KR102184174B1 - High definition map system for automatic acquiring of road line - Google Patents

Abstract

The present invention relates to a precise road map construction system. More specifically, the present invention comprises: a mobile mapping system generating traveling path information and LAS data; a control unit processing the data generated from the mobile mapping system to generate road lane information; and a communication unit transmitting the generated road lane information to a server. The precise road map construction system can automatically obtain the road lane information of a road based on the information obtained in the mobile mapping system.

Description

A precise road map construction system that can automatically acquire road lane information {HIGH DEFINITION MAP SYSTEM FOR AUTOMATIC ACQUIRING OF ROAD LINE}

The present invention relates to a precision road map construction system, and more particularly, to a precision road map construction system capable of automatically acquiring lane information of a road through post-processing of laser points.

The conventional spatial modeling method is generally performed by using data constructed manually through field surveys. This method has the disadvantage of not only incurring excessive labor costs, but also causing frequent errors in geographic information due to manual labor, and difficult to correct or update.

Recently, in order to solve this problem, geographic information data on buildings and road facilities is being constructed using surveying equipment such as a mobile mapping system (MMS).

The mobile mapping system is equipped with a camera or lidar photographing sensor and precise GNSS/INS on a moving object such as a vehicle to calculate accurate location information and posture information for the photographing sensor while the work is in progress, and then acquire it from the sensor. It is a high-precision 3D geographic information acquisition equipment that calculates the actual position of the laser point data and image objects.

This mobile mapping system is in the spotlight as a means to quickly secure the latest spatial information. In particular, as the need for detailed road and surrounding maps for ADAS (Advanced Driver Assistance System) and autonomous vehicles increases, The demand is increasing.

LiDAR data acquired in such a mobile mapping system is generated in the form of a point cloud based on position coordinates obtained from GNSS/INS, which is a set of points having 3D spatial coordinates.

However, since such point data cannot provide clear shape information such as road surfaces and lanes, there is a problem that a worker must directly generate information based on a point cloud in order to extract such a shape.

The matters described as background art above are only for improving understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

The present invention is to solve the problems of the prior art described above, and an object thereof is to provide a precision road map construction system capable of automatically obtaining lane information of a road based on information obtained from a mobile mapping system.

In addition, another object of the present invention is to provide a precision road map construction system capable of automatically acquiring road lane information capable of improving the accuracy of data collection of the information unit using a buffer unit.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the art from the description of the present invention. .

The configuration of the present invention for achieving the above object includes a mobile mapping system for generating driving route information and LAS (Location Aware System) data; A control unit for processing data generated from the mobile mapping system to generate lane information; And a communication unit for transmitting the generated lane information to the server. It characterized in that it comprises a.

In the precision road map construction system capable of automatically acquiring road lane information according to an embodiment of the present invention, the control unit includes a LAS section for extracting section data for a reference point of a driving route line from the LAS data obtained from the mobile mapping system. Processing unit; A road surface extraction unit for extracting a road surface using height information from the cross-sectional data extracted through the LAS section processing unit; And a lane extracting unit for extracting lane points based on the reflection intensity of each point in the road surface extracted through the road surface extracting unit. It is preferable to include.

In a precision road map construction system capable of automatically acquiring lane information of a road according to an embodiment of the present invention, the lane extracting unit generates lane information by connecting lane points extracted for each reference point in a driving route direction. And, by analyzing the pattern of the extracted lane points for each reference point, the type of lane is recognized, and if the lane point for one lane is a pattern that is continuously extracted, the corresponding lane is recognized as a solid line. If the lane points are intermittently extracted patterns, it is preferable to recognize the corresponding lane as a dotted line, and if the two lane points for one section are within the reference distance, the corresponding lane is recognized as a double line.

In a precision road map construction system capable of automatically obtaining lane information of a road according to an embodiment of the present invention, the mobile mapping system includes: a vehicle capable of moving; A fixing bracket coupled to the upper surface of the vehicle; Rotatable detachable portion coupled to be detachable to the insertion space of the fixing bracket and rotatable; A buffer part coupled to the upper part of the rotational detachable part; And an information unit coupled to the upper portion of the buffer unit. It is preferable to include.

In a precision road map construction system capable of automatically acquiring lane information of a road according to an embodiment of the present invention, the buffer unit includes: a buffer top plate coupled to a lower portion of the information unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including, the four upper plate extensions protruding toward a lower portion forming a'U'-shaped groove at the four corners of the buffer upper plate, and four lower plate extensions forming a'U'-shaped groove at the four corners of the buffer plate It protrudes and extends toward the top, and the upper plate extension part is disposed relatively inside the lower plate extension part, so that a predetermined space is formed in the portion where the upper plate extension part and the lower plate extension part face each other, and a predetermined space formed by the upper plate extension part and the lower plate extension part. It is preferable that the left and right elastic parts are inserted to provide elastic restoring force in the front and rear, left and right directions to the buffer upper plate and the lower buffer plate.

In a precision road map construction system capable of automatically acquiring lane information of a road according to an embodiment of the present invention, the rotational and detachable unit includes: a detachable body unit that is coupled to a lower portion of the buffer unit and made of a hard material; And a detachable fastening part that is coupled to a lower part of the detachable body part and made of an elastic material. Including, the detachable body portion, a detachable upper plate coupled to the lower portion of the buffer lower plate; A detachable rotary shaft extending from the central portion of the detachable top plate toward the lower side; And a rotation control unit mounted at a lower end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including, the detachable fastening portion, a detachable lower plate coupled to the lower portion of the detachable upper plate; A detachable stretchable portion formed in a hemispherical shape under the detachable lower plate and disposed to surround the detachable rotary shaft; Detachable external force units formed on both sides of the detachable and retractable unit and capable of applying an external force so that the detachable and expandable unit can be folded or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross under the detachable and elastic portion. It is preferable to include.

In a precision road map construction system capable of automatically acquiring lane information of a road according to an embodiment of the present invention, the rotation control unit includes: a rotation control body coupled to a lower end of the detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including, in one side of the first slider is equipped with an electromagnet that is magnetized when current flows, a magnetic material is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet It is preferable that the first slider and the second slider are fixed in contact with each other so that the first sphere and the second sphere are exposed to the outside of the rotation control body.

In the precision road map construction system capable of automatically acquiring road lane information according to an embodiment of the present invention, the fixing bracket is coupled to the upper portion of the vehicle, and an insertion space is formed so that the detachable and detachable part of the rotation and detachment can be inserted. Body; And a rotation receiving unit disposed at a lower end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including, a guide groove is formed in the central portion of the insertion space along the circumference thereof to accommodate the rotation guide portion, and a plurality of locking grooves are recessed in the inner surface of the rotation receiving portion to form the first sphere and the second sphere It is desirable that it is acceptable.

In the present invention having the above configuration, by extracting the section data for the reference point of the driving route line from the LAS data, and extracting the lane point based on the reflection intensity of each point of the section data, the lane information of the road can be automatically obtained. It has the effect of helping you.

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

Further, the present invention has the effect of remarkably increasing the stability when acquiring data of the information unit using the buffer unit, adjusting the mounting angle using the rotational detachable unit, and being able to freely detach and detach depending on the situation.

1 is a block diagram showing each configuration of a precision road map construction system capable of automatically acquiring road lane information according to an embodiment of the present invention.
2 is an exemplary view for explaining a section processing process according to an embodiment of the present invention.
3 and 4 are exemplary views for explaining a road surface extraction process according to an embodiment of the present invention.
5 and 6 are exemplary views for explaining a lane point extraction process according to an embodiment of the present invention.
7 is an exemplary view for explaining a process of generating lane information according to an embodiment of the present invention.
8 and 9 are exemplary views for explaining a lane type recognition process according to an embodiment of the present invention.
10 is a flowchart illustrating a method of a precision road map construction system capable of automatically acquiring road lane information according to an embodiment of the present invention.
11 is a diagram showing a detailed appearance of a mobile mapping system according to an embodiment of the present invention.
12 is a view showing the overall appearance of the buffer unit according to an embodiment of the present invention.
13 is a view showing the overall appearance of the rotation and detachment unit according to an embodiment of the present invention.
14 is a view showing a view from below the rotation and detachment unit according to an embodiment of the present invention.
15 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.
16 is a longitudinal sectional view showing a state of a fixing bracket according to an embodiment of the present invention.
17 is a view showing a view from above of a fixing bracket according to an embodiment of the present invention.
18 is a view showing an exploded view of each configuration of the windshield according to an embodiment of the present invention.
19 is a view showing an exemplary state in which the windshield is operated from the upper portion of the vehicle according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description have been omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

In addition, terms or words used in this specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors should appropriately explain the concept of terms in order to explain their own invention in the best way. Based on the principle that it can be defined, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

1 is a block diagram showing each configuration of a precision road map construction system capable of automatically acquiring road lane information according to an embodiment of the present invention.

As shown, the precision road map construction system according to the present invention generates lane information by processing data generated from the mobile mapping system 200 and the mobile mapping system that generates driving route information and LAS (Location Aware System) data. And a communication unit 110 for transmitting the generated lane information to the server.

The control unit 100 may include a LAS section processing unit 101, a road surface extraction unit 102, and a lane extraction unit 103.

The mobile mapping system 200 is a movable vehicle (A), a fixed bracket (600) coupled to the upper surface of the vehicle (A), a rotating detachable unit that is detachably coupled to the insertion space of the fixing bracket (600) 500, a buffer unit 400 coupled to the upper portion of the rotational detachable unit 500 and an information unit 300 coupled to the upper portion of the buffer unit 400.

The information unit 300 of the mobile mapping system 200 includes a Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), a Distance Measurement Instrument (DMI), and a laser scanner ( laser scanner), etc.

The mobile mapping system 200 may generate driving route information and LAS (laser point) data, where the driving route information may include information on a three-dimensional driving position.

Detailed configurations of the buffer part 400, the rotation and detachment part 500, and the fixing bracket 600 will be described in detail below.

The communication unit 110 is configured to perform communication with the server, and transmits lane information generated through a process to be described later and information on the recognized type of lane to the server. Here, the server for receiving the lane information and the information on the type of the lane may be a server for storing or processing map information, a server for serving map information, or the like. In addition, various methods may be employed for communication between the communication unit 110 and the server, and a mobile communication method such as LTE is preferably used.

The control unit 100 may be an operation processing device including a processor, or may be a form including a plurality of processors. That is, each of the LAS section processing unit 101, the road surface extraction unit 102, and the lane extraction unit 103 may be configured as a separate processor. Alternatively, each function of the control unit 100 may be distributed in 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, each function of the LAS section processing unit 101, the road surface extraction unit 102, and the lane extraction unit 103 may be configured in the form of a control algorithm or logic.

As described above, the present invention may be a configuration of a device that processes information acquired through the mobile mapping system 200 in real time and transmits information on a lane to a server. However, not all embodiments of the present invention are limited thereto.

2 is an exemplary view for explaining a section processing process according to an embodiment of the present invention, FIGS. 3 and 4 are exemplary diagrams for explaining a road surface extraction process according to an embodiment of the present invention, and FIG. 5 And FIG. 6 is an exemplary diagram illustrating a process of extracting a lane point according to an embodiment of the present invention.

The LAS section processing unit 101 may extract section data for a reference point of a driving route line from the LAS data obtained from the mobile mapping system.

Specifically, a driving path line on which the vehicle has traveled may be obtained from driving path information generated by the mobile mapping system 200. In this case, a method of generating a driving route line in the mobile mapping system 200 and transmitting it to the LAS section processing unit 101, or a method in which the LAS section processing unit 101 directly calculates it from the driving route information may be used.

Such a driving route line may be obtained like the line shown in FIG. 2 (a pink line marked with a yellow dot).

The yellow dot shown in FIG. 2 represents a reference point of a driving route line, and the apparatus according to the present embodiment may be configured in a form of selecting a reference point at each preset interval and extracting information related to a lane based on the reference point. .

That is, the LAS section processing unit 101 can section-process the LAS data at each reference point to extract section data, and this section data means point data on a plane perpendicular to the driving route line (blue line in FIG. 2). can do.

The road surface extraction unit 102 may extract the road surface using height information from the cross-sectional data extracted by the LAS section processing unit 101. Here, the road surface may mean a set of points corresponding to the expected road surface.

Specifically, since information on the height at which the vehicle has traveled may be obtained through the driving route information, information on the height of the road surface on which the vehicle has traveled may also be obtained.

That is, the road surface extraction unit 102 may extract points corresponding to the predicted road surface using height information of each point of the cross-sectional data. For example, the road surface extraction unit 102 may extract points having a height within a certain range based on the height of the road surface on which the vehicle has traveled, as points corresponding to the expected road surface.

In addition, as can be seen in FIG. 3, the road surface extraction unit 102 may grasp the shape of a schematic road by using the shape of points whose reflection intensity is greater than or equal to a threshold value, and by using this By grasping the end points of and (see FIGS. 3 and 4), points between the corresponding points may be extracted as points corresponding to the predicted road surface. That is, since a structure different from the road (eg, sidewalk blocks, guard rails, etc.) is located at the point where the road surface ends, the reflection intensity for the corresponding point has a different shape from the road surface, and the road surface extraction unit 102 ) Can be configured to identify the starting and ending points of the road surface. For example, the road surface extraction unit 102 may grid the cross-sectional data and grasp the start and end points of the road surface using the height difference between consecutive points.

The road surface extraction unit 102 reduces the number of points to be analyzed through such a road surface extraction operation, thereby improving accuracy of lane information acquisition and lane recognition, and reducing the amount of data processing.

The lane extraction unit 103 may extract lane points based on the reflection intensity of each point in the road surface extracted through the road surface extraction unit 102.

That is, as can be seen in FIGS. 5 and 6, since the reflection intensity of a point corresponding to a lane of a road has a value according to characteristics such as paint used as a lane of the road, the lane extraction unit 103 is a preset reference According to this, a point corresponding to the lane can be extracted. Here, the preset criterion may be set in such a manner as to extract a point having a reflection intensity equal to or greater than a set value or extract a point whose reflection intensity falls within a set range.

In addition, when extracting the lane point, the lane extraction unit 103 may extract the lane point by further considering a distance or height difference between the extracted points in consideration of reflection intensity.

That is, due to the nature of the road, since the distance between lane points is included in the legal range (eg, 3m to 5m), points outside the range can be excluded from lane points by processing an exception as an error. In addition, since the height difference between two neighboring lanes cannot be more than tens of centimeters, the lane extraction unit 103 can check the extracted points once again in consideration of the height difference between the extracted points in consideration of the reflection intensity. .

7 is an exemplary diagram illustrating a process of generating lane information according to an embodiment of the present invention, and FIGS. 8 and 9 are exemplary diagrams illustrating a process of recognizing a lane type according to an embodiment of the present invention.

Meanwhile, since the above-described extraction of the lane points can be performed for each reference point, as shown in FIG. 7, the lane extraction unit 103 connects the extracted lane points for each reference point in the direction of the driving path line. Can generate information.

Here, connecting the lane points in the direction of the driving route does not mean that they are connected in the exact same direction as the driving route line, but rather the lane points in a direction similar to the driving route line (a direction having the same direction as the driving route line). It should be interpreted as connecting.

In addition, the lane extracting unit 103 may recognize the type of lane by analyzing the pattern of the extracted lane points for each reference point. For example, it may recognize dotted lines, solid lines, and double lines as types of lanes.

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 continuously extracted patterns, and the lane points for one lane are intermittent. If the pattern is extracted as a dotted line, the corresponding lane is recognized as a dotted line, and if the two lane points for one section are within the reference distance, the corresponding lane can be recognized as a double line.

At this time, the pattern in which the lane points for one lane are continuously extracted refers to the tendency that lane points for the corresponding lane continuously exist (e.g., when there are lane points at 8 or more points out of 10 reference points). It can be interpreted as a case where the lane points for one lane are intermittently extracted, or even if the two lane points for one section are within the reference distance, the lane points are interpreted as having a corresponding tendency. It is desirable.

Meanwhile, in the present invention, the control unit may be configured separately from the vehicle equipped with the mobile mapping system, for example, in the form of a server capable of data operation. In this case, the control unit (ie, a processor included in the server) The device may be configured in a form in which driving route information and LAS data are acquired from the mobile mapping system to automatically generate lane information and recognize lane type.

10 is a flowchart illustrating a method of a precision road map construction system capable of automatically acquiring lane information of a road according to an embodiment of the present invention.

As shown in FIG. 10, the control unit 100 first acquires a driving route line and LAS data (S100). In this case, the controller 100 may be configured to obtain a driving route line from the mobile mapping system 200 or receive driving route information from the mobile mapping system 200 to obtain a driving route line.

Subsequently, the control unit 100 extracts LAS cross-section data with respect to the reference point of the driving route line (S200). That is, the control unit 100 may extract cross-section data by cross-sectional processing the LAS data at each reference point of the driving route line, and such cross-sectional data may mean point data of a plane perpendicular to the driving route line.

After the step (S200), the control unit 100 extracts the road surface using the height information from the LAS cross section data (S300). Here, the road surface may mean a set of points corresponding to the expected road surface.

For example, the control unit 100 may extract points having a height within a certain range based on the height of the road surface on which the vehicle has traveled, as points corresponding to the predicted road surface.

In addition, the control unit 100 extracts the start and end points of the road surface (refer to FIGS. 3 and 4) by grasping the shape of a schematic road using the shape of points having a reflection intensity equal to or greater than the threshold value, and the vehicle Points between the start and end points of the road surface among points having a height within a certain range based on the height of the driven road surface may be extracted as points corresponding to the expected road surface.

Subsequently, the controller 100 extracts a lane point based on the reflection intensity within the extracted road surface (S400). For example, the control unit 100 may extract points corresponding to lanes from points whose reflection intensity satisfies a preset criterion. Here, the preset criterion may be set in such a manner as to extract a point having a reflection intensity equal to or greater than a set value, or extract a point whose reflection intensity falls within a set range.

In addition, when extracting the lane point, the control unit 100 may extract the lane point by further considering a distance or height difference between the extracted points in consideration of reflection intensity.

After the step (S400), the control unit 100 generates a lane by connecting the extracted lane points in the direction of the driving path (S500). That is, since the above-described extraction of the lane points may be performed for each reference point, the controller 100 may generate lane information by connecting the lane points extracted for each reference point in the direction of the driving route line.

In this way, the present invention extracts section data for a reference point of a driving route line from LAS data, and extracts lane points based on the reflection intensity of each point of the section data, so that the lane information of the road can be automatically acquired. , By analyzing the pattern of the extracted lane points, the type of lane can be automatically recognized.

FIG. 11 is a diagram showing a detailed view of a mobile mapping system according to an embodiment of the present invention, and FIG. 12 is a view showing an overall view of a buffer unit according to an embodiment of the present invention.

As shown, the mobile mapping system 200 is detachably coupled to the insertion space of the movable vehicle (A), the fixing bracket 600 coupled to the upper surface of the vehicle, and the fixing bracket 600, and can be rotated and detached It includes a part 500, a buffer unit 400 coupled to the upper portion of the rotational detachable unit 500, and an information unit 300 coupled to the upper portion of the buffer unit 400.

The buffer unit 400 includes a buffer top plate 410 coupled to a lower portion of the information unit 300, a buffer bottom plate 430 spaced apart from the buffer top plate at a predetermined distance, and between the buffer top plate and the buffer bottom plate. It is mounted on and includes a buffer elastic portion 420 for providing an elastic restoring force in the vertical direction.

In the illustrated embodiment, the buffer upper plate 410 and the buffer lower plate 430 are formed in the shape of a square panel, but are not limited thereto, and may be formed in various shapes, and the buffer elastic part 420 is also a coil spring. It is formed in a shape, but is not limited thereto.

The cushioning elastic unit 420 attenuates the shock or vibration applied to the information unit 300 from the vehicle A by providing an elastic restoring force in the vertical direction, thereby obtaining an effect of improving the accuracy of the information unit 300. I can.

In addition, four upper plate extensions 411 forming a'U'-shaped groove are protruded toward the bottom at the four corners of the buffer upper plate 410, and a'U'-shaped groove is at the four corners of the buffer lower plate 430. Four lower plate extensions 431 forming a protruding extend toward the upper portion.

That is, the upper plate extension part 411 and the lower plate extension part 431 are formed to protrude to face each other like teeth, and the upper plate extension part 411 is disposed relatively inside the lower plate extension part 431 so that the upper plate extension part ( A predetermined space is formed in a portion where 411 and the lower plate extension 431 face each other.

The left and right elastic parts 440 are inserted in a predetermined space formed by the upper plate extension part 411 and the lower plate extension part 431. The left and right elastic parts 440 have one side in contact with the'U'-shaped groove of the upper plate extension 411 and the other side with the'U'-shaped groove of the lower plate extension 431 to buffer the buffer upper plate 410 Elastic restoring force is provided to the lower plate 430 in the front-rear direction.

In other words, the buffer top plate 410 and the information collecting equipment 110 coupled thereto are damped in the vertical direction by the buffer elastic unit 420, and the vibration in the front and rear directions is reduced by the left and right elastic units 440. Attenuated.

On the other hand, among the four upper plate extensions 411, the two upper plate extensions 411 and the four upper plate extensions 411 are disposed on one side of the buffer top plate 410, and are disposed on the other side of the buffer top plate 410 The remaining two upper plate extensions 411 are connected through each of the upper plate support portions 412.

The upper plate support part 412 and the buffer lower plate 430 are connected through a height fixing part 450, and as the height fixing part 450 is adjusted, the separation distance between the buffer upper plate 410 and the buffer lower plate 430 is variable. Can be.

That is, the user can tighten or loosen the height fixing part 450 in consideration of the state of the road surface on which the vehicle A is running, the weight of each sensor, etc., and accordingly, between the buffer upper plate 410 and the buffer lower plate 430 Since the separation distance is varied, the rigidity of the buffer elastic portion 420 may be adjusted.

In this case, the distance between the lower surface of the buffer upper plate 410 and the uppermost end of the lower plate extension part 431 is preferably adjusted to be relatively narrower than the length of the left and right elastic parts 440.

13 is a view showing the overall appearance of the rotary detachable unit according to an embodiment of the present invention, Figure 14 is a view showing a view from below the rotary detachable unit according to an embodiment of the present invention.

As shown, the rotation and detachment part 500 is coupled to the lower portion of the buffer unit 400, the detachable body part 510 made of a hard material and a detachable fastening part made of an elastic material that is coupled to the lower part of the detachable body part ( 520).

The detachable body part 510 is made of a hard material having sufficient rigidity to support the buffer unit coupled to the upper part, such as metal or wood, and the detachable part 520 is made of a flexible material having elasticity such as silicone.

In the present invention, the detachable body part 510 and the detachable fastening part 520 are made of different materials, so that the information part 300 can be separated and stored when not in use, and can be attached and utilized when using.

The detachable body part 510 is a detachable upper plate 511 coupled to the lower part of the buffer lower plate 430, a detachable rotary shaft 512 extending from the center of the detachable upper plate to the lower side, and a detachable rotary shaft mounted at the lower end of the detachable rotary shaft. It includes a rotation control unit 530 for controlling the rotation of.

In this way, since the detachable body part 510 is rotatable with respect to the detachable rotation shaft 512, the angle of the information collecting device 110 can be freely adjusted and desired data can be easily obtained.

The detachable fastening part 520 is formed in a semi-spherical shape under the detachable lower plate 521 and detachable lower plate 521 coupled to the lower part of the detachable upper plate 511 and is disposed to surround the detachable rotating shaft 512 ( 522), a detachable external force part 523 that is formed on both sides of the detachable and expandable part and can apply an external force so that the detachable or unfolded part, a rotation guide part 524 protruding from the side of the detachable external force part, and the lower part of the detachable and detachable part It includes a detachable perforation part 525 that is perforated in the form of a ten shape.

The user can hold the detachable external force part 523 and apply a force so that the detachable external force part 523 enters into the detachable expandable part 522, and at this time, the protruding rotation guide part 524 is also removed and the detachable expandable part 522 ) As coming inward, the detachable body portion 510 can be separated from the fixing bracket 600 described later.

When inserting the detachable body part 510 into the fixing bracket 600, the above process is reversed and the rotation guide part 524 is applied to the fixing bracket 600 while applying a force so that the rotation guide part 524 enters the detachable and retractable part 522. Insert and release the detachable external force portion 523 so that the rotation guide portion 524 can protrude.

15 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.

As shown, the rotation control unit 530 is coupled to the lower end of the detachable rotation shaft 512 and has an empty rotation control body 531, a first spring 532 coupled to the inner left end of the rotation control body, 1 The first slider 533 coupled to the end of the spring, the first sphere 534 coupled to the end of the first slider and exposed to the outside of the rotation control body or accommodated inside the rotation control body, the inside of the rotation control body The second spring 536 coupled to the right end, coupled to the ends of the second slider 537 and the second slider 537 coupled to the end of the second spring, and exposed to the outside of the rotation control body or housed inside the rotation control body It includes a second sphere 538 that may be.

Since the first spring 532 provides an elastic force to push the first slider 533 to the right, the first sphere 534 is partially or entirely exposed to the outside of the rotation control body 531 unless an external force is applied. Has been.

Likewise, since the second spring 536 provides an elastic force to push the second slider 537 to the left, the second sphere 538 is partially or entirely outside the rotation control body 531 unless an external force is applied. It is exposed.

Meanwhile, an electromagnet portion 535 that is magnetized when current flows is mounted on one side of the first slider 533, and on one side of the second slider 537 facing one side of the first slider 533 The magnetic body 539 is mounted.

When a current flows through the electromagnet part 535, the first slider 533 and the second slider 537 are fixed in contact, so that the first sphere 534 and the second sphere 538 are external to the rotation control body 531. Can be fixed while exposed.

In other words, the first sphere 534 and the second sphere 538 are normally accommodated in the rotation control body 531 by the first spring 532 and the second spring 536 or exposed to the outside. However, when a current flows through the electromagnet part 535, the first slider 533 and the second slider 537 become hard like a single rod as the electromagnet part 535 and the magnetic body 539 are fixed and fixed. Accordingly, the first sphere 534 and the second sphere 538 may be fixed in a state exposed to the outside.

16 is a longitudinal sectional view showing a state of a fixing bracket according to an embodiment of the present invention, and FIG. 17 is a view showing a state viewed from above of a fixing bracket according to an embodiment of the present invention.

As shown, the fixing bracket 600 is coupled to the upper portion of the vehicle (A) and the fixed body 610 having an insertion space 611 formed so that the detachable and fastening part 520 of the rotational detachable part 500 can be inserted. ) And a rotation receiving unit 620 disposed at the bottom of the inner insertion space 611 of the fixed body and accommodated so that the rotation control unit 530 is rotatable.

That is, the fixing bracket 600 is coupled to the upper part of the vehicle (A), and the rotation and detachment part 500 is attached to the fixing bracket 600 so as to be detachable and rotatable, and to the upper part of the rotation and detachment part 500 The buffer unit 400 is coupled, and the information unit 300 is coupled to the upper portion of the buffer unit 400.

A guide groove 612 is formed in the center of the insertion space 611 along its periphery. The above-described rotation guide portion 524 is accommodated in the guide groove 612, and accordingly, the detachable body portion 510 can rotate in a certain orbit without being separated from the fixing bracket 600.

On the other hand, a plurality of locking grooves 621 are recessed along the periphery of the inner surface of the rotation receiving portion 620 is formed. The first sphere 534 and the second sphere 538 are accommodated in the locking groove 621 so as to have a certain fixing force.

In other words, as the detachable body part 510 rotates, the detachable rotation shaft 512 rotates, and the rotation control part 530 at the lower end thereof also rotates, and the first sphere 534 and the second sphere 538 are caught. When it is accommodated in the groove 621, it temporarily has a slight fixing force, and after the first sphere 534 and the second sphere 538 cross over the locking groove 621, it will be accommodated in another locking groove 621 again. At this time, the user can clearly recognize whether or not to rotate by delivering the feeling of'clicking' to the user.

If the angle adjustment of the information unit 300 is completed and there is no need to rotate the detachable body unit 510 any more, the first slider 533 and the second slider 537 flow through the electromagnet unit 535 The first sphere 534 and the second sphere 538 are fixed while being accommodated in the locking groove 621 so that they are fixed like a single rod, so that the detachable body part 510 does not rotate any more.

Although not shown, the electromagnet part 535 may be electrically connected to a control unit of the vehicle A, a battery, etc., and may operate so that current flows or does not flow depending on the situation.

FIG. 18 is a view showing an exploded view of each configuration of a windshield according to an embodiment of the present invention, and FIG. 19 exemplarily shows a state in which the windshield according to an embodiment of the present invention is operated from the top of a vehicle It is a drawing.

As shown in Fig. 11, the windshield 700 is mounted on the upper part of the vehicle A, and is disposed in front of the information unit 300 to prevent excessive wind from being injected into the information unit 300 when the vehicle A is driving. Plays a role.

Specifically, the windshield 700 is installed to be movable up and down on the upper part of the vehicle, and the upper wind body 710 that can protrude to the outside or be accommodated inside, a plurality of protrusions formed at the bottom of the front surface of the upper wind body. The locking protrusion 711, disposed in front of the upper wind body and installed to be movable up and down on the upper part of the vehicle, protruding to the outside or recessed in the rear surface of the lower wind body 720 that can be accommodated inside It is formed and includes a plurality of rails 721 in which a plurality of locking projections are accommodated.

The end of the upper wind body 710 is connected to the rotary motor 730 to rotate upward or downward, and a plurality of locking projections 711 are accommodated in a plurality of rails 721 to slide up and down. have.

As shown, a plurality of locking projections 711 are formed in a'T' shape so that they are not separated from the rail 721, and the upper wind body 710 is in a state in which the locking projections 711 are located at the top end of the rail 721. When is further moved toward the upper part, the lower wind body 720 is moved toward the upper part with the upper wind body 710 while the locking jaw 711 is caught on the rail 721.

On the contrary, when the upper wind body 710 is moved toward the lower side, the lower wind body 720 is also moved toward the lower side by its own weight, and the upper wind body in a state in which the locking jaw 711 is located at the lowest end of the rail 721 ( When the 710 is further moved toward the lower portion, the lower wind body 720 is accommodated in a state of being superposed on the front of the upper wind body 710.

The present invention is configured by dividing the upper wind body 710 and the lower wind body 720 in this way, and configuring the lower wind body 720 to move upward according to the upward movement of the upper wind body 710, While occupying a small area in the area, the effect of preventing wind entry can be maximized.

In addition, the present invention can freely adjust the degree of spreading of the upper wind body 710 and the lower wind body 720 in consideration of the driving speed of the vehicle, so that the information collection equipment 110 acquires information with the best quality. There is an effect that allows you to do it.

On the other hand, in the upper wind body 710, a plurality of ventilation holes 712 are disposed to be spaced apart in the transverse direction, and a plurality of air grooves 713 are disposed between the plurality of ventilation holes 712.

The plurality of ventilation holes 712 are formed in a long elliptical shape in the longitudinal direction, and some wind passes through the upper wind body 710 and naturally flows backward, so that when a strong wind occurs due to a high driving speed of the vehicle, There is an effect of preventing the wind body 710 from being broken or excessive vibration.

The plurality of air grooves 713 is formed in a shape of'ㅅ' having a high center portion and low both ends, and four air grooves 713 spaced apart in the longitudinal direction form a set. The plurality of air grooves 713 guide and flow the wind hitting the upper wind body 710 in the direction of the vent hole 712.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is common in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be obvious to those who have the knowledge of.

100: control unit 101: LAS section processing unit 102: road surface extraction unit
103: lane extraction unit 110: communication unit 200: mobile mapping system
300: information unit 400: buffer unit 410: buffer top plate
411: upper plate extension part 412: upper plate support part 420: buffer elastic part
430: buffer lower plate 431: lower plate extension 440: left and right elastic parts
450: height fixing part 500: rotating and detachable part 510: detachable body part
511: detachable top plate 512: detachable rotary shaft 520: detachable fastening part
521: detachable lower plate 522: detachable extension part 523: detachable external force part
524: rotation guide part 525: detachable perforation part 530: rotation control part
531: rotation control body 532: first spring 533: first slider
534: first sphere 535: electromagnet portion 536: second spring
537: second slider 538: second sphere 539: magnetic body
600: fixing bracket 610: fixing body 611: insertion space
612: guide groove 620: rotation receiving portion 621: locking groove
700: windshield 710: upper wind body 711: locking jaw
712: ventilation hole 713: air groove 720: lower wind body
721: rail 730: rotary motor

Claims (1)

A mobile mapping system that generates driving route information and LAS (Location Aware System) data; A control unit for processing data generated from the mobile mapping system to generate lane information; And a communication unit for transmitting the generated lane information to the server. Including,
The control unit,
A LAS section processing unit for extracting section data for a reference point of a driving route line from the LAS data obtained from the mobile mapping system; A road surface extraction unit for extracting a road surface using height information from the cross-sectional data extracted through the LAS section processing unit; And a lane extracting unit for extracting lane points based on the reflection intensity of each point in the road surface extracted through the road surface extracting unit. Including,
The lane extraction unit,
Lane information is generated by connecting the extracted lane points for each reference point in the direction of the driving path, analyzing the pattern of the extracted lane points for each reference point, recognizing the type of lane, and recognizing the lane for one lane. If the points are continuously extracted patterns, the corresponding lane is recognized as a solid line, and if the lane points for one lane are intermittently extracted, the corresponding lane is recognized as a dotted line, and two lane points for one section are the reference distance. If the pattern is within the range, the lane is recognized as a double line,
The mobile mapping system,
Mobile vehicles; A fixing bracket coupled to the upper surface of the vehicle; Rotatable detachable portion coupled to be detachable to the insertion space of the fixing bracket and rotatable; A buffer part coupled to the upper part of the rotational detachable part; And an information unit coupled to the upper portion of the buffer unit. Including,
The buffer unit,
A buffer top plate coupled to the lower portion of the information unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including,
Four upper plate extensions forming a'U'-shaped groove protrude toward the bottom at the four corners of the buffer top plate, and four lower plate extensions forming a'U'-shaped groove protrude upward at the four corners of the buffer plate. It is extended, and the upper plate extension part is disposed relatively inside the lower plate extension part, so that a predetermined space is formed in the part where the upper plate extension part and the lower plate extension part face each other, and the left and right elastic parts are in a predetermined space formed by the upper plate extension part and the lower plate extension It is inserted to provide elastic restoring force to the buffer upper plate and the buffer lower plate in the front and rear, left and right directions,
The rotational detachable part,
A detachable body part that is coupled to the lower part of the buffer part and made of a hard material; And a detachable fastening part that is coupled to a lower part of the detachable body part and made of an elastic material. Including,
The detachable body part, a detachable upper plate coupled to a lower portion of the buffer lower plate; A detachable rotary shaft extending from the central portion of the detachable top plate toward the lower side; And a rotation control unit mounted at a lower end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including,
The detachable fastening part, a detachable lower plate coupled to a lower part of the detachable upper plate; A detachable stretchable portion formed in a hemispherical shape under the detachable lower plate and disposed to surround the detachable rotary shaft; Detachable external force units formed on both sides of the detachable and retractable unit and capable of applying an external force so that the detachable and expandable unit can be retracted or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross under the detachable and elastic portion. Including,
The rotation control unit,
A rotation control body coupled to the lower end of the detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including,
One side of the first slider is equipped with an electromagnet that becomes magnetized when current flows, a magnetic body is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet, the first slider and The second slider is fixed in contact so that the first sphere and the second sphere are fixed in a state exposed to the outside of the rotation control body,
The fixing bracket,
A fixed body coupled to the upper portion of the vehicle and having an insertion space formed therein so that the detachable and detachable portion of the rotational detachment unit can be inserted; And a rotation receiving unit disposed at a lower end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including,
A guide groove is recessed along the periphery of the insertion space to accommodate the rotation guide, and a plurality of locking grooves are recessed on the inner surface of the rotation receiving part to accommodate the first sphere and the second sphere. A precision road map construction system capable of automatically acquiring road lane information, characterized in that.

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