High precision road map production system based on various mms data

Abstract

The present invention relates to a precision road map construction system, and more specifically, to a precision road map construction system for generating road alignments based on various MMS data, characterized by including a case in which a plurality of processing modules are mounted and an MMS vehicle on which the case is mounted, thereby enabling the automatic generation of road alignments when producing a high-precision electronic map for autonomous vehicles using a field survey method by utilizing voice recognition, image information captured of the road surroundings, and positioning information, and enabling the position of an antenna to be adjusted in correspondence with the surrounding environment.

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 for generating road alignments based on various MMS data. Background Technology

[0003] Autonomous vehicles require precise electronic maps containing key road information to prepare for situations where normal driving is difficult due to sensor errors or unexpected obstacles. However, existing electronic maps have positioning errors of tens of meters, making them unusable as they fail to meet the precision required for autonomous driving.

[0004] Accordingly, a high-precision road map production system utilizing MMS (Mobile Mapping System) equipment is being used to reduce positioning errors to less than 50 cm. MMS equipment consists of four core sensors—DGNSS (Differential Global Navigation Satellite System), IMU (Inertial Measurement Unit), camera, and LiDAR—to acquire high-precision positioning data.

[0005] DGNSS can achieve absolute positional precision of 50 cm by dramatically improving upon the tens of meters of error found in conventional GNSS (Global Navigation Satellite System). LiDAR can precisely measure the relative distance to a target point based on road-side facilities at up to 1 million points per second and record it in the form of a point cloud; it is capable of measurements with an error of less than 2 cm within a range of approximately 70 meters. IMUs serve as an auxiliary component to DGNSS by performing continuous positioning using speed and acceleration even in areas where GNSS signals are not received, such as tunnels, underground areas, and between high-rise buildings. Additionally, typically four to six cameras are installed to collect 360° video around the vehicle in real time and store it as a single frame.

[0006] High-precision electronic maps are produced based on data collected through such high-performance sensors, and these maps must include lane-level road alignment (network) information, which is a core element of autonomous driving. Existing electronic maps were limited to configuring road information based on a single centerline or, in some sections, configuring bidirectional road alignments. However, high-precision electronic maps must produce every lane as an individual road alignment and assign separate attribute information to each alignment.

[0007] Accordingly, high-precision electronic maps utilize DGNSS data to identify the lanes a vehicle actually travels in based on images captured while driving. For example, in the case of a four-lane road, four independent road alignments must be generated at regular intervals, and road attributes must be entered into each. This results in production time being more than five times longer than that of existing electronic maps, leading to a problem where the speed of map updates is reduced.

[0008] Registered Patent No. 10-2272140 reflects the complexity and time-consuming nature of such high-precision electronic map production methods, and currently, domestic electronic map production companies are also hesitant to produce high-precision maps due to high production costs and time input. As a result, no new production methods or systems capable of addressing these issues have yet been developed.

[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 for generating road alignments based on various MMS data, which enables the automatic generation of road alignments when producing high-precision electronic maps for autonomous vehicles using a field survey method by utilizing voice recognition, image information captured of the road surroundings, and positioning information, and allows the antenna position to be adjusted in correspondence with the surrounding environment.

[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 objective is characterized by including a case in which a plurality of processing modules are mounted, and a Mobile Mapping System (MMS) vehicle in which the case is mounted.

[0015] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, the processing modules mounted in the case preferably include a DGNSS receiver that receives location information from a satellite and performs precise correction, an audio input unit that recognizes voice information of a surveyor at the site, and a control unit that calculates current location coordinates using the location information received from the DGNSS receiver, extracts map data of the current shooting point from a memory unit, and processes camera images, LiDAR data, and IMU data of the corresponding shooting point.

[0016] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, the control unit calculates the position of a vehicle using absolute position information received from the DGNSS receiver and relative positioning based on IMU in sections where DGNSS reception is not possible, obtains distance information between the vehicle and the left and right boundary stones using LiDAR data, calculates the road width based on the number of lanes input from the audio input unit using the formula Road Width = |Gx - Lx| + |Gx - Rx|, calculates the lane width by dividing it by the number of lanes, and automatically generates road alignments on the left and right based on the driving lane.

[0017] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the MMS vehicle preferably includes a communication antenna unit for wireless communication, and the communication antenna unit preferably includes an antenna motor fixed to the ceiling surface of the MMS vehicle, an antenna drum fixed to the motor shaft, an arc-shaped iron piece wound on the antenna drum, an antenna pattern formed on the surface of the arc-shaped iron piece, and a tension roll that grips and raises the arc-shaped iron piece.

[0018] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, the MMS vehicle is equipped with a balance maintaining mechanism for adjusting the center of gravity, and the balance maintaining mechanism preferably includes a front-rear weight balance maintaining member and a left-right weight balance maintaining member controlled by a vehicle controller.

[0019] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the front-rear weight balance maintaining member preferably comprises a first adjustment motor, a first adjustment screw installed on the motor shaft, and a first balance weight coupled to the screw to move in the front-rear direction and adjust the weight.

[0020] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the left and right weight balance maintaining member preferably comprises a second adjustment motor, a second adjustment screw installed on the motor shaft, and a second balance weight coupled to the screw to move in the left and right directions and adjust the weight.

[0021] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, the headlight of the MMS vehicle is configured to be angle-adjustable by a lighting control motor, a drive gear in the form of a spur gear is fixed to the rotation axis of the motor, the headlight is rotatable around an angle adjustment axis inside the headlight body, and it is preferable that an arc-shaped dependent gear portion protrudes from the outer surface of the headlight to be gear-coupled with the drive gear.

[0022] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, a stepper motor is fixed to the lower surface of the vehicle body of the MMS vehicle, one end of a discharge member made of metal is fixed to the rotation axis of the stepper motor, a coil spring fixed to the vehicle body is connected to a part of the discharge member, and the stepper motor is preferably protected by a motor cover.

[0023] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, it is preferable to further include a position control unit installed in the MMS vehicle to control the position of the antenna drum.

[0024] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the position control unit preferably comprises: a position base spaced apart from the lower part of the antenna drum and having the antenna motor movably installed thereon; a position moving unit installed on the position base to move the antenna drum and the antenna motor in the longitudinal direction of the MMS vehicle; a first lifting unit positioned at the lower part of the position base to raise and lower the position moving unit; and a second lifting unit in surface contact with the first lifting unit and raising and lowering the first lifting unit.

[0025] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the position moving unit preferably comprises: a moving drive unit fixed to the upper surface of the position base; and a moving block movably installed on the upper surface of the position base, supporting the antenna drum, and connected to the moving drive unit to move.

[0026] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, a block groove having a shape corresponding to the outer surface of the antenna drum is formed on the outer surface of the moving block, and it is preferable that the outer surface of the antenna drum is in surface contact with the block groove.

[0027] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the first lifting unit comprises: a first lifting base slidably connected to the second lifting unit; and a first lifting drive unit, one side of which is connected to the lifting position base and the other side of which is connected to the position base to lift the position base, and preferably, a first inclined surface is formed on the portion of the first lifting base opposite to the second lifting drive unit.

[0028] In a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention, the second lifting unit preferably comprises: a second lifting base formed with a second inclined surface that is slidably installed on the MMS vehicle and contacts the first inclined surface; and a second lifting drive unit installed on the MMS vehicle and moves the second lifting base to lift the first lifting drive unit.

[0029] In a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention, the position moving unit slides the antenna drum in the longitudinal direction of the MMS vehicle, the first lifting unit moves the antenna drum in the height direction of the MMS vehicle, and the second lifting unit raises the second lifting unit by mutual sliding contact between the first inclined surface and the second inclined surface, and the MMS vehicle is preferably equipped with a guide block that guides the lifting of the first lifting base in the height direction. Effects of the invention

[0031] The present invention, having the above configuration, has the effect of automatically generating a road alignment when producing a high-precision electronic map for autonomous vehicles using a field survey method by utilizing image information and positioning information captured of the road surroundings and the surrounding area, and adjusting the position of the antenna to correspond to the surrounding environment. Brief explanation of the drawing

[0033] 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 an exemplary block diagram of a precision road map construction system for generating road alignments based on various MMS data according to an embodiment of the present invention. FIG. 2 is an exemplary flowchart illustrating a field survey process through a precision road map construction system according to an embodiment of the present invention. FIG. 3 is an exemplary plan view showing an example in which a road alignment by lane is automatically generated through voice recognition in a precision road map construction system according to an embodiment of the present invention. FIG. 4 is a conceptual diagram illustrating the principle of automatic road alignment generation according to an embodiment of the present invention. FIG. 5 is a drawing showing the overall appearance of a position adjustment unit according to an embodiment of the present invention. FIG. 6 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. 7 is an illustrative diagram showing an embodiment of a balance-maintaining mechanism according to an embodiment of the present invention. FIG. 8 is an exemplary diagram showing a headlight improvement structure according to an embodiment of the present invention. FIG. 9 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

[0034] 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.

[0035] 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.

[0036] 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.

[0038] FIG. 1 is an exemplary block diagram of a precision road map construction system for generating road alignment based on various MMS data according to an embodiment of the present invention; FIG. 2 is an exemplary flowchart explaining the field survey process through the precision road map construction system according to an embodiment of the present invention; FIG. 3 is an exemplary plan view showing an example in which a road alignment for each lane is automatically generated through voice recognition in the precision road map construction system according to an embodiment of the present invention; FIG. 4 is a conceptual diagram explaining the principle of automatic road alignment generation according to an embodiment of the present invention; FIG. 5 is a diagram showing the overall appearance of a position adjustment unit according to an embodiment of the present invention; FIG. 6 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; FIG. 7 is an exemplary diagram showing an implementation example of a balance maintenance mechanism according to an embodiment of the present invention; and FIG. 8 is an exemplary diagram showing an improved headlight structure according to an embodiment of the present invention.

[0039] As illustrated in FIGS. 1 and 5, the precision road map construction system according to the present invention is configured to produce a high-precision electronic map based on various MMS data. The system includes a case (2000) in which a plurality of processing modules are mounted, and the case (2000) is mounted inside an MMS (Mobile Mapping System) vehicle (1000).

[0040] The processing module mounted in the case (2000) includes a DGNSS (Differential Global Navigation Satellite System) receiver (102) that precisely corrects location information received from a satellite (100), and an audio input unit (104) that receives and recognizes the voice of an investigator at the site through a microphone (106).

[0041] Additionally, the system includes an image storage unit (114) that stores 360-degree image data generated from a first camera (122), a second camera (124), a third camera (126), and a fourth camera (128) installed on the front, rear, left, and right sides of the MMS vehicle, respectively; a LiDAR data positioning and storage unit (116) that measures and stores the shape of facilities around the road as point cloud data; an IMU data positioning and storage unit (118) that positions and stores information such as the speed, inclination, and height value of the MMS vehicle; a user data processing unit (120) that processes an interface (UI) with the user; and a received data storage and processing unit (112) that integrates, stores, and processes the received data.

[0042] The received data storage and processing unit (112) stores data such as video, audio, LiDAR, IMU, and DGNSS, and enables the generation of precise map information by combining it with location information received from the DGNSS receiving unit (102). This information is visually displayed through the display unit (108) and integrated and controlled in real time through the control unit (110). The control unit (110) calculates the current location coordinates using the DGNSS received information, extracts map data of the corresponding shooting point from the memory unit (148), and then performs display control together with the camera image, LiDAR data, and IMU data.

[0043] The memory unit (148) includes a plurality of data storage DBs for storing various data, and is composed of an electronic map data storage DB (132), a user data storage DB (134), an image data storage DB (136), an audio data storage DB (138), a LiDAR data storage DB (140), a DGNSS data storage DB (142), an IMU data storage DB (144), and a new road data storage DB (146) for storing new road data provided by the National Geographic Information Institute.

[0044] Meanwhile, the MMS vehicle (1000) is equipped with a communication antenna unit (2100) to provide wireless communication functions. This communication antenna unit (2100) is designed to be variable rather than fixed, thereby maintaining stable communication performance so that communication failures do not occur in remote areas or around structures. Since conventional telescopic antennas are undesirable due to spatial constraints and length limitations, a roll-type antenna structure is adopted in the present invention.

[0045] More specifically, the communication antenna unit (2100) includes an antenna motor (2110) fixed to the ceiling surface of the MMS vehicle, an antenna drum (2120) fixed to the rotation axis of the antenna motor (2110), an arc-shaped iron piece (2130) wound on the antenna drum (2120), an antenna pattern (2140) formed on the surface of the arc-shaped iron piece (2130), and a tension roll (2150) that grips and raises the arc-shaped iron piece (2130). A lead wire (2160) connected to the antenna pattern (2140) penetrates the surface of the antenna drum (2120) and enters the interior, then is drawn out through an open side and connected to the control unit (110) of the case (2000) to enable communication processing.

[0046] The control unit (110) is electrically connected to the antenna motor (2110), and when the communication gain received through the antenna pattern (2140) drops below a certain level, it controls the operation of the antenna motor (2110) to adjust the length or height of the antenna.

[0047] The arc-shaped iron piece (2130) is formed from a thin metal material with an arc-shaped cross-section, so that it can be easily wound onto an antenna drum (2120) and is structured to be straightened and erected when pulled out. This arc-shaped iron piece (2130) is arranged to pass between tension rolls (2150) and is guided so that pulling out and winding can be performed smoothly in the vertical direction. This roll-type structure can secure a sufficient deployment length of the antenna while minimizing installation space, thereby providing stable reception gain even in remote areas or communication dead zones, and effectively resolving communication failure or inability problems.

[0048] The precision road map construction system according to the present invention can be effectively utilized for field surveys as illustrated in FIGS. 2 and 3. When a survey operation begins, the system automatically boots up and switches to survey mode. At this time, if the survey mode is in the On state, the vehicle immediately starts driving, and if it is in the Off state, it determines whether to continue the survey after confirmation by the user, and if it continues, it maintains the survey mode switched to On.

[0049] When driving continues, the system first checks whether signals received from various sensors, such as DGNSS, IMU, and LiDAR, are input normally. If there are no issues, it calculates the coordinates of the current location to acquire position information. Once the position information is confirmed, it loads map data for that location and displays the DGNSS signal and other positioning data related to the current location on the display unit.

[0050] During the investigation, if the user utters a specific command via voice input, a change point (Node) is created at the corresponding location according to that voice command. The system determines whether the spoken voice matches a predefined command, and if voice recognition fails, it requests re-input. If the recognized voice command is valid, it is visually displayed on the screen based on its content; for example, lane information is distinguished as 'Lane 1' or 'Lane 2' to generate the corresponding road alignment, which is then stored and displayed. This series of processes is repeated chronologically and continues until the user utters the voice command 'End'.

[0051] The voice commands used at this time are configured according to specific rules and can be modified into various forms. For example, if the voice command "1st lane on a 5-lane one-way road" is input, the system displays a 5-lane one-way road alignment on the screen based on that location, and highlights the 1st lane in which the user is driving in red. In this way, the road alignment for each lane is automatically generated in real-time through voice recognition. Figure 4 explains the principle of this automatic road alignment generation in more detail.

[0052] The principle of automatic road alignment generation is based on the following information. The absolute position of a vehicle is determined from signals received from a DGNSS receiver, and in tunnels or urban areas where DGNSS reception is impossible, relative positioning is performed using an IMU sensor to supplement it. The distance to the right and left curbs is based on relative distance measurements using LiDAR, and the input number of lanes is obtained from voice information. All units are converted to meters (m) for calculation.

[0053] The road width is calculated according to the formula X = |Gx - Lx| + |Gx - Rx| based on the vehicle's X-coordinate (Gx), the left curb's X-coordinate (Lx), and the right curb's X-coordinate (Rx). For example, if the road width X is 19.5m and voice information is entered as '6 lanes in each direction, 3rd lane, 2nd lane', the total number of lanes is 6, and the lane width is calculated as 19.5 ÷ 6 = 3.25m. In this case, the position of the surveyed vehicle corresponds to the third lane from the left end of the road, meaning that the actual lane being driven is the 2nd lane.

[0054] In this case, the system generates one road alignment in the center based on the position of the survey vehicle, and generates one to the right and four to the left at intervals of 3.25m. As a result, the center line is located between the first and second lanes based on the leftmost lane.

[0055] As such, the present invention can automatically generate road alignments for each lane by linking an MMS-based system with real-time voice recognition. Previously, because lanes were manually distinguished and alignments were drawn by analyzing captured image data, production time was long and work efficiency was low. However, the configuration of the present invention can immediately and automatically generate road alignments by processing information input via voice in the field in real time, thereby simplifying the electronic map production process and drastically reducing production time. This enables the rapid production and rapid updating of high-precision electronic maps.

[0057] The antenna drum (2120) of this embodiment can be moved in the longitudinal direction of the MMS vehicle (1000) or adjusted in multiple stages in the height direction by the position adjustment unit (200).

[0058] The above position adjustment unit (200) includes a position base (210) spaced apart from the lower part of the antenna drum (2120) and installed so that the antenna drum (2120) can move, a position moving unit (220) installed on the position base (210) to move the antenna drum (2120) in the longitudinal direction of the MMS vehicle (1000), a first lifting unit (230) positioned on the lower part of the position base (210) to raise and lower the position moving unit (220), and a second lifting unit (240) in surface contact with the first lifting unit (230) and to raise and lower the first lifting unit (230).

[0059] The above position moving unit (220) is configured to move the antenna drum (2120) in a certain direction while supporting it, and may include a moving drive unit (221) fixed to the upper surface of the position base (210), and a moving block (222) that is movably installed on the upper surface of the position base (210), supports the antenna drum (2120), and is connected to the moving drive unit (221) to move.

[0060] The above position base (210) is a structure serving as the installation base for the position moving part (220), and a guide structure or a sliding support structure may be formed on the upper surface so that the moving block (222) can move stably.

[0061] For example, a guide rail, guide groove, or sliding surface may be formed on the upper surface of the position base (210) to guide the movement path of the movable block (222), and accordingly, the movable block (222) can move in a straight line along the upper surface of the position base (210) in a certain direction.

[0062] The above-mentioned moving drive unit (221) is a device for driving the moving block (222) 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.

[0063] This moving drive unit (221) is fixedly installed on the upper surface of the position base (210) and can be configured to generate rotational or linear motion to move the moving block (222) along the upper surface of the position base (210).

[0064] For example, if the moving drive unit (221) is configured as a ball screw, the ball screw rotates by the rotation of the motor, and the moving block (222) can be moved by the nut part coupled thereto moving in a straight line.

[0065] The above-mentioned moving block (222) is configured to be movably installed on the upper surface of the position base (210), and can be moved along the upper surface of the position base (210) by receiving a driving force generated by the moving drive unit (221).

[0066] The above-mentioned moving block (222) serves to support the antenna drum (2120) and can be moved to adjust or align the position of the antenna drum (2120).

[0067] In particular, a block groove (223) having a shape corresponding to the outer surface of the antenna drum (2120) may be formed on the outer surface of the movable block (222). The block groove (223) may be formed in a curved shape or an arc shape corresponding to the outer shape of the antenna drum (2120), and accordingly, the antenna drum (2120) can be stably supported on the movable block (222).

[0068] The outer surface of the antenna drum (2120) may come into surface contact with the block groove (223). That is, the outer surface of the antenna drum (2120) is formed to come into contact with the inner surface of the block groove (223) over a wide area, so that the antenna drum (2120) can be stably supported by the movable block (222).

[0069] Since this surface contact structure has an increased contact area compared to point contact or line contact structures, the load acting on the antenna drum (2120) can be widely distributed, and shaking or positional deformation of the antenna drum (2120) can be effectively suppressed.

[0070] Additionally, the block groove (223) can be formed in a shape that partially wraps around the outer surface of the antenna drum (2120), so that the antenna drum (2120) can be stably maintained even during the process of moving the movable block (222).

[0071] If necessary, a low-friction coating layer to reduce friction may be formed on the inner surface of the block groove (223), or a cushioning member to prevent damage to the antenna drum (2120) may be provided.

[0072] The first lifting unit (230) is configured to lift the position base (210) in an up-and-down direction and may include a first lifting base (231) that is slidably connected to the second lifting unit (240), and a pair of first lifting drive units (233) that are connected to the first lifting base (231) on one side and connected to the position base (210) on the other side to lift the position base (210).

[0073] The first lifting base (231) is configured to be slidably connected to the second lifting part (240) and can be moved up and down along a guide part or guide groove formed in the second lifting part (240).

[0074] To this end, a guide projection or a sliding support may be formed on one side of the first lifting base (231), and a corresponding guide groove or rail structure may be formed on the second lifting part (240). With this structure, the first lifting base (231) can be stably lifted while its movement path is guided by the second lifting part (240).

[0075] The above pair of first lifting drive units (233) are driving means for driving the first lifting base (231) to raise the position base (210), and one side may be connected to the first lifting base (231) and the other side may be connected to the position base (210).

[0076] Accordingly, when the first lifting drive unit (233) is operated, the relative position between the first lifting base (231) and the position base (210) changes, and as a result, the position base (210) can be moved upward or downward.

[0077] The first lifting drive unit (233) 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 (210) can be achieved by such driving methods.

[0078] Meanwhile, a first inclined surface (232) may be formed on one side of the first lifting base (231), that is, at a position facing the second lifting base (241). The first inclined surface (232) may serve to guide the first lifting base (231) to be lifted smoothly in conjunction with the operation of the second lifting drive unit (243) or the movement of the second lifting base (241).

[0079] For example, when the second lifting drive unit (243) is operated and the second lifting base (241) moves, the second lifting base (241) comes into contact with and slides along the first inclined surface (232), and an upward or downward force can be transmitted to the first lifting base (231).

[0080] In this way, the first lifting base (231) can move slidingly relative to the second lifting part (240) by means of the force transmitted through the first inclined surface (232) to raise the position base (210).

[0081] 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.

[0082] Accordingly, the first lifting unit (230) can stably lift the position base (210) through the driving of the first lifting drive unit (233) and the force transmission structure by the first inclined surface (232), and can improve the stability and precision of the lifting operation through the sliding coupling structure with the second lifting unit (240).

[0083] The above second lifting unit (240) is configured to induce a lifting operation of the position base (210) in conjunction with the first lifting unit (230), and may include a second lifting base (241) installed to be slidably movable on the MMS vehicle (1000), and a second lifting drive unit (243) installed on the MMS vehicle (1000) to move the second lifting base (241).

[0084] The second lifting base (241) is configured to be slidably installed on the MMS vehicle (1000) and can move linearly in a certain direction along a guide rail or guide groove formed on the vehicle's body frame or equipment mounting frame.

[0085] To this end, a rail structure, a guide groove, or a sliding support structure may be formed in the mounting structure of the MMS vehicle (1000) to guide the movement path of the second lifting base (241), and the second lifting base (241) can be moved while being stably guided by such a guide structure.

[0086] Additionally, a second inclined surface (242) that is in surface contact with the first inclined surface (232) of the first lifting base (231) may be formed on one side of the second lifting base (241). The second inclined surface (242) may be formed with an inclined shape corresponding to the first inclined surface (232), and when the second lifting base (241) moves, force can be transmitted through sliding contact while in surface contact with the first inclined surface (232). Due to this contact structure between the inclined surfaces, the horizontal movement of the second lifting base (241) can be converted into the vertical movement of the first lifting base (231).

[0087] That is, when the second lifting base (241) is moved by the second lifting drive unit (243), the second inclined surface (242) moves along the first inclined surface (232) and can transmit a force to push the first lifting base (231) upward or downward. Accordingly, the position base (210) connected to the first lifting base (231) can be raised and lowered in the vertical direction.

[0088] The second lifting drive unit (243) is a device for driving the second lifting base (241) and can be fixedly installed on the MMS vehicle (1000). The second lifting drive unit (243) 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 (241) can be moved in the forward / backward direction or left / right direction relative to the vehicle by such driving methods.

[0089] In this way, when the second lifting drive unit (243) moves the second lifting base (241), the first lifting base (231) slides due to surface contact between the second inclined surface (242) and the first inclined surface (232), and the first lifting drive unit (233) and the position base (210) can be lifted together. With this structure, the height of the equipment or the position base (210) mounted on the MMS vehicle (1000) can be precisely adjusted, and a stable and smooth lifting operation can be achieved through a force transmission structure using the inclined surface.

[0090] In addition, since the first inclined surface (232) and the second inclined surface (242) 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.

[0091] In this way, the position moving part (220) of the position adjustment part (200) of the present invention slides the antenna drum (2120) in the longitudinal direction of the MMS vehicle (1000), the first lifting part (230) can move the antenna drum (2120) in the height direction of the MMS vehicle (1000), the second lifting part (240) raises the second lifting part (240) by mutual sliding contact between the first inclined surface (232) and the second inclined surface (242), and the second lifting part (240) can adjust the lifting position of the antenna drum (2120) more precisely than the first lifting part (230).

[0092] Guide blocks (250) that guide the height direction lifting of the first lifting base (231) may be provided on both sides of the first lifting base (231).

[0093] Guide rods (260) are extended vertically downwards on both sides of the position base (210). A guide block (250) is connected to the end of the guide rod (260) by passing through it, and accordingly, when the first lifting base (231) is raised, the first lifting base (231) can be raised and lowered with respect to the guide rod (260) and the position base (210).

[0094] Since the first lifting base (231) is raised based on the guide rod (260) and the position base (210), shaking or displacement that may occur during the lifting process is prevented, and the first lifting base (231) can move vertically while maintaining a horizontal state.

[0096] FIG. 9 is a drawing showing the internal view of a buffer unit according to an embodiment of the present invention.

[0097] As described above, the buffer unit (300) according to the present invention is positioned between a pair of first lifting drive units (233) to support the lower surface of the position base (210) and the upper surface of the first lifting base (231).

[0098] 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 (210) and the lower end contacts and supports the upper surface of the first lifting base (231), and a buffer support member (320) connecting the pair of upper and lower buffer members (310) in the lateral direction.

[0099] The upper and lower cushioning member (310) comprises a cushioning case (311) positioned between the lower surface of the position base (210) and the upper surface of the first lifting base (231), a first cushioning rod (312) whose upper end contacts the lower surface of the position base (210) 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 (231) 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).

[0100] The upper and lower buffer section (310) serves as a direct support that elastically maintains the distance between the position base (210) and the first lifting base (231), 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 (233) to transfer the load of the position base (210) and the first lifting base (231) into the interior.

[0101] 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.

[0102] 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).

[0103] 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.

[0104] 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).

[0105] 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.

[0106] 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).

[0107] The support ring (323) maintains the support rod (322) floating inside the support case (321) and absorbs primary vibrations.

[0108] 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.

[0109] 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.

[0111] In addition, the present invention may further provide a balance-maintaining mechanism to maintain the center of gravity of the MMS vehicle (1000) in a balanced manner, as shown in the example of FIG. 7, so that the vehicle can drive stably without left-right swaying.

[0112] The above balance maintenance mechanism is composed of a front-rear weight balance maintenance member (1500) and a left-right weight balance maintenance member (1600) controlled by a vehicle controller (1200), and the front-rear weight balance maintenance member (1500) is composed of a first adjustment motor (1510), a first adjustment screw (1520) installed on the motor shaft of the motor, and a square block-shaped first balance maintenance weight (1530) that is coupled to the first adjustment screw (1520) and moves back and forth to adjust the weight.

[0113] Additionally, the left and right weight balance maintenance member (1600) comprises a second adjustment motor (1610), a second adjustment screw (1620) installed on the motor shaft of the motor, and a square block-shaped second balance maintenance weight (1630) that is coupled to the second adjustment screw (1620) and moves left and right to adjust the weight.

[0114] Thus, the vehicle controller (1200) compares the loads detected at each axle to check for weight differences, and controls the front-rear weight balance maintenance unit (1500) and the left-right weight balance maintenance unit (1600) so that if the weight applied to each axle is maintained evenly within an error range, it is determined that the center of gravity has been adjusted and the weight adjustment operation is terminated.

[0115] By doing this, driving stability is significantly improved and fuel efficiency is enhanced because the vehicle's center of gravity always remains at the center of the car.

[0116] In addition, as illustrated in FIG. 8(a), the headlight (1700), which is a vehicle light, is configured to be angle-adjustable by a light control motor (1710), and the light control motor (1710) is electrically connected to the vehicle controller (1200) and driven by control.

[0117] For example, after the vehicle controller (1200) receives the rotational speed of the motor driving the main front wheel, it reads the vehicle's speed. Then, if the vehicle speed is faster than the regulated speed, it controls the headlights (1700) to be adjusted upward to illuminate far away, and if the vehicle speed is slower than the regulated speed, it controls the headlights (1700) to be adjusted downward to illuminate close by. This assists in autonomous driving.

[0118] In this case, the angle adjustment can be designed to set the vehicle speed by dividing it into specific sections, and the vehicle controller (1200) determines the rotation direction and rotation amount (rotation angle) of the lighting control motor (1710) based on this and controls the drive.

[0119] Here, a drive gear (1720) in the form of a spur gear is fixed to the rotation axis of the lighting control motor (1710), and the headlight (1700) is configured to rotate around an angle adjustment axis (1740) inside the headlight body (1750) (angle adjustment to adjust the beam angle of the headlight).

[0120] And, on one side of the outer surface of the headlight (1700), a dependent gear part (1730) that is gear-coupled with the drive gear (1720) is formed protrudingly.

[0121] The above dependent gear portion (1730) may have an arc shape and a structure in which a gear is formed on the gear coupling surface.

[0122] Additionally, the lighting control motor (1710) is fixed to the inner wall surface of the headlight body (1750), and a drive gear (1720) that is gear-coupled to the dependent gear part (1730) can be arranged to be fixed to the shaft while the rotation axis protrudes toward the dependent gear part (1730).

[0123] Furthermore, as shown in FIG. 8(b), the present invention may be configured to further provide a discharge member (1800) at the bottom of the MMS vehicle (1000) to suppress static electricity generation, particularly in winter.

[0124] That is, according to FIG. 8(b), a stepper motor (1820) is fixed to the lower surface of the MMS vehicle (1000), and one end of a metal discharge member (1800) is fixed to the rotation axis of the stepper motor (1820) so that when the stepper motor (1820) is rotated within a certain angle, the other end of the discharge member (1800) can come into contact with the ground.

[0125] Then, a coil spring (1810) fixed to the MMS vehicle (1000) can be connected to a part of the discharge member (1800) to maintain an energized state, so that it is configured to automatically fold when the stepper motor (1820) fails, thereby not interfering with driving.

[0126] In particular, since the stepper motor (1820) is installed at the bottom of the MMS vehicle (1000), a motor cover (1830) may be further provided to protect it from flying debris.

[0127] 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

[0129] 100 : Satellite 104 : Audio input section 110: Control unit 102: DGNSS receiver 108: Display unit 148: Memory unit 200 : Position adjustment unit 210 : Position base 220 : Position shifting unit 221 : Movement drive unit 222 : Move Block 223 : Block Home 230: 1st lifting section 231: 1st lifting base 232 : First inclined surface 233 : First elevator drive unit 240: 2nd lifting section 241: 2nd lifting base 242 : Second inclined surface 243 : Second elevator drive unit 250 : Guide Block 260 : Guide Rod 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

Claims

Claim 1 The system includes a case in which a plurality of processing modules are mounted, and a Mobile Mapping System (MMS) vehicle in which the case is mounted. The processing modules mounted in the case include a DGNSS receiver that receives location information from a satellite and performs precise correction, an audio input unit that recognizes voice information of an investigator at the site, and a control unit that calculates current location coordinates using location information received from the DGNSS receiver, extracts map data of the current shooting point from a memory unit, and processes camera images, LiDAR data, and IMU data of the corresponding shooting point. The control unit calculates the vehicle's position using absolute location information received from the DGNSS receiver and IMU-based relative positioning in sections where DGNSS reception is unavailable, obtains distance information between the vehicle and the left and right boundary stones using LiDAR data, and calculates the road width based on the number of lanes input from the audio input unit. Road width = |Gx - Lx| Calculated using the formula + |Gx - Rx| and divided by the number of lanes to calculate the lane width, thereby automatically generating road alignments to the left and right based on the driving lane; the MMS vehicle includes a communication antenna unit for wireless communication, and the communication antenna unit includes an antenna motor fixed to the ceiling surface of the MMS vehicle, an antenna drum fixed to the motor shaft, an arc-shaped iron piece wound on the antenna drum, an antenna pattern formed on the surface of the arc-shaped iron piece, and a tension roll that grips and raises the arc-shaped iron piece; the MMS vehicle is equipped with a balance maintaining mechanism for adjusting the center of gravity, and the balance maintaining mechanism includes a front-rear weight balance maintaining member and a left-right weight balance maintaining member controlled by a vehicle controller; the front-rear weight balance maintaining member is composed of a first adjustment motor, a first adjustment screw installed on the motor shaft, and a first balance weight that is meshed with the screw and moves in the front-rear direction to adjust the weight; the left-right weight balance maintaining member is composed of a second adjustment motor, a second adjustment screw installed on the motor shaft,It comprises a second balance weight that is meshed with the screw and moves in the left and right directions to adjust the weight, and the headlight of the MMS vehicle is configured to be angle-adjustable by a lighting control motor, and a drive gear in the form of a spur gear is fixed to the rotation axis of the motor, and the headlight is rotatable around the angle adjustment axis inside the headlight body, and an arc-shaped dependent gear part that is gear-coupled with the drive gear is formed protrudingly on the outer surface of the headlight, and a step motor is fixed to the lower surface of the body of the MMS vehicle, and one end of a discharge member made of metal is fixed to the rotation axis of the step motor, and a coil spring fixed to the body is connected to a part of the discharge member, and the step motor is protected by a motor cover, and further includes a position adjustment unit installed in the MMS vehicle to adjust the position of the antenna drum, wherein the position adjustment unit comprises: a position base spaced apart from the lower part of the antenna drum and installed so that the antenna drum can move; and a position moving unit installed on the position base to move the antenna drum in the longitudinal direction of the MMS vehicle. A first lifting unit disposed at the lower part of a position base to raise and lower a position moving unit; and a second lifting unit that is in surface contact with the first lifting unit and raises 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 movably installed on the upper surface of the position base to support an antenna drum and connected to the moving drive unit to move; wherein a block groove having a shape corresponding to the outer surface of the antenna drum is formed on the outer surface of the moving block, and the outer surface of the antenna drum is in surface contact with the block groove; 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 raise and lower the position base; wherein a first inclined surface is formed on the part of the first lifting base facing the second lifting unit, and the second lifting unitA second lifting base installed to be slidably movable on an MMS vehicle and having a second inclined surface formed in contact with a first inclined surface; and a second lifting drive unit installed on an MMS 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 antenna drum in the longitudinal direction of the MMS vehicle, the first lifting unit moves the antenna drum in the height direction of the MMS vehicle, the second lifting unit raises the first lifting unit by mutual sliding contact between the first inclined surface and the second inclined surface, 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 a cushioning unit 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 buffer unit further 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 connecting the pair of upper and lower buffer members in the lateral direction; wherein the upper and lower buffer members comprise: a buffer case disposed between the lower surface of the position base and the upper surface of the first lifting base; a first buffer 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 buffer case; a second buffer 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 buffer case; and a plurality of buffer balls disposed inside the buffer case and disposed between the first buffer rod and the second buffer rod; and wherein the buffer support memberA precision road map construction system for generating road alignments based on various MMS data, characterized by comprising: a support case transversely coupled between a pair of upper and lower buffer members; a support rod disposed transversely inside the support case; a pair of support rings coupled to both ends of the support rod; a plurality of upper and lower rods vertically connected to the upper and lower surfaces of the support rod; and auxiliary rings each coupled to the ends of the plurality of upper and lower rods.

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