

The control unit unit controls the driving direction of the step motor unit in the forward direction rotation direction to the reverse direction rotation direction in units of a predetermined set distance designated by the information loaded by the moving distance information analyzed in real time, And outputs the corresponding control signal for controlling the switching.

The control unit unit controls the geofust treatment unit to output corresponding control signals for real-time analysis of the geofos information received by the first to third geoface-receiving units in accordance with the moving direction, moving speed, latitude, longitude and altitude.

The control unit outputs a corresponding control signal for arithmetically averaging and outputting the analyzed information in real time.

The control unit outputs a corresponding control signal for real-time calculation of the arithmetic mean value to be transmitted to the drawing update server or the specified counterpart in real time by mobile communication.

The apparatus operated in this way has an advantage that no error is caused by the installation position of the GPS reception antenna.

In addition, the arithmetic average of the analysis values of the received pieces of information of the pieces of paper-side information received by each of the three laser module modules is improved, so that the first coordinate information finally output is improved to an accuracy of three times or more, and the first coordinate information and the second coordinate information The accuracy is improved to 6 times or more as a whole.

In addition, since the numerical information updating system for immediately correcting the error value information according to the present embodiment includes the first and second horizontal adjustment means 1500 and 1600, the first to third DSS antennas 810, 820 and 830, Is always placed on the flat plate of the same height.

That is, when the ground surface is inclined forward or backward or tilted left and right in the process of moving the vehicle on which the vehicle body side portion 1000 is mounted, the first to third dust- The height of the first to third SAW antennae 810, 820 and 830 are different from each other. At this time, the mounting plate 1111 mounted on the mounting plate 1111 is tilted, The sensor 1190 senses the level of the mounting plate 1111 and outputs a sensing signal and the control unit 1220 drives the plurality of horizontal adjustment motor units 1180 according to the sensing signal of the horizontal sensing sensor 1190. [ The motor shaft 1181 of the horizontal adjustment motor unit in the lower position of the motor shaft 1181 is controlled to rotate clockwise when viewed from the plane so that the number of the horizontal adjustment screws 1190 engaged with the female screw unit 1182 of the motor shaft 1181 By the screwing action of the threaded portion 1191, The upper horizontal adjustment motor unit is controlled to rotate in a counterclockwise direction in a plan view so that the horizontal adjustment motor unit can be rotated in a horizontal direction The horizontal adjusting screw 1190 is lowered and separated from the upper side of the mounting plate 1111 by the screw action of the male screw portion 1191 of the screw 1190.

At this time, since the mounting plate 1111 is supported by the three-dimensional rotating body 1160 and the three-dimensional rotating supporting bodies 1171 and 1173 so as to be three-dimensionally rotatable relative to the fixing plate 1112, So that the first to third laser SAR antennas 810, 820 and 830 are always maintained at the same height.

Meanwhile, in the process of maintaining the mounting plate 1111 horizontally by the first horizontal holding means 1500, delay occurs during detection of the corresponding signal, control, and operation of each component, .

It is a technical idea of the present invention to further include a second horizontal holding means 1600 as a constituent for compensating for such a problem, so as to quickly cope with the curvature of the terrain.

A structure for stably fixing or installing the grip portion 1630 at a specific position, a bracket and the like are generally known easily, so a detailed description will be omitted.

The liquid 1670 mounted inside the grip unit 1630 is preferably relatively dense to enhance the buoyancy of other objects (fixed plate, mounting plate, etc.), but it is generally dense, (For example, mercury or the like) that can increase the buoyancy of the water. The grip portion 1630 may further include a general configuration for preventing the liquid 1670 from flowing out.

The mounting plate 1111 and its configuration and the first horizontal holding means 1500 constitute the second horizontal holding means 1600 and are quickly leveled even in a curved form by the center weight 1626 located in the liquid 1670 do.

Four switch levers 1640 are provided on the fixed plate 1112 at an equal angle with respect to the attached drawings and four flow restricting portions 1660 are provided at the middle portion of the depression 1630 Respectively. However, if necessary, three, five, or six or more of them may be provided to precisely restrict the flow.

When it is determined that the corresponding signal is input from the three or more upper limit sensors 1664, the control unit 1220 controls the plurality of horizontal adjustment motor units 1180 The control unit 1220 may not input a signal detected from the horizontal sensing sensor 1270 or may input the signal later.

The control unit 1220 controls the horizontal adjustment motor unit 1180 at the corresponding position to rotate in the corresponding direction until a signal is not detected from the upper restriction projection 1664 when a signal is detected from the upper restriction projection 1664 . That is, the control unit 1220 controls the horizontal adjustment motor unit 1180 to preferentially operate the signal detected from the upper limit protrusion 1664 rather than the signal detected by the horizontal detection sensor 1270.

The process in which the control unit 1220 is operated by the signals detected from the three or more lower limit sensors 1665 corresponds to a method in which the mounting plate 1111 is horizontally aligned with the signal of the upper limit projection 1664 A detailed description will be omitted.

That is, the time required for the second horizontal holding means 1600 to maintain the horizontal state is faster than the time required for the first horizontal holding means 1500 to maintain the horizontal state, and such physical phenomenon is well known.

However, the flow restricting portion 1660 restricts the flow range since the second horizontal holding means 1600 may generate a flow (vibration) while maintaining the horizontal position.

Therefore, the disc portion 1111 on which the plurality of the SAW antennas 810, 820 and 830 are installed is always kept horizontal, and accordingly, the plurality of the SAW antennas 810, 820 and 830 provided on the disc portion 1111 are always the same It is possible to accurately receive the information of the GPS signal and to produce an accurate numerical map.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

810: first paper dust receiver 820: second paper dust receiver
830: Third-stage fiber receiver 840:
900: Numerical information update system for immediately correcting error numerical information
1000: vehicle actual portion 1100:
1190: Leveling screw 1200: Coordinate processor
1210: step motor driving unit 1220:
1230: a fiber laser processing unit 1231: a first fiber module module
1232: second fiber module part 1233: third fiber module part
1234: Moving direction value average calculating unit 1235: Moving speed value average calculating unit
1236 Latitude value average operation unit 1237:
1238: altitude value average operation unit 1240:
1250: buffer unit 1260: mobile communication unit
1500: first horizontal holding means 1600: second horizontal holding means
2000: GSPS Satellite 3000: Network
4000: drawing update server

Claims (1)

The first coordinate information and the second coordinate information received from the GPS satellite are received by the three GPS satellites, which are installed in the vehicle and are repeatedly rotated left and right, and arithmetically averaged to obtain an average coordinate value. And transmits the encrypted data to the mobile communication terminal in real time; And a display update server connected to the vehicle body side through a communication network and decrypting the received average coordinate value encrypted and reflecting the received average coordinate value in a corresponding area of the digital map to correct coordinate values in real time; , ≪ / RTI &
The vehicle-
The first to third SAW antennae are equiangularly disposed on the upper plane edge of the disc shape, the disc portion is rotated about the rotation axis, and the follower fisher portion is formed on the circumference of the disc, and the diameter is smaller than the radius of the disc portion, And a stepping motor unit having a main synchronizing unit that forms a gear corresponding to the follower synchronizing unit and a stepping motor unit that is axially coupled to a shaft of the main synchronizing unit and rotates in a forward direction or a reverse direction by a corresponding control signal; A step motor driving unit connected to the step motor unit and outputting a control signal rotating forward or backward according to the command signal, and a control unit connected to the step motor driving unit, And outputs the first coordinate information calculated by arithmetically averaging the plurality of pieces of the GPS information received in real time from the GPS satellite by the control signal of the control unit unit The mobile communication system according to claim 1, further comprising: an LV processing unit connected to the GPS satellite processing unit and the mobile communication system and receiving the LV-based location information provided by the mobile communication system and outputting the LV-based location information as second coordinate information; And the second coordinate A coordinate processor comprising a mobile communication unit to store the allocated regions and connected to the detected operation parameters, the program, designated by the buffer unit and the control signal of the control unit for outputting data to the other party and the mobile; Wherein the data frame includes a field area in which an overhead area and an average coordinate value are recorded, a check area in which an error is detected, and a time area in which time information is recorded, The first coordinate information, the second coordinate information, and the average coordinate information arithmetically averaged in real time, and controls the mobile communication unit to transmit the average coordinate information to the specified counterpart,
The above-
A first GPS module unit connected to the first GPS satellite antenna and receiving the GPS satellite information from the GPS satellite and outputting respective values analyzed as a moving direction, a moving speed, a latitude, a longitude and a sea level, A second GPS module unit connected to the third GPS satellite antenna and receiving the GPS satellite information from the GPS satellite and outputting respective values analyzed as a moving direction, a moving speed, a latitude, a longitude and a sea level, A third GPS module unit for receiving the GS information from the satellite and outputting each value analyzed as the moving direction, the moving speed, the latitude, the longitude, and the sea level, and a third GPS module unit The values of the analyzed moving directions are inputted and arithmetic mean calculation is performed to output A moving speed value average operation unit for inputting the values of the moving speeds analyzed from the moving direction value average operation unit and any one or more selected from among the first to third fingerprint module units and arithmetically averaging them, Module unit, and outputs a latitude value analyzed by at least one selected from among the latitude value average calculation unit and the first and second GPS module units, And an arithmetic mean calculation unit for calculating arithmetic mean values by inputting arithmetic mean values and outputting the values of elevation angle analyzed from at least one selected from among the first and second roughness value module units, ,
Wherein at least one of the first through third fiber module modules receives a piece of paper information broadcasted by the paper feed satellite from the connected paper feed antenna and removes noise, amplifies and outputs the noise information, and inputs the paper feed information from the paper feed unit A moving speed analyzing module for analyzing and outputting the moving speed and inputting the grip point information from the grip point receiving part, analyzing the moving speed, and outputting the grip point information from the grip point receiving part, And a latitude analysis module for inputting the geospatial information from the geospatial data receiver and analyzing and outputting the geospatial information. The geospatial data analyzing module inputs the geospatial information from the geospatial data receiver, It is configured to include an analysis module,
Wherein the pivoting portion includes first and second horizontal holding means for keeping the disc always in a horizontal position and for allowing the first through third dust and light emitting antennas provided on the disc to always be positioned at the same height,
The first horizontal holding means includes a fixing plate which is provided at a position spaced downward from the mounting plate and fixed to the vehicle, a spherical portion fixed to the center of the lower surface of the mounting plate and having a spherical outer circumferential surface, A lower three-dimensional rotatable supporter fixed to a center of an upper surface of the fixed plate and having a lower spherical inner peripheral surface corresponding to a lower half of a spherical outer peripheral surface of the three-dimensional rotary member, An upper three-dimensional rotatable supporter fixedly coupled to an upper portion of a lower three-dimensional rotatable supporter and having an upper spherical inner peripheral surface corresponding to an upper half of a spherical outer peripheral surface of the three-dimensional rotary member, A plurality of horizontal adjustment motor sections each having a hollow motor shaft vertically fixed on an upper surface thereof and having an internal thread on an inner peripheral surface thereof, And a horizontal adjustment screw having a male screw portion engaged with the female screw portion and closely contacting the lower surface of the mounting plate, wherein the coordinate processing portion includes a horizontal sensing sensor mounted on the mounting plate, And a horizontal adjustment motor driver for outputting a control signal that is rotated in a forward direction or a reverse direction by the command signal,
The second horizontal holding means
A buoyant plate made of a material having a buoyancy and provided on the lower surface of the fixed plate in the shape of a disk having the same diameter, a male thread portion fixed to the center of the buoyant plate and the fixed plate in a downward direction, And a center weight extending in a lower direction of the center harvesting straight bar and having a spherical shape,
A body block having a rectangular parallelepiped shape fixed to a part of the outer periphery of the fixing plate, and a body block fixed to a part of the outer periphery of the fixing plate, A first fixed key formed at one end of the block and formed in the same plane as the lower surface of the block and formed lower at a step with respect to the upper surface and forming a female threaded portion at a central portion thereof, And a second fixed key formed on the left and right sides of the switch lever unit,
A first fixing groove formed in a part of the outer periphery of the fixing plate and inserted into the switch lever portion and fixed by screwing, a first fixing groove in which the first fixing key is inserted and a second fixing groove formed in a lower side of the first fixing groove, A fixing hole formed at a position corresponding to the female threaded portion so as to communicate with the first fixing groove and a fixing hole inserted into the fixing hole and screwed into the female threaded portion, And a fixing screw for fixing the switch lever portion to the outer periphery of the fixing plate,
An upper restriction protrusion formed on the upper end of the movement restricting groove so as to protrude inward of the gripper portion; and a lower restriction protrusion formed on the lower end of the movement restricting groove inwardly of the grip rest portion, An upper limit sensor fixed to a lower end surface of the upper limit projection and detecting a state of movement of the switch lever portion to an upper limit range and notifying the control unit of the upper limit sensor; And a lower limit sensor for detecting a state in which the switch lever portion is moved downward to a limited range and fixed to the surface of the switch lever portion and notifying the control unit portion of the state that the switch lever portion has moved to a limited range downward, Update system.

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