KR101569715B1 - Operating method of image processing system for synthesize photo image with position information - Google Patents
Operating method of image processing system for synthesize photo image with position information Download PDFInfo
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- KR101569715B1 KR101569715B1 KR1020150095124A KR20150095124A KR101569715B1 KR 101569715 B1 KR101569715 B1 KR 101569715B1 KR 1020150095124 A KR1020150095124 A KR 1020150095124A KR 20150095124 A KR20150095124 A KR 20150095124A KR 101569715 B1 KR101569715 B1 KR 101569715B1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
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Abstract
In the present invention, since a plurality of GPS antennas are installed on a disc whose horizontal state is kept constant by a horizontal adjusting means driven in two stages in a field where there is an error in the position information (coordinate information) of the digital map, (Coordinate information) of the site is received and the update of the position information (coordinate information) of the site is updated and the corresponding part of the digital map is quickly updated by receiving the GPS information in a state in which the distance from the satellite is always kept the same. The present invention relates to a method of operating an image processing system by combining location information and a captured image.
Description
The present invention relates to a method of operating an image processing system by combining position information and ortho-projected photographic images in an image processing field of an image processing system, and more particularly, When there is an error in the positional information (coordinate information) for a specific point of the ground photographic image secured by the projection, a device for precisely detecting the positional information (coordinate information) is applied to the relevant field, Since a plurality of GPS antennas are provided on a disk whose horizontal state is kept constant with a horizontal adjusting means to be driven, the distance from the satellite to the satellite is kept constant even in the inclined and curved terrain of the site. (Coordinate information) at the corresponding site is analyzed The present invention relates to a method of operating an image processing system by combining location information and a photographed image in order to improve the accuracy and reliability of a video map image.
It is the orthophotographic map image that maps the topographic map of the ground using the image of the ground obtained from the ortho projection on the aircraft. It reflects coordinate information, position information, and numerical information obtained by coordinate measurement at each point of the map image It is common to facilitate searching and navigation.
In the following description, a video map, a video map image, a video map photographic image, an orthographic projection photographic image, an orthographic projection photographic map image, and an orthotropic aerial projection photographic image have the same meanings and are suitable for the context. In addition, the projection is explained as being used in the same meaning as the shooting.
The orthoimage (ortho-projection, ortho-projected image) is obtained by correcting the aerial photograph as the center projection by correcting it in the form of ortho projection like a map. In this case, the correction of the deviation is a task of correcting the inclination (slope) and the scale (projection magnification) generated in the projection.
This orthoimage captures the ground image with the normal aerial projection and extracts the orthoimage without errors by using the digital elevation model (DEM) on the secured aerial projection image, corrects the color of the orthoimage again, It is constructed by a series of processes that are followed by calibration and final quality inspection.
Orthographic aerial projection for securing an orthoimage image (orthoimage image) secures a projected image by overlapping more than 60% in the vertical direction by the airline route and over 30% in the horizontal direction.
On the other hand, the digital elevation model is indispensably used in the orthophotosimage image production process to correct the geometric distortion of the aerial projected aerial image with the center projection.
Then, the photographic image of the extracted orthoimage is subjected to a color correction process for correcting color, contrast and the like, and an image collection process for synthesizing the image of a single unit with the neighboring image.
The final orthoimage map image is completed through the image processing including the color correction of the orthoimage image secured by the ortho aerial projection and the image aggregation, and the accurate orthoimage map image is obtained at the angular position corresponding to each point of the orthoimage map, Coordinate information (position information) is generally synthesized.
On the other hand, since all the terrain features on the ground are partially changed due to large-scale construction or the like, the corresponding position information (coordinate information) is changed from time to time. Therefore, the orthoimage map is used for measuring and correcting the position information Update.
Since it is very common to measure the position information (coordinate information) to be reflected at each point of the video map and the terrain of the corresponding site to be surveyed is very general, the position information (coordinate information) Is one of the relatively important technologies.
Therefore, in order to produce a reliable and accurate orthophotographic map image, it is necessary to accurately measure the position information (coordinate information) of the corresponding site in order to solve the partial position information error caused by various shape changes and various causes of each corresponding feature It needs to be reflected immediately.
In order to solve some of these problems, a conventional technique for producing a photo map using an aerial projected photograph image is disclosed in Korean Patent Registration No. 10-0558367 (Feb. 28, 2006), entitled " System and method ".
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram illustrating an image processing system according to one embodiment of the present invention, which includes position information and a shot image synthesis.
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
Each of the
On the other hand, the
The control means 130 adds time information to the photographic image projected by the
Meanwhile, the control means 130 complements and processes the position information input from the
The control means 130 completes the digital map by applying the positional information (coordinate information) complementarily processed by the Kalman filtering method to the coordinate information of the center position of the photographic image.
Although the
Conventional art has the advantage of improving the accuracy because it calculates the center coordinates of an image projected from an aircraft using information of the GIS and ES, but it does not solve the distortion or distortion occurring at the edge portion of the projected photographic image, There still remains a problem of lowering the reliability of the position information (coordinate information) of the image.
Therefore, it is necessary to develop a technology to precisely measure the geographical information (coordinate information) of the feature in the field and apply the partial map to the digital map to quickly update and correct it at a low cost.
In this connection, a "numerical information updating system for immediately correcting the error numerical information" according to the Korean Patent Registration No. 1220264 (Mar. 13, 2013), which is partially improved in the prior art, includes a vehicle actual side and a drawing update server And a coordinate processing unit includes a step motor driving unit, a control unit unit, a GPS signal processing unit, an LVIS processing unit, a buffer unit, and a coordinate processing unit, wherein the GPS signal processing unit includes a first GPS module unit, A second web module module, a third web module module, a moving speed value averaging module, a latitude value averaging module, a hardness value averaging module, and a altitude averaging module.
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.
Some improved prior arts have the advantage of realizing and quickly reflecting the positional information (coordinate information) of a scene with an error in the positional information in the digital map.
However, in some improved prior arts, when the vehicle travels in an inclined section in the forward and backward direction and the lateral direction in the course of traveling, the disc portions are inclined in the corresponding directions, and the height of each of the GSAS antennas provided on the disc portion is 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 an accurate 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.
According to an aspect of the present invention, there is provided a method of operating an image processing system by combining location information and a photographed image, the method comprising: receiving a location information (coordinate information) (Coordinate information) values of the respective pieces of image information, and information on the corresponding pieces of the orthographic projection map is calculated by arithmetically averaging the measured position information That is the purpose.
According to an aspect of the present invention, there is provided a method of operating an image processing system, the method comprising: acquiring location information and a captured image; The object of the present invention is to provide a technique for receiving geospatial information accurately and applying the calculated position information (coordinate information) to an orthogonally projected photographic map to modify and supplement it in real time.
In order to achieve the above object, a method of operating an image processing system by combining location information and a photographed image of the present invention, which is devised to achieve the above-described object, receives a signal of a geosynthetical satellite from three GPS satellites installed in a vehicle and repeats a left turn and a right turn An actual vehicle side unit that calculates an average coordinate value of the analyzed first coordinate information and the second coordinate information received by the LVS to obtain an average coordinate value, And a picture map server for decoding the average coordinate values encrypted and received through the communication network with the vehicle body side and correcting the coordinate values in real time by reflecting the decoded average coordinates on a corresponding area of the orthographic projection picture map; 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, And a vertical bar integrally formed on an upper surface of the spherical weights having a spherical outer peripheral surface and having a male thread portion on an outer peripheral surface of an upper end; A first pivot shaft protruding from both sides of the fixed plate so as to be aligned in a straight line and rotating in a range of 180 degrees in one direction; A plurality of first rotating holes into which the first rotating shaft is inserted in a rotating state; A rotary body having a circular tapered shape with the first rotation holes aligned in a straight line and forming an inner diameter larger than a diameter of the fixed plate; A second pivot shaft protruding in both directions on a straight line perpendicular to the straight line formed by the first pivot hole on the outer peripheral surface of the pivot body; A second rotating hole for inserting the second rotating shaft in a rotating state; A plurality of receiving portions formed with the second rotating holes at a height greater than the length of the weight center weight; A frame part having a rectangular shape as a whole, the support part being provided at an intermediate part of both edges; The method comprising the steps of: loading horizontal operating apps and operational data stored in an area allocated by the control unit and activating the operating apps in an operating state; A first step of determining whether a corresponding control command for initializing a region and starting a system operation is input; Since the control unit analyzes the operation data, the control unit determines whether the reference value for the reception analysis of the position information is set in the system. If the reference value is set as the distance, the movement distance value currently detected and stored in the detection value area of the memory is analyzed A second step of determining whether the reference value is exceeded; And outputs a control signal for changing the direction of rotation of the step motor unit in the opposite direction to initialize a detection value area allocated to the memory, and when the reference value set by the control unit unit is determined to be exceeded, And outputs the corresponding control signal for controlling the value to the horizontal value to one or more horizontal adjustment motor units. The first coordinate information and the second coordinate information are arithmetically averaged to be stored as an average coordinate value in an area allocated to the memory And a third step of outputting And a fourth step of feeding back to the first step if it is determined that the control unit unit continues to operate the system. If it is determined in step 2 that the reference value is not set as a distance but is set as a time, an elapsed time value currently detected and stored in the detection value area of the memory is analyzed and if it is determined that the reference value is exceeded A fifth step of proceeding to the third step; If it is determined in step 5 that the reference value is not set as a time but is set as a blind value, a movement distance value and an elapsed time value, which are currently detected and stored in the detection value area of the memory, And if it is determined that the reference value is exceeded, proceeding to the third step; . ≪ / RTI >
According to the present invention having such a configuration as described above, position information (coordinate information) by the GPS and ELVIS is accurately measured while moving a scene where correction or updating of positional information (coordinate information) And the arithmetic mean of the corresponding coordinate values of the orthographic projection map is corrected in real time.
In addition, the present invention having the above-described configuration can be configured such that a plurality of the GSAS antennas are always positioned on the same plane regardless of the bending of the feature article, and the more precisely measured position information (coordinate information) is quickly applied to the orthogonally projected picture map It is advantageous to increase the reliability of the orthographic projection map at a low cost.
In addition, since the present invention having the above-described structure keeps the horizontal portion of the disc portion provided with a plurality of the SAW antenna always constant, a plurality of the SAW antennas provided on the disc portion are always positioned on the same plane, There is an advantage that the accuracy and reliability of the orthographic projection map can be improved by correcting and supplementing the position information (coordinate information) of the orthographic projection map.
FIG. 1 is a functional block diagram illustrating an image processing system according to an embodiment of the related art,
2 is a functional block diagram of an image processing system according to an embodiment of the present invention,
FIG. 3 is a perspective view illustrating a configuration of a rotation part of an image processing system through position information and a photographed image synthesis according to an embodiment of the present invention. FIG.
FIG. 4 is an exploded perspective view illustrating a configuration of a rotation part of an image processing system by combining position information and shot image according to an embodiment of the present invention,
FIG. 5 is a longitudinal side view illustrating an operation state of a rotary part of an image processing system by combining position information and a shot image according to an embodiment of the present invention,
FIG. 6 is a detailed functional block diagram illustrating the configuration of the coordinate processing unit of the image processing system by combining the position information and the captured image according to an embodiment of the present invention. FIG.
FIG. 7 is a detailed functional configuration diagram for explaining the configuration of the JPEG processing unit of the image processing system by combining position information and shot image according to an embodiment of the present invention; FIG.
And
FIG. 8 is a flowchart for explaining an operation method of an image processing system by combining location information and shot image 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 an image processing system by combining location information and shot image according to an embodiment of the present invention. FIG. 3 is a block diagram of an image processing system according to an embodiment of the present invention. FIG. 4 is an exploded perspective view illustrating a configuration of a rotary part of an image processing system by combining positional information and a captured image according to an embodiment of the present invention. FIG. FIG. 6 is a longitudinal sectional side view illustrating an operation state of a rotary part of an image processing system by combining positional information and a captured image according to an embodiment of the present invention. FIG. FIG. 7 is a detailed functional configuration diagram illustrating the configuration of the coordinate processing unit of the image processing system through the image processing system according to an embodiment of the present invention FIG. 2 is a detailed functional block diagram illustrating the configuration of a JPEG processing unit of an image processing system by combining positional information and a shot image; FIG.
As shown in FIG. 2, the
The map image is a photographic image of aerial projected terrain. It is used for various purposes by applying coordinate information including latitude, longitude, and sea level to each point of the map.
Although the aerial projected image is projected at a high altitude, partial distortion occurs due to the difference in the projection angle, and distortion may also be caused by the curvature of the lens.
The projected aerial image is projected so as to be overlapped by an average of 60%. In the course of conversion into the composite and map image, the image is corrected so that there is no distortion and the position information (coordinate information) is synthesized on the corrected image.
It is difficult to completely solve the partial distortion of the picture map image expressed by the flat plane, and it is inconvenient for the actual user because the coordinate information is inaccurate in the distortion portion, and it is difficult to apply the real image of the picture map image.
Ortho-projected photographs The cost of re-using the aircraft to compensate for differences in the coordinate values of the map image or the areas with errors is costly and it takes a long time to convert the map information to a composite map image It is a technical idea of the present invention to update position information (coordinate information) of a photograph map quickly and accurately at a small cost.
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
The vehicle
The
The
The
The
The first through third dust and
The
The
The
The first horizontal holding means 1500 includes a
A lower three-dimensional
(Not shown) having a
And a
The three-dimensional
The lower three-dimensional
The horizontal
A second horizontal holding means 1600 is provided at a side surface and a lower end of a
The second horizontal holding means 1600 is configured to keep the horizontal state by the state where the fixed
The
The first
The
The second
The
The
The
The
The second horizontal holding means 1600 maintains the
The coordinate
The step
The
The
At least one selected from the first, second and third
The
The first through third
The first to third moving direction analysis module 850 analyzes the geofos information input from the corresponding
The first to third moving
The first through third
The first to third
The first to third
The moving direction value
The arithmetic mean calculation processing performed by the moving direction value average
(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
The latitude value
The hardness
The altitude
The coordinate values composed of the moving direction, the moving speed, the latitude, the hardness, and the sea level output from the
The
The
At this time, the
Here, it is assumed that the
The
The base station is a direct connection of the
The
The
At this time, the
When three base stations around the
The service for confirming and providing the coordinate information on the position of the
The
The
A plurality of programs, operation parameters, operation data, and the like are recorded in the
The coordinate values obtained by arithmetic mean calculation by the
The
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. And the total data size of the data format can be arbitrarily selected.
(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
On the other hand, the
The
In such a configuration, since the vehicle
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
Further, the laser-receiving
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
The
The
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. A control unit unit constituting a coordinate processing unit searches a buffer unit for loading operation parameters, operation data, loading), it sets the activation state of the operation.
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.
Here, the designated time value is any one value selected from a range of 5 seconds to 60 seconds, and it is relatively preferable to designate a time value in units of 10 seconds, and it is highly desirable that the vehicle travels at a constant speed of 5 kilometers per hour .
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.
Here, the movement distance value is any one value selected from a range of 1 meter to 20 meters, and it is relatively preferable to designate a distance value of 10 meters.
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 calculating the arithmetic mean value to be transmitted to the photo-mapping server or the designated 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 method of operating the image processing system through the combination of the position information and the photographed image according to the present embodiment includes the first and second horizontal adjustment means 1500 and 1600, the first through
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
At this time, since the mounting
Meanwhile, in the process of maintaining the mounting
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.
The mounting
The time required for the second horizontal holding means 1600 to maintain the horizontal state is faster and faster than the time required for the first horizontal holding means 1500 to maintain the horizontal state.
Therefore, the
FIG. 8 is a flowchart for explaining an operation method of an image processing system by combining location information and shot image according to an embodiment of the present invention.
The operation method of the
App is an application program and may be called an application. It is a device such as a small mobile computer, a smart phone, or a mobile data terminal that is relatively lacking in memory capacity, CPU data processing speed, And the 'horizontal holding application' is an application program which is developed, stored and operated in order to maintain the horizontal position of the
The control unit determines whether a corresponding control command for operating the
Since the second step analyzes the operation data loaded by the control unit, the reference value for accurately receiving and analyzing the position information in the
Here, the reference value of the distance is any one value selected from a range of 1 meter to 20 meters, and it is relatively preferable to set a distance value of 8 meters as a reference value of the distance.
If it is determined that the reference value set by the control unit unit is exceeded by the third step, the corresponding control signal for changing the current rotation direction (forward / reverse direction) of the
If it is determined that the tilt is detected and input from the horizontal detection sensor 1270 (S1070), the control unit analyzes the detected tilt value and outputs the corresponding control signal, which can control the detected tilt value to a horizontal value, And the number of clockwise and counterclockwise rotations (forward rotation and reverse rotation) of the horizontal adjustment motor unit are respectively controlled (S1080).
That is, the control unit analyzes the tilt value, and the horizontal adjustment motor unit located on the lower side controls the rotation number so as to rotate in the direction to raise the
The control unit unit stores the first coordinate information detected by the
The control unit writes the average coordinate value obtained by the arithmetic mean calculation processing into the data format, and transmits the encrypted coordinate value to the
If it is determined that the operation of the
If it is determined in the fifth step that the reference value is not set as the distance (S1030) and the time is set as the reference value (S1110), the elapse of the vehicle operation detected from the current vehicle and stored in the detection value area of the memory The time value is analyzed (S1120). If it is determined that the time value is exceeded (S1130), the process proceeds to the third step (S1060).
Here, when the reference value is set to time, it is relatively preferable that the reference value of the designated time is any one value selected from the range of 5 seconds to 60 seconds, and the reference value of time is specified in units of 10 seconds.
Further, the moving speed of the vehicle 50 is any value selected from the range of 5 to 10 km / h, and it is highly desirable to travel at a constant speed of 8 km / h. The average walking speed of a sturdy person is 8 km / h, so it is preferable to set the speed at which the operator can walk while walking.
If it is determined in the fifth step that the reference value is not set as the time (S1110), and if it is determined that the reference value is set as the mixed mountain (S1140), the movement of the vehicle operation detected from the present vehicle The distance value (information) and the elapsed time value (information) are simultaneously analyzed (S1150). If it is determined that any value (information) exceeds the set reference value (S1160), the process proceeds to the third step S1060.
In detail, the
That is, the
The
Therefore, the corresponding control signal output from the
The
The
The
That is, the
On the other hand, the
When the rotation direction of the step motor unit is changed to the opposite direction, the
Therefore, one or more of the plurality of the
The GPS signals received by one or more of the plurality of the
In the digital map, position information (coordinate information) is used as a reference for synthesizing each image. Therefore, it is very natural that the value of the position information (coordinate information) is accurate, and the numerical map in which the accurate position information is precisely reflected has a high priority in reliability and preference.
The above-described structure receives the paper-dust information more than three times more precise by the
And, since the corresponding data of the digital map is updated using the position information calculated more precisely by six or more times, there is an advantage of improving the reliability and the preference of the digital 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: A digital map system for updating the numerical map data by a geotechnical reference point
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: Photo Map Server
Claims (1)
A first step of determining whether a corresponding control command for loading a horizontal maintenance application and operation data stored in an area allocated by the control unit and activating the horizontal maintenance application and operation data into an operation state, ;
Since the control unit analyzes the operation data, the control unit determines whether the reference value for the reception analysis of the position information is set in the system. If the reference value is set as the distance, the movement distance value currently detected and stored in the detection value area of the memory is analyzed A second step of determining whether the reference value is exceeded;
And outputs a control signal for changing the direction of rotation of the step motor unit in the opposite direction to initialize a detection value area allocated to the memory, and when the reference value set by the control unit unit is determined to be exceeded, And outputs the corresponding control signal for controlling the value to the horizontal value to one or more horizontal adjustment motor units. The first coordinate information and the second coordinate information are arithmetically averaged to be stored as an average coordinate value in an area allocated to the memory And a third step of outputting And
A fourth step of feeding back to the first step if it is determined by the control unit unit to continue operating the system; , ≪ / RTI &
If it is determined in step 2 that the reference value is not set as a distance but is set as a time, an elapsed time value currently detected and stored in a detection value area of the memory is analyzed and if it is determined that the reference value is exceeded, ;
If it is determined in step 5 that the reference value is not set as a time but is set as a blind value, a movement distance value and an elapsed time value, which are currently detected and stored in the detection value area of the memory, And if it is determined that the reference value is exceeded, proceeding to the third step; And an image processing system for processing the image information.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101598780B1 (en) * | 2016-01-11 | 2016-03-02 | 서광항업 주식회사 | System of image processing for greater accuracy in natural ground feature air image with GPS information |
| KR101895951B1 (en) * | 2018-03-02 | 2018-09-06 | 중앙항업(주) | The image processing system incorporating the image information of the real-time data change management |
| CN109828362A (en) * | 2019-01-30 | 2019-05-31 | 武汉大学 | Ultra-large-width imaging method based on whole-satellite fast swing |
| KR102000002B1 (en) * | 2018-04-16 | 2019-07-15 | 한국기계연구원 | Apparatus and method for measuring the tilting angle between two mechanical planes |
| WO2023000192A1 (en) * | 2021-07-21 | 2023-01-26 | 深圳市大疆创新科技有限公司 | Remote control and positioning device |
| CN116581687A (en) * | 2023-07-14 | 2023-08-11 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
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| KR101495730B1 (en) | 2014-06-27 | 2015-02-25 | (주)올포랜드 | System of updating data in numerical map with immediately correcting error |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101495730B1 (en) | 2014-06-27 | 2015-02-25 | (주)올포랜드 | System of updating data in numerical map with immediately correcting error |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101598780B1 (en) * | 2016-01-11 | 2016-03-02 | 서광항업 주식회사 | System of image processing for greater accuracy in natural ground feature air image with GPS information |
| KR101895951B1 (en) * | 2018-03-02 | 2018-09-06 | 중앙항업(주) | The image processing system incorporating the image information of the real-time data change management |
| KR102000002B1 (en) * | 2018-04-16 | 2019-07-15 | 한국기계연구원 | Apparatus and method for measuring the tilting angle between two mechanical planes |
| CN109828362A (en) * | 2019-01-30 | 2019-05-31 | 武汉大学 | Ultra-large-width imaging method based on whole-satellite fast swing |
| CN109828362B (en) * | 2019-01-30 | 2020-07-07 | 武汉大学 | Ultra-large-width imaging method based on whole-satellite fast swing |
| WO2023000192A1 (en) * | 2021-07-21 | 2023-01-26 | 深圳市大疆创新科技有限公司 | Remote control and positioning device |
| CN116581687A (en) * | 2023-07-14 | 2023-08-11 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
| CN116581687B (en) * | 2023-07-14 | 2023-09-19 | 陕西协成测试技术有限公司 | Self-propelled inspection device for power transmission line |
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