High precision road map construction system for automatically acquiring road surface shape using mms

Abstract

The present invention relates to a precision road map construction system, and more specifically, to a precision road map construction system that can automatically acquire a road surface shape by utilizing an MMS capable of generating road surface points through filtering based on the position and correlation of each 3D point, by including a mobile mapping system that generates MMS data by surveying a road and its surroundings, and an acquisition device that generates a road surface shape by processing data generated from the mobile mapping system.

Description

Technology Field

[0001] The present invention relates to a precision road map construction system, and more specifically, to a precision road map construction system capable of automatically acquiring road surface shapes using MMS. Background Technology

[0003] Conventional spatial modeling methods generally utilize data constructed manually through field surveys. This approach has disadvantages, including excessive labor costs, frequent errors in geographic information due to the manual nature of the process, and the difficulty of making corrections or updates.

[0004] Recently, to address these issues, geographic information data for buildings and road facilities is being constructed using surveying equipment such as Mobile Mapping Systems (MMS).

[0005] A mobile mapping system is a high-precision 3D geographic information acquisition device that is equipped with a camera or lidar and a precise GNSS / INS on a moving object such as a vehicle, calculates accurate position and attitude information for the camera during operation, and uses this to calculate the actual location of laser point data and image objects acquired from the sensor.

[0006] These mobile mapping systems are gaining attention as a means to rapidly secure the up-to-date nature of spatial information, and demand for them is increasing, particularly as the need for precise maps of roads and surroundings grows for ADAS (Advanced Driver Assistance Systems) and autonomous vehicles.

[0007] LiDAR data acquired from such mobile mapping systems is generated as a point cloud, which is a set of points with three-dimensional spatial coordinates. This point data does not provide clear shape information, such as road surfaces, and there is a problem in that, in order to extract such shapes, an operator must manually generate a surface shape through vectorizing based on the point cloud.

[0008] Furthermore, extracting shapes such as road surfaces from point data requires significant time and human resources, which not only reduces the efficiency of surface extraction but also leads to a lack of consistency in surface shapes due to individual errors.

[0009] The matters described above as background technology are intended solely to enhance understanding of the background of the present invention and should not be construed as an acknowledgment that they constitute prior art already known to those skilled in the art. The problem to be solved

[0011] The present invention aims to solve the problems of the aforementioned prior art by providing a precision road map construction system capable of automatically acquiring road surface shapes by utilizing an MMS that extracts 3D points from LAS data having 3D spatial coordinates and generates road surface points through filtering based on the position and correlation of each 3D point.

[0012] The technical problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description of the present invention. means of solving the problem

[0014] The configuration of the present invention for achieving the above purpose is characterized by comprising: a mobile mapping system that generates MMS data by surveying a road and its surroundings; and an acquisition device that processes the data generated from the mobile mapping system to generate a road surface shape.

[0015] In a precision road map construction system capable of automatically acquiring a road surface shape using MMS according to an embodiment of the present invention, the acquisition device preferably comprises: a database storing MMS data surveyed by a mobile mapping system; a LAS data generation unit generating three-dimensional LAS data using MMS data provided from the database; a three-dimensional point extraction unit extracting three-dimensional points using the three-dimensional LAS data generated by the LAS data generation unit; a point filtering unit filtering road surface points by applying threshold values ​​of a preset allowable range and correlation to the three-dimensional points; and a road surface shaping unit shaping a road surface shape using the road surface points filtered by the point filtering unit and stored in the database.

[0016] In a precision road map construction system capable of automatically acquiring a road surface shape using MMS according to an embodiment of the present invention, the LAS data generation unit preferably generates driving path data using one or more coordinate data among GNSS, INS, or DMI from MMS data stored in a database, and generates 3D LAS data by integrating laser data from MMS data with the generated driving path data.

[0017] In a precision road map construction system capable of automatically acquiring a road surface shape using MMS according to an embodiment of the present invention, the 3D point extraction unit checks whether there is a position value of laser data among the MMS data using the attribute value of the 3D LAS data generated by the LAS data generation unit, and if there is a position value of laser data, it recognizes that a structure exists at the bottom of the mobile mapping system acquiring the MMS data and classifies it into a 3D point to automatically extract a road section.

[0018] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the mobile mapping system preferably comprises: a movable vehicle; a position control unit installed on the upper surface of the vehicle; a support unit mounted on the upper part of the position control unit; and an information unit coupled to the upper part of the support unit.

[0019] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the position adjustment unit preferably comprises: a position base spaced apart from the lower part of a support unit and installed so that the support unit can move; a position movement unit installed on the position base and moving the support unit in the longitudinal direction of the vehicle; a first lifting unit positioned at the lower part of the position base and lifting the position movement unit; and a second lifting unit in surface contact with the first lifting unit and lifting the first lifting unit.

[0020] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the moving unit preferably comprises: a moving drive unit fixed to the upper surface of a position base; and a moving block that is movably installed on the upper surface of a position base, supports a support unit, and is connected to the moving drive unit to move.

[0021] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the first position lifting unit preferably comprises: a first lifting base slidably connected to a second lifting unit; and a pair of first lifting drive units, one side of which is connected to the first lifting base and the other side of which is connected to the position base to lift the position base.

[0022] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, it is preferable that a first inclined surface be formed on the portion of the first lifting base facing the second lifting unit.

[0023] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the second position lifting unit preferably comprises: a second lifting base installed to be slidably movable on a vehicle and having a second inclined surface formed thereon that contacts a first inclined surface; and a second lifting drive unit installed on a vehicle that moves the second lifting base to lift the first lifting base.

[0024] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, it is preferable that the position moving unit slides the support unit in the longitudinal direction of the vehicle, the first lifting unit moves the support unit in the height direction of the vehicle, and the second lifting unit raises the first lifting unit by mutual sliding contact between the first inclined surface and the second inclined surface.

[0025] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, it is preferable that guide blocks guiding the height-direction lifting of the first lifting base are provided on both sides of the first lifting base.

[0026] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the support unit preferably comprises: a support body having a lower end formed convexly in a 'U' shape; and a pair of support adjustment parts connecting both sides of the support body and a movable block.

[0027] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, a block groove having a shape corresponding to the lower surface of a support body is formed on the outer surface of the movable block, and it is preferable that the lower surface of the support body is in surface contact with the block groove.

[0028] A precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention preferably further includes a buffer unit disposed between the pair of first lifting drive units and supporting the lower surface of a position base and the upper surface of a first lifting base.

[0029] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the buffer unit preferably comprises: a pair of upper and lower buffer members, the upper end of which contacts and supports the lower surface of a position base and the lower end of which contacts and supports the upper surface of a first lifting base; and a buffer support member that connects the pair of upper and lower buffer members in the lateral direction.

[0030] In a precision road map construction system capable of automatically acquiring a road surface shape using an MMS according to an embodiment of the present invention, the upper and lower buffering members preferably include: a buffering case disposed between the lower surface of a position base and the upper surface of a first lifting base; a first buffering rod, the upper end of which contacts the lower surface of the position base and the lower end of which is inserted so as to be movable up and down inside the buffering case; a second buffering rod, the lower end of which contacts the upper surface of the first lifting base and the upper end of which is inserted so as to be movable up and down inside the buffering case; and a plurality of buffering balls disposed inside the buffering case and disposed between the first buffering rod and the second buffering rod. Effects of the invention

[0032] The present invention, having the above configuration, can generate a road surface shape using 3D LAS data generated using a mobile mapping system, thereby preventing the occurrence of time and human resources and improving efficiency.

[0033] In addition, the present invention has the effect of ensuring efficiency in road surface shape extraction and consistency of data by extracting 3D points from LAS data having 3D spatial coordinates, generating road surface points through filtering based on the position and correlation of each 3D point, and automatically extracting road surface shapes. Brief explanation of the drawing

[0035] It should be noted that the attached drawings are provided as examples for reference to help understand the technical concept of the present invention, and the scope of the rights of the present invention is not limited by them. FIG. 1 is a block diagram illustrating the overall configuration of a precision road map construction system capable of automatically acquiring a road surface shape using MMS according to an embodiment of the present invention. FIG. 2 is an illustrative diagram for explaining the three-dimensional spatial distribution of three-dimensional points according to an embodiment of the present invention. FIG. 3 is an exemplary diagram illustrating filtering three-dimensional points using an allowable range and correlation according to an embodiment of the present invention. FIG. 4 is an exemplary diagram illustrating the generation of a road surface shape by applying a convex hull algorithm to road surface points according to an embodiment of the present invention. FIG. 5 is an illustrative diagram for explaining a cross-section of a road and road points extracted therefrom according to an embodiment of the present invention. FIG. 6 is a flowchart for explaining the operation method of a precision road map construction system according to an embodiment of the present invention. FIG. 7 is a flowchart illustrating a method for generating three-dimensional LAS data using a mobile mapping system according to an embodiment of the present invention. FIG. 8 is a schematic diagram showing the overall appearance of a mobile mapping system according to an embodiment of the present invention. FIG. 9 is a drawing showing the state in which the first lifting unit is raised by the operation of the second lifting unit according to an embodiment of the present invention. FIG. 10 is a drawing showing the internal view of a buffer unit according to an embodiment of the present invention. Specific details for implementing the invention

[0036] Hereinafter, the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement it. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein.

[0037] To clearly explain the present invention, parts unrelated to the explanation have been omitted, and the same reference numerals are used for identical or similar components throughout the specification.

[0038] In addition, terms or words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0040] FIG. 1 is a block diagram illustrating the overall configuration of a precision road map construction system that can automatically acquire road surface shapes using MMS according to an embodiment of the present invention.

[0041] As described above, the precision road map construction system according to the present invention includes a mobile mapping system (100) that generates MMS data by surveying the road and surroundings, and an acquisition device (200) that processes the data generated from the mobile mapping system to generate a road surface shape.

[0042] The above mobile mapping system (100) includes an information unit (110), and the information unit (110) is equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) and DMI (Distance Measurement Instrument) and a laser scanner, etc.

[0043] After the MMS data obtained by driving on an actual road and surveying the road and surroundings in the mobile mapping system (100) is stored in a database, the road section is extracted using the stored MMS data and the road surface shape is automatically generated accordingly.

[0044] The above acquisition device (200) includes a database (210), a LAS data generation unit (220), a three-dimensional point extraction unit (230), a point filtering unit (250), and a road surface shaping unit (240).

[0045] The database (210) stores MMS data obtained by surveying the road and surroundings in the mobile mapping system (100), and provides the MMS data and road attribute information stored in the LAS data generation unit (220) of the acquisition device (200).

[0046] That is, the road attribute information generated using the acquisition device (200) includes road attribute information that can be utilized in navigation and ADAS (Advanced Driver Assistance System) maps, etc., and the road attribute information includes information such as the width, gradient, and slope of the road.

[0047] The LAS data generation unit (220) generates three-dimensional LAS data using MMS data that surveys the road and surroundings in the mobile mapping system (100) provided from the database (210). The three-dimensional LAS data is laser point data having three-dimensional precise coordinates, and road sections can be extracted using the attribute values ​​of the generated three-dimensional LAS data, and road attribute information in the extracted road sections can be generated.

[0048] That is, the LAS data generation unit (220) generates driving path data using coordinate data such as GNSS / INS and DMI among the MMS data stored in the database. In addition, it generates three-dimensional LAS data using laser data acquired using a laser scanner among the MMS data and the generated driving path data.

[0049] The 3D point extraction unit (230) checks whether there is a position value of the laser data in the MMS data using the attribute value of the 3D LAS data generated by the LAS data generation unit (220), and if there is a position value of the laser data, when acquiring MMS data using the mobile mapping system (100), it recognizes that a structure such as a road exists at the bottom of the mobile mapping system (100) and classifies it into a 3D point to automatically extract the road section.

[0050] In other words, for the classification of 3D points, if a laser data value exists in a road section within the 3D LAS data, that area is recognized as a road area, and an initial road point located in the recognized road area is selected. For the selection of the initial road point, it is desirable to select the lowest point in the road area and use the selected point value to select it as the initial road point.

[0052] FIG. 2 is an illustrative diagram for explaining the three-dimensional spatial distribution of three-dimensional points according to an embodiment of the present invention, and FIG. 3 is an illustrative diagram for explaining filtering three-dimensional points using an allowable range and correlation according to an embodiment of the present invention.

[0053] As shown in FIG. 2, the three-dimensional points extracted by the three-dimensional point extraction unit (230) exist at various locations, and among the multiple points, the lowest point can be selected as the road initial point.

[0054] The point filtering unit (250) filters the 3D points according to each threshold of the allowable range and correlation input from the 3D points selected as the initial road point, and extracts the road surface points.

[0055] As illustrated in FIG. 3, the point filtering unit (250) extracts point 'd', which is an adjacent point to point 'd', which is located above point 'd', from point 'c', which is selected as the initial point of the road, sets the height from point 'd' to point 'e' as a correlation, and sets the angle between point 'c', which is the initial point of the road, point 'd', and point 'c' and point 'e' as an allowable range.

[0056] Accordingly, the point filtering unit (250) compares the threshold of each input allowable range and correlation with the allowable range and correlation of each set point, sets the point located within the threshold as a road surface point, and excludes the point located outside the threshold from the road surface point.

[0057] That is, as shown in Fig. 3, the road surface points filtered based on the initial road point 'c' in the 3D point can be set as points 'a', 'b', 'c', and 'd', and points 'e', ​​'f', and 'g' that fall outside the threshold are excluded from the road surface points.

[0058] Accordingly, the point filtering unit (250) extracts road surface points from three-dimensional points by the filtering method described in FIG. 3 and stores them in the database (210).

[0060] FIG. 4 is an exemplary diagram illustrating the generation of a road surface shape by applying a convex hull algorithm to road surface points according to an embodiment of the present invention, and FIG. 5 is an exemplary diagram illustrating a cross-section of a road and road points extracted accordingly according to an embodiment of the present invention.

[0061] The road surface shaping unit (240) shapes the road surface using road surface points that are filtered by the point filtering unit (250) and stored in the database (210). The shaping of the road surface is performed by applying a convex hull algorithm to road surface points composed of multiple points.

[0062] As shown in FIG. 4, by calculating the angle of each road surface point from the reference point (p1), the outermost road surface points can be extracted, and accordingly, the outermost road surface points can be connected to each other to form a road surface shape.

[0063] In addition, the road surface shaping unit (240) completes the generation of the road surface shape by combining one or more shaped road surface shapes to create a final road surface shape.

[0064] As shown in FIG. 5(a), the road has a road surface (A), a median strip (B), a curbstone / guide rail (C), etc., and the road surface points filtered by the point filtering unit (160) appear as points, with each road surface (A), median strip (B), and curbstone / guide rail (C) appearing as shown in FIG. 5(b).

[0065] Accordingly, a road surface point such as (b) in Fig. 5 can be formed into a road surface shape through the road surface shaping part (240).

[0067] FIG. 6 is a flowchart illustrating the operation method of a precision road map construction system according to an embodiment of the present invention.

[0068] As described above, MMS data generated by a mobile mapping system (100) mounted in a vehicle traveling on a road is stored in a database, and a LAS data generation unit (220) generates three-dimensional LAS data using the MMS data stored in the database (210) (S110).

[0069] Afterward, the 3D point extraction unit (230) classifies 3D points using the generated 3D LAS data (S120). The 3D points are classified by checking whether there is a position value of the laser data in the MMS data using the attribute value of the 3D LAS data generated by the LAS data generation unit (220). If the position value of the laser data exists, it is desirable to classify it as a 3D point in order to automatically extract the road section, and to recognize that a structure such as a road exists at the bottom of the mobile mapping system (100) when acquiring MMS data using the mobile mapping system (100).

[0070] Subsequently, a threshold is set to filter road surface points using the classified 3D points (S130). The threshold is divided into an allowable range and a correlation, and points located within the threshold set based on the initial road point are filtered as road surface points, while points located outside the threshold are excluded from road surface points.

[0071] Next, road surface points filtered according to the allowable range and correlation are shaped into a road surface shape connecting the outermost points using a convex hull algorithm, and a final road surface shape is generated by interconnecting one or more shaped road surface shapes (S150).

[0073] FIG. 7 is a flowchart illustrating a method for generating three-dimensional LAS data using a mobile mapping system according to an embodiment of the present invention.

[0074] A mobile mapping system (100) mounted in a vehicle traveling on a road includes GNSS / INS, DMI, and a laser scanner, and the mobile mapping system measures surrounding facilities using a laser scanner and generates MMS data including coordinate data and laser data regarding the location and coordinates of the measured facilities (S111).

[0075] MMS data generated using the mobile mapping system (100) is stored in the database (210). The LAS data generation unit (220) generates driving path data using one or more coordinate data of GNSS / INS or DMI from the MMS data stored in the database (210) (S112).

[0076] Afterwards, laser data acquired from a laser scanner included in the mobile mapping system (100) is acquired from MMS data stored in the database (210) (S113), and the acquired laser data and driving path data are integrated to generate 3D LAS data (S114).

[0078] FIG. 8 is a schematic diagram showing the overall appearance of a mobile mapping system according to an embodiment of the present invention, and FIG. 9 is a diagram showing the state in which the first lifting unit is raised by the operation of the second lifting unit according to an embodiment of the present invention.

[0079] As described above, the mobile mapping system (100) according to the present invention comprises a movable vehicle (V), a position control unit (400) installed on the upper surface of the vehicle (V), a support unit (120) mounted on the upper part of the position control unit (400), and an information unit (110) coupled to the upper part of the support unit (120).

[0080] The above position adjustment unit (400) includes a position base (410) spaced apart from the lower part of the support unit (120) and installed so that the support unit (120) can move, a position movement unit (420) installed on the position base (410) to move the support unit (120) in the longitudinal direction of the vehicle (V), a first lifting unit (430) positioned on the lower part of the position base (410) to raise and lower the position movement unit (420), and a second lifting unit (440) in surface contact with the first lifting unit (430) and to raise and lower the first lifting unit (430).

[0081] The above position moving unit (420) is configured to move the support unit (120) in a certain direction while supporting it, and may include a moving drive unit (421) fixed to the upper surface of the position base (410), and a moving block (422) that is movably installed on the upper surface of the position base (410), supports the support unit (120), and is connected to the moving drive unit (421) to move.

[0082] The above position base (410) is a structure serving as the installation base for the position moving part (420), and a guide structure or a sliding support structure may be formed on the upper surface so that the moving block (422) can move stably.

[0083] For example, a guide rail, guide groove, or sliding surface may be formed on the upper surface of the position base (410) to guide the movement path of the movable block (422), and accordingly, the movable block (422) can move in a straight line along the upper surface of the position base (410) in a certain direction.

[0084] The above-mentioned moving drive unit (421) is a device for driving the moving block (422) and can be configured in various ways, such as an electric motor, a linear actuator, a ball screw drive unit, a rack and pinion drive unit, or a belt drive unit.

[0085] This moving drive unit (421) is fixedly installed on the upper surface of the position base (410) and can be configured to generate rotational or linear motion to move the moving block (422) along the upper surface of the position base (410).

[0086] For example, if the moving drive unit (421) is configured as a ball screw, the ball screw rotates by the rotation of the motor, and the moving block (422) can be moved by the nut part coupled thereto moving in a straight line.

[0087] The above-mentioned moving block (422) is configured to be movably installed on the upper surface of the position base (410), and can move along the upper surface of the position base (410) by receiving a driving force generated by the moving drive unit (421).

[0088] The above-mentioned moving block (422) performs the role of supporting the support unit (120) and can be moved to adjust or align the position of the support unit (120).

[0089] The above support unit (120) includes a support body (121) having a lower end formed convexly in a 'U' shape, and a pair of support adjustment parts (122) connecting both sides of the support body (121) and a movable block (422).

[0090] The above pair of support adjustment parts (122) can be extended or shortened in length, and accordingly, the support body (121) can be set vertically or the angle of the support body (121) can be adjusted.

[0091] A block groove (423) with a shape corresponding to the bottom surface of the support body (121) may be formed on the outer surface of the above-mentioned movable block (422). The block groove (423) may be formed in a curved shape or an arc shape corresponding to the bottom shape of the support body (121), and accordingly, the support unit (120) can be stably supported on the movable block (422).

[0092] The lower surface of the support body (121) may come into surface contact with the block groove (423). That is, by forming the lower surface of the support body (121) to come into contact with the inner surface of the block groove (423) over a wide area, the support unit (120) can be stably supported by the movable block (422).

[0093] Since this surface contact structure has an increased contact area compared to point contact or line contact structures, the load acting on the support unit (120) can be widely distributed, and shaking or positional deformation of the support unit (120) can be effectively suppressed.

[0094] Additionally, the block groove (423) can be formed in a shape that partially covers the lower surface of the support body (121), so that the support unit (120) can be stably maintained even during the process of moving the movable block (422).

[0095] If necessary, a low-friction coating layer to reduce friction may be formed on the inner surface of the block groove (423), or a cushioning member to prevent damage to the support unit (120) may be provided.

[0096] The first lifting unit (430) is configured to raise and lower the position base (410) in the vertical direction and may include a first lifting base (431) that is slidably connected to the second lifting unit (440), and a pair of first lifting drive units (433) that are connected to the first lifting base (431) on one side and connected to the position base (410) on the other side to raise and lower the position base (410).

[0097] The first lifting base (431) is configured to be slidably connected to the second lifting part (440) and can be moved up and down along a guide part or guide groove formed in the second lifting part (440).

[0098] To this end, a guide projection or a sliding support may be formed on one side of the first lifting base (431), and a corresponding guide groove or rail structure may be formed on the second lifting part (440). With this structure, the first lifting base (431) can be stably lifted while its movement path is guided by the second lifting part (440).

[0099] The above pair of first lifting drive units (433) are driving means for driving the first lifting base (431) to raise the position base (410), and one side may be connected to the first lifting base (431) and the other side may be connected to the position base (410).

[0100] Accordingly, when the first lifting drive unit (433) is operated, the relative position between the first lifting base (431) and the position base (410) changes, and as a result, the position base (410) can be moved upward or downward.

[0101] The first lifting drive unit (433) can be configured with various driving methods, such as a linear actuator, an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or a screw drive method, and the lifting operation of the position base (410) can be achieved by such driving methods.

[0102] Meanwhile, a first inclined surface (432) may be formed on one side of the first lifting base (431), that is, at a position facing the second lifting base (441). The first inclined surface (432) may serve to guide the first lifting base (431) to be lifted smoothly in conjunction with the operation of the second lifting drive unit (443) or the movement of the second lifting base (441).

[0103] For example, when the second lifting drive unit (443) is operated and the second lifting base (441) moves, the second lifting base (441) comes into contact with and slides along the first inclined surface (432), and an upward or downward force can be transmitted to the first lifting base (431).

[0104] In this way, the first lifting base (431) can move slidingly relative to the second lifting part (440) by means of the force transmitted through the first inclined surface (432) to raise the position base (410).

[0105] In addition, since driving force is transmitted through the inclined surface structure, lifting operations can be performed more smoothly, and shocks or interference that may occur during operation can be mitigated.

[0106] Accordingly, the first lifting unit (430) can stably lift the position base (410) through the driving of the first lifting drive unit (433) and the force transmission structure by the first inclined surface (432), and can improve the stability and precision of the lifting operation through the sliding coupling structure with the second lifting unit (440).

[0107] The above second lifting unit (440) is configured to induce a lifting operation of the position base (410) in conjunction with the first lifting unit (430), and may include a second lifting base (441) installed to be slidably movable on the vehicle (V), and a second lifting drive unit (443) installed on the vehicle (V) to move the second lifting base (441).

[0108] The second lifting base (441) is configured to be slidably installed on the vehicle (V) and can move linearly in a certain direction along a guide rail or guide groove formed on the vehicle body frame or equipment mounting frame.

[0109] To this end, a rail structure, a guide groove, or a sliding support structure may be formed in the mounting structure of the vehicle (V) to guide the movement path of the second lifting base (441), and the second lifting base (441) can be moved while being stably guided by such guide structure.

[0110] Additionally, a second inclined surface (442) that is in surface contact with the first inclined surface (432) of the first lifting base (431) may be formed on one side of the second lifting base (441). The second inclined surface (442) may be formed with an inclined shape corresponding to the first inclined surface (432), and when the second lifting base (441) moves, force can be transmitted through sliding contact while in surface contact with the first inclined surface (432). Due to this contact structure between the inclined surfaces, the horizontal movement of the second lifting base (441) can be converted into the vertical movement of the first lifting base (431).

[0111] That is, when the second lifting base (441) is moved by the second lifting drive unit (443), the second inclined surface (442) moves along the first inclined surface (432) and can transmit a force to push the first lifting base (431) upward or downward. Accordingly, the position base (410) connected to the first lifting base (431) can be raised and lowered in the vertical direction.

[0112] The second lifting drive unit (443) is a device for driving the second lifting base (441) and can be fixedly installed on the vehicle (V). The second lifting drive unit (443) can be configured with various driving methods, such as a screw drive method using an electric motor, a linear actuator method, a hydraulic cylinder method, or a pneumatic cylinder method, and the second lifting base (441) can be moved in the forward / backward direction or left / right direction relative to the vehicle by such driving methods.

[0113] In this way, when the second lifting drive unit (443) moves the second lifting base (441), the first lifting base (431) slides due to surface contact between the second inclined surface (442) and the first inclined surface (432), and the first lifting drive unit (433) and the position base (410) can be lifted together. With this structure, the height of the equipment or the position base (410) mounted on the vehicle (V) can be precisely adjusted, and a stable and smooth lifting operation can be achieved through a force transmission structure using the inclined surface.

[0114] In addition, since the first inclined surface (432) and the second inclined surface (442) are configured to be in surface contact, the contact area is increased so that the load can be distributed and there is an advantage of reducing localized wear or impact that may occur during the lifting process.

[0115] In this way, in the present invention, the position moving part (420) of the position adjustment part (400) can slide the support unit (120) in the longitudinal direction of the vehicle (V), the first lifting part (430) can move the support unit (120) in the height direction of the vehicle (V), the second lifting part (440) can lift the second lifting part (440) by mutual sliding contact between the first inclined surface (432) and the second inclined surface (442), and the second lifting part (440) can adjust the lifting position of the support unit (120) more precisely than the first lifting part (430).

[0116] Guide blocks (450) that guide the height direction lifting of the first lifting base (431) may be provided on both sides of the first lifting base (431).

[0117] Guide rods (460) are extended vertically downwards on both sides of the position base (410). A guide block (450) is connected to the end of the guide rod (460) by passing through it, and accordingly, when the first lifting base (431) is raised, the first lifting base (431) can be raised and lowered with respect to the guide rod (460) and the position base (410).

[0118] Since the first lifting base (431) is raised based on the guide rod (460) and the position base (410), shaking or displacement that may occur during the lifting process is prevented, and the first lifting base (431) can move vertically while maintaining a horizontal state.

[0120] FIG. 10 is a drawing showing the internal view of a buffer unit according to an embodiment of the present invention.

[0121] As described above, the buffer unit (300) according to the present invention is positioned between a pair of first lifting drive units (433) to support the lower surface of the position base (410) and the upper surface of the first lifting base (431).

[0122] The above buffer unit (300) includes a pair of upper and lower buffer members (310) in which the upper end contacts and supports the lower surface of the position base (410) and the lower end contacts and supports the upper surface of the first lifting base (431), and a buffer support member (320) connecting the pair of upper and lower buffer members (310) in the transverse direction.

[0123] The upper and lower cushioning member (310) comprises a cushioning case (311) positioned between the lower surface of the position base (410) and the upper surface of the first lifting base (431), a first cushioning rod (312) whose upper end contacts the lower surface of the position base (410) and whose lower end is inserted so as to be movable up and down inside the cushioning case (311), a second cushioning rod (313) whose lower end contacts the upper surface of the first lifting base (431) and whose upper end is inserted so as to be movable up and down inside the cushioning case (311), and a plurality of cushioning balls (314) positioned inside the cushioning case (311) and positioned between the first cushioning rod (312) and the second cushioning rod (313).

[0124] The upper and lower buffer section (310) serves as a direct support that elastically maintains the distance between the position base (410) and the first lifting base (431), and the first buffer rod (312) and the second buffer rod (313) slide up and down inside the buffer case (311) according to the operation of the first lifting drive section (433) to transfer the load of the position base (410) and the first lifting base (431) into the interior.

[0125] The above buffer ball (314) is formed in a spherical shape and is made of an elastic material, serving to maintain the elastic restoring force between the first buffer rod (312) and the second buffer rod (313). When the gap between the first buffer rod (312) and the second buffer rod (313) narrows, a number of buffer balls (314) can be densely packed, and when the gap between the first buffer rod (312) and the second buffer rod (313) widens, a number of buffer balls (314) can be dispersed.

[0126] In this way, the present invention can obtain much more flexible and progressive cushioning characteristics compared to metal springs by using a plurality of spherical cushioning balls (314), and can increase the durability of the entire device by preventing the load from being concentrated at a specific point through the distributed arrangement of the cushioning balls (314).

[0127] The above buffer support (320) connects a pair of upper and lower buffer members (310) in the lateral direction and holds them firmly, so it can effectively respond to torsional loads that may occur during lifting and lowering, and can obtain an additional buffering effect.

[0128] The above buffer support (320) includes a support case (321) that is coupled laterally between a pair of upper and lower buffer members (310), a support rod (322) that is arranged laterally inside the support case (321), a pair of support rings (323) that are coupled to both ends of the support rod (322), a plurality of upper and lower rods (324) that are vertically connected to the upper and lower surfaces of the support rod (322), and auxiliary rings (325) that are each coupled to the ends of the plurality of upper and lower rods (324).

[0129] The upper end of the support ring (323) contacts the inner upper surface of the support case (321), and the lower end of the support ring (323) contacts the inner lower surface of the support case (321). An auxiliary ring (325) coupled to the end of the upper and lower rod (324) connected to the upper surface of the support rod (322) contacts the inner upper surface of the support case (321), and an auxiliary ring (325) coupled to the end of the upper and lower rod (324) connected to the lower surface of the support rod (322) contacts the inner lower surface of the support case (321). The support ring (323) and the auxiliary ring (325) are made of a material capable of elastic deformation.

[0130] The support case (321) firmly connects a pair of upper and lower cushioning parts (310), and the support ring (323) and auxiliary ring (325) can move inside the support case (321) and absorb vibrations or shocks transmitted from the pair of upper and lower cushioning parts (310).

[0131] The support ring (323) maintains the support rod (322) floating inside the support case (321) and absorbs primary vibrations.

[0132] In this way, the buffer support (320) is not merely a fixed bar shape, but can disperse and absorb micro-vibrations through an internal composite rod structure. The main body of the support rod (322) is supported by a support ring (323), and the middle part of the support rod (322) is elastically supported at multiple points by a plurality of upper and lower rods (324) and an auxiliary ring (325). This structure disperses external shocks transmitted through the support case (321) to multiple points, thereby preventing stress from concentrating in a specific area.

[0133] If the upper and lower cushioning member (310) absorbs the main upper and lower shock, the support ring (323) and auxiliary ring (325) inside the cushioning support (320) can absorb residual vibrations transmitted to the support case (321) and noise caused by lateral movement, thereby increasing the quietness of the equipment operation.

[0134] It will be obvious to those skilled in the art that the invention described above is not limited by the aforementioned embodiments and attached drawings, and that various substitutions, modifications, and changes can be made within the scope of the technical concept of the invention. Explanation of the symbols

[0136] 100 : Mobile Mapping System 110 : Information Department 120 : Support unit 121 : Support body 122 : Support adjustment unit 200 : Acquisition device 300: Buffer unit 310: Upper and lower buffer section 311 : Buffer case 312 : First buffer load 313: Second buffer rod 314: Buffer ball 320 : Cushioning support 321 : Support case 322 : Support rod 323 : Support ring 324 : Up / Down Load 325 : Auxiliary Ring 400 : Position adjustment unit 410 : Position base 420 : Position shifting unit 421 : Movement drive unit 422 : Move Block 423 : Block Home 430: 1st lifting section 431: 1st lifting base 432 : First inclined surface 433 : First elevator drive unit 440: 2nd lifting section 441: 2nd lifting base 442 : Second inclined surface 443 : Second elevator drive unit 450 : Guide block 460 : Guide rod

Claims

Claim 1 A mobile mapping system that generates MMS data surveyed of a road and its surroundings; and an acquisition device that processes data generated from the mobile mapping system to generate a road surface shape; wherein the acquisition device comprises: a database that stores MMS data surveyed by the mobile mapping system; a LAS data generation unit that generates 3D LAS data using MMS data provided from the database; a 3D point extraction unit that extracts 3D points using the 3D LAS data generated by the LAS data generation unit; a point filtering unit that filters road surface points by applying thresholds of a preset allowable range and correlation to the 3D points; and a road surface shaping unit that shapes a road surface shape using road surface points filtered by the point filtering unit and stored in the database. The system comprises: a movable vehicle; a position adjustment unit installed on the upper surface of the vehicle; a support unit mounted on the upper surface of the position adjustment unit; and an information unit coupled to the upper surface of the support unit; wherein the position adjustment unit comprises: a position base spaced apart from the lower surface of the support unit and installed so that the support unit can move; and a position movement unit installed on the position base to move the support unit along the longitudinal direction of the vehicle. A first lifting unit positioned at the bottom of the position base to raise and lower the position moving unit;and a second lifting unit that is in surface contact with the first lifting unit and lifts the first lifting unit; wherein the position moving unit includes a moving drive unit fixed to the upper surface of the position base; and a moving block that is movably installed on the upper surface of the position base, supports a support unit, and is connected to the moving drive unit and moves; wherein the first lifting unit includes a first lifting base slidably connected to the second lifting unit; and a pair of first lifting drive units, one side of which is connected to the first lifting base and the other side of which is connected to the position base to lift the position base; wherein a first inclined surface is formed on the portion of the first lifting base facing the second lifting unit; and the second lifting unit includes a second lifting base that is slidably installed on the vehicle and has a second inclined surface formed thereon that is in surface contact with the first inclined surface; and a second lifting drive unit installed on the vehicle that moves the second lifting base to lift the first lifting base. It includes, wherein the first inclined surface guides the first lifting base to be raised in conjunction with the operation of the second lifting drive unit or the movement of the second lifting base, and the second inclined surface may be formed with an inclined shape corresponding to the first inclined surface, and when the second lifting base moves, it makes sliding contact with the first inclined surface while in surface contact, the position moving unit slides the support unit in the longitudinal direction of the vehicle, the first lifting unit moves the support unit in the height direction of the vehicle, and the second lifting unit raises the first lifting unit by mutual sliding contact between the first inclined surface and the second inclined surface, and guide blocks are provided on both sides of the first lifting base to guide the lifting of the first lifting base in the height direction, and the support unit comprises: a support body having a lower end formed convexly in a 'U' shape; and a pair of support adjustment units connecting both sides of the support body and the moving blocks. A cushioning unit comprising, wherein a block groove having a shape corresponding to the lower surface of a support body is formed on the outer surface of the movable block, the lower surface of the support body is in surface contact with the block groove, and is disposed between the pair of first lifting drive units to support the lower surface of the position base and the upper surface of the first lifting base;The damping unit further comprises: a pair of upper and lower damping members, the upper end of which contacts and supports the lower surface of a position base and the lower end of which contacts and supports the upper surface of a first lifting base; and a damping support connecting the pair of upper and lower damping members in the transverse direction; wherein the upper and lower damping members comprise: a damping case disposed between the lower surface of the position base and the upper surface of the first lifting base; a first damping rod, the upper end of which contacts the lower surface of the position base and the lower end of which is inserted so as to be movable up and down inside the damping case; a second damping rod, the lower end of which contacts the upper surface of the first lifting base and the upper end of which is inserted so as to be movable up and down inside the damping case; and a plurality of damping balls disposed inside the damping case and disposed between the first damping rod and the second damping rod; and wherein the damping support comprises: a support case coupled transversely between the pair of upper and lower damping members; a support rod disposed transversely inside the support case; and a pair of support rings coupled to both ends of the support rod. A precision road map construction system capable of automatically acquiring road surface shapes using an MMS, characterized by comprising: a plurality of upper and lower rods vertically connected to the upper and lower surfaces of a support rod; and auxiliary rings each coupled to the ends of the plurality of upper and lower rods.

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