KR102258708B1 - MMS camera fixing system for map production with precision autonomous driving - Google Patents

Abstract

The present invention relates to an autonomous driving precision map system based on various MMS (Mobile Mapping System) data, more specifically, to an MMS camera fixing system for producing a precise autonomous driving map that can improve the accuracy of lane detection by filtering promising lane candidates using high-precision driving trajectories obtained from MMS vehicles, and build a lane-level precision map by reducing unnecessary calculations. The MMS camera fixing system includes a high-precision driving trajectory detection device, a rear camera device, a scanning device, a controller, a mapping device, and an orthographic image converter.

Description

MMS camera fixing system for map production with precision autonomous driving

The present invention relates to an MMS camera fixing system for map production with autonomous driving precision based on various MMS (Mobile Mapping System) data, and more specifically, filtering to promising lane candidates using high-precision driving trajectories obtained from MMS vehicles. It relates to an MMS camera fixing system for map production with improved autonomous driving precision so that the accuracy of lane detection can be increased and unnecessary calculations can be reduced to build a lane-level precision map.

In order to support a more convenient, stable and efficient arrival to the destination through autonomous driving, it automatically determines whether a lane change is necessary by considering the shape of the road ahead recognized from the precision map, the connection relationship between roads, and the number of lanes. In order to effectively determine the timing of a lane change when a change is necessary, the need for a precise map is increasing, and for this purpose, methods for efficiently constructing a lane map of the precise map are required.

In order to meet this demand, as in the example of FIG. 1 , in the related art, it includes a pre-processing module (1), a region of interest setting module (2), a lane recognition module (3), an error detection module (4), and a display module (5). construct a map lane map, wherein the preprocessing module 1 includes a lane candidate selection unit 1-1, an edge extraction unit 1-2 and a thinning unit 1-3; The region of interest setting module 2 includes a dynamic image region of interest setting unit 2-1, a fixed image region of interest setting unit 2-2, a camera region of interest setting unit 2-3, and a video region of V-ROI (V-ROI). Interest) setting unit 2-4; The lane recognition module 3 includes a lane search unit 3-1, an optimal lane determination unit 3-2, and a candidate lane search unit 3-3; The error detection module 4 includes a top-view transformation unit 4-1 and a Hough transformation unit 4-2, thereby interlocking vehicle location information obtained from navigation with image information obtained from the vehicle, thereby generating interest for lane recognition A lane recognition system that reduces the amount of computation required to perform lane recognition by filtering an area is disclosed.

However, this technology has the advantage of improving the response performance of the entire system by reducing the amount of computation required to perform lane recognition by filtering the region of interest for lane recognition by linking the vehicle location information obtained from the navigation and image information obtained from the vehicle However, the relevance to constructing the lane information included in the precision map is low.

In addition, the general lane recognition technology uses image-based lane recognition and lane object extraction to find the connectivity of pixels with a large color difference from the surroundings from the image and estimate the lane as the lane. The disadvantage that the detection quality of the lane varies depending on the quality of the image this exists

Republic of Korea Patent Publication No. 10-2018-0131154 (2018.12.10.) 'Lane filtering and lane map construction method using high-precision driving trajectory of MMS vehicle'

The present invention was created to solve the problems in the prior art as described above. By filtering the high-precision driving trajectory obtained from the MMS vehicle into promising lane candidates, the accuracy of lane detection is increased and unnecessary calculations are reduced to reduce the lane level. Its main purpose is to provide an MMS camera fixing system for map production with improved autonomous driving precision to build a precision map of

The present invention is a means for achieving the above object, is mounted on the MMS vehicle 100, a high-precision traveling trajectory detecting device 10 for detecting the traveling trajectory of the MMS vehicle 100; The rear camera device 20 for obtaining the RGB image according to the driving trajectory of the MMS vehicle 100; a laser scanning device 30 for acquiring a three-dimensional point cloud of map coordinates through ground lidar information when the MMS vehicle 100 is driven; a controller 40 for controlling the driving of the high-precision driving trajectory detecting device 10, the rear camera device 20, and the laser scanning device 30; a mapper 50 for generating a mapping image by projecting the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detecting device 10 to an RGB image according to a control signal of the controller 40; and an orthographic image converter 60 that converts the mapping image into an ortho image through an inverse perspective mapping method under the control of the controller 40;

The controller 40 approximates the high-precision driving trajectory included in the orthographic image with a linear equation to derive a representative linearity, then detects a lane candidate for the region of interest in the orthoimage to derive a linearity, and the representative linearity of the high-precision driving trajectory and A promising lane candidate is derived by comparing the linear similarity of the lane candidates, a lane object is extracted from the derived promising lane candidate, and the map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are extracted. creating a map coordinate lane by assigning it to a lane object and constructing a lane map;

A drone hangar 300 having a plurality of compartments in the height direction by a plurality of dividing walls 310 is further provided at the rear end of the MMS vehicle 100; The drone hangar 300 is equipped with a plurality of drones (DRs) to be updated by capturing local terrain changes;

A plate-shaped fixed base 1100 fixed vertically inside the camera housing H installed under the drone DR, a rotating motor 1200 fixed to one side of the fixed base 1100, the fixed base ( After passing through 1100), the coaxial 1300 fixed to the motor shaft of the rotary motor 1200, the linker 1320 elastically assembled to and from the lower end of the coaxial 1300, the fixed base 1100 The guide plate 1500 fixed by four fixing bars 1400 on the other side of the dovetail groove 1600 formed in the center opposite to the fixing bar 1400 of the guide plate 1500, the dovetail groove ( 1600) further includes a dovetail 1720 fitted and slidably assembled, a camera fixing bar 1700 integrally fixed to the dovetail 1720 and having a camera fixed at a lower end thereof;

The lower end of the fixed base 1100 is configured to be buffered through a buffer hole 2000, and the buffer hole 2000 has an upper plate 2100 in a 'ㅠ' shape having an upper ball groove 2120 in the center, and at the center A 'ㅛ'-shaped lower plate 2200 having a lower ball groove 2220, a ball 2300 inserted into the upper ball groove 2120 and the lower ball groove 2220, and the upper plate 2100 and the lower plate 2200 circumference Provided is an MMS camera fixing system for map production with autonomous driving precision, characterized in that it is installed at a predetermined interval along the and consists of a plurality of contraction springs 2400 that are respectively hung and fixed to attract both.

According to the present invention, an improved effect can be obtained to build a lane-level precision map by increasing the accuracy of lane detection and reducing unnecessary calculations by filtering the high-precision driving trajectory obtained from the MMS vehicle into promising lane candidates.

1 is a block diagram of a lane recognition system using surrounding environment information according to the related art.
2 is a configuration block diagram showing the basic configuration of a system according to the present invention.
3 is a flowchart of a lane filtering method and a lane map construction method using the system according to the present invention.
4 is an exemplary diagram of RGB image mapping and orthogonal image conversion using the system according to the present invention.
5 is an exemplary view showing an example in which a ground reference point is implemented in the system according to the present invention.
6 is an exemplary view of a drone hangar constituting the system according to the present invention.
7 is an exemplary view showing the main part of the drone of the drone constituting the system according to the present invention, taken from the oblique view.
8 is an exemplary perspective view of FIG. 7 ;
9 is an exemplary side cross-sectional view showing an example of installing a camera of a drone constituting the system according to the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described in more detail with reference to the accompanying drawings.

2 and 3, the system according to the present invention includes a high-precision driving trajectory detection device 10, a rear camera device 20 and a laser scanning device 30 provided in an MMS (Mobile Mapping System) vehicle. , having a controller 40 for controlling these devices, and is configured to obtain a high-precision running trajectory of the MMS vehicle, RGB image, and map coordinates three-dimensional point cloud from them.

That is, the rear camera device 20 acquires an RGB image, and the laser scan device 30 acquires a map coordinate 3D point cloud from ground lidar information, which is used to create a lane of map coordinates. This three-dimensional point cloud data is obtained by a three-dimensional data clustering technique, and since this is a known theory, a detailed description thereof will be omitted.

Here, the high-precision driving trajectory and RGB image are correspondingly acquired at the same GPS time, and the RGB image is acquired by the rear camera device 20 of the MMS vehicle.

And, the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detection device 10 is an RGB image of the high-precision driving trajectory using the projection matrix of the rear camera device 30 under the control of the controller 40. A mapping image is generated through the mapper 50 by projecting to the , which is represented by a solid line different from the lane in FIG. 4( a ).

In addition, such a mapping image is converted into an orthographic image by inverse perspective mapping through the orthogonal image converter 60, which exemplifies the image converted into an orthographic image in FIG. 4(b).

In addition, the mapped image and the converted orthographic image are stored in the memory 70 .

The conversion to the orthographic image is to use the characteristic that the driving trajectory in the ortho image space is parallel to the surrounding driving lane and the characteristic that the driving trajectory is orthogonal to the stop line.

Thereafter, the controller 40 approximates the high-precision driving trajectory included in the orthographic image with a linear equation to derive a representative linearity, and detects a lane candidate for a region of interest (ROI) in the orthographic image to derive the linearity do.

Here, the region of interest is preferably set as a past driving trajectory of 5 to 20 meters in which the MMS vehicle has traveled because of an error in perspective transformation.

In addition, lane candidates detected in the region of interest are detected using a generalized Hough transform (GHT) or a B-Snake method capable of linear detection not only of straight lines but also curves.

Thereafter, the controller 40 derives a promising lane candidate by comparing the similarity between the representative linearity of the high-precision driving trajectory and the linearity of the lane candidate, and the similarity comparison compares the similarity of any one or more of the linear length, direction, curvature, and whether or not they intersect. .

Then, a lane object is extracted from the promising lane candidates derived by the similarity comparison, and the map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are given to the extracted lane objects to obtain the map coordinate lanes. create and construct a lane map.

In this case, since MMS basically includes a GPS receiver, there is no difficulty in checking and extracting map coordinates.

For reference, it is natural that conventional input and output means are connected to the controller 40 .

In addition, in the present invention, the front camera 80 is further connected to the controller 40 so that when a hole such as a pothole is identified on the road, it is detected and reflected on the map.

And, the front camera 80 is installed on the front license plate of the MMS vehicle.

In addition, an image analyzer 90 is further connected to the controller 40 , and the image analyzer 90 is responsible for reading an analog image captured by the front camera 80 .

That is, the image analyzer 90 learns data using a machine learning technique to learn the case of a road with a pothole rather than a normal road, or a case where the smoothness of the road surface is severe, and then scraps the image when the corresponding image is captured. and save it, and reflect the GPS information and record it together as road surface information when constructing a lane map.

This will enable the creation of maps necessary for safer autonomous driving.

In addition, in the present invention, as illustrated in FIG. 5 , an elevating ground reference point unit 200 may be further installed on one side of the MMS vehicle 100 .

At this time, the elevating type ground reference point unit 200 is configured to provide a ground reference point during aerial photography by having a structure that ascends or descends according to a control signal of the controller 40 .

That is, there is a reference point for aerial photography that moves on the ground. To this end, the elevating ground reference point unit 200 is configured to communicate GPS information with the aircraft.

This elevating ground reference point unit 200 includes a slide guide plate 220 that is fixed to protrude on one frame of the MMS vehicle 100 .

In addition, the lift drive source 230 is fixed to one side of the slide guide plate 220 , and the rotation direction of the lift drive source 230 is determined according to the control signal of the controller 40 .

In addition, the screw rod 240 arranged in the longitudinal direction of the slide guide plate 220 is connected to the rotation shaft of the lift driving source 230 .

At this time, the screw rod 240 is installed so that the end of the bearing is fixed and can be rotated in place, a center position 242 is provided in the center of the length, and the left and right sides are opposite to each other around the center position 242 A thread is formed.

In addition, the first moving plate 250 and the second moving plate 260 slid along the screw rod 240 are fitted and screw-coupled thereto.

In this case, the first moving plate 250 and the second moving plate 260 are assembled to be caught by the slide guide plate 220 and configured to slide using the slide guide plate 220 as a guide.

Here, a coupling protrusion DD is formed protruding from the center of each one side so that the first moving plate 250 and the second moving plate 260 can be screwed with the screw rod 240 .

In addition, the first moving plate 250 and the second moving plate 260 are assembled and installed at a point symmetrical with respect to the center position 242 .

Accordingly, the first moving plate 250 and the second moving plate 260 may approach each other or move away from each other according to the rotational direction of the elevating driving source 230, and the center position 242 is installed symmetrically as a center. Therefore, it always approaches or moves away at the same distance.

Meanwhile, the bearing guides 270 are fixed to the surfaces of the first and second moving plates 250 and 260 to be symmetrical to each other.

The bearing guide 270 guides the rising and falling of the moving member 280 while in contact with the 'V'-shaped moving member 280 .

In this case, both ends of the movable member 280 are coupled to each other by the fixing member 282 so as to always maintain a constant 'V'-shaped interval.

In addition, the ground reference communicator 210 is fixed to the upper end of the movable member 280 , and the ground reference communicator 210 is controlled by the controller 40 .

Accordingly, when used as a ground reference point, the movable member 280 is raised as much as possible to maintain the ground reference communicator 210 in a state in which it can communicate with the aircraft under aerial photography. Coordinates (GPS coordinates) are transmitted.

Then, when the mission is completed, the moving member 280 is lowered as much as possible to keep the roof of the MMS vehicle 100 and the top of the ground reference communicator 210 in the same plane, when the MMS vehicle 100 moves while moving. It can move smoothly without interference.

In particular, in the present invention, while the MMS vehicle 100 is configured to serve as a ground reference point, it enables drone photography rather than aerial photography, thereby reducing the shooting cost, and intensively shooting only the desired part when necessary, so the information update cycle and update It can be configured to pursue the convenience of sex.

To this end, as in the example of FIG. 6 , a drone hangar 300 is further provided at the rear of the MMS vehicle 100 .

The drone hangar 300 is provided with a partition wall 310 dividing a predetermined space in the height direction, and a signal processor 320 is mounted on the inner wall inside the drone chamber partitioned by the partition wall 310 .

The signal processor 320 plays a role of guiding the returning drone (DR) into each drone hangar 300 through wireless communication, mainly RF communication.

In addition, a drone controller 330 is installed on the outer wall of the drone hangar 300 , and the signal processor 320 is connected to the drone controller 330 to be controlled.

In particular, a double-axis rotary motor 340 electrically connected to the drone controller 330 is installed on the roof of the MMS vehicle 100, and a driving gear 342 is fixed to both shafts of the double-axis rotary motor 340, respectively.

In addition, a part of the roof is formed with an empty slot 350 therein, and a plurality of rolling rolls 352 are installed on the bottom surface of the slot 350, and the elastic sheet flowing in the slot 350 is provided thereon. 360 is provided.

In this case, the stretchable sheet 360 performs a function of opening and closing the open portion of the drone hangar 300 .

At this time, gear grooves 362 of a certain depth are formed at both ends of one side of the elastic sheet 360, and the gear grooves 362 are engaged with the driving gear 342, for this purpose, both sides of the roof are It is partially incised to maintain an open state so that the driving gear 342 and the gear groove 362 can be engaged.

Therefore, when you want to update by photographing local topographic changes, you can open the field hangar 300 and fly a drone (DR) to take a picture of the desired area, and then provide information necessary for mapping or autonomous driving precision map production.

In particular, a plurality of drones DR can be controlled by each driver at the same time to enable simultaneous operation, and since the control frequency is different for each drone DR, each drone can be individually guided and accommodated in a self-contained storage room upon return.

During this operation, opening and closing of the drone hangar 300 is possible by opening and closing the telescopic sheet 360 while the double-axis rotary motor 340 is driven according to the control signal of the drone controller 330 .

In this case, the telescopic sheet 360 opens and closes the drone hangar 300 while sliding.

In addition, as in the examples of FIGS. 7 to 9 , the stereo camera 3 mounted on the camera housing (H, see FIG. 9 ) installed on the lower part of the drone DR has a linear rotational movement through the rotation motor M. It is converted into a reciprocating motion and is configured to appear and retract stably. At this time, since the configuration of the present invention is enlarged in the diagram and provided in a very miniaturized state, there is no difficulty at all to be mounted under the drone (DR).

To this end, the present invention includes a hanger bracket (1000, see FIG. 9) fixed to the ceiling inside the camera housing (H).

In addition, the plate-shaped fixing base 1100 is fixed to the hanger bracket 1000 .

At this time, the fixed base 1100 is erected vertically and the upper end is fixed, and the lower end is fixed to the bottom surface of the camera housing H of the drone DR.

In addition, a driving motor 1200 is fixed to one side of the fixed base 1100 , and a coaxial 1300 passing through the fixed base 1100 is fixed to a motor shaft of the driving motor 1200 , and the coaxial A linker 1320 is assembled to a lower portion of the 1300 so as to be resilient and retractable, and is configured to have a 'B' shape as a whole.

For the assembly of the linker 1320, an operation groove 1300a of a certain depth is formed at the lower end of the coaxial 1300 so that one end of the linker 1320 can be fitted, and the coaxial 1300 has the periphery of the A spring through hole 1300b communicating with the operation groove 1300a is formed, and a compression spring 1300c is inserted into the operation groove 1300a. One end is bound to the end of the linker 1320, and the other end is the spring. After passing through the through hole (1300b), it is wound and fixed on the spring fixing bolt (1300d) fastened on the coaxial (1300).

By being configured in this way, one end of the linker 1320 is configured to be retractable into the coaxial 1300. However, since it is a compression spring (1300c), a pulling force is always applied, so when the first assembly is installed, the compression spring (1300c) is assembled in a tensioned state to some extent.

And, the driving motor 1200 is a special motor that reciprocates within a certain angle range as a step motor.

In addition, four fixing bars 1400 protrude from the other side of the fixing base 1100 , and a guide plate 1500 is fixed to the end of the fixing bar 1400 in parallel to the fixing base 1100 .

That is, the guide plate 1500 is also vertically erected like the fixed base 1100 and is in a fixed state. However, in FIG. 2, for convenience of explanation, it is shown to be inclined, and in FIG. 3, it is only shown to be horizontal.

In addition, in the center of one surface of the guide plate 1500 , that is, the opposite surface to which the fixing bar 1400 is fixed, a dovetail groove 1600 having an inverted trapezoidal shape is formed long in the longitudinal direction.

In particular, a lubricating member installation groove 1620 may be further formed on a portion of the upper surface of the dovetail groove 1600 , and a lubricating member 1640 may be attached and fixed to the lubricating member installation groove 1620 .

In this case, the lubricating member 1640 is based on 100 parts by weight of the silicone resin, 10 parts by weight of sodium alkylbenzenesulfonate, 5 parts by weight of terrapin oil, 5 parts by weight of sodium bicarbonate, 15 parts by weight of ethylene vinyl acetate, and 5 parts by weight of boron nitride. After mixing, use the one molded into a sheet shape.

At this time, sodium alkylbenzenesulfonate not only strengthens acid resistance, but also enhances slip properties according to expansion and contraction changes to enhance lubrication properties.

And, terrapin oil not only adjusts glossiness, but also lowers stickiness resistance to increase surface gliding performance.

In addition, sodium bicarbonate improves the slip property by reducing the surface sticky property.

In addition, ethylene vinyl acetate improves scratch resistance and gloss, and boron nitride increases heat resistance and heat dissipation properties to suppress deformation of the sheet.

On the other hand, a dovetail 1720 is inserted into the dovetail groove 1600 to be slidably assembled. A stereo camera 3 is fixed.

In particular, a guide hole 1520 having a predetermined width and a predetermined length is formed through the center of the guide plate 1500 to communicate with the dovetail groove 1600 .

Then, the fixing pin 1540 passes through the guide hole 1520 to bind the linker 1320 and the dovetail 1720 .

In this case, the position at which the fixing pin 1540 is fixed is fixed to one side of the application table 1720 having a width greater than the width of the lubricating member 1640 , so that the lubricating member 1640 does not interfere.

Thus, when the driving motor 1200 rotates within a certain range of angles, the linker 1320 slides along the guide hole 1520 while the coaxial 1300 rotates, and the dovetail 1720 fixed to the linker 1320. ) is raised or lowered along the dovetail groove 1600, allowing the camera to appear and retract through the camera opening B of the camera housing H of the drone DR.

At this time, since the dovetail 1720 is raised and lowered along the dovetail groove 1600, the driving occurs very stably without shaking, and above all, the rotational motion of the driving motor 1200 is converted into a linear reciprocating motion through the linker 1320. The stable appearance of the camera is possible without much effort.

Accordingly, there is no difficulty in taking out the stereo camera 3 to the outside of the camera housing H of the drone DR, driving stability is secured, and a complicated sequence is not required, so it is very easy and accurate control becomes possible

In addition, in the present invention, the lower end of the fixed base 1100 is not directly fixed to the camera housing H of the drone DR, but may be configured to have a buffer function using the buffer 2000 as shown in FIG. 9 . have.

In this case, even if the upper end of the fixed base 1100 is bolted to the hanger bracket 1000, vertical flow may occur because there is a tolerance or a play, and the buffer 2000 may alleviate such a flow to promote stability. make it possible

For this purpose, the buffer 2000 includes an upper plate 2100 in a 'ㅠ' shape having an upper ball groove 2120 in the center, a lower plate 2200 in a 'ㅛ' shape having a lower ball groove 2220 in the center, and the upper part The ball 2300 inserted into the ball groove 2120 and the lower ball groove 2220, the upper plate 2100 and the lower plate 2200 are installed at regular intervals along the circumference, and a plurality of contractions that are respectively caught and fixed to attract both. a spring 2400 .

At this time, the upper plate 2100 and the lower plate 2200 are preferably formed in a circular shape, the lower end of the fixed base 1100 is fixed to the upper end of the upper plate 2100, and the lower end of the lower plate 2200 is fixed on the floor surface. do.

In this way, fixing stability can be further improved.

10: high-precision driving trajectory detection device 20: rear camera device
30: laser scanning device 40: controller

Claims (1)

a high-precision driving trajectory detection device 10 mounted on the MMS vehicle 100 and configured to detect the driving trajectory of the MMS vehicle 100; The rear camera device 20 for obtaining the RGB image according to the driving trajectory of the MMS vehicle 100; a laser scanning device 30 for acquiring a three-dimensional point cloud of map coordinates through ground lidar information when the MMS vehicle 100 is driven; a controller 40 for controlling the driving of the high-precision driving trajectory detecting device 10, the rear camera device 20, and the laser scanning device 30; a mapper 50 for generating a mapping image by projecting the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detecting device 10 to an RGB image according to a control signal of the controller 40; and an orthographic image converter 60 that converts the mapping image into an ortho image through an inverse perspective mapping method under the control of the controller 40;
The controller 40 approximates the high-precision driving trajectory included in the orthographic image with a linear equation to derive a representative linearity, then detects a lane candidate for the region of interest in the orthoimage to derive a linearity, and the representative linearity of the high-precision driving trajectory and A promising lane candidate is derived by comparing the linear similarity of the lane candidates, a lane object is extracted from the derived promising lane candidate, and the map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are extracted. creating a map coordinate lane by assigning it to a lane object and constructing a lane map;
A drone hangar 300 having a plurality of compartments in the height direction by a plurality of dividing walls 310 is further provided at the rear end of the MMS vehicle 100; The drone hangar 300 is equipped with a plurality of drones (DRs) to be updated by capturing local terrain changes;
A plate-shaped fixed base 1100 fixed vertically inside the camera housing H installed under the drone DR, a rotating motor 1200 fixed to one side of the fixed base 1100, the fixed base ( After passing through 1100), the coaxial 1300 fixed to the motor shaft of the rotary motor 1200, the linker 1320 elastically assembled to and from the lower end of the coaxial 1300, the fixed base 1100 The guide plate 1500 fixed by four fixing bars 1400 on the other side of the dovetail groove 1600 formed in the center opposite to the fixing bar 1400 of the guide plate 1500, the dovetail groove ( 1600) further includes a dovetail 1720 fitted and slidably assembled, a camera fixing bar 1700 integrally fixed to the dovetail 1720 and having a camera fixed at a lower end thereof;
The lower end of the fixed base 1100 is configured to be buffered through a buffer hole 2000, and the buffer hole 2000 has an upper plate 2100 in a 'ㅠ' shape having an upper ball groove 2120 in the center, and at the center A 'ㅛ'-shaped lower plate 2200 having a lower ball groove 2220, a ball 2300 inserted into the upper ball groove 2120 and lower ball groove 2220, and the upper plate 2100 and the lower plate 2200 around MMS camera fixing system for map production with autonomous driving precision, characterized in that it is installed at regular intervals along the and consists of a plurality of contraction springs (2400) that are respectively hung and fixed to attract both.

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