High precision road map construction system for acquiring lane of high precision road map using mms vehicle

Abstract

The present invention relates to a precision road map construction system, and more specifically, to a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle capable of acquiring road lane information based on information acquired using a mobile mapping system, characterized by comprising a mobile mapping system that generates driving path information and LAS data, a control unit that processes data generated from the mobile mapping system to generate lane information, and a communication unit that transmits the generated lane information to a server.

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 acquiring lanes of a high-precision road map through an MMS shooting vehicle. 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 equips a moving object, such as a vehicle, with a shooting sensor such as a camera or lidar and a precise GNSS / INS to calculate accurate position and attitude information for the shooting sensor while the operation is in progress, 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 a mobile mapping system is generated in the form of a point cloud based on position coordinates obtained from GNSS / INS, and this is a set of points having three-dimensional spatial coordinates.

[0008] However, since this point data does not provide clear shape information such as road surfaces and lanes, there is a problem in that the operator must manually generate information based on the point cloud to extract these shapes.

[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 acquiring lanes of a high-precision road map through an MMS shooting vehicle capable of acquiring road lane information based on information obtained using a mobile mapping system.

[0012] In addition, another objective of the present invention is to provide a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle capable of improving the data collection accuracy of the information unit.

[0013] 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

[0015] The configuration of the present invention for achieving the above purpose is characterized by comprising: a mobile mapping system that generates driving path information and LAS (Location Aware System) data; a control unit that processes data generated from the mobile mapping system to generate lane information; and a communication unit that transmits the generated lane information to a server.

[0016] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle according to an embodiment of the present invention, the control unit preferably comprises: a LAS cross-section processing unit that extracts cross-section data for reference points of a driving path line from LAS data acquired from a mobile mapping system; a road surface extraction unit that extracts a road surface using height information from the cross-section data extracted through the LAS cross-section processing unit; and a lane extraction unit that extracts lane points based on the reflection intensity of each point within the road surface extracted through the road surface extraction unit.

[0017] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle according to an embodiment of the present invention, the lane extraction unit generates lane information by connecting lane points extracted for each reference point in the direction of the driving path line, and recognizes the type of lane by analyzing the pattern of lane points extracted for each reference point, and if the pattern of lane points for one lane is continuously extracted, the lane is recognized as a solid line, if the pattern of lane points for one lane is intermittently extracted, the lane is recognized as a dotted line, and if the pattern of two lane points for one cross-section is within a reference distance, the lane is recognized as a double line.

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

[0019] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 raising and lowering the position movement unit; and a second lifting unit in surface contact with the first lifting unit and raising and lowering the first lifting unit.

[0020] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 movably installed on the upper surface of a position base, supporting a support unit, and connected to the moving drive unit to move.

[0021] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle according to an embodiment of the present invention, the second position lifting unit preferably comprises: a second lifting base formed with a second inclined surface that is slidably installed on the vehicle and contacts 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.

[0024] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 moving block.

[0027] In a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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 acquiring lanes of a high-precision road map through an MMS shooting vehicle 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, has the effect of automatically acquiring road lane information by extracting cross-sectional data for reference points of driving path lines from LAS data and extracting lane points based on the reflection intensity of each point of the cross-sectional data.

[0033] In addition, the present invention has the effect of automatically recognizing the type of lane by analyzing the pattern of extracted lane points.

[0034] Furthermore, the present invention has the effect of significantly increasing stability when acquiring data from the information unit, allowing the mounting angle to be adjusted, and enabling free attachment and detachment depending on the situation. Brief explanation of the drawing

[0036] 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 configuration of a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle according to an embodiment of the present invention. FIG. 2 is an illustrative diagram for explaining a cross-sectional processing process according to an embodiment of the present invention. FIGS. 3 and 4 are illustrative diagrams for explaining a road surface extraction process according to an embodiment of the present invention. FIGS. 5 and 6 are illustrative diagrams for explaining a lane point extraction process according to an embodiment of the present invention. FIG. 7 is an illustrative diagram for explaining a lane information generation process according to an embodiment of the present invention. FIGS. 8 and 9 are exemplary diagrams for explaining a lane type recognition process according to an embodiment of the present invention. FIG. 10 is a flowchart for explaining the operation method of a precision road map construction system according to an embodiment of the present invention. FIG. 11 is a drawing illustrating a specific view of a mobile mapping system according to an embodiment of the present invention. FIG. 12 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. 13 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

[0037] 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.

[0038] 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.

[0039] 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.

[0041] FIG. 1 is a block diagram illustrating the configuration of a precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle according to an embodiment of the present invention.

[0042] As described above, the precision road map construction system according to the present invention includes a mobile mapping system (200) that generates driving path information and LAS (Location Aware System) data, a control unit (100) that processes data generated from the mobile mapping system (200) to generate lane information, and a communication unit (110) that transmits the generated lane information to a server.

[0043] The control unit (100) may include a LAS cross-section processing unit (101), a road surface extraction unit (102), and a lane extraction unit (103).

[0044] The information section (210) of the mobile mapping system (200) may be composed of a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System), DMI (Distance Measurement Instrument), laser scanner, etc.

[0045] This mobile mapping system (200) can generate driving path information and LAS (laser point) data, wherein the driving path information may include information about the three-dimensional driving position.

[0046] The communication unit (110) is configured to communicate with a server and can transmit lane information generated through the process described below and information regarding the recognized lane type to the server. Here, the server receiving the lane information and information regarding the lane type may be a server for storing or processing map information, a server for providing map information, etc. In addition, various methods may be employed for communication between the communication unit (110) and the server, and it is preferable to use a mobile communication method such as LTE.

[0047] The control unit (100) may be a computational processing unit configured to include a processor, or it may be configured to include a plurality of processors. That is, the LAS section processing unit (101), the road surface extraction unit (102), and the lane extraction unit (103) may each be configured as individual processors. Alternatively, the functions of the control unit (100) may be distributed across one or more processors, for example, the road surface extraction unit (102) and the lane extraction unit (103) may be implemented on a single processor. In this case, the functions of the LAS section processing unit (101), the road surface extraction unit (102), and the lane extraction unit (103) may each be configured in the form of a control algorithm or logic.

[0048] Thus, the present invention may be configured as a device that processes information obtained through a mobile mapping system (200) in real time and transmits information about lanes to a server. However, not all embodiments of the present invention are limited thereto.

[0050] FIG. 2 is an illustrative diagram for explaining a cross-sectional processing process according to an embodiment of the present invention, FIG. 3 and FIG. 4 are illustrative diagrams for explaining a road surface extraction process according to an embodiment of the present invention, and FIG. 5 and FIG. 6 are illustrative diagrams for explaining a lane point extraction process according to an embodiment of the present invention.

[0051] The LAS cross-section processing unit (101) can extract cross-section data for reference points of the driving path line from the LAS data obtained from the mobile mapping system (200).

[0052] Specifically, a driving path line of a vehicle can be obtained from driving path information generated by a mobile mapping system (200). At this time, a method in which the driving path line is generated by the mobile mapping system (200) and transmitted to the LAS section processing unit (101), or a method in which the LAS section processing unit (101) directly calculates it from the driving path information, may be used.

[0053] Such a driving path line can be obtained as shown in FIG. 2 (pink line with yellow dots).

[0054] The yellow dot shown in FIG. 2 represents a reference point of the driving path line, and the device according to the present embodiment may be configured to select a reference point at preset intervals and extract lane-related information based on this reference point.

[0055] That is, the LAS cross-section processing unit (101) can extract cross-section data by cross-section processing LAS data at each reference point, and such cross-section data may mean point data of a plane perpendicular to the driving path line (blue line in Fig. 2).

[0056] The road surface extraction unit (102) can extract a road surface using height information from the cross-sectional data extracted from the LAS cross-sectional processing unit (101). Here, the road surface may refer to a set of points corresponding to the expected road surface.

[0057] Specifically, since information about the height at which the vehicle traveled can be obtained through driving path information, information about the height of the road surface at which the vehicle traveled can also be obtained.

[0058] That is, the road surface extraction unit (102) can extract points corresponding to the expected road surface by using the height information of each point of the cross-sectional data. For example, the road surface extraction unit (102) can extract points having a height within a certain range based on the height of the road surface on which the vehicle traveled as points corresponding to the expected road surface.

[0059] Additionally, as can be seen in FIG. 3, the road surface extraction unit (102) may identify the approximate shape of the road using the shape of points where the reflection intensity is greater than or equal to a threshold value, and may use this to identify the start and end points of the road surface (see FIG. 3 and FIG. 4), and extract points between those points as points corresponding to the expected road surface. That is, since a structure different from the road (e.g., sidewalk blocks, guardrails, etc.) is located at the end point of the road surface, the reflection intensity for that point shows a shape different from the road surface, and the road surface extraction unit (102) can be configured to identify the start and end points of the road surface through this. For example, the road surface extraction unit (102) may grid cross-sectional data and identify the start and end points of the road surface using the height difference of consecutive points.

[0060] The road surface extraction unit (102) can improve the accuracy of lane information acquisition and lane recognition and reduce the amount of data processed by reducing the number of points subject to analysis through such road surface extraction work.

[0061] The lane extraction unit (103) can extract lane points based on the reflection intensity of each point within the road surface extracted through the road surface extraction unit (102).

[0062] That is, as can be seen in FIGS. 5 and 6, the reflection intensity of a point corresponding to a lane of a road has a value according to the characteristics of the paint used as a lane of the road, so the lane extraction unit (103) can extract a point corresponding to a lane according to a preset standard. Here, the preset standard can be set in such a way that a point with a reflection intensity greater than or equal to a preset value is extracted, or a point with a reflection intensity included within a preset range is extracted.

[0063] In addition, the lane extraction unit (103) can extract lane points by further considering the spacing or height difference between the extracted points, taking into account the reflection intensity when extracting lane points.

[0064] That is, due to the characteristics of the road, the spacing between lane points falls within the legal range (e.g., 3m to 5m), so points that fall outside this range can be treated as errors and excluded from the lane points. Also, since the height difference between two adjacent lanes cannot be more than several tens of centimeters, the lane extraction unit (103) can re-verify the extracted points by considering the height difference between the extracted points based on reflection intensity.

[0066] FIG. 7 is an illustrative diagram for explaining a lane information generation process according to an embodiment of the present invention, and FIG. 8 and FIG. 9 are illustrative diagrams for explaining a lane type recognition process according to an embodiment of the present invention.

[0067] Meanwhile, since the extraction of lane points described above can be performed for each reference point, as can be seen in FIG. 7, the lane extraction unit (103) can generate lane information by connecting the lane points extracted for each reference point in the direction of the driving path line.

[0068] Here, connecting lane points in the direction of the driving path line does not mean connecting them in the exact same direction as the driving path line, but should be interpreted as connecting the lane points in a direction similar to the driving path line (a direction having the same directional properties as the driving path line's direction of travel).

[0069] In addition, the lane extraction unit (103) can recognize the type of lane by analyzing the pattern of lane points extracted for each reference point, and, for example, can recognize dotted lines, solid lines, and double lines as the type of lane.

[0070] That is, as can be seen in FIGS. 8 and 9, the lane extraction unit (103) recognizes the lane as a solid line if the lane points for one lane are extracted continuously, recognizes the lane as a dotted line if the lane points for one lane are extracted intermittently, and recognizes the lane as a double line if the two lane points for one cross-section are within a reference distance.

[0071] In this case, a pattern in which lane points for a single lane are extracted continuously can be interpreted as a case in which lane points for the lane have a tendency to exist continuously (e.g., when lane points exist at 8 or more of the 10 reference points), and it is desirable to interpret that the lane points have such a tendency even in cases where lane points for a single lane are extracted intermittently or where two lane points for a single cross-section are within a reference distance.

[0072] Meanwhile, the present invention may be configured such that the control unit is configured separately from the vehicle equipped with the mobile mapping system, for example, in the form of a server capable of data computation, and in such case, the device may be configured such that the control unit (i.e., a processor included in the server) acquires driving path information and LAS data from the mobile mapping system and automatically performs lane information generation and lane type recognition.

[0074] FIG. 10 is a flowchart for explaining the operation method of a precision road map construction system according to an embodiment of the present invention.

[0075] As illustrated in FIG. 10, the control unit (100) first acquires a driving path line and LAS data (S100). At this time, the control unit (100) may be configured to acquire a driving path line from the mobile mapping system (200) or to acquire a driving path line by receiving driving path information from the mobile mapping system (200).

[0076] Next, the control unit (100) extracts LAS cross-sectional data for reference points of the driving path line (S200). That is, the control unit (100) can extract cross-sectional data by cross-processing LAS data at each reference point of the driving path line, and such cross-sectional data may mean point data of a plane perpendicular to the driving path line.

[0077] After the above step (S200), the control unit (100) extracts the road surface using height information from the LAS cross-sectional data (S300). Here, the road surface may refer to a set of points corresponding to the expected road surface.

[0078] The control unit (100) can, for example, extract points having a height within a certain range based on the height of the road surface on which the vehicle traveled as points corresponding to the expected road surface.

[0079] In addition, the control unit (100) can identify the approximate shape of the road using the shape of points where the reflection intensity is greater than or equal to a threshold value to extract the start and end points of the road surface (see FIG. 3 and FIG. 4), and among the points having a height within a certain range based on the height of the road surface where the vehicle traveled, the points located between the start and end points of the road surface can be extracted as points corresponding to the expected road surface.

[0080] Next, the control unit (100) extracts lane points based on reflection intensity within the extracted road surface (S400). For example, the control unit (100) can extract points corresponding to lanes where the reflection intensity meets a preset standard. Here, the preset standard can be set in such a way that points are extracted where the reflection intensity is greater than or equal to a preset value, or points are extracted where the reflection intensity is included within a preset range.

[0081] In addition, when extracting lane points, the control unit (100) may extract lane points by further considering the spacing or height difference between the extracted points by taking into account the reflection intensity.

[0082] After the above step (S400), the control unit (100) creates a lane by connecting the extracted lane points in the direction of the driving path line (S500). That is, since the extraction of the lane points described above can be performed for each reference point, the control unit (100) can generate lane information by connecting the lane points extracted for each reference point in the direction of the driving path line.

[0083] Thus, the present invention enables the automatic acquisition of road lane information by extracting cross-sectional data for reference points of a driving path line from LAS data and extracting lane points based on the reflection intensity of each point of the cross-sectional data, and enables the automatic recognition of lane types by analyzing the patterns of the extracted lane points.

[0085] FIG. 11 is a drawing showing a specific view of a mobile mapping system according to an embodiment of the present invention, and FIG. 12 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.

[0086] As described above, the mobile mapping system (200) comprises a movable vehicle (A), a position control unit (400) installed on the upper surface of the vehicle (A), a support unit (220) mounted on the upper part of the position control unit (400), and an information unit (210) coupled to the upper part of the support unit (220).

[0087] The above position adjustment unit (400) includes a position base (410) spaced apart from the lower part of the support unit (220) and installed so that the support unit (220) can move, a position movement unit (420) installed on the position base (410) to move the support unit (220) in the longitudinal direction of the vehicle (A), 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).

[0088] The above position moving unit (420) is configured to move the support unit (220) 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 (220), and is connected to the moving drive unit (421) to move.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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).

[0093] 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.

[0094] 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).

[0095] The above-mentioned moving block (422) performs the role of supporting the support unit (220) and can be moved to adjust or align the position of the support unit (220).

[0096] The above support unit (220) includes a support body (221) having a lower end formed convexly in a 'U' shape, and a pair of support adjustment parts (222) connecting both sides of the support body (221) and a movable block (422).

[0097] The above pair of support adjustment parts (222) can be extended or shortened in length, and accordingly, the support body (221) can be set vertically or the angle of the support body (221) can be adjusted.

[0098] A block groove (423) with a shape corresponding to the bottom surface of the support body (221) 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 (221), and accordingly, the support unit (220) can be stably supported on the movable block (422).

[0099] The lower surface of the support body (221) may come into surface contact with the block groove (423). That is, by forming the lower surface of the support body (221) to come into contact with the inner surface of the block groove (423) over a wide area, the support unit (220) can be stably supported by the movable block (422).

[0100] 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 (220) can be widely distributed, and shaking or positional deformation of the support unit (220) can be effectively suppressed.

[0101] Additionally, the block groove (423) can be formed in a shape that partially covers the lower surface of the support body (221), so that the support unit (220) can be stably maintained even when the movable block (422) is moved.

[0102] 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 (220) may be provided.

[0103] 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).

[0104] 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).

[0105] 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).

[0106] 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).

[0107] 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.

[0108] 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.

[0109] 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).

[0110] 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).

[0111] 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).

[0112] 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.

[0113] 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).

[0114] 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 (A), and a second lifting drive unit (443) installed on the vehicle (A) to move the second lifting base (441).

[0115] The second lifting base (441) is configured to be slidably installed on the vehicle (A) 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.

[0116] To this end, a rail structure, a guide groove, or a sliding support structure may be formed in the mounting structure of the vehicle (A) 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 a guide structure.

[0117] 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).

[0118] 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.

[0119] The second lifting drive unit (443) is a device for driving the second lifting base (441) and can be fixedly installed on the vehicle (A). 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.

[0120] 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 (A) can be precisely adjusted, and a stable and smooth lifting operation can be achieved through a force transmission structure using the inclined surface.

[0121] 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.

[0122] In this way, the position moving part (420) of the position adjustment part (400) of the present invention can slide the support unit (220) in the longitudinal direction of the vehicle (A), the first lifting part (430) can move the support unit (220) in the height direction of the vehicle (A), 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 (220) more precisely than the first lifting part (430).

[0123] 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).

[0124] 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).

[0125] 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.

[0127] FIG. 13 is a drawing showing the internal view of a buffer unit according to an embodiment of the present invention.

[0128] 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).

[0129] 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.

[0130] 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).

[0131] 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.

[0132] 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.

[0133] 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).

[0134] 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.

[0135] 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).

[0136] 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.

[0137] 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).

[0138] The support ring (323) maintains the support rod (322) floating inside the support case (321) and absorbs primary vibrations.

[0139] 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.

[0140] 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.

[0141] 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

[0143] 100 : Control Unit 101 : LAS Section Processing Unit 102 : Road surface extraction unit 103 : Lane extraction unit 110 : Communications Department 200 : Mobile Mapping System 210 : Intelligence Department 220 : Support Unit 221 : Support body 222 : Support adjustment part 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 driving path information and LAS (Location Aware System) data; a control unit that processes data generated from the mobile mapping system to generate lane information; and a communication unit that transmits the generated lane information to a server; wherein the control unit comprises: an LAS cross-section processing unit that extracts cross-section data for reference points of a driving path line from LAS data obtained from the mobile mapping system; a road surface extraction unit that extracts a road surface using height information from the cross-section data extracted through the LAS cross-section processing unit; and a lane extraction unit that extracts lane points based on the reflection intensity of each point within the road surface extracted through the road surface extraction unit. The lane extraction unit generates lane information by connecting lane points extracted for each reference point in the direction of the driving path line, recognizes the type of lane by analyzing the pattern of lane points extracted for each reference point, recognizes the lane as a solid line if the pattern of lane points for a single lane is continuously extracted, recognizes the lane as a dotted line if the pattern of lane points for a single lane is intermittently extracted, and recognizes the lane as a double line if the pattern of two lane points for a single cross-section is within a reference distance, and the mobile mapping system includes: a movable vehicle; a position adjustment unit installed on the upper surface of the vehicle; a support unit mounted on the upper part of the position adjustment unit; and an information unit coupled to the upper part of the support unit; the position adjustment unit includes: a position base spaced apart from the lower part of the support unit and installed so that the support unit can move; a position movement unit installed on the position base to move the support unit in the longitudinal direction of the vehicle; and a first lifting unit disposed at the lower part of the position base to raise and lower the position movement 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 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 a support unit, and connected to the moving drive unit to move.The first lifting unit comprises: a first lifting base slidably connected to the second lifting unit; and a pair of first lifting drive units, one end of which is connected to the first lifting base and the other end of which is connected to a position base to lift the position base; wherein a first inclined surface is formed on a portion of the first lifting base facing the second lifting unit, and the second lifting unit comprises: a second lifting base slidably installed on a vehicle and having a second inclined surface formed in surface contact with the first inclined surface; and a second lifting drive unit installed on a vehicle and moving 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 buffer unit comprising: 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 a position base and the upper surface of a first lifting base; further comprising: a pair of upper and lower buffering members, the upper end of which contacts and supports the lower surface of the position base and the lower end of which contacts and supports the upper surface of the first lifting base; and a buffer support connecting the pair of upper and lower buffering members in the transverse direction.A precision road map construction system capable of acquiring lanes of a high-precision road map through an MMS shooting vehicle, comprising: an upper and lower cushioning member comprising: a cushioning case disposed between the lower surface of a position base and the upper surface of a first lifting base; a first cushioning rod whose upper end contacts the lower surface of the position base and whose lower end is inserted so as to be movable up and down inside the cushioning case; a second cushioning rod whose lower end contacts the upper surface of the first lifting base and whose upper end is inserted so as to be movable up and down inside the cushioning case; and a plurality of cushioning balls disposed inside the cushioning case and disposed between the first cushioning rod and the second cushioning rod; wherein the cushioning support comprises: a support case coupled transversely between a pair of upper and lower cushioning 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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