KR102283865B1 - MMS data update system for map production with precision autonomous driving - Google Patents

Abstract

The present invention relates to an MMS data update system for production of a precise map for autonomous driving, and more specifically, to an MMS data update system for production of a precise map for autonomous driving, which allows road alignment to be automatically generated when producing a high-precision electric map for autonomous vehicles in a field investigation method using voice recognition, image information taken around the road, and positioning information. The MMS data update system of the present invention includes a case (2000), and an MMS vehicle (1000), and processing modules installed in the case (2000) include a DGPS receiving unit (102), an audio input unit (104), and a control unit (110).

Description

MMS data update system for map production with precision autonomous driving}

The present invention relates to an MMS data update system for map production with autonomous driving precision, and more specifically, a high-precision electronic map for autonomous vehicles using voice recognition and image information and positioning information taken around the road in a field survey method. It relates to an MMS data update system for map production with improved autonomous driving precision so that road alignments can be automatically generated during production.

Currently, the system for high-definition electronic map production is MMS (Mobile Mapping) equipped with DGPS (Differential GPS) receiver, multiple cameras, IMU (inertial measuring unit), and LiDAR (Light Detection and Ranging). System) to scan the road and surrounding facilities.

Worldwide, these devices are increasing the map accuracy from several tens of meters to 50 centimeters.

On the other hand, autonomous vehicles must be equipped with state-of-the-art technologies that operate by themselves without driver intervention, and these technologies are realized through numerous sensors and communication technologies.

However, in case the device does not operate normally due to malfunctions or obstacles, the self-driving vehicle needs a precise electronic map including main road information.

For this reason, the existing electronic map with an error of several tens of meters cannot be used due to its low accuracy.

Therefore, in order to secure an accuracy of less than 50 cm in positioning error, high-precision on-site positioning is performed using a map making system with precision equipped with MMS equipment.

As described above, the MMS equipment is composed of four core equipment (DGPS, IMU, camera, and LiDAR) to perform high-precision positioning.

At this time, the GPS uses DGPS, which is precisely positioned, to dramatically improve the absolute positioning accuracy by reducing the error of the existing GPS from several tens of meters to 50 cm.

In addition, LiDAR is a relative positioning method that measures the distance to the target point based on the absolute location of all facilities around the road. Most of the facilities around the middle road can be expressed as a point cloud, and the measurable range is generally within a relative distance of 70m, and the accuracy is less than 2cm.

In addition, the IMU continuously measures the relative distances such as height and curvature based on the absolute position through calculations that consider speed and acceleration, etc. play an auxiliary role in

In addition, 4 to 6 cameras are usually mounted, and the front, rear, left, and right cameras are simultaneously photographed to store 360° images as one frame.

In this way, high-precision electronic maps are produced by utilizing the acquired, recorded, and stored data through high-quality equipment.

However, the core of the high-precision electronic map is that all lanes must be configured in a straight line for precise autonomous driving.

However, the existing electronic map is composed of one road alignment, or wide roads and highways are composed of two road alignments for map matching.

Here, the biggest point of the high-precision electronic map is that the road network should be created based on all lanes.

Therefore, the existing production method was to create a center line using the received GPS data and input all road information to the center line. If there are 4 lanes using lane information, 4 road alignments should be created at regular intervals and attributes must be entered.

Therefore, since it is necessary to produce multiple road alignments based on the lanes identified through the captured image, it takes more than 5 times more than the existing electronic map production time, and as a result, it is difficult to update quickly.

As if to disprove this phenomenon, domestic electronic map makers are very passive in producing high-precision electronic maps, and methods to improve the investment cost and input time have not been developed.

Republic of Korea Patent Registration No. 10-0508974 (2005.08.09.) 'Electronic map construction system and method using road information'

The present invention was created to solve the problems in the prior art as described above, and it is possible to produce a high-precision electronic map for an autonomous vehicle by using voice recognition and image information and positioning information taken around the road in a field survey method. Its main purpose is to provide an MMS data update system for map production with autonomous driving precision that can automatically generate road alignments at the time of travel.

The present invention is a means for achieving the above object, a case 2000 in which a plurality of processing modules are mounted; The MMS vehicle 1000 on which the case 2000 is mounted; includes, and the processing modules mounted on the case 2000 receive the location information from the GPS satellite 100 and accurately correct the received location information from the DGPS receiver 102 and ; an audio input unit 104 for recognizing the voice of an investigator who investigates in the field; After calculating the current position coordinates using the position information from the DGPS receiver 102, the map data of the current shooting point is extracted from the memory unit 148, and the camera image of the corresponding shooting point, LiDAR data, and IMU data are processed. (110); and the absolute position determined through the DGPS receiving unit 102 and the absolute position determined by the IMU at the point where the DGPS is not received are relative to the position information of the MMS vehicle; The distance to the right boundary seat uses the distance between the vehicle and the facility positioned by LiDAR, and the distance to the left boundary seat uses the distance between the vehicle and the facility positioned by the LiDAR; For the number of lanes, the number of lanes input by voice information is applied, and the unit is converted into meters and the road width (X) is calculated first, (Gx is the X-coordinate value of the vehicle's location information, Lx is the X-coordinate value among the distance from the left boundary seat, Rx is the X-coordinate value among the distance from the right boundary seat), and lane width = X ÷ Total number of lanes An MMS data updating system for map production with autonomous driving precision, which automatically creates a road alignment on the left and right based on the driving lane of the vehicle provided by the input voice information;
an opening 2100 formed on one side of the case 2000; a plurality of selective dumping rods 2200 installed in the opening 2100; a cooling box 2300 installed on the upper surface of the case 2000; Further comprising; a cooling fan (2400) mounted on the cooling box (2300);
A lattice groove 2210 is formed to a depth of 4 mm around the selective dumping rod 2200, and rotation shafts 2212 and 2214 protrude from the top and bottom, respectively, and are rotatably assembled on the opening 2100, and when rotating Arranged to be in contact with each other, the selective gas rod 2200 is 0.5 cm long thermoplastic polyvinylidene fluoride ( PVDF) using one molded into a composition consisting of 2.0 parts by weight of fibers;
A suppression gun 3000 arranged in the traveling direction of the vehicle is further installed on the roof tip of the MMS vehicle 1000, wherein the suppression gun 3000 includes a fire extinguishing fluid connection part 3100 through which extinguishing fluid can be supplied, and the extinguishing fluid connection part A nozzle body 3200 extending from 3100 and having a plurality of injection holes 3210 around it, and an elastic band 3300 that is bound to the nozzle body 3200 and elastically closes the injection holes 3210. made;
The injection hole 3210 is formed inside the injection hole forming groove 3220 formed around the nozzle body 3200, and the inside of the nozzle body 3200 has an empty cylindrical shape, but the inner surface of the closed tip has a circular center. A conical protrusion 3230 protruding toward the is further formed and configured to increase the injection pressure sprayed through the injection hole 3210, and a locking groove 3240 of the same shape at a distance from the injection hole forming groove 3220. This is further formed, and the elastic band 3300 is wound and fixed to the nozzle body 3200, and the elastic band 3300 is a rectangular elastic rubber band with a binding piece 3310 formed at one end and the binding at the other end. A piece to be bound 3320 for binding to the piece 3310 is formed, a hook-shaped binding protrusion 3312 is protruded from the binding piece 3310, and the binding protrusion 3312 is formed on the piece to be bound 3320. ) is fitted and fixed in the binding protrusion hole (3322) is perforated, a long locking protrusion 3330 in the longitudinal direction protrudes from the rear surface of the elastic band 3300, and the locking protrusion 3330 is the locking groove ( 3240) and jammed;
The cooling fan 2400 includes an alternator 2410 that converts the rotational kinetic energy of the cooling fan 2400 into electrical energy, and a DC that converts AC electrical energy generated in the alternator 2410 into direct current. A converter 2420 and an ESS (Energy Storage System) 2430 for storing the electricity converted by the DC converter 2420 are provided;
A detection sensor 7000 installed on the suspension of the MMS vehicle 1000 to detect vibration or displacement of the suspension, and a detection signal from the detection sensor 7000 installed at the rear end of the MMS vehicle 1000 to photograph the road surface The road surface image DB 7200 mounted on the case 2000 in the form of a module to store the image photographed by the road surface photographing camera 7100 and the road surface photographing camera 7100, and the road surface image DB 7200 are stored It provides an MMS data update system for map production with autonomous driving precision, characterized in that it further includes a GPS coordinate mapper 7300 mounted on the case 2000 in the form of a module to store the corresponding coordinate values together.

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According to the present invention, it is possible to automatically generate a road alignment when producing a high-precision electronic map for an autonomous vehicle by using voice recognition and image information and positioning information taken around the road in a field survey method.

1 is an exemplary configuration block diagram of a system according to the present invention;
2 is an exemplary flow chart illustrating a field survey process through the system according to the present invention.
3 is an exemplary plan view illustrating an example in which a road alignment for each lane is automatically generated through voice recognition in the system according to the present invention.
4 is a conceptual diagram illustrating the principle of automatically generating a road alignment according to the present invention.
5 is an exemplary view of a case constituting the system according to the present invention.
6 is a conceptual diagram illustrating a configuration for recovering energy from a cooling fan constituting a system according to the present invention.
7 is an exemplary view of the suppression gun constituting the system according to the present invention.
8 is an exemplary diagram illustrating a configuration example of a road surface diagnosis unit constituting a system according to the present invention.

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

Prior to the description of the present invention, the following specific structural or functional descriptions are only exemplified for the purpose of describing embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms, It should not be construed as limited to the embodiments described herein.

1 and 5, the MMS data update system for map production with autonomous driving precision according to the present invention includes a case 2000 in which a plurality of processing modules are mounted, and the case 2000 is an MMS (Mobile Mapping System) is mounted inside the vehicle 1000 .

For example, the processing modules mounted on the case 2000 while configuring the system according to the present invention include: a DGPS receiver 102 for receiving location information from the GPS satellite 100 and correcting it precisely; and an audio input unit 104 for receiving and recognizing the voice of an investigator in the field through a microphone 106 .

In addition, the image storage unit 114 for storing images generated by the first, second, third, and fourth cameras (122, 124, 126, 128) installed on the front, rear, left, and right sides of the vehicle so that shooting in all directions of 360° is made; LiDAR DATA positioning and storage unit 116 for identifying and storing the type of facility around the road; IMU DATA positioning and storage unit 118 for positioning and storing the speed, inclination, and height values of the vehicle; It also includes a received data storage and processing unit 112 for storing and processing received data through; a user DATA processing unit 120 that provides and processes an interface (UI) with the user.

In addition, a display unit 108 for displaying the data and images provided by the received data storage and processing unit 112, and location information received from the DGPS receiving unit 102; After calculating the current location coordinates using the location information from the DGPS receiver 102, the map data of the point currently being photographed is extracted from the memory unit 148, and the camera image of the photographing point, LiDAR Data, and IMU Data are together. and a control unit 110 that controls the display.

In this case, the memory unit 148 includes an electronic map data storage DB 132 for storing electronic map data, a user data storage DB 134 for storing information input through a user interface, and first, second, third, and fourth An image data storage DB 136 for storing image information received from the cameras 122, 124, 126, 128, an audio data storage DB 138 for storing audio information input through the audio input unit 104, and a LiDAR DATA positioning and storage unit 116 ), the LiDAR data storage DB 140 for storing the LiDAR information provided from, the new road data storage DB 146 for storing the new road information provided from the National Geographic Information Service, and the DGPS information provided from the DGPS receiver 102 are stored. and a DGPS data storage DB 142, and an IMU data storage DB 144 for storing positioning information provided from the IMU DATA positioning and storage unit 118.

In addition, the case 2000 has a door DR installed on one side, and the processing modules described above are mounted therein, and an opening 2100 is provided on one side of the case 2000 to cool the heat generated while the processing modules are operated. ) is formed, a plurality of selective dumping rods 2200 are installed in the opening 2100, a cooling box 2300 is installed on the upper surface of the case 2000, and a cooling fan is provided in the cooling box 2300. (2400) is fitted.

Thus, the inside of the case 2000 can be cooled by introducing outside air between the selective gas rods 2200 to cool the inside of the case 2000 and then discharging the heat to the outside of the case 2000 through the cooling fan 2400 . .

In this case, since the internal temperature of the MMS vehicle 1000 may rise, it is preferable to ventilate the MMS vehicle 1000 through a ceiling surface or a window.

In particular, since the system according to the present invention has a very large processing capacity (amount of data to be processed), the case 2000 and the cooling fan 2400 are also large rather than small.

Moreover, when a large amount of moisture flows into the case 2000 , the processing modules may be shut down due to a short circuit.

To this end, in the present invention, it is preferable to implement the selective gas rod 2200 with a super absorbent polymer (Super Absorbent Polymer).

In particular, a grid-shaped groove 2210 is formed to a depth of 4 mm around the selective dumping rod 2200, and rotation shafts 2212 and 2214 protrude from the top and bottom, respectively, so that it is rotatably assembled and installed on the opening 2100. .

At this time, the selective dumping rod 2200 should be arranged to be in contact with each other.

Then, air can be vented through the gap of the lattice groove 2210, and when moisture is introduced, the superabsorbent polymer rapidly absorbs moisture and expands to block the inflow of moisture. Then, when the moisture is removed and evaporated and dried, it returns to its original state.

Through this process, selective airflow that allows only cooling air to pass while blocking the inflow of moisture becomes possible.

In addition, the selective gas rod 2200 contains 5.5 parts by weight of ebonite powder, 1.5 parts by weight of selenium powder, and 0.5 cm length of thermoplastic polyvinylidene fluoride (PVDF) fiber having a particle size of 100 μm, based on 100 parts by weight of the superabsorbent polymer. It may be molded by further including 2.0 parts by weight.

In this case, the ebonite powder, selenium powder, and PVDF filament all increase the generation of static electricity to form a static barrier when fine dust is introduced to increase the film blocking effect. In particular, selenium has the characteristic of accelerating the generation of static electricity because the polarization phenomenon increases and decreases as it is pressed, so it can exhibit an excellent effect in collecting dust.

In addition, since the selective dumping rod 2000 has a structure that can rotate while in contact with each other, static electricity generation due to friction is greatly generated in the process, so that dust or particles are collected and blocked from being transmitted.

The system according to the present invention having such a configuration is utilized for field investigation in the form shown in FIGS. 2 and 3 .

First, when an on-site investigation is started, the system according to the present invention is booted and switched to an investigation mode.

At this time, if the irradiation mode is On, the driving is started, otherwise, it is checked whether to continue the irradiation and ends when the irradiation is finished, and if the irradiation is continued, the irradiation mode is maintained as On.

Then, if it is necessary to end the driving by checking whether to continue driving, it is fed back to the irradiation mode conversion step. If driving is continued, it is checked whether various positioning signals are normally received. If various signals are normally received, the position coordinates are calculated and the current position , and if the current location is confirmed, a map of the corresponding location is loaded, and a DGPS signal received according to the current location is displayed on the display unit.

At this time, when a predetermined voice signal is received, a change point (Node) is generated at the corresponding position.

Then, it is checked whether the predetermined voice signal is correct, and if the voice recognition fails, the voice signal input is requested again.

In this way, when information is input through voice recognition, it is displayed on the screen based on the inputted content, and the process is determined whether it is the first lane or the second lane after the change point is generated as shown in FIG. 2, or the n lane through this process It refers to the process from determining recognition to storing and displaying the generated line.

However, since this process is performed in time series, an ambiguous description is omitted.

In this process, the reception of the voice signal is repeatedly performed until the voice signal 'End' is received, and when the voice signal 'End' is received, the field investigation process itself is terminated.

At this time, the voice recognition is performed according to a set rule, which can be modified as much as possible because it is made by setting the rule.

For example, when the voice 'one-way 5 lane 1 car' is heard, 5 one-way lanes are drawn on the screen based on the location, and the road alignment of the currently driving lane is displayed in red.

This means that the road alignment for each lane is automatically generated through voice recognition, and the principle of automatically generating the road alignment will be described later with reference to FIG. 4 .

This case can be used when the opposite lane cannot be identified (boundary seat/median zone, etc.), when the lane is different from the opposite lane while driving, or when information is specially collected for one way.

As another example, if the voice '5th and 1st round-trip 9 lanes' is heard, this corresponds to the case of acquiring information in a round-trip way, meaning a total of 9 round-trip lanes, and the current location is based on the leftmost lane. It is the fifth, and it means that the vehicle is driving in one lane in the driving direction, and in this case, the road alignment of the driving lane in the same way as the one-way can be displayed in red. This tells you that the center line is between the 4th and 5th lanes based on the leftmost lane of the road.

The information collected in this way is used to automatically generate road alignments, and it is created as a high-precision electronic map road network (network) rather than a simple alignment formed previously.

That is, in the past, road alignments for each lane were produced by looking at the captured video, but based on the audio acquired at the site, road alignments for each lane can be automatically produced. and production time can be significantly reduced.

Then, the principle of automatically generating a road alignment will be described with reference to FIG. 4 .

Referring to FIG. 4 , the absolute position determined through the DGPS receiver is applied to the vehicle position information, and the absolute position is corrected to the relative position through the IMU in a place where DGPS is not received, such as in a tunnel.

In addition, the distance to the right boundary seat is used to determine the relative distance between the vehicle and the corresponding facility (form) positioned through LiDAR, and the same distance to the left boundary seat is used.

In addition, the number of lanes inputted through voice information is applied, and the unit is converted into m.

Based on this premise, first, the road width is calculated.

The road width is calculated as X=(|Gx-Lx|) + (|Gx-Rx|).

According to FIG. 4 , the vehicle location information is indicated by (Gx,Gy), the distance from the right-hand boundary is indicated by (ΔRx,y), and the distance from the left-hand boundary is indicated by (ΔLx,y), so the road width The calculation uses these values.

For example, if X, the road width, is 19.5 m, and voice information is input as '3rd and 2nd cars in 6 lanes round-trip',

Lane width = X(19.5m) ÷ 6 (total number of lanes) = 3.25m.

Accordingly, in the automatic road alignment generation, one road alignment is generated based on the survey vehicle, and one road alignment is generated at an interval of 3.25 m to the right and four road alignments are generated at an interval of 3.25 m to the left.

At this time, the voice information means a total of 6 lanes for a round trip, the current location is the 3rd based on the left end lane, and it means that you are driving in 2 lanes in the driving direction, and the center line is based on the left end lane of the road. It lets you know that you are between the first and second lanes.

As described above, in the present invention, it is possible to automatically generate a road line based on the above-described system and voice recognition, so that the electronic map production time can be significantly reduced, and through this, a rapid update is possible.

In addition, as in the example of FIG. 6 , in the present invention, although the large cooling fan 2400 has rotational energy that can be recovered when it is operated for cooling, there is a disadvantage in that it is discarded as it is, so electricity recovered by improving it By storing energy, auxiliary electricity can be utilized when the MMS vehicle 1000 is operated.

For example, according to (a) and (b) of FIG. 6 , the cooling fan 2400 includes an alternator 2410 that converts the rotational kinetic energy of the cooling fan 2400 into electrical energy, and the alternator. It includes a DC converter 2420 that converts the AC electrical energy generated in 2410 into DC, and an Energy Storage System (ESS) 2430 that stores the electricity converted by the DC converter 2420 .

At this time, the alternator 2410 is the same concept as a generator that is a generator of a car, and the alternator 2410 according to the present invention is also a cooling fan 2400 in the same way that the generator converts the rotational kinetic energy of the crankshaft into electrical energy and generates electricity. The rotational kinetic energy is converted into electrical energy when the rotating shaft of the motor rotates.

In addition, the DC converter 2420 is an irreversible power converter that transmits energy in only one direction, AC → DC, made of a combination of a thyristor and a diode.

In addition, the ESS 2430 is an energy storage means that can store the electrical energy converted by the DC converter 2420 in a DC state and use it as DC or AC.

Therefore, the rotational kinetic energy (K) generated from the large cooling fan 2400 according to the present invention, that is,

K = ½Iω ² , (I is the moment of inertia, ω is the angular velocity) is converted into electrical energy by the alternator 2410, and this electrical energy is stored in the ESS 2430 and is used in the MMS vehicle 1000. It can be used as auxiliary power to drive electric and electronic devices.

In particular, the alternator 2410 is mounted on the fan cover 2401 of the cooling fan 2400 .

That is, the cooling fan 2400 is fixed to the inner shaft 2403 of the rotary motor 2402 fixed to the inner surface of the fan cover 2401, and the fan cover 2401 is fixed to the fan body 2404, The fan body 2404 is fixed on the cooling box 2300 .

At this time, the rotary motor 2402 is a two-axis motor, and consists of an inner shaft 2403 to which the cooling fan 2400 is fixed, and an outer shaft 2405 exposed to the outside through the fan cover 2401, , an alternator 2410 is installed on the outer shaft 2405 to convert the rotational kinetic energy of the outer shaft 2405 into electrical energy.

Since such an alternator 2410 is already known like a generator of a vehicle, a detailed description thereof will be omitted.

When configured in this way, the rotation motor 2402 does not stop at rotating the cooling fan 2400, but also recovers the consumed rotational kinetic energy as electrical energy through the alternator 2410 and stores it in the ESS 2430. However, it can be used as auxiliary power to increase energy efficiency.

Furthermore, in the present invention, as illustrated in FIGS. 7A and 7B , a suppression gun 3000 disposed in the traveling direction of the vehicle may be further installed at the roof tip of the MMS vehicle 1000 .

The suppression gun 3000 includes a fire extinguishing liquid connection part 3100 through which the extinguishing liquid can be supplied; It is bound to the 3200 and consists of an elastic band 3300 for resiliently sealing the injection hole 3210.

At this time, the injection hole 3210 is formed inside the injection hole formation groove 3220 formed around the nozzle body 3200 .

That is, the injection hole formation groove 3220 is recessed to a certain depth, and when the injection hole 3210 is formed on the inner bottom surface of the recessed groove, the elastic band 3300 blocks the injection hole formation groove 3220. When a gap is created as much as the depth of the groove, and the extinguishing fluid is supplied at a constant pressure and sprayed through the injection hole 3210, the elastic band 3300 is struck by the oil gap, causing a tremor according to the pressure fluctuation, causing a trembling phenomenon called 'Pak, Pak, Pak. ' It is designed to provide a suppression gun 300 that has effective characteristics in the initial evolution, especially by making a sound and spreading as the spraying radius is widened so that it can digest the widest possible radius.

In addition, the inside of the nozzle body 3200 has an empty cylindrical shape, and a conical protrusion 3230 protruding toward the center of the circle is further formed on the inner surface of the clogged tip to further increase the injection pressure injected through the injection hole 3210. can be raised higher.

In addition, a locking groove 3240 having the same shape as the injection hole forming groove 3220 is further formed at a distance. However, no injection hole is formed in the engaging groove 3240 .

Then, the elastic band 3300 is wound and fixed to the nozzle body 3200 .

The elastic band 3300 is a rectangular elastic rubber band having a binding piece portion 3310 formed at one end and a binding piece portion 3320 binding to the binding piece portion 3310 at the other end.

In addition, a hook-shaped binding protrusion 3312 is protruding from the binding piece portion 3310, and the binding piece portion 3320 has a binding protrusion hole 3322 that is fitted and fixed to the binding protrusion 3312 is perforated. .

In addition, the back surface of the elastic band 3300, that is, the long engaging projection 3330 in the longitudinal direction of the band body in the opposite direction to the direction in which the binding projection 3312 protrudes.

The locking piece protrusion 3330 is caught by being inserted into the locking groove 3240 .

Therefore, even when the pressure of the extinguishing liquid is applied, the elastic band 3300 does not come off and it is possible to continue to maintain the state bound to the nozzle body 3200 .

In particular, a step portion 3324 may be further formed on one side of the piece to be bundled 3320 , that is, on a surface opposite to the direction in which the binding protrusion 3312 protrudes.

The step portion 3324 is to increase the binding force by eliminating the step difference with the binding piece portion 3310 engaged when the elastic band 3000 is rolled in a ring shape and bound.

In addition, in the present invention, it is possible to further improve autonomous driving performance by detecting the road surface condition and storing and managing the characteristics as an image for each coordinate value.

For example, as in the example of FIG. 8 , a detection sensor 7000 for detecting vibration (or acceleration) or displacement of the suspension is installed in the suspension of the MMS vehicle 1000, and the detection signal of the detection sensor 7000 is transmitted to the controller ( (not shown), the road surface is captured as an image according to the control signal of the controller and stored in the road surface image DB 7200 .

To this end, a road surface photographing camera 7100 is installed at the rear of the MMS vehicle 1000 to photograph the ground, and the road surface image DB 7200 is built into the case 2000 .

In addition, the case 2000 is equipped with a GPS coordinate mapper 7300 so that the corresponding coordinates can also be stored when the road surface image is stored. It is configured so that the coordinate values are stored together so that they can be utilized in map making.

At this time, the GPS information can be obtained through the GPS basically mounted on the MMS vehicle 1000 .

In addition, the detection range of the detection sensor 7000 measures the vibrations or displacements generated in the suspension of the vehicle dozens of times when passing through various types of portholes or speed bumps, and then data them to calculate the average value After doing this, it can be specified by finding and setting the range value where there is an abnormality on the road surface.

Here, the detection sensor 7000 is preferably divided into a vibration detection sensor (acceleration sensor) and a displacement detection sensor and installed in parallel to minimize detection errors.

In addition, one vibration detection sensor may be attached, or there may be a method of attaching it to every four wheels to detect a wheel shift. can

In addition, the displacement detection sensor is preferably attached to every four wheels for detection.

In addition, the road surface photographing camera 7100 is set to photograph according to a control signal of the controller only when an abnormality is detected by the detection sensor 7000, thereby preventing a memory shortage caused by selective photographing rather than continuous photographing.

100: GPS satellite
102: DPGS receiver
104: audio input unit
108: display unit
110: control unit
148: memory unit

Claims (1)

Case 2000 in which a plurality of processing modules are mounted; The MMS vehicle 1000 on which the case 2000 is mounted; includes, and the processing modules mounted on the case 2000 receive the location information from the GPS satellite 100 and accurately correct the received location information from the DGPS receiver 102 and ; an audio input unit 104 for recognizing the voice of an investigator who investigates in the field; After calculating the current position coordinates using the position information from the DGPS receiver 102, the map data of the current shooting point is extracted from the memory unit 148, and the camera image of the corresponding shooting point, LiDAR data, and IMU data are processed. (110); and the absolute position determined through the DGPS receiving unit 102 and the absolute position determined by the IMU at the point where the DGPS is not received are relative to the position information of the MMS vehicle; The distance to the right boundary seat uses the distance between the vehicle and the facility positioned by LiDAR, and the distance to the left boundary seat uses the distance between the vehicle and the facility positioned by the LiDAR; For the number of lanes, the number of lanes input by voice information is applied, and the unit is converted into meters and the road width (X) is calculated first, (Gx is the X-coordinate value of the vehicle's location information, Lx is the X-coordinate value among the distance from the left boundary seat, Rx is the X-coordinate value among the distance from the right boundary seat), and lane width = X ÷ Total number of lanes An MMS data updating system for map production with autonomous driving precision, which automatically creates a road alignment on the left and right based on the driving lane of the vehicle provided by the input voice information;
an opening 2100 formed on one side of the case 2000; a plurality of selective dumping rods 2200 installed in the opening 2100; a cooling box 2300 installed on the upper surface of the case 2000; Further comprising; a cooling fan (2400) mounted on the cooling box (2300);
A lattice groove 2210 is formed to a depth of 4 mm around the selective dumping rod 2200, and rotation shafts 2212 and 2214 protrude from the top and bottom, respectively, and are rotatably assembled on the opening 2100, and when rotating Arranged to be in contact with each other, the selective gas rod 2200 is 0.5 cm long thermoplastic polyvinylidene fluoride ( PVDF) using one molded into a composition consisting of 2.0 parts by weight of fibers;
A suppression gun 3000 arranged in the traveling direction of the vehicle is further installed on the roof tip of the MMS vehicle 1000, wherein the suppression gun 3000 includes a fire extinguishing fluid connection part 3100 through which extinguishing fluid can be supplied, and the extinguishing fluid connection part A nozzle body 3200 extending from 3100 and having a plurality of injection holes 3210 around it, and an elastic band 3300 that is bound to the nozzle body 3200 and elastically closes the injection holes 3210. made;
The injection hole 3210 is formed inside the injection hole forming groove 3220 formed around the nozzle body 3200, and the inside of the nozzle body 3200 has an empty cylindrical shape, but the inner surface of the closed tip has a circular center. A conical protrusion 3230 protruding toward the is further formed and configured to increase the injection pressure sprayed through the injection hole 3210, and a locking groove 3240 of the same shape at a distance from the injection hole forming groove 3220. This is further formed, and the elastic band 3300 is wound and fixed to the nozzle body 3200, and the elastic band 3300 is a rectangular elastic rubber band with a binding piece 3310 formed at one end and the binding at the other end. A piece to be bound 3320 for binding to the piece 3310 is formed, a hook-shaped binding protrusion 3312 is protruded from the binding piece 3310, and the binding protrusion 3312 is formed on the piece to be bound 3320. ) is fitted and fixed in the binding protrusion hole (3322) is perforated, a long locking protrusion 3330 in the longitudinal direction protrudes from the rear surface of the elastic band 3300, and the locking protrusion 3330 is the locking groove ( 3240) is fitted and caught, one end of the width direction of the elastic band 3300 is fixed and the other end is provided in a non-fixed form so that it can vibrate;
The cooling fan 2400 includes an alternator 2410 that converts the rotational kinetic energy of the cooling fan 2400 into electrical energy, and a DC that converts AC electrical energy generated in the alternator 2410 into direct current. A converter 2420 and an ESS (Energy Storage System) 2430 for storing the electricity converted by the DC converter 2420 are provided;
A detection sensor 7000 installed on the suspension of the MMS vehicle 1000 to detect vibration or displacement of the suspension, and a detection signal from the detection sensor 7000 installed at the rear end of the MMS vehicle 1000 to photograph the road surface The road surface image DB 7200 mounted on the case 2000 in the form of a module to store the image photographed by the road surface photographing camera 7100 and the road surface photographing camera 7100, and the road surface image DB 7200 are stored MMS data update system for map production with autonomous driving precision, characterized in that it further comprises a GPS coordinate mapper (7300) mounted on the case (2000) in the form of a module to store the corresponding coordinate values together when it becomes available.

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