KR102035044B1 - Image processing system having function of distortion image correction - Google Patents

Abstract

The present invention relates to an image processing system capable of correcting a distorted image. More specifically, a distortion including an image of a feature for correcting distortion during surveying of a site terrain for correction of a drawing image and measurement numerical information of a principal surface feature It is possible to generate partial correction data, and to more accurately correct the distortion of the drawing image by measuring the feature by the camera and the laser device more precisely. The distance from the feature and the distance from the feature to the camera are always the same, so that more accurate distance measurement and image images can be obtained.However, accurate image information data can be obtained by preventing camera shake even from shocks such as vibrations from vehicles. Configure for distortion correction It relates to an image processing system.

Description

Image processing system having function of distortion image correction

The present invention relates to an image processing system capable of correcting a distorted image. The present invention relates to a distortion correction data including an image of a feature for correcting distortion during surveying of a site feature for correction of a drawing image, and measurement numerical information of a principal surface feature. The distance between the measured object and the upper and lower transmitting and receiving parts of the measurement object, and the distortion correction of the drawing image by making the measurement of the feature by the camera and the laser device more accurate. The distance from the feature to the camera is always the same so that more accurate distance measurement and video images can be obtained.However, accurate image information data can be obtained and distortion correction can be obtained by preventing camera shake even from shocks such as vibrations coming from the vehicle. To an image processing system configured to One will.

In general, mapping is performed by generating a drawing image using aerial photographs. Because aerial photography has the advantage of being able to photograph the surface at high resolution, it can generate large-area drawing images at relatively low cost. On the other hand, there is a disadvantage that the viewing angle of the aerial photograph is relatively wide, and distortion occurs outside the center of the image. Therefore, it is difficult to grasp detailed shapes of buildings and roads when generating drawing images from aerial photographs due to the distortion.

Therefore, it is highly necessary to correct distortion of the drawing image before the mapping. In one such method of distortion correction, the amount of error causing distortion is estimated, and the distortion is corrected based on the amount of error. However, it is difficult to estimate the amount of error and correct distortion with an accuracy suitable for the high resolution of aerial photography.

As another distortion correction method, it is possible to remove distortion of the drawing image by using the existing map as a reference. However, since the map made in the past is used as a comparison target, distortion correction based on the present terrain, roads, buildings, and the like is impossible.

Therefore, the drawing image is made by using the aerial image image, the generated drawing image is compared with the existing digital map or the standard map to search for the distortion part of the drawing image, and the distortion is generated by generating correction data by the feature measuring apparatus. There is a need for the development of techniques that allow the production of calibrated maps.

Prior art in accordance with the above requirements, Korean Patent No. 10-1223741 (name of the invention: geodetic and surveying system of the field topography for distortion correction of the image image) is a drawing image generation and distortion display device, and the image image The apparatus for measuring distortion of a field terrain includes a device for measuring distortion, and generates distortion portion correction data including an image of a feature for correcting distortion and measurement numerical information of a principal surface feature when surveying the terrain for correction of a drawing image. The configuration is disclosed.

In the prior art as described above, in order to measure a feature for a wide area, it is necessary to geodetic and survey a feature while moving a feature measuring device mounted on a vehicle. In general, when the feature measuring device is mounted on a vehicle, the vehicle is in the right direction, so that the photographing direction of the camera and the measuring direction of the laser device are at right angles to the driving direction of the vehicle. When the road surface is inclined, when the photographing direction of the camera and the measuring direction of the laser device do not form a right angle with respect to the feature, there is a problem in that the image image by the camera and the measured value by the laser device are not accurate.

Therefore, in the related art, Korean Patent No. 1608288 (name of the invention: a digital map generating device for synthesizing coordinate information on a drawing image) has a laser beam transmitting / receiving unit for a boundary stone for obtaining location information about a road, and descends when driving. By raising during non-measurement driving, the laser beam transceiver for the building raises during measurement driving and descends during non-measurement driving, thereby ensuring the stability of the vehicle while ensuring accurate location information on roads and buildings. Disclosed are techniques for producing accurate digital maps.

However, in the prior art, the first transmitter / receiver of the first distance measuring device and the second transmitter / receiver of the second distance measuring device are maintained at right angles to the feature, thereby increasing the accuracy of the measured value of the feature to some extent. Since the distance from the feature to be measured to the first transmitter / receiver is different depending on the inclination of the road surface, the measured values of the first and second distance measuring devices may not exactly match. There is a problem in that accurate distance measurement becomes difficult.

In addition, since the devices for maintaining the horizontal level of the first transmitter and receiver are independently configured, the structure of the apparatus is complicated and the control is cumbersome. Because of its high position, the driving safety is lowered and the first and second distance measuring devices may be damaged by vibration and shock.

Therefore, the distance from the feature to be measured to the first transmitter / receiver of the first distance measuring device and the second transmitter / receiver of the second distance measuring device is always the same so that more accurate distance measurement is possible. There is a need for the development of a technology that can be simplified, to ensure driving safety in the non-measured driving mode, and to prevent the first and second distance measuring devices from being damaged by vibration and shock.

In particular, since the camera and the like are always exposed to the outside when measuring by using a vehicle, corrosion resistance may be a problem, and there was a limitation in obtaining accurate image information data due to vibration transmitted from the vehicle during measurement. There is a need for technology to solve.

The present invention has been made to solve the above-described problems of the prior art, the distortion portion correction data including the image of the feature for the distortion correction during the measurement of the field terrain for correction of the image image and the measurement numerical information of the main surface feature Function to create a feature, and to measure the feature of the feature by the camera and the laser device more accurately to correct the distortion of the drawing image, and to measure the distance from the feature, which is the object to be measured, to the transmit / receive part of the survey unit. It is an object of the present invention to provide an image processing system capable of precise correction of a distorted image so that a distance from a feature to a camera is always the same, thereby obtaining a more accurate distance measurement and an image image.

In addition, when the vehicle is moved, the camera is stored inside the vehicle to enhance corrosion resistance, and the device can be stably maintained during non-survey driving while mounted on the vehicle to prevent damage to the device. It is another object of the present invention to provide an image processing system capable of minimizing the generation of distorted images while acquiring primitive image information data by preventing or minimizing shaking of cameras and transceivers even from shocks such as vibrations transmitted from a vehicle.

The present invention has been made in order to solve the above-mentioned problems of the prior art and to achieve the above object, the map data storage unit 120 is stored aerial image or digital map or standard map data; A drawing image converting unit (110) for producing a drawing image converted into a data format compatible with the digital map or standard map data by including the point, line, and plane of the aerial image; A distortion search unit (130) for analyzing the drawing image with the digital map or the standard map to find a distortion portion and a new feature of the drawing image; A distorted portion display unit 140 for displaying the distorted portion and the position of the new feature using distorted portion display coordinates including at least one of a GPS coordinate, a latitude and longitude coordinate, and an address coordinate; A distorted part display coordinate storage unit 150 for storing the distorted part display coordinates through a storage medium including an SD card, a micro SD card, a RAM, or a hard disk; And a first communication unit configured to transmit the distorted portion display coordinates through mobile communication or Wi-Fi. A picture image generating and distorting part display device 100 consisting of a camera and a camera 230 which simultaneously photographs all directions of 360 degrees; A second communication unit 210 for receiving the distorted portion display coordinates from the first communication unit using the mobile communication or Wi-Fi; An information recognizing unit 220 for reading the distorted portion display coordinate information stored in the storage medium; GPS receiver 240; A reference point generator 250 for generating a reference point using at least one of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates; A measurement feature for selecting a corresponding feature for distortion correction using an image of a feature corresponding to the distorted part display coordinates received from the second communication unit or a distorted part display coordinate stored in the storage medium and an image taken by the camera; Water selector 260; A surveying unit 270 which generates surveying numerical information of the measured feature and relative surveying numerical information of surrounding features by using a laser device including upper and lower transmitting and receiving units based on the reference point; A distortion portion correction data generation unit 280 for generating distortion portion correction data by adding the measurement value information to an image image taken by the camera; And a distortion correction data storage unit 290 for storing the distortion correction data on an SD card or a hard disk. The camera 230 and the vehicle mounting apparatus 300 further comprising the upper and lower transmission and reception units 272 and 273, wherein the base plate 320 of the vehicle mounting apparatus, the buffer unit 550 and shaking The lifting rod 520 having the prevention part 540 is installed to be raised and lowered to penetrate the upper surface of the vehicle 1 so as to be accommodated in the storage chamber 510 formed in the vehicle 1. The shock absorbing portion 550 includes: a shock absorbing rod portion 551 coupled to the lifting rod 520 through the lifting hole formed at the center thereof; A buffer case 552 disposed to surround the buffer rod part and fixedly coupled to an inner surface of the accommodation chamber 510; And a buffered rubber part 553 having a hollow shape in which an air is injected through the injection hole 554 disposed between the buffer rod part and the buffer case and into which air can be injected. Wherein, the upper end and the lower end of the buffer rod 551, respectively engaging end portion 551b is formed to protrude along the circumference of the buffer rod portion, the upper and lower ends of the buffer rubber portion 553, respectively, the end of the engaging portion A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 may be coupled to the buffer rod portion 551, and the coupling end portion 553a may have a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to wrap the shape, and a reinforcement layer 556 is inserted in the buffer rubber part 553 in contact with the buffer case along its longitudinal direction, and the shake prevention part 540 is A cylindrical shake prevention case 541 having an empty interior coupled to the side of the elevating rod 520; An anti-shake rod 542 mounted to penetrate one side of the anti-shake case to move from side to side; An anti-separation unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from being separated from the anti-shake case; A contact portion 544 coupled to the other end of the anti-shake rod to be in contact with the inner surface of the coordinate case; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the anti-separation part and the inner surface of the anti-shake case to provide an elastic restoring force to the anti-shake rod. Wherein, the separation prevention portion 543 and the contact portion 544 is arranged to be perpendicular to the anti-shake rod 542, the inner surface of the anti-shake case is coupled to the electromagnet portion 547 which is magnetized when current flows The connection plate 548 made of a magnetic material is coupled to one side of the separation prevention part 543 facing the inner surface of the anti-shake case, and the lens surface of the camera 230 is provided with 100 parts by weight of perfluoropolyether. 10 to 18 parts by weight of perfluoromethyl vinyl ether, 6 to 12 parts by weight of perfluorophosphate salt, 8 to 14 parts by weight of tetrafluoroethylene and 5 to 13 parts by weight of fluoroacrylamide, and a surface tension of 28 dyne / cm or less. It has a coating layer having a dynamic friction coefficient of 0.1 or less, and the upper surface of the vehicle 1, the frequency of 8Khz ~ 13Khz, the frequency of 8KHz ~ 25Khz, the frequency of 15Khz ~ 25Khz and the frequency of 27Khz ~ 44Khz The ultrasonic generator 610, which is sequentially repeated and outputted in units of 30 seconds, is mounted and disposed on the upper surface of the vehicle 1, and the compressed air charged through the compressor for generating compressed air is placed in the direction of the camera position. And a compressed air injector 620 having an air nozzle disposed to be sprayable, and a variable air valve capable of controlling the flow of compressed air injected through the air nozzle and varying the amount of opening. An image processing system capable of precise correction of a distorted image is provided.

In addition, the vehicle mounting apparatus of the present invention, the base plate is fixed to the roof rail of the vehicle; A side slider slidably installed in left and right directions on the base plate; A side linear actuator for sliding the side sliders left and right; A pitching motor mounted to the side slider; A pitching bracket coupled to a pitching motor shaft of the pitching motor; A rolling motor mounted to the pitching bracket; A rolling bracket coupled to the rolling motor shaft of the rolling motor; Upper and lower linear actuators coupled to upper and lower portions of the rolling bracket; An up and down lifting platform lifted by the up and down linear actuators; Upper and lower yawing motors mounted on the upper and lower lifting platforms; A camera mount coupled to the front surface of the rolling bracket; A suspension yawing motor mounted to the camera mount; Upper and lower yawing brackets coupled to the yawing motor shafts of the upper and lower yawing motors and the upper and lower yawing brackets mounted thereon; It may be configured to include a suspension yawing bracket which is coupled to the yawing motor shaft of the stopping yawing motor to which the camera is mounted.

According to an image processing system capable of precise correction of a distorted image of the present invention, it is possible to generate distortion portion correction data including image data of a feature for correcting distortion and measurement numerical information of a principal surface feature when surveying a site feature for correction of a drawing image. Function to make the measurement of the feature by the camera and the laser device more accurate, and to correct the distortion of the drawing image more precisely; By always equalizing the distance from the feature to the camera, more accurate distance measurement and video images can be obtained.

In addition, according to the present invention, the camera can be stored and stored inside the vehicle when the vehicle is moved, thereby ensuring corrosion resistance of the observation-related equipment, and the shake of the camera and the transceiver even when the camera measures the impact such as vibrations transmitted from the vehicle. There is an effect of minimizing the generation of distorted images while preventing or minimizing the acquisition of image data with primitive precision.

In addition, according to the present invention, the camera lens disposed on the upper surface of the vehicle is provided with a coating layer of a slippery material, by periodically oscillating ultrasonic waves of the frequency disliked by pests, and periodically by spraying compressed air toward the camera, the external environment By preventing the desorption of contaminants such as pests and dusts, it is possible to obtain raw image data precisely.

1 is an exemplary view for explaining the configuration and operation of an image processing system capable of precise correction of a distorted image according to the present invention.
2 is a block diagram of a drawing image generation and distortion portion display apparatus of an image processing system capable of precisely correcting a distorted image according to the present invention.
3 is a block diagram of a feature measuring apparatus of an image processing system capable of precise correction of a distorted image according to the present invention.
Figure 4 is a perspective view showing an exploded side slider and side linear actuator, pitching motor of the vehicle mounting apparatus according to the present invention.
5 is an exploded perspective view showing a pitching bracket, a rolling motor and a rolling bracket, a platform and an upper and lower linear actuators of the vehicle mounting apparatus according to the present invention.
Figure 6 is a perspective view showing the disassembly of the platform, the camera mounting base, the yawing motor, the yawing bracket of the vehicle mounting apparatus according to the present invention.
7 is a perspective view showing a non-measurement driving state of the vehicle mounting apparatus according to the present invention.
8 is a perspective view showing a state in which the transmitting and receiving unit and the camera of the laser device of the on-vehicle device according to the present invention moved to the side.
Figure 9 is a perspective view showing a state in which the transmitting and receiving unit and the camera of the laser device of the on-vehicle device rotated to the measurement position.
Figure 10 is a side view showing a state measured while driving up the slope of the vehicle mounting apparatus according to the present invention.
Figure 11 is a side view showing a state measured while driving down the slope of the vehicle mounting apparatus according to the present invention.
12 is a rear view showing a state in which the feature side of the vehicle-mounted device according to the present invention while measuring while driving the high side slope.
FIG. 13 is a rear view showing a state in which a feature side of a vehicle mounting apparatus according to the present invention is measured while driving on a low side slope; FIG.
14 is an exemplary view showing a state of measuring and photographing the boundary stone and the building of the vehicle mounting apparatus according to the present invention at the same time.
Figure 15 is a plan view showing a horizontal rotation operation when the traveling direction of the vehicle of the vehicle mounting apparatus according to the present invention.
16 is an exemplary view showing a state in which an image processing system capable of precise correction of a distorted image according to the present invention is lifted from a storage chamber of a vehicle.
Figure 17 is a detailed cross-sectional view of the anti-shake unit provided in the image processing system capable of precise correction of the distortion image according to the present invention.
18 is a detailed cross-sectional view of a buffer unit included in an image processing system capable of precisely correcting a distorted image according to the present invention.
19 is an illustration of an angle measuring sensor for explaining the application of the micro-vibration correction algorithm included in the image processing system capable of precise correction of the distortion image according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The present invention uses the configuration of the prior patent document Republic of Korea Patent No. 10-1721467 (name of the invention: an image processing apparatus having a correction function of the distorted image after shooting) as it is. Therefore, the features and operation relationship of the system configuration described below will be cited as the contents of the Patent No. 10-1721467, but will be described in detail with respect to the configuration related to the main features of the present invention at the rear end.

1 to 3 illustrate an embodiment of an image processing system capable of precise correction of a distorted image according to the present invention.

As illustrated in FIG. 1, an image processing system having a function of correcting a distorted image after photographing according to the present embodiment includes a drawing image generating and distorting part display apparatus 100 and a feature measuring apparatus 200. .

The drawing image generation and distortion portion display apparatus 100 produces a drawing image using the aerial image received from the aircraft 10 and compares the produced drawing image with a stored digital map or a standard map to generate distortion. Search for the part. It performs a function of informing the measuring device 200 of the portion [terrain feature 20] that needs to be corrected by distortion.

As illustrated in FIG. 2, the drawing image generating and distorting part display apparatus 100 includes a drawing image converter 110, a map data storage part 120, a distortion search part 130, and a distortion part display part 40. , The distortion part display coordinate storage unit 150 and the first communication unit 160.

The drawing image converter 110 performs a function of producing an aerial image as a drawing image. In other words, the aerial image of the photograph is converted into a drawing image composed of points, lines, and faces. Here, the drawing image means converting to a data format compatible with existing map data.

The map data storage unit 120 refers to a storage unit in which existing map data is stored. That is, numerical maps or standard map data that are useful for existing reference are stored. Here, the map data stored in the map data storage unit 120 is in a data format compatible with the drawing image data.

The distortion search unit 130 performs a function of comparing the digital image or the standard map stored in the drawing image and the map data storage unit 120 to find a distortion portion of the drawing image.

Since the drawing image is an image generated on the basis of the aerial image, it has a distortion portion generated by the shooting distortion generated during the aerial image shooting. Also, the drawing image is the currently generated image, and thus the existing map stored in the map data storage unit 120. The data may include information about new features that do not exist. Therefore, it is necessary to correct the distortion generated by the photographing distortion and to include the degree of the new feature in the map.

The distortion search unit 130 compares the drawing image with the data stored in the map data storage unit 120 to search for the distortion portion generated by the photographing distortion, and does not exist in the map data stored in the map data storage unit 120. Perform a function to search for a new feature.

The distorted part display unit 140 displays the distorted part and the new feature by using the one or more left points of the GPS coordinate, latitude and longitude coordinates, and the address coordinates as the distorted part and the new feature searched by the distortion retrieval unit 130. Display using coordinates.

Here, the distorted part display coordinates refer to coordinates indicating the positions of the distorted part and the new feature described above for field geodetic surveying. As described above, each of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates may be displayed or may be generated by combining these coordinates.

The distorted part display coordinate storage unit 150 performs a function of storing the distorted part display coordinates. To this end, the distorted portion display coordinate storage unit 150 is configured to include a storage medium 151 using a movable SD card, a micro SD card, or the like. Alternatively, when transmitting the distorted portion display coordinates to the feature measuring apparatus 200 through a communication network as described below, a fixed storage medium such as a RAM or a hard disk may be used.

The first communication unit 160 performs a function of communicating with the feature measuring apparatus 200. To this end, the first communication unit 160 may include a mobile communication module or a Wi-Fi module. The first communication unit 160 transmits the distortion part display coordinates to the feature measuring apparatus 200 through the mobile communication network or the Wi-Fi wireless network.

As shown in FIG. 3, the feature measuring apparatus 200 includes a second communication unit 210, a tone recognition unit 220, a camera 230, a GPS receiver 240, a reference point generator 250, and a measurement. A feature selection unit 260, a surveying unit 270, a distortion correction data generator 280, and a distortion correction data storage unit 290 are included.

The second communication unit 210 receives the distorted part display coordinates by communicating with the drawing image generating and distorting part display device 100.

The information recognizing unit 220 recognizes the distorted part display coordinates stored in the storage medium 221.

The feature measuring apparatus 200 may receive the distorted part display coordinates through a mobile communication network, and may read the distorted part display coordinates stored in the storage medium 221.

The camera 230 may capture an image in all directions of 360 degrees. As a unique configuration of the present invention, on the lens surface of the camera 230, 10 to 18 parts by weight of perfluoromethylvinyl ether, 6 to 12 parts by weight of perfluorophosphate salt, tetrafluoroethylene 8 to 100 parts by weight of perfluoropolyether To 14 parts by weight and 5 to 13 parts by weight of fluoroacrylamide, and has a coating layer having a surface tension of 28 dyne / cm or less and a dynamic friction coefficient of 0.1 or less.

The coating layer of the camera 230 lens is preferably applied to a thickness of 20 to 40nm, it is difficult to perform the protective function of the lens itself when the coating layer is applied to a thickness of less than 20nm, the coating layer is applied to a thickness of more than 40nm This is because the light transmittance deteriorates.

In addition, the coating layer is formed of a material having a surface tension of 28 dyne / cm or less and a dynamic friction coefficient of 0.1 or less, by forming a coating layer of the lens with a material having a low surface tension and high slip, Not only can the contamination be prevented, but the light transmission rate can be improved.

Therefore, the lens of the wide-angle camera 510 is a material having a low surface tension and high slip, and as a coating layer is provided, the foreign material is not easily attached to the lens while protecting the lens from the external environment, and the light transmittance is increased. There is an advantage in that more accurate image data can be obtained.

The GPS receiver 240 generates GPS coordinates.

The reference point generator 250 generates a survey reference point using GPS coordinates. When surveying, the survey coordinates and positional relationship are found based on this reference point.

The measurement feature selection unit 260 checks an image of the surrounding feature using the camera 230 and generates a drawing image and a distortion received from a display device 100 through a communication network or stored in the storage medium 221. Select the feature to correct the distortion using the partial display coordinates.

In order to select the corresponding feature for distortion correction, the measurement feature selection unit 260 stores image information including coordinate information about the feature, and the image for the feature corresponding to the distortion part display coordinates. Compare images taken with the camera to determine whether they are the same or similar. Subsequently, if it is determined that the same or similar results, it is determined that the feature that needs to correct the distortion portion of the feature.

The surveying unit 270 generates measurement numerical information to the measurement feature based on the reference point using the selected measurement feature as the laser device 271. The laser device 271 includes upper and lower transceivers 272 and 273.

In this case, the surveying unit 270 may generate not only surveying numerical information of the selected surveying feature but also surveying numerical information of the feature which may be a relative measurement standard of the surroundings.

This is because a map having an accurate position and distance on the map is created only when the relative position relation with the surrounding features is known when the map is produced. Therefore, when the distortion is corrected, not only the feature where the distortion occurs, but also surveying information of the feature that is useful for other reference.

Subsequently, the distortion portion may be accurately corrected on the entire drawing image by using the survey balance information of the feature in which the distortion occurs and the survey numerical information of the surrounding feature.

The distortion portion correction data generation unit 280 generates the distortion portion correction data by including survey resin information in the image of the feature selected for distortion correction and including survey numerical information of surrounding features as described above. That is, the measurement numerical information is merged into the image as well as the survey balance information of the feature corresponding to the distortion portion, and the measurement information of the surrounding features is included therein to generate distortion correction data for correction of the distortion portion.

The distortion correction data storage unit 290 is configured to include a storage match 221 to store the distortion correction data. The storage match can be a storage medium such as an SD card or a hard disk.

The feature measuring apparatus 200 shows an example mounted on a vehicle in order to be able to quickly and accurately measure the features of a wide area with mobility.

As shown in FIG. 4, upper and lower transmission / reception units 272 of the camera 230 of the feature measuring apparatus 200 and the laser device 271 of the surveying unit 270 constituting the feature measuring apparatus 200. , 273 is mounted on the vehicle through the vehicle mounting apparatus 300.

In the following description, the coupling, connection, and attachment of each component may be made by a conventional screwing method, and thus, specific illustration and description of the coupling, connection, and attachment structure will be omitted.

In addition, the driving direction of the vehicle is described by the x-axis, the left and right directions of the vehicle by the y-axis, and the vertical direction by the z-axis. The rotation about the x-axis is 'rolling' and the rotation about the y-axis is also described. Pitching (pitching), and rotating around the z-axis is described as' yawing (yawing).

The vehicle mounting apparatus 300 includes a base plate 320 fixed to the roof rail 310 of the vehicle; A side slider 330 slidably installed in left and right sides of the base plate 320; A side linear actuator 340 for sliding the side slider 330 to the left and right sides; A pitching motor 350 mounted to the side slider 330; A pitching bracket 360 coupled to the pitching motor shaft 351 of the pitching motor 350; A rolling motor 370 mounted to the pitching bracket 360; A rolling bracket 380 coupled to the rolling motor shaft 371 of the rolling motor 370; Upper and lower linear actuators 390 and 400 coupled to upper and lower portions of the rolling bracket 380; Up and down lifting platforms 410 and 420 which are lifted by the up and down linear actuators 390 and 400; Upper and lower yawing motors 430 and 440 mounted on the upper and lower lifting platforms 410 and 420; A camera mounting bracket 450 coupled to the front surface of the rolling bracket 380; Suspended yawing motor 460 mounted to the camera mount 450; Upper and lower yawing brackets 470 and 480 which are coupled to the yawing motor shafts 431 and 441 of the upper and lower yawing motors 430 and 440 to which the upper and lower transmitting and receiving units 272 and 273 are mounted; It may be configured to include a suspension yawing bracket 490 is coupled to the yawing motor shaft 461 of the suspension yawing motor 460 to which the camera 230 is mounted.

The base plate 320 includes a plurality of fixing pieces 321 on a lower surface of the base plate 320 and penetrates the fixing pieces 321 and the roof rails 310 in a state where the roof rails 310 pass through the fixing pieces 321. It can be fixed to the roof rail 310 by a fixing bolt (not shown) and a fixing nut (not shown) fastened thereto.

The side slider 330 includes a horizontal part 331 on which the pitching motor 350 is mounted, and a vertical part 332 vertically coupled to the main flat part 331.

A pair of guide rods 333 fixed to the upper surface of the base plate 320 and a lower surface of the horizontal portion 331 to slidably install the side slider 330 to the side, A guide piece 334 guided to the pair of guide rods 333 may be provided.

By inserting a slide bearing (not shown) between the guide rod 331 and the guide piece 332, it is preferable to configure the side sliding operation of the side slider 330 smoothly.

The side linear actuator 340 is fixed to the drive screw 341 and the lower surface of the horizontal portion 331 of the side slider 330 is rotatably supported on the base plate 320 to the drive screw 341. It includes a drive nut 342 is screwed, and a drive motor 343 mounted to the base plate 320 to drive the drive screw 341.

The pitching motor 350 is mounted to the horizontal portion 331 of the side slider 330 and has a pitching motor shaft 351 protruding laterally through the vertical portion 332. The pitching motor shaft 351 of the pitching motor 350 is provided with a flange portion 352 for coupling the pitching bracket 360.

The pitching bracket 360 is formed at right angles to the pitching motor shaft coupling portion 361 and the pitching motor shaft coupling portion 361 to which the pitching motor shaft 351 of the pitching motor 350 is coupled. It consists of a rolling motor mounting portion 362 to which the motor 370 is mounted.

The rolling motor 370 is mounted to the rolling motor mounting portion 362 of the pitching bracket 360, and has a rolling motor shaft 371 protruding forward through the rolling motor mounting portion 362. The rolling bracket 380 is formed at right angles to the rolling motor shaft coupling portion 381 and the rolling motor shaft coupling portion 381 to which the rolling motor shaft 371 is coupled, and the upper and lower linear actuators respectively disposed on the upper and lower surfaces thereof. 390 and 400 and the camera mounting unit 450 is composed of a combined coupling portion 382 is coupled.

The up and down linear actuators 390 and 400 are mounted on the upper and lower surfaces of the composite coupling part 382, respectively, and have lifting motors having hollow motor shafts 392 and 402 on which inner thread parts 393 and 403 are formed. 391 and 401, and lift drive screws 394 and 404 having male thread portions 395 and 405 which are screwed into the female thread portions 393 and 403.

The lifting driving screws 494 and 404 are formed at upper and lower ends, respectively, and flange parts 396 and 406 are provided to couple the upper and lower lifting tables 410 and 420.

The upper and lower lifting platforms 410 and 420 are connected to the upper plate 411, 421 and the lower plate 412, 422 disposed up and down at a predetermined interval, and the upper plate 411, 421 and the lower plate 412, 422. 413 and 423 are formed in a U-shape, and are provided with connecting pieces 414 and 424 coupled to upper and lower ends of the elevating driving screws 394 and 404, respectively.

The upper and lower yawing motors 430 and 440 are mounted on the upper plates 411 and 421 of the upper and lower lifting tables 410 and 420, and the upper and lower yawing motor shafts 431 and 441 penetrating the upper plates 411 and 421. ).

The camera mounting bracket 450 is connected to the upper and lower plates 451 and the lower plate 452 and the upper plate 451 and the lower plate 452 which are arranged up and down at a predetermined interval and are coupled to the rolling bracket 380. It consists of a plate 453.

The suspended yawing motor 460 is mounted to the top plate 451 of the camera mounting stand 450 and includes a yawing motor shaft 461 penetrating the top plate 451. The upper and lower yawing brackets 470 and 480 are horizontally supported between the upper and lower plates 411 and 421 and the lower and lower plates 412 and 422 of the upper and lower lifting platforms 410 and 420, respectively. 441). The suspended yawing bracket 490 is supported to be horizontally rotated between the upper plate 451 and the lower plate 452 of the camera mounting stand 450 and is coupled to the yaw motor shaft 461.

The pitching motor 350, the rolling motor 370, the upper and lower yawing motors 430 and 440, and the stopping yawing motor 460 may be controlled by a horizontal sensor and a control means. The horizontal sensor may be installed on the upper and lower yawing brackets 470 and 480 and the stop yawing bracket 490, respectively, and the upper and lower yawing brackets 470 and 480 and the stopping yawing bracket 490 are always the same in level. So you can install only one. The control means may be constituted by a desktop computer or a notebook computer on which the control program is installed. In this case, the computer keyboard may configure the input unit, and the monitor may configure the display unit.

Since the horizontal sensor and the control means are by a conventional control method, detailed illustration and description thereof will be omitted. In addition, a HAD or SSD mounted in a computer and an SD card or USB memory connected to a USB terminal or a card reader can be used as a storage device.

Hereinafter, the operation of the vehicle mounting apparatus 300 will be described.

First, the non-survey running mode will be described. Referring to FIG. 7, in the non-measuring driving mode, the side slider 330 is moved to the left side by the side linear actuator 340, and the pitching motor 350 and the pitching bracket 360 are sequentially coupled to the side slider 330. , Rolling motor 370, rolling bracket 380, up and down linear actuators (390, 400), up and down lifting platform (410, 420), up and down yawing motor (430, 440), camera mount 450, stop The yaw motor 460, the upper and lower yawing brackets 470 and 480, the suspension yawing bracket 490, and the upper and lower transmission / receiving units 272 and 273 mounted on the upper and lower yawing brackets 470 and 480, and the stopping yawing bracket ( All of the cameras 230 mounted on the 490 are positioned on the roof of the vehicle.

At this time, since the upper and lower linear actuators 390 and 400 are horizontally laid down, the entire apparatus is positioned in a low state close to the roof of the vehicle, so that the entire apparatus is stably maintained in the non-surveying driving mode. As a result, it is possible to prevent the devices, in particular the upper and lower transmission and reception units 272 and 273 and the camera 230 from being damaged.

Next, the measurement mode will be described. When the driving motor 343 constituting the lateral linear actuator 340 rotates in the clockwise direction in the non-surveying driving mode of FIG. 7, the driving screw 341 and the side slider 330 coupled to the driving motor 343 are coupled to each other. The side slider 330 is moved in the right direction of the vehicle while being guided by the guide rod 333 and the guide piece 334 by the screw action of the driven nut 342 (see FIG. 8).

In this state, when the pitching motor 350 mounted on the side slider 330 rotates counterclockwise, the pitching bracket 360 and the rolling motor 370 and the rolling bracket sequentially coupled to the pitching bracket 360 are formed. 380), up and down linear actuators (390, 400), up and down platform (410, 420), up and down yawing motors (430, 440), camera mount 450, suspension yaw motor (460), up and down yawing brackets 470 and 480, the stopping yaw bracket 490, and the upper and lower transmitting and receiving portions 272 and 273 mounted to the upper and lower yawing brackets 470 and 480, and the camera 230 mounted to the stopping yaw bracket 490 It rotates counterclockwise so that the upper transmission / reception portion 272 is on the upper side, the lower transmission / reception portion 273 is on the lower portion, and the camera 230 is located at an interruption (see FIG. 9).

In this state, the upper and lower transmission and reception units 272 and 273 transmit a laser beam, and the transmitted laser beam is reflected by hitting a boundary stone between a feature and a roadside and received by the upper and lower transmission and reception units 272 and 273 to receive the laser device 271. Surveying unit 270 including a) generates the survey numerical information, such as the distance to the feature and the boundary stone.

In this case, when the vehicle surveys while driving on an uphill slope (see FIG. 10) and when surveying while driving on a downhill slope (see FIG. 11), the vehicle is mounted on the upper and lower yawing brackets 470 and 480 and the stopping yaw bracket 490. Or the control means controls the pitching motor 350 according to the inclination detected by the horizontal sensor mounted on any one of them, and the pitching bracket 360 rotates according to the rotation of the pitching motor 350. Rolling motor 370 sequentially coupled to the pitching bracket 360, rolling bracket 380, up and down linear actuators (390, 400), up and down lifting platform (410, 420), up and down yawing motor (430, 440), Upper and lower transmission / reception units 272 mounted on the camera mount 450, the suspension yaw motor 460, the upper and lower yawing brackets 470 and 480, the suspension yawing bracket 490, and the upper and lower yawing brackets 470 and 480. , 273) and the camera 230 mounted on the suspended yawing bracket 490 are rotated to be horizontal. (See solid lines in FIGS. 10 and 11).

In addition, when the vehicle surveys while driving on a side slope with high height on the feature side (see FIG. 12) and when driving while driving on a side slope with a low height on the feature side (see FIG. 13), the horizontal sensor The rolling motor 370 is rotated by the control of the control means according to the detected inclination, and thus the rolling bracket 380 and the vertical linear actuators 390 and 400 coupled to the rolling bracket 380 and the vertical lifting platform 410 are sequentially rotated. 420, upper and lower yawing motors 430 and 440, camera mount 450, suspended yaw motor 460, upper and lower yawing brackets 470 and 480, suspended yawing bracket 490, and upper and lower yawing brackets Upper and lower transceiving units 272 and 273 mounted at 470 and 480 and the camera 230 mounted to the stopping yaw bracket 490 are rotated to maintain horizontality.

Therefore, the upper and lower transceiving units 272 and 273 and the camera 230 constituting the laser device 271 of the survey unit 270 are always kept horizontal so that a more accurate survey can be performed and distortion can be corrected accurately. do.

On the other hand, in the process of surveying the vehicle while driving on the road, the height of the bottom of the feature 20 is not constant and may vary, the height of the boundary stone 30 may also be different in height depending on the characteristics of the road and regional characteristics. In this case, the hollow motor shafts 392 and 403 having female threads 393 and 403 are operated by operating the lifting motors 391 and 401 constituting the upper and lower linear actuators 390 and 400 by manual operation of the surveyor. The upper and lower yawing brackets 470 coupled to the upper and lower lifting platforms 410 and 420 by elevating the upper and lower lifting platforms 410 and 420 by elevating driving screws 394 and 404 having 402 and male threads 395 and 405. , 480 and the height of the upper and lower transmission / reception units 272 and 273 mounted thereon may be more accurately measured.

In addition, when the vehicle inevitably needs to change the driving direction due to an obstacle while driving the road, the upper and lower yawing brackets 470 and 480 by the upper and lower yawing motors 430 and 440 and the stopping yawing motor 460 and the stopping yawing bracket ( 490 and the upper and lower transmission / reception units 272 and 273 and the camera 230 mounted thereon may be perpendicular to the feature 20 and the boundary stone 30, thereby enabling more accurate surveying.

FIG. 16 is an exemplary view illustrating an image processing system capable of precisely correcting a distorted image according to the present invention ascending and descending from a storage chamber of a vehicle.

Under the premise of such a configuration, the present invention, as shown in Figure 16, the base plate 320 is raised to the upper portion of the vehicle 1 to be accommodated to allow safe storage while allowing the entire base plate 320 up and down In addition to being able to move up and down in a direction, the vibration transmitted from the inside and outside of the vehicle can be attenuated to function more smoothly and accurately.

In this case, although not shown, by covering the upper surface of the vehicle 1 when the camera 230 and the like are completely housed separately, the various surveying apparatuses and their associated components of the present invention may be protected.

The base plate 320 on which the camera 230 and the upper and lower transmission / reception units 272 and 273 are seated is a vehicle (1) by a lifting rod 520 having a buffer unit 550 and an anti-shake unit 540. It is installed to be able to ascend and descend so as to be penetrated through the upper surface of the storage chamber 510 formed inside the vehicle (1).

That is, the base plate 320 is combined with the lifting rod 520 to move up and down in the same direction as the moving direction of the lifting rod 520 by the driving of the lifting motor 530. When the base plate 320 protrudes above the upper surface of the vehicle, the camera 230 and the upper and lower transceiving units 272 and 273 are exposed to the outside of the vehicle, and the camera 230 is stopped when the elevating rod 520 is stopped. Can be measured.

The lifting rod 520 has an anti-shake unit 540 and a buffer unit 550 on its outer circumferential surface, and the lifting rod 520 has a smaller diameter than that of the storage space of the storage chamber 510. A space is formed between the inner surface of the chamber 510 and the outer circumferential surface of the elevating rod 52, because the elevating rod 520 alone lacks support and vibration attenuation of the base plate 320 on which the observation equipment is mounted. Actions and functions of the anti-shake unit 540 and the buffer unit 550 will be described later.

17 is a detailed cross-sectional view of an anti-shake unit of an image processing system capable of precise correction of a distorted image according to the present invention.

Referring to FIG. 7, the shake preventing part 540 includes a shake preventing case 541, a shake preventing rod 542, a breakaway preventing part 543, a contact part 544, a friction part 545, and a shake preventing spring ( 546).

The anti-shake case 541 is coupled to the side of the lifting rod 520 is formed in a hollow cylindrical shape. In the illustrated embodiment, the shake preventing case 541 is represented as being coupled to the lifting rod 520, but is not limited to this, it can be mounted in various numbers according to the needs of the invention.

The anti-shake rod 542 is coupled to move from side to side through the through hole formed in one side of the anti-shake case 541. At one end of the anti-shake rod 542, the anti-shake rod 542 is prevented from being separated from the anti-shake case 541, the separation prevention portion 543 is coupled, the other end of the anti-shake rod 542 A contact portion 544 that may contact the inner surface of the receiving chamber 510 is coupled.

The release preventing part 543 and the contact part 544 are disposed to be perpendicular to the anti-shake rod 542 and disposed to face each other. That is, the anti-shake rod 542, the separation prevention portion 543 and the contact portion 544 is disposed in the overall 'H' shape.

A friction part 545 is coupled to one surface of the contact part 544 to increase a friction force with an inner surface of the accommodation chamber 510. In particular, the friction part 545 may be formed in a form in which a plurality of hemispherical protrusions are associated with each other to further increase the friction force.

In other words, the general straight friction part is poor in contact due to the shape of the inside of the case, so that a sufficient friction force cannot be obtained, whereas a large number of hemispherical friction parts 545 according to the present invention can be brought into contact with any part in any situation. It is configured to obtain frictional force.

More specifically, the friction part 545 may include a mixture of 5 to 7 parts by weight of aramid fiber, 4 to 5 parts by weight of polyimide fiber, and 20 to 30 parts by weight of calcined lime and aluminum oxide abrasive, based on 100 parts by weight of epoxy resin. It may be configured to include 30 parts by weight.

The friction part 545 configured as described above may achieve the effect of being in contact with the inner surface of the receiving chamber 510 and preventing the lifting rod 520 from moving at a designated position. The friction part 545 may be provided with abrasion resistance of the contact part 544. Can be.

Here, the epoxy resin constituting the friction part 545 means a resin material having two or more epoxy groups in a molecule and a thermosetting resin produced by polymerization of an epoxy group, and has excellent mechanical properties and great adhesion in terms of material when cured. There are characteristics.

The arimid fiber and the polyimide fiber serve as a reinforcing material of the epoxy resin, and serve to increase friction by forming irregular protrusions on the surface of the friction part 545. When the aramid fiber is less than 5 parts by weight, the polyimide fiber is less than 4 parts by weight, the reinforcement function and the frictional force increasing function is insignificant, and if the aramid fiber is more than 7 parts by weight and the polyimide fiber is more than 5 parts by weight, the function is greatly affected. It does not reach the price competitive cause.

The slaked lime serves as a filler and is configured to determine the overall cushioning effect of the friction portion 545. If the slaked lime is less than 20 parts by weight, the friction part is excessively hardened and hardly adhered to the surface. If the slaked lime is more than 30 parts by weight, the friction part is too soft and can easily fall.

The aluminum oxide abrasive is a structure for additionally providing roughness to the friction portion 545, and the aluminum oxide abrasive is less than 20 parts by weight, the roughness effect is insignificant, if the aluminum oxide abrasive is more than 30 parts by weight, the friction portion is too rough Can damage other components.

The anti-shake spring 546 is disposed between the release preventing part 543 and the inner surface of the anti-shake case 541 to provide an elastic restoring force to the anti-shake rod 542. That is, when there is basically no external force, the separation prevention part 543 acts to move to the inside of the anti-shake case 541 by the anti-shake spring 546.

On the other hand, the inner surface of the anti-shake case 541 is coupled to the electromagnet portion 547 which is magnetized when a current flows, and on one side of the anti-separation portion 543 facing the inner side of the anti-shake case 541. The connecting plate 548 made of magnetic material is bonded.

The electromagnet portion 547 is configured to be electrically connected to the battery of the vehicle. When a current flows in the electromagnet portion 547, the electromagnet portion 547 and the connecting plate 548 contact with each other, and the electromagnet portion 547 contacts the current. If it does not flow, the electromagnet portion 547 and the connecting plate 548 is configured to be spaced apart.

In other words, when the current does not flow in the electromagnet portion 547, the anti-shake spring 546 is pulled, and thus the contact portion 544 and the friction portion 545 are kept in the maximum inserted state, and thus the anti-shake portion 340. Since the whole is separated from the inner side surface of the storage chamber 510, the vertical movement of the lifting rod 520 is not affected.

On the contrary, when the current flows through the electromagnet portion 547, the elastic restoring force of the anti-shake spring 546 is overcome by the electromagnet portion 547 and the connecting plate 548, and the contact portion 544 and the friction portion 545 are accommodated. Since the inner surface of the chamber 510 is in contact with, the lifting rod 520 may be fixed without moving.

That is, in the present invention, during the vertical movement of the elevating rod 520 is operated so that no current flows to the electromagnet portion 547 of the anti-shake unit 540, the shake when the movement of the elevating rod 520 is stopped The electric current flows through the electromagnet portion 547 of the prevention portion 540 so that the friction portion 545 of the anti-shaking portion closely adheres to the inner surface of the storage chamber 510, thereby not only attenuating the vibration transmitted from the vehicle, but also the camera. It may function to facilitate a fixed support of the base plate 320 for supporting (230).

8 is a detailed cross-sectional view of a buffer unit included in an image processing system capable of correcting errors of precise image information data according to the present invention.

Referring to FIG. 8, the shock absorbing portion 550 is disposed to surround the shock absorbing rod portion 551, the shock absorbing rubber portion, which is coupled to allow the lifting rod 520 to penetrate through a lifting hole formed at the center thereof, and contains a receiving chamber. A buffer case 552 fixedly coupled to the inner side of the 510 and disposed between the buffer rod part and the buffer case, and the inside into which air can be injected through the injection hole 554 mounted on one side of the buffer rod part is empty. And a cushioning rubber part 553 in the form of a ring.

The buffer rod portion 551 and the buffer case 552 are both formed in a hollow cylindrical shape, therebetween are connected to each other by a buffer rubber portion 553. That is, the buffer rubber part 553 is disposed in the shape of a donut with an empty space surrounding the buffer rod part 551.

The rigidity of the buffer rubber part 553 may be adjusted by adjusting the amount of air filled in the buffer rubber part 553 through the injection hole 554. In other words, the present invention is to adjust the stiffness in consideration of the size and type of the lifting rod and the receiving chamber, the external environment, etc. to prevent the vibration is effectively transmitted without affecting the vertical movement of the lifting rod 520. Can be.

A locking end portion 551b may protrude along the circumference of the buffer rod portion 551 at the upper end and the lower end of the buffer rod portion 551, respectively. The locking end portion 551b extends outwardly of the buffer rod portion 551, and then is formed to extend perpendicularly in the longitudinal direction of the buffer rod portion 551.

Coupling end 553a corresponding to the shape of the locking end 551b is formed at both ends of the upper end and the lower end of the cushioning rubber part 553 so that the buffering rubber part 553 may be coupled to the buffering rod part 551. To be able.

The locking end portion 551b and the coupling end portion 553a prevent the cushioning rubber portion 553 from releasing from the buffering rod portion 551 when the air pressure inside the buffering rubber portion 553 decreases, and at the same time, the buffering rubber portion When the air pressure inside the filter 553 is too high, the buffer rubber part 553 is prevented from being thrown out of the buffer rod part 551.

A circular rope 555 may be inserted into the coupling end portion 553a disposed at both ends of the buffer rubber part 553 so as to be wrapped in a ring shape along the circumference of the buffer rod part 551.

The rope 555 strongly compresses the coupling end portion 553a of both ends of the buffer rubber part 553 to the buffer rod part 551 to increase the sealing force of the air injected into the buffer rubber part 553. .

In addition, the reinforcing layer 556 is preferably inserted into the buffer rubber part 553 in contact with the buffer case 552 along its longitudinal direction. The reinforcing layer 556 is made of a material of a hardness that is relatively higher than the hardness of the buffer rubber portion 553 serves to prevent the buffer rubber portion 553 from being damaged.

The reinforcing layer 556 may be formed in a manner in which a layer layer of any one of acetate, acryl, vinylon, and gold and silver yarns and the iron wire is reinforced on the fabric, and a thin elastic layer is added thereon to be bonded thereto.

On the other hand, as a unique feature of the present invention, the frequency of 8Khz ~ 13Khz, 8Khz ~ 25Khz, 15Khz ~ 25Khz frequency and 27Khz ~ 44Khz frequency is sequentially repeated on the top surface of the vehicle (1) The output ultrasonic generator 610 may be mounted.

The ultrasonic generator 610 may be repeatedly outputted in a frequency of 8KHz ~ 13Khz, 8KHz ~ 25Khz, 15KHz ~ 25KHz and 27KHz ~ 44KHz in 30 seconds, but in season and day Accordingly, the above frequency may be repeatedly output at random within a range of 10 seconds to 60 seconds.

In the present invention, the frequency of 8Khz ~ 13Khz is effective to prevent the access of crawling pests, the frequency of 8Khz ~ 25Khz is effective for preventing the access of summer pests, such as mosquitoes, the frequency of 15Khz ~ 25Khz of the cockroach Effective for preventing the access of pests, the frequency of 27Khz ~ 44Khz can be said to be useful for the prevention of access to small kinds of pests.

As described above, in the present invention, the ultrasonic generator 610 is provided to repeatedly output frequencies having different frequency bands sequentially or randomly to prevent various pests or insects from approaching the camera 230 and to adhere to the lens surface. In addition to preventing and assisting in obtaining accurate image data.

On the other hand, the present invention is disposed on the upper surface of the vehicle (1), through the air nozzle is arranged to be able to spray the compressed air charged through the compressor for generating compressed air in the direction of the camera position, and through the air nozzle It may be provided with a compressed air injector 620 to control the flow of the compressed air is injected with a variable air valve that can vary the amount of opening.

By periodically or randomly spraying compressed air in the direction in which the camera 230 is disposed through the compressed air injector 620, it is easy to remove contaminants such as dust and water attached to the camera 230. In addition, it performs a function to prevent the access of pests to enable more accurate image data acquisition.

According to the present invention, 5-10% by weight of Cinnamomum sieboldii extract, 5-10% by weight of Agastache rugosa extract, 40-60% by weight of cyclodextrin aqueous solution, cranial gland on the housing surface of the camera 230 as necessary (Cinnamomum camphora) extract 20 to 30% by weight, Kaempferiagalanga extract 5 to 10% by weight, 1 to 3% by weight of Angelica dahurica extract, 1-2% by weight of Cnidium officinale extract The coating liquid can be applied.

The cyclodextrin aqueous solution is used to increase the water solubility of the pest control solution, the stability and sustainability, the eclampsia, gugyang, broiler, Sanjaja, white paper, cheongung extract is an extract extracted from plants as well as storage pests, sanitary pests, It also has a repellent or insecticidal effect on dry pests. That is, in addition to mosquitoes, there is an effect that can prevent the access of various pests, such as flies, mites, scorpions, centipedes, spiders.

As such, the present invention not only includes an ultrasonic generator 610 and a compressed air sprayer 620 on the upper surface of the vehicle, but also includes a pest preventing coating solution in the housing of the camera 230 to maximize the access of pests and removal of contaminants. can do.

19 is an illustration of an angle measuring sensor for explaining the application of the micro-vibration correction algorithm included in the image processing system capable of precise correction of the distorted image according to the present invention.

On the other hand, as a unique configuration of the present invention, the present invention senses the distance information between the camera 230 and the measurement object and a distance sensor (not shown) disposed inside or outside the camera 230; A gyroscope sensor for sensing rotation angle information based on the position of the camera 230; And a coordinate calculation unit (not shown) that calculates three-dimensional coordinates or reference coordinates of the measurement object based on the distance information and the rotation angle information.

The coordinate calculator performs a function of calculating a three-dimensional coordinate or a reference coordinate of the measurement object by using a micro-vibration correction algorithm for correcting an error caused by the vibration of the measuring device or the measuring device.

In addition, the coordinate calculation unit according to the needs of the invention, the frequency through the auxiliary delay unit including a position and angle correction algorithm for measuring the attitude angle of the measurement object, a delay (Delay) circuit and a low pass filter (LPF) It may further comprise a nonlinearity correction algorithm for correcting that the non-linear change.

The driving method of the fine vibration correction algorithm is as follows.

The conventional displacement measuring device is a method of measuring by using a support such as a pedestal, there is no dimensional error due to fine vibration can receive accurate data. However, due to the vibration transmitted from the vehicle while the vehicle is turned on as in the present invention, the camera makes it difficult to receive accurate position data due to an error caused by fine shaking.

Accordingly, the present invention can apply the following micro-vibration correction algorithm to compensate for the error of the position data generated by the micro-vibration caused by external factors. The micro-vibration correction algorithm uses a method of creating and rotating four hinge points.

FIG. 19 is an exemplary view for explaining the application of the micro-vibration correction algorithm according to an embodiment of the present invention, coil1 and coil3 are used for pitching driving (coil1 + coil3 = pitching driving), coil2 And coil4 are used for yawing driving (coil2 + coil4 = Yawing driving). In other words, by using the mechanism to maximize the micro-vibration correction effect by rotating the entire gyroscope sensor at the pitch and yaw corresponding angle, the actuator momentum and sensitivity are same.

As described above, according to the present invention, the camera can be stored and stored inside the vehicle when the vehicle is moved, thereby ensuring corrosion resistance of various observation-related equipment, and the lifting rod 520 may be subjected to shocks such as vibrations transmitted from the vehicle when the camera is measured. Due to the function of the coordinate operation unit including the anti-shake unit 540 and the buffer unit 550, and furthermore, the micro-vibration correction algorithm, the camera shake can be prevented or minimized to obtain accurate image information data and correct errors. There is this.

The present invention has been described above in connection with specific embodiments of the present invention, but this is only an example and the present invention is not limited thereto. Those skilled in the art can change or modify the described embodiments without departing from the scope of the present invention, and within the equivalent scope of the technical spirit of the present invention and the claims to be described below. Various modifications and variations are possible.

1: vehicle
10: aircraft 20: feature
100: drawing image generating and distorted part display device
110: drawing image conversion unit 120: map data storage unit
130: distortion search unit 140: distortion part display unit
150: distorted portion display coordinate storage unit 151: storage medium
160: the first communication unit
200: feature measuring device 210: second communication unit
220: information recognition unit 221: storage medium
230: camera 240: GPS receiver
250: reference point generation unit 260: measurement feature selection unit
270: surveying unit 271: laser device
272, 273: transceiver
280: Distortion correction data generation unit 290: Distortion correction data storage unit
300: vehicle mounting apparatus 310: roof rail
330: base plate 330: side slider
340: side linear actuator 350: pitching motor
360: pitching bracket 370: rolling motor
380: rolling bracket 390, 400: up and down linear actuator
410, 420: up and down platform 430, 440: up and down yawing motor
450: camera mount 460: suspended yawing motor
470, 480: upper and lower yawing bracket 490: suspended yawing bracket
510: storage chamber 520: lifting rod
530: lifting motor 550: shock absorber
540: anti-shake unit 610: ultrasonic generator
620: compressed air jet

Claims (1)

A map data storage unit 120 for storing aerial image or digital map or standard map data; A drawing image converting unit (110) for producing a drawing image converted into a data format compatible with the digital map or standard map data by including the point, line, and plane of the aerial image; A distortion search unit (130) for analyzing the drawing image with the digital map or the standard map to find a distortion portion and a new feature of the drawing image; A distorted portion display unit 140 for displaying the distorted portion and the position of the new feature using distorted portion display coordinates including at least one of a GPS coordinate, a latitude and longitude coordinate, and an address coordinate; A distorted portion display coordinate storage unit 150 for storing the distorted portion display coordinates through an SD card, a micro SD card, a RAM, or a storage medium including a hard disk; And a first communication unit configured to transmit the distorted portion display coordinates through mobile communication or Wi-Fi. A drawing image generating and distorting part display device 100 comprising:
A camera 230 for taking images in all directions at 360 degrees simultaneously; A second communication unit 210 for receiving the distorted portion display coordinates from the first communication unit using the mobile communication or Wi-Fi; An information recognizing unit 220 for reading the distorted portion display coordinate information stored in the storage medium; GPS receiver 240; A reference point generator 250 for generating a reference point using at least one of the GPS coordinates, the latitude and longitude coordinates, and the address coordinates; A measurement feature for selecting a corresponding feature for distortion correction using an image of a feature corresponding to the distorted part display coordinate received from the second communication unit or a distorted part display coordinate stored in the storage medium and an image captured by the camera Water selector 260; A surveying unit 270 which generates surveying numerical information of the measured feature and relative surveying numerical information of surrounding features by using a laser device including upper and lower transmitting and receiving units based on the reference point; A distortion portion correction data generation unit 280 for generating distortion portion correction data by adding the measurement value information to an image image taken by the camera; And a distortion correction data storage unit 290 for storing the distortion correction data on an SD card or a hard disk.
Further comprising a vehicle-mounted device 300 for mounting the camera 230, the upper and lower transmission and reception units (272, 273),
The base plate 320 of the vehicle mounting apparatus is formed inside the vehicle 1 by penetrating an upper surface of the vehicle 1 by a lifting rod 520 having a buffer unit 550 and an anti-shake unit 540. It is installed to be raised and lowered to be stored in the storage chamber 510,
The shock absorbing portion 550 includes: a shock absorbing rod portion 551 coupled to the lifting rod 520 through the lifting hole formed at the center thereof; A buffer case 552 disposed to surround the buffer rubber part and fixedly coupled to an inner surface of the accommodation chamber 510; And a ring-shaped buffer rubber part 553 disposed between the buffer rod part and the shock absorbing case and having an empty hollow inside through which the air can be injected through the injection hole 554 mounted on one side of the buffer rod part. Wherein, the upper end and the lower end of the buffer rod 551, respectively, the locking end portion 551b is formed to protrude along the circumference of the buffer rod portion, the upper and lower ends of the buffer rubber portion 553, respectively, the engaging end portion A coupling end portion 553a corresponding to the shape is formed so that the buffer rubber portion 553 may be coupled to the buffer rod portion 551, and the coupling end portion 553a may have a ring along the circumference of the buffer rod portion 551. A circular rope 555 is inserted to wrap the shape, and a reinforcement layer 556 is inserted in the buffer rubber part 553 in contact with the buffer case along its length direction.
The anti-shake unit 540 includes a cylindrical anti-shake case 541 having an empty interior coupled to the side of the elevating rod 520; An anti-shake rod 542 mounted to penetrate one side of the anti-shake case to move from side to side; An anti-separation unit 543 coupled to one end of the anti-shake rod to prevent the anti-shake rod from being separated from the anti-shake case; A contact portion 544 coupled to the other end of the anti-shake rod to be in contact with the inner surface of the coordinate case; A plurality of hemispherical friction portions 545 coupled to one surface of the contact portion; And an anti-shake spring 546 disposed between the anti-separation part and the inner surface of the anti-shake case to provide an elastic restoring force to the anti-shake rod. Wherein, the separation prevention portion 543 and the contact portion 544 is arranged to be perpendicular to the anti-shake rod 542, the inner surface of the anti-shake case is coupled to the electromagnet portion 547 which is magnetized when current flows The connection plate 548 made of a magnetic material is coupled to one side of the separation prevention part 543 facing the inner surface of the anti-shaking case, and the friction part 545 is composed of aramid fiber 5 with respect to 100 parts by weight of epoxy resin. To 7 parts by weight, 4 to 5 parts by weight of polyimide fiber, 20 to 30 parts by weight of hydrated lime and a mixture of 20 to 30 parts by weight of an aluminum oxide abrasive,
On the lens surface of the camera 230, 10 to 18 parts by weight of perfluoromethylvinyl ether, 6 to 12 parts by weight of perfluorophosphate salt, 8 to 14 parts by weight of tetrafluoroethylene and fluoroacryl based on 100 parts by weight of perfluoropolyether Amide 5 to 13 parts by weight, having a surface tension of 28dyne / cm or less and having a coating layer having a dynamic friction coefficient of 0.1 or less, the coating layer of the lens of the camera 230 is formed to be applied to a thickness of 20 to 40nm ,
On the upper surface of the vehicle (1) is equipped with an ultrasonic generator 610, which is sequentially output in the frequency of 8KHz ~ 13Khz, the frequency of 8KHz ~ 25Khz, the frequency of 15KHz ~ 25Khz and the frequency of 27KHz ~ 44Khz in 30 seconds unit ,
An air nozzle disposed on an upper surface of the vehicle 1 and arranged to spray compressed air charged through a compressor for generating compressed air in a direction in which the camera is positioned, and a flow of compressed air injected through the air nozzle Control the control, but equipped with a compressed air injector 620 having a variable air valve capable of varying the amount of opening is an image processing system capable of precise correction of the distorted image.

Images