KR102355475B1 - Road map construction system for creating digital topographic map using mobile mapping system - Google Patents

Abstract

The present invention relates to a detailed road map construction system. More specifically, the present invention relates to the detailed road map construction system capable of road layer field survey, comprising: a mobile mapping system which acquires image data and lidar point data; and a control system which inspects and corrects accuracy of the data generated from the mobile mapping system. A numerical topographic map is created by using MMS which inspects and corrects accuracy for a road layer of a drawing data in the field survey by using the mobile mapping system.

Description

A road layer map construction system with precision that enables field surveys to create numerical topographic maps using MMS {ROAD MAP CONSTRUCTION SYSTEM FOR CREATING DIGITAL TOPOGRAPHIC MAP USING MOBILE MAPPING SYSTEM}

The present invention relates to a high-precision map construction system, and more particularly, to a high-precision map construction system capable of field-surveying a road layer capable of creating a numerical topographic map using MMS.

In the conventional spatial modeling method, it is common to utilize data constructed manually through field surveys. This method has disadvantages in that not only labor costs are excessive, but also errors in geographic information occur frequently due to manual work, and it is 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 and precise GNSS/INS on a moving object such as a vehicle to calculate accurate location information and posture information about the photographing sensor while the work is in progress, and use this to acquire 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 object.

Such a mobile mapping system is in the spotlight as a means to quickly secure the latest spatial information, and in particular, as the need for precision maps of roads and surrounding areas increases for ADAS (Advanced Driver Assistance System) and autonomous vehicles, Demand is growing.

On the other hand, the numerical topographic map is produced on the basis of drawing data through stereoscopic vision of an aerial image or satellite image taken with a degree of overlap of a certain ratio or more. However, the images used for drawing contain information on most of the topography and features, but when there is a lot of information on facilities in the shaded area or target area caused by high-rise buildings, it is difficult to produce an accurate topographic map using only the drawing using the image. Therefore, field surveys and supplementary surveying are performed to supplement the parts that cannot be extracted only by drawing work.

In field surveys and supplementary surveying work, most road and underground facility-related facilities are surveyed in a way that supplements the relative position of the road based on the relevant road. It is most important to create

The existing work method for creating a road layer is to measure the actual width of the road at major points in the road section using a wicking meter (hoop), a tape measure, etc., and compare it with the drawing data to confirm and correct it. , because of the nature of the work method, there is a risk of artificial errors depending on the operator, and the acquired data also has discontinuous and irregular disadvantages. There was a problem.

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 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 a road capable of creating a numerical topographic map using an MMS that can check and correct the accuracy of the road layer of the drawing data in the field survey process using a mobile mapping system Its purpose is to provide a map construction system with a precision that enables layer field surveys.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems 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 is a mobile mapping system for acquiring image data and lidar point data; and a control system for checking and correcting accuracy of data generated from the mobile mapping system; It is characterized in that it includes.

In the map construction system with precision capable of field-studying the road layer that can create a numerical topographic map using MMS according to an embodiment of the present invention, the control system uses a direct georeferencing technique using GPS/INS. a pre-processing module for calculating the actual coordinates of the image data and lidar point data acquired from the mobile mapping system through; an extraction module for extracting color information corresponding to positions of individual points in the lidar point data from the image data; a classification module for classifying a point corresponding to a road area with respect to the lidar point data; and a correction module for confirming and correcting the accuracy of the road layer of the drawing data through the overlapping comparison of the classified road area points and the drawing data; It is preferable to include

The classification module in the map construction system with precision capable of field-surveying road layers that can create a numerical topographic map using MMS according to an embodiment of the present invention includes the height value, reflection intensity and image data included in the lidar point data. It is desirable to classify the points included in the actual road area as road area points by using the color information included in the .

According to an embodiment of the present invention, the mobile mapping system includes: a horizontal adjustment unit coupled to an upper portion of a movable vehicle; a receiving part coupled to the upper part of the horizontal adjustment part and having an open space part formed on the upper surface; an opening/closing unit installed on the upper portion of the storage unit and configured to open and close the open space; a first holding part installed inside the accommodating part; a second holding part mounted on the upper part of the opening/closing unit; and an information module that can be selectively fastened to the first holding unit or the second holding unit; It is preferable to include

In the map construction system with precision capable of field surveying of road layers that can create a numerical topographic map using MMS according to an embodiment of the present invention, the horizontal adjustment unit includes: a horizontal housing coupled to the upper surface of the vehicle and having a space therein; a mounting plate disposed in the horizontal direction on the inside of the horizontal housing; a rotating body having a vertical bar coupled to the center of the lower surface of the mounting plate and integrally formed with a spherical portion having a spherical outer circumferential surface and an upper surface of the spherical portion, the upper end of which is coupled to the center of the mounting plate; a rotation support fixed to the inner lower surface of the horizontal housing and having a spherical inner peripheral surface corresponding to the lower surface of the spherical part of the rotation body; an upper support having a spherical inner circumferential surface that is fixedly coupled to the upper portion of the pivot support and corresponds to the upper surface of the spherical part of the pivot; And one side supports the lower surface of the mounting plate and the other side is in rolling contact with the upper surface of the horizontal housing to maintain the horizontal maintaining portion of the mounting plate; It is preferable to include

In the map construction system with precision capable of field-surveying a road layer that can create a numerical topographic map using MMS according to an embodiment of the present invention, the leveling unit includes: a coupling block provided on the bottom surface of the mounting unit; a first base bar having one side portion rotatably coupled to the coupling block; a first mounting bar in which one side is disposed inside the first base bar and moved to the inside of the first base bar; a first horizontal roller provided on the first mounting bar and in rolling contact with the lower surface of the horizontal housing; a first spring member having one side coupled to the inside of the first base bar and the other side coupled to the first mounting bar to guide the length of the first mounting bar to be adjusted; a second base bar, one side of which is rotatably coupled to the coupling block; a second mounting bar in which one side is disposed inside the second base bar and moved to the inside of the second base bar; a second horizontal roller provided on the second mounting bar and in rolling contact with the lower surface of the horizontal housing; a second spring member having one side coupled to the inside of the second base bar and the other side coupled to the second mounting bar to guide the second mounting bar to be adjusted in length; a body connection spring connecting the first base bar and the second base bar to maintain a gap between the first base bar and the second base bar; and a piezoelectric element part provided on a lower surface of the horizontal housing in an area where the first horizontal roller and the second horizontal roller are in contact and generating electricity by contact between the first horizontal roller and the second horizontal roller; It is preferable to include

In the map construction system with precision capable of field-surveying the road layer that can create a numerical topographic map using MMS according to an embodiment of the present invention, the opening/closing unit is provided on the upper part of the receiving part and a first opening/closing part for opening and closing one side of the opening/closing space part ; and a second opening/closing unit provided at the upper portion of the accommodating unit to open and close the other side of the opening/closing space unit; It is preferable to include

In the map construction system with precision capable of field-surveying road layers that can create a numerical topographic map using MMS according to an embodiment of the present invention, the first opening and closing part is provided at the upper part of the receiving part and opening and closing one side of the open space part. opening and closing body; a first opening/closing cylinder provided on an upper portion of the receiving unit and connected to the first opening/closing body to open and close the first opening/closing body; a first wrinkle part having one side coupled to the first opening/closing body and the other side being coupled to the body of the first opening/closing cylinder to cover the rod of the first opening/closing cylinder and to be stretched and contracted when the first opening/closing body is opened and closed; and a first guide rail provided on an upper portion of the accommodating part to guide the opening and closing of the first opening/closing body; It is preferable to include

In the map construction system with precision capable of field-surveying the road layer that can create a numerical topographic map using MMS according to an embodiment of the present invention, the second opening and closing part is provided at the upper part of the receiving part and opening and closing the other side of the open space part. 2 opening and closing bodies; a second opening/closing cylinder provided on an upper portion of the receiving unit and connected to the second opening/closing body to open and close the second opening/closing body; a second wrinkle part having one side coupled to the second opening/closing body and the other side being coupled to the body of the second opening/closing cylinder to cover the rod of the second opening/closing cylinder and to be stretched and contracted when the second opening/closing body is opened and closed; and a second guide rail provided on the receiving part to guide the opening and closing of the second opening/closing body; It is preferable to include

According to an embodiment of the present invention, in the system for constructing a map with precision capable of field-surveying a road layer that can create a numerical topographic map using MMS according to an embodiment of the present invention, the first holding unit includes: a lifting unit installed inside the receiving unit; a base plate coupled to the upper portion of the lifting unit and elevating in the direction of the open space; a plurality of holding cylinders provided on the base plate; a pressure bar provided in each of the plurality of holding cylinders and moved in parallel with the base plate; and an elastic pad coupled to the pressure bar; It is preferable to include

In the map construction system with precision capable of field-surveying road layers that can create a numerical topographic map using MMS according to an embodiment of the present invention, the second holding part is provided on the first opening and closing body and is moved together with the first opening and closing body. 1 body; a second body provided on the second opening/closing body and moving together with the second opening/closing body; and a plurality of clamping units respectively provided on the first body and the second body; It is preferable to include

According to an embodiment of the present invention, in the system for constructing a map with precision capable of field-surveying a road layer capable of creating a numerical topographic map using MMS according to an embodiment of the present invention, the elevator unit includes: an elevator drive unit coupled to the interior of the housing unit; a spherical elevating housing coupled to the upper part of the elevating drive and having an empty interior; an elevating shaft connected to the elevating drive unit, rotating clockwise or counterclockwise, elevating up and down, and disposed inside the elevating housing; A plurality of lifting support body hinged to the outer wall of the lifting shaft; a support bar mounted to be drawn out at the ends of the plurality of lifting support bodies; a support roller provided at the end of the support bar and supported on the inner wall of the elevating housing; an elevating spring having one side coupled to the inside of the elevating support body and the other side coupled to the supporting bar to elastically support the supporting bar; and a connection spring connecting the plurality of lifting support bodies to each other so that the plurality of lifting support bodies can be supported. And, it is preferable that the lifting support body, the support bar, and the support roller are raised and lowered while rotating together with the lifting shaft when the lifting driving unit is operated, and the support roller is in rolling contact with the inner wall of the lifting housing.

According to an embodiment of the present invention, the information module includes: a buffer mechanism coupled to the upper portion of the information body; a rotation mechanism coupled to the upper portion of the buffer mechanism; an information unit coupled to the upper portion of the rotating mechanism; an information seating unit coupled to the lower portion of the information body; and an information buffering unit mounted on the information receiving unit; It is preferable to include

According to an embodiment of the present invention, the information buffer unit includes: a buffer body provided on the bottom of the information receiving unit; a pair of incision holes provided on both edges of the buffer body to allow deformation of the buffer body; and a plurality of buffer holes provided on the buffer body so as to be disposed between the pair of incision holes so that contraction and expansion of the buffer body are smoothly made; It is preferable to include

Using MMS according to an embodiment of the present invention, the buffer mechanism includes: a buffer rod coupled to the lower end of the rotation mechanism; a buffer case formed in an empty cylindrical shape to accommodate the lower end of the buffer rod and installed on the upper part of the information body; a buffer stopper coupled to the lower outer surface of the buffer rod in the form of a ring; a buffer connection part coupled to the lower portion of the buffer rod and connecting the buffer rod and the inner surface of the buffer case; And a buffer bent portion coupled between the outer surface of the buffer stopper and the inner surface of the buffer case to connect the buffer stopper and the buffer case to each other; It is preferable to include

In the map construction system with precision capable of field-surveying road layers that can create a numerical topographic map using MMS according to an embodiment of the present invention, the buffer bending part is coupled to the outer surface of the buffer stopper and is formed in a first shape bends; a second curved portion extending obliquely upward from the lower end of the first curved portion; a third curved part extending from the upper end of the second curved part to the lower part and formed in the shape of a figure; a fourth curved portion extending obliquely upward from the lower end of the third curved portion; and a fifth curved part extending from the upper end of the fourth curved part to the lower part, formed in the shape of a figure, and coupled to the inner surface of the buffer case; It is preferable to include

The present invention having the above configuration has the effect of shortening the working time in the field investigation process for producing a digital topographic map.

In addition, the present invention has the effect of calculating accurate work performance by minimizing the artificial error that may occur in the existing conventional work method.

Furthermore, the present invention has the effect of increasing the work efficiency in the subsequent in-place editing process and at the same time improving the quality of the final result, the numerical topographic map.

1 is a flowchart for explaining a road field survey process for confirming and correcting a general road layer.
FIG. 2 is a block diagram showing the overall configuration of a map construction system with precision capable of performing a road layer field survey capable of creating a numerical topographic map using MMS according to an embodiment of the present invention; FIG.
3 is a flowchart for explaining a method of operating a map construction system with precision according to an embodiment of the present invention.
4 is a view for explaining a form of lidar data used for road area point classification and a result of completing road area classification according to an embodiment of the present invention;
5 is a view for explaining a process of confirming the accuracy of the road layer of the drawing data in the field survey process by superimposing the classified road area points and drawing data according to an embodiment of the present invention;
6 is a view showing a front view of the mobile mapping system according to an embodiment of the present invention.
7 is a view showing a cross-sectional view of a horizontal adjustment unit according to an embodiment of the present invention.
8 is an enlarged view of a leveling unit according to an embodiment of the present invention;
9 is a diagram illustrating a state in which an information module according to an embodiment of the present invention is mounted on a second holding unit;
10 is a diagram illustrating a state in which an information module according to an embodiment of the present invention is mounted on a first holding unit;
11 is a view showing a cross-sectional view of a lifting unit according to an embodiment of the present invention.
12 is a diagram illustrating an information module according to an embodiment of the present invention.
13 is a view showing a cross-sectional view of a buffer mechanism according to an embodiment of the present invention.
14 is a view showing a cross-sectional view of a rotating mechanism according to an embodiment of the present invention.
15 is a view showing a state of a rotating rod according to an embodiment of the present invention.

Hereinafter, based on the accompanying drawings, the present invention will be described in detail so that those of ordinary skill in the art can easily carry out the present invention. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein.

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

In addition, the terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor must properly understand the concept of the term in order to best describe his invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

1 is a flowchart for explaining a road field survey process for confirming and correcting a general road layer.

As shown, the road field survey process for checking and correcting the general road layer first establishes a field survey work plan such as creating an index using drawing data and aerial photos (S10).

Then, major sections and station points are occupied by the inflection point of the road in which the width of the road changes on the actual road or sections having characteristic points that are clearly distinguished from the drawing data and the actual topography (S20).

Measure and record the actual width of the road using a walking meter, a tape measure, etc. for the selected major section (S30), and check and correct the accuracy of the road layer of the drawing data using the measured road width value in the subsequent in-situ work to perform the operation (S40).

However, in this case, there is a risk of artificial errors caused by workers, and the acquired data also has the disadvantages of discontinuous and irregular, so there is a problem in that the location and quality of major road facilities measured based on this and the creation of a road layer using it are deteriorated. .

2 is a block diagram showing the overall configuration of a map construction system with precision capable of performing a road layer field survey capable of creating a numerical topographic map using MMS according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. It is a flowchart for explaining the operation method of the map construction system with precision according to the example.

As shown, the precision map construction system according to the present invention includes a mobile mapping system 100 for acquiring image data and lidar point data, and a control system for checking and correcting the accuracy of data generated from the mobile mapping system ( 200) is included.

The mobile mapping system 100 includes a horizontal adjustment unit 800 coupled to an upper portion of the movable vehicle V, and an accommodation unit 300 coupled to an upper portion of the horizontal adjustment unit 800 and having an open space formed on the upper surface. ), the opening/closing unit 400 installed on the upper part of the accommodating part 300 and opening and closing the open space part, the first holding part 500 installed inside the accommodating part 300, and mounted on the upper part of the opening/closing unit 400 and a second holding unit 600 and an information module 700 that can be selectively fastened to the first holding unit 500 or the second holding unit 600 .

The information unit 740 of the information module 700 may include a camera and a ground lidar. In addition, the mobile mapping system 100 may be equipped with a GPS/INS. Of the horizontal adjustment unit 800, the receiving unit 300, the opening/closing unit 400, the first holding unit 500, the second holding unit 600 and the information module 700 constituting the mobile mapping system 100 The specific configuration will be looked at below.

The control system 200 includes a pre-processing module 210 for calculating actual coordinates of image data and lidar point data acquired from the mobile mapping system 100 through a direct georeferencing technique using GPS/INS. ), an extraction module 220 for extracting color information corresponding to the positions of individual points in the lidar point data from image data, a classification module 230 for classifying points corresponding to a road area with respect to the lidar point data, and classification and a correction module 240 for confirming and correcting the accuracy of the road layer of the drawing data through the overlapping comparison of the road area points and the drawing data.

As shown in FIG. 3 , the preprocessing module 210 is the actual coordinates of image data and lidar point data acquired from the mobile mapping system 100 through a direct georeferencing technique using GPS/INS. A data pre-processing step of calculating is performed (S100).

The data pre-processing step by the pre-processing module 210 is performed by combining the GPS data of the ground reference station with the mobile GPS acquired from the mobile mapping system 100 and the INS data of the camera and the ground lidar mounted on the vehicle. By extracting accurate location information and posture information, high-precision coordinate information of the acquired image data and lidar point data (LAS file) is extracted, and the extracted coordinate information is converted into the same coordinate system used in the numerical topographic map. do.

This can be done by inputting GPS/INS data acquired from the vehicle mobile mapping system 100 and GPS data received from a GPS ground reference station installed near the work area using commonly used GPS/INS processing software. .

When the data pre-processing step is completed, the extraction module 220 superimposes the camera image acquired at the same time with the lidar point data, and acquires the Hue: Saturation: Value (HSV) value in the image area where the individual points are located. Color information corresponding to the location is extracted from the image data (S200).

Next, the classification module 230 performs a road area point classification step of classifying a point corresponding to a road area with respect to the lidar point data (S300).

The road area point classification step by the classification module 230 uses the height value, reflection intensity, and color information included in the lidar point data to classify the points included in the actual road area into road area points. do.

In order to classify the points corresponding to the road area, the ground points are classified using the height value of the lidar point data, and the supervised classification method using the color and reflection intensity values for the classified ground points is used.

The method of classifying ground points using the height information of the points can be processed using various algorithms provided by commercial software that processes lidar data. As for the method of extracting the road area point, the classification task is performed by applying the supervisory classification method used for image classification in the processing of satellite images or aerial images.

The supervised classification method selects a pixel group (training data) that can represent the classification item for a previously set classification item, compares the similarity with the selected training data, and allocates the pixel as the classification item with the highest similarity. It is a kind of supervisory classification technique.

In the present invention, in order to utilize this supervisory classification method, training fields are selected, and the range of reflection intensity and color indicated by the road is extracted from here, the corresponding ground points are reclassified into the road area, and the classified LiDAR The work is performed through the step of checking the classification accuracy by superimposing the point and the image.

4 is a view for explaining a form of lidar data used for road area point classification and a result of completing road area classification according to an embodiment of the present invention, and FIG. 5 is a classification according to an embodiment of the present invention. It is a diagram to explain the process of checking the accuracy of the road layer of the drawing data in the field survey process by overlapping the road area points and the drawing data.

In order to classify the point corresponding to the road area, the color range of the point corresponding to the road is selected from the point color information (a) extracted from the image acquired simultaneously with the lidar data, and the reflection intensity data of the lidar point (b) is selected. The reflection intensity numerical range corresponding to the road is selected, and the point classification operation (d) into the road area and the non-road area is performed using the cross-sectional view (c) using the height value of the lidar point.

Finally, the correction module 240 confirms the accuracy of the road layer of the drawing data through the overlapping comparison of the classified road area points with the drawing data (S400).

The step of confirming the accuracy of the road layer of the drawing data by the correction module 240 is (a) Checking whether there is an area that clearly deviates from the road boundary of the road layer while overlapping and comparing the road area point with the road layer of the drawing data to do; (b) generating a new road boundary line by connecting the points of the outer point to the road area points showing a clear difference from the road boundary line of the road layer; and (c) modifying the road layer by simplifying the created road boundary line and connecting it with an existing road layer.

At this time, the area that clearly deviates from the road boundary of the road layer in step (a) is 0.2 mm on the numerical topographic map, which is the accuracy of vectorization set in the "Natural Topographic Map Creation Work Regulation (National Geographic Information Service)", as a reference, the vehicle mobile mapping system It means an area including road area points where the road area points generated from .

In addition, as shown in [Table 1] below, the road boundary line simplification work in step (c) is, as shown in [Table 1], the input interval and middle The road alignment can be simplified based on the omissible angle of the point.

Point-to-point input interval by topographic map scale Intermediate point can be omitted angle (based on straight line direction) 1/1,000 10m 6° 1/5,000 1/25,000 1°

Figure 6 is a view showing a front view of the mobile mapping system according to an embodiment of the present invention, Figure 7 is a view showing a cross-sectional view of the horizontal adjustment unit according to an embodiment of the present invention, Figure 8 is It is a view showing an enlarged leveling part according to an embodiment of the present invention.

As shown, the mobile mapping system 100 is a horizontal adjustment unit 800 coupled to the upper portion of the movable vehicle V, is coupled to the upper portion of the horizontal adjustment unit 800, and an open space is formed on the upper surface. The accommodating part 300 to be used, the opening/closing unit 400 installed on the upper part of the accommodating part 300 and opening and closing the open space part, the first holding part 500 installed inside the accommodating part 300, the opening/closing unit 400 ) includes a second holding unit 600 mounted on the upper portion and an information module 700 that can be selectively fastened to the first holding unit 500 or the second holding unit 600 .

The horizontal adjustment unit 800 is coupled to the upper portion of the vehicle V, and the horizontal housing 810, the mounting plate 820, the rotating body 830, the rotating support 840, the upper support 850 and the horizontal maintenance. part 900 .

In the process of performing the measurement, when the ground is inclined, the mounting plate 820 is inclined, and accordingly, the information module 700 coupled thereto is also inclined. The length of the first mounting bar 921 and the second mounting bar 931 is increased or decreased, so that the mounting plate 820 can be maintained horizontally.

The horizontal housing 810 is coupled to the upper surface of the vehicle V, and a space is formed therein. In addition, the upper surface of the horizontal housing 810 is open, and the mounting plate 820 and the accommodating part 300 to be described later may be coupled through this open space.

The mounting plate 820 is horizontally disposed inside the horizontal housing 810 . A rotating body 830 is coupled to the center of the lower surface of the mounting plate 820 . The rotating body 830 includes a vertical rod 831 coupled to a lower portion of the mounting plate 820 and a spherical portion 832 integrally formed with a lower end of the vertical rod and having a spherical outer circumferential surface.

A rotation support 840 having a spherical inner peripheral surface corresponding to the lower surface of the spherical portion 832 of the rotation body 830 is fixed to the inner lower surface of the horizontal housing 810 . An upper support 850 having a spherical inner peripheral surface corresponding to the upper surface of the spherical portion 832 of the pivoting body 830 is fixedly coupled to the upper portion of the pivoting support 840 . The spherical part 832 of the rotating body 830 may be rotatably coupled to the lower surface of the horizontal housing 810 by the rotating support 840 and the upper support 850 .

The horizontal maintaining unit 900 is composed of a plurality, and is coupled to the bottom surface of the mounting plate (820). One side of the horizontal maintaining unit 900 supports the bottom surface of the mounting plate 820 , and the other side is in rolling contact with the inner lower surface of the horizontal housing 810 to maintain the level of the mounting plate 820 .

A vertical displacement limiting portion 811 is formed on the upper surface of the horizontal housing 810 to protrude in a 'L' shape in cross-section toward the center. The vertical displacement limiter 811 is configured to limit the size of the mounting plate 820 moving in the upward direction.

A vertical sensor unit 860 is mounted on the lower surface of the vertical displacement limiting unit 811 . The vertical sensor unit 860 may detect a signal when the mounting plate 820 is in contact. When a signal is detected by the vertical sensor unit 860, since severe irregularities, deep puddles, or steep slopes are formed on the ground, accurate measurement information cannot be received or detected in such terrain. can

On the other hand, a first guide bar 870 movable up and down inside the horizontal housing 810 is coupled to both ends of the mounting plate 820 , and a first roller ( 871) is formed.

A support spring 872 is coupled inside both ends of the mounting plate 820 , and the support spring 872 has one end coupled to the inside of the mounting plate 820 and the other end coupled to the first guide bar 870 . to elastically support the first guide bar 870 .

A guide rail 812 is mounted on the inner surface of the horizontal housing 810 in the vertical direction, and the first roller 871 is accommodated and supported on the guide rail 812 so that the mounting plate 820 is smoothly horizontal. guide you to keep

The horizontal maintaining unit 900 includes a coupling block 910 provided on the bottom surface of the mounting plate 820 , a first base bar 920 rotatably coupled to one side of the coupling block 910 , and a second side at the first base bar 920 . The first mounting bar 921 disposed inside the first base bar 920 and moving to the inside of the first base bar 920 , provided in the first mounting bar 921 , is a cloud on the lower surface of the horizontal housing 810 . The contacting first horizontal roller 922, one side is coupled to the inside of the first base bar 920, and the other side is coupled to the first mounting bar 921 to guide the first mounting bar 921 to be adjusted in length. A first spring member 923 , a second base bar 930 , one side of which is rotatably coupled to the coupling block 910 , and one side of the second base bar 930 are disposed inside the second base bar 930 . The second mounting bar 931 moved inside the ) and the other side is coupled to the second mounting bar 931 to guide the second mounting bar 931 to be adjusted in length, the second spring member 933, the first base bar 920 and the second and a body connection spring 940 connecting the base bar 930 to maintain a gap between the first base bar 920 and the second base bar 930 .

The leveling unit 900 may be operated with a mechanical structure using a spring without electrical energy, and when the horizontal housing 810 is tilted or returned to its original position, the first spring member 923 provided in the leveling unit 900 may be operated. ), the second spring member 933 and the body connection spring 940 may act as a buffer to attenuate vibration transmitted to the leveling unit 900 or other components.

In addition, the length of the first mounting bar 921 and the second mounting bar 931 is automatically adjusted to correspond to the inclination of the mounting plate 820 by the first and second spring members 923 and 933. Also, when the mounting plate 820 is returned to its original position, the first spring member 923 and the second spring member 933 may be returned to their original positions by expansion and contraction.

Specifically, when the mounting plate 820 is tilted so that the left side goes down in the illustrated embodiment, a gap between the first base bar 920 and the second base bar 930 is initially widened and the first mounting bar 921 and the second mounting bar 931 enter into the first base bar 920 and the second base bar 930 to shorten the length, but the first spring member 923 and the second spring member ( 933) and the elastic restoring force of the body connection spring 940, the gap between the first base bar 920 and the second base bar 930 is again narrowed, and the first mounting bar 921 and the second mounting bar 931 are again narrowed. ) becomes longer as it goes out to the outside of the first base bar 920 and the second base bar 930 , so that the left side of the mounting plate 820 rises upward and is leveled.

Furthermore, a piezoelectric element part 950 may be provided on a lower surface of the horizontal housing 810 in a region where the first horizontal roller 922 and the second horizontal roller 932 contact each other. When the mounting plate 820 is tilted, the first horizontal roller 922 and the second horizontal roller 932 may generate electrical energy while passing the upper portion of the piezoelectric element unit 950 , and this electrical energy is used in other components. can be supplied as

9 is a view showing a state in which the information module according to an embodiment of the present invention is mounted on the second holding unit, and FIG. 10 is a state that the information module according to an embodiment of the present invention is mounted on the first holding unit. is a diagram showing

The opening/closing unit 400 is provided on the upper portion of the receiving unit 300 in which the open space unit 310 is provided, and is opened so that the information module 700 can be lowered when the information module 700 is placed inside the receiving unit 300 . The space 310 may be opened.

The opening/closing unit 400 is provided on the upper part of the accommodating part 300 and provided on the upper part of the first opening and closing part 410 for opening and closing one side of the open space part 310 and the accommodating part 300 of the open space part 310 . It includes a second opening and closing portion 420 for opening and closing the other side.

The first opening/closing part 410 is provided on the upper part of the accommodating part 300, a first opening/closing body 411 for opening and closing one side of the opening/closing space part, is provided on the upper part of the accommodating part 300, and is provided on the first opening/closing body 411. The first opening/closing cylinder 412 connected to open and close the first opening/closing body 411, one side is coupled to the first opening/closing body 411, and the other side is coupled to the body of the first opening/closing cylinder 412 to open and close the first A first wrinkled portion 413 covering the rod of the cylinder 412 and a first guide rail 414 provided on the accommodating portion 300 to guide the opening and closing of the first opening/closing body 411 are included.

The first opening/closing body 411 and the second opening/closing body 421 of the first opening/closing part 410 are empty inside, so that the load can be reduced.

The first opening/closing cylinder 412 of the first opening/closing unit 410 may be operated pneumatically or hydraulically, and the air or oil required for operation may be supplied from a pneumatic pump or a hydraulic pump disposed inside the receiving unit 300 . can, and this may also be applied to the second opening/closing cylinder 422 .

The first pleated portion 413 may be provided to be corrugated and stretched and contracted when the first opening/closing body 411 is opened and closed to adjust its length. In addition, in the present embodiment, the first corrugated portion 413 is provided to cover the rod of the first opening/closing cylinder 412, and it is possible to prevent water or dust from penetrating into the inside or the rod of the first opening/closing cylinder 412. have. This may also be applied to the second pleated portion 423 .

The first guide rail 414 may be provided on the receiving part 300 to guide the movement of the first opening/closing body 411 smoothly.

The second opening/closing part 420 is provided on the upper part of the accommodating part 300 to open and close the other side of the open space part 310, the second opening/closing body 421 is provided on the accommodating part 300, and the second opening/closing part 310 is provided on the top. A second opening/closing cylinder 422 connected to the body 421 to open and close the second opening/closing body 421, one side is coupled to the second opening/closing body 421, and the other side is on the body of the second opening/closing cylinder 422 A second guide rail 424 that is coupled to cover the rod of the second opening/closing cylinder 422 and provided on the upper portion of the accommodating unit 300 and guides the opening and closing of the second opening/closing body 421. include

The first holding part 500 may be provided inside the accommodating part 300 to stably place the information module 700 inside the accommodating part 300 . In this embodiment, the first holding unit 500 stores the information module 700 without using it for a long period of time, or when it rains or snows during operation, or when the wind is severe, the information module 700 is stored inside the housing unit 300 . It can be used to place in

The first holding unit 500 is provided on the lifting unit 1200 provided in the interior of the receiving unit 300 and the lifting unit 1200 to be lifted (raised or lowered) in the direction of the open space unit 310 . A base plate 520, a plurality of holding cylinders 530 provided on the base plate 520, a pressure bar 540 provided on the plurality of holding cylinders 530 and moved in parallel with the base plate 520, a pressure bar ( It is provided on the 540 and includes an elastic pad 550 for pressing the lower portion of the information seating unit 720 to fix the information module 700 in position.

A detailed configuration of the lifting unit 1200 will be described in detail below.

The plurality of holding cylinders 530 may be operated pneumatically or hydraulically. The elastic pad 550 may be in contact with the lower portion of the information receiving unit 720 to press the information receiving unit 720 .

In the present embodiment, the elastic pad 550 may be made of an elastic material including rubber, and may be deformed to correspond to the shape of the information seating unit 720 to be in close contact with the information seating unit 720 .

When the information module 700 is disposed inside the receiving unit 300, the first opening/closing body 411 and the second opening/closing body 421 are moved in a direction away from each other to open the open space unit 310. . At this time, the first opening/closing body 411 and the second opening/closing body 421 may be pulled by the first opening/closing cylinder 412 and the second opening/closing cylinder 422 to move in the left and right directions.

Thereafter, the base plate 520 is raised to be inserted into the open space 310 using the lifting unit 1200 . At this time, the information module 700 is disposed on the upper part of the open space 310 and can be immediately descended. .

Next, the plurality of holding cylinders 530 are operated to press the lower portion of the information seating unit 720 with the elastic pad 550 .

Finally, by operating the lifting unit 1200 to lower the base plate 520 to the set position, the open space portion 310 is sealed with the first opening and closing body 411 and the second opening and closing body 421 .

The second holding unit 600 may be provided on the first opening/closing body 411 and the second opening/closing body 421 to position the information module 700 separately from the first holding unit 500 . In this embodiment, when performing an operation using the information module 700, the information module 700 is fastened to the second holding unit 600 disposed outside the receiving unit 300 to fix the position to start the measurement. can

The second holding part 600 is provided on the first opening/closing body 411 and provided on the first body 610 and the second opening/closing body 421 to move together with the first opening/closing body 411, the second opening/closing body ( 421), a plurality of clamping units 630 provided on the moving second body 620, the first body 610 and the second body 620, respectively, to clamp the lower portion of the information receiving unit 720 to fix the position. includes

The first body 610 may be provided on the upper surface of the first opening/closing body 411 to move like the first opening/closing body 411 . The second body 620 may be provided on the upper surface of the second opening/closing body 421 to move like the second opening/closing body 421 .

As shown, the plurality of clamping parts 630 includes a clamping body 631 provided on the first body 610 and the second body 620, respectively, and a pair of clamping cylinders 632 provided on the clamping body 631, respectively. ), each of which is connected to a pair of clamping cylinders 632 and includes a pair of clamping tongs 633 for clamping the lower portion of the information receiving unit 720 .

Since the second holding unit 600 can be used in a state in which the information module 700 is fixed in position, it can be provided in the form of tongs, which is different from the above-described first holding unit 500 for rigidity of fixing.

The pair of clamping tongs 633 may be axially coupled so that regions in contact with each other are rotatable.

11 is a view showing a cross-sectional view of a lifting unit according to an embodiment of the present invention.

As shown, the lifting unit 1200 is coupled to the interior of the receiving unit, and the base plate 520 is coupled to the upper portion of the lifting unit 1200 . The base plate 520 may move up and down by the lifting unit 1200 .

The elevating unit 1200 includes an elevating driving unit 1210, an elevating housing 1280, an elevating shaft 1220, a plurality of elevating support bodies 1230, a support bar 1240, a support roller 1250, and an elevating spring 1260. ) and a connection spring (1270).

The elevating driving unit 1210 is mounted inside the receiving unit, and is composed of a rotating motor and the like to rotate the elevating shaft 1220 clockwise or counterclockwise to elevate (raise or descend).

The elevating housing 1280 is formed in a spherical shape with an empty interior, and is coupled to the upper portion of the elevating driving unit 1210 . Inside the elevating housing 1280, elevating shaft 1220, elevating support body 1230, support bar 1240, support roller 1250, elevating spring 1260 and connection spring 1270, etc. may be built-in. .

The elevating shaft 1220 is connected to the upper portion of the elevating driving unit 1210 and may be rotated in a clockwise or counterclockwise direction. A hole is formed at the lower end of the elevating housing 1280 so that the elevating shaft 1220 can pass therethrough, and the elevating shaft 1220 passes through the hole and is connected to the elevating driving unit 1210 . In addition, a hole is formed in the upper end of the elevating housing 1280 so that the elevating shaft 1220 can pass therethrough, and the upper end of the elevating shaft 1220 is connected to the base plate 520 through the hole.

The plurality of lifting support bodies 1230 are hinged to the outer wall of the lifting shaft 1220 . That is, the lifting support body 1230 may rotate up and down based on a portion coupled to the lifting shaft 1220 , and accordingly, the support bar 1240 and the support roller 1250 may also rotate up and down.

In the illustrated embodiment, a plurality of lifting support body 1230 is composed of four, two are arranged on the upper side based on the portion where the lifting support body 1230 is coupled to the lifting shaft 1220, and two are arranged on the lower side. do.

The support bar 1240 is mounted so as to be withdrawable at each end of the four lifting support bodies 1230 . Since the support bar 1240 is withdrawable, the total length from the end of the lifting support body 1230 to the end of the support bar 1240 may be increased or decreased.

Support rollers 1250 are respectively mounted at the ends of the support bars 1240 to be rotatable. The support roller 1250 is in rolling contact with the inner wall of the elevating housing 1280 and supports the support bar 1240 .

One side of the lifting spring 1260 is coupled to the inside of the lifting support body 1230 , and the other side is coupled to the support bar 1240 , and provides an elastic force to the support bar 1240 . The support bar 1240 by the elevating spring 1260 tries to move toward the inner wall of the elevating housing 1280 .

The connection spring 1270 connects the four lifting support bodies 1230 to each other, and allows a plurality of lifting support bodies 1230 to be supported with each other. The connection spring 1270 is composed of four.

Specifically, a connecting spring 1270 connecting the lifting support body 1230 disposed on the upper side with respect to the portion where the lifting support body 1230 is coupled to the lifting shaft 1220, and the lifting support body 1230 are connected to the lifting shaft A connection spring 1270 connecting the lifting support body 1230 disposed on the lower side with respect to the portion coupled to the 1220, the lifting support body 1230 is coupled to the lifting shaft 1220, the left side relative to the portion coupled to the The connecting spring 1270 and the lifting support body 1230 for connecting the lifting support body 1230 disposed on the It is composed of a connecting spring (1270) that connects.

When the lifting drive unit 1210 is operated, the lifting support body 1230, the support bar 1240, and the support roller 1250 are rotated together with the lifting shaft 1220 to be raised and lowered, and the support roller 1250 is the lifting housing 1280. ) in rolling contact with the inner wall.

Specifically, when the elevating shaft 1220 is raised by the operation of the elevating driving unit 1210, the lifting support body 1230 is a pair of elevating support bodies disposed on the upper side based on the portion coupled to the elevating shaft 1220 ( The support bars 1240 respectively coupled to 1230 overcome the elastic force of the lifting spring 1260 and move to the inside of the lifting support body 1230, and accordingly, the overall length of the lifting support body 1230 and the support bar 1240 is will decrease

In addition, when the lifting shaft 1220 is raised by the operation of the lifting drive unit 1210, a pair of lifting support body ( The support bars 1240 coupled to 1230 respectively move to the outside of the lifting support body 1230 by the elastic force of the lifting spring 1260, and accordingly, the overall length of the lifting support body 1230 and the support bar 1240 is will increase

When the elevating shaft 1220 is lowered by the operation of the elevating driving unit 1210, a pair of elevating support bodies 1230 are arranged on the upper side with respect to the portion where the elevating support body 1230 is coupled to the elevating shaft 1220. ) respectively coupled to the support bar 1240 is moved to the outside of the lifting support body 1230 by the elastic force of the lifting spring 1260, and thus the overall length of the lifting support body 1230 and the support bar 1240 is increased. do.

In addition, when the lifting shaft 1220 is lowered by the operation of the lifting drive unit 1210, a pair of lifting support body ( The support bars 1240 respectively coupled to 1230 overcome the elastic force of the lifting spring 1260 and move to the inside of the lifting support body 1230, and accordingly, the overall length of the lifting support body 1230 and the support bar 1240 is will decrease

As described above, according to the present invention, the elevating shaft 1220 is elevated according to the operation of the elevating driving unit 1210 so that the lengths of the elevating support body 1230 and the support bar 1240 can be organically varied so that elevating can be performed stably. There are advantages.

In addition, when the lifting shaft 1220 is raised and lowered, the four support rollers 1250 support the lifting shaft 1220 while in rolling contact with the inner wall of the lifting housing 1280, so it is stable, and during the lifting of the lifting shaft 1220, the lifting housing Even when an external shock is applied to the 1280, the elevating spring 1260 and the connecting spring 1270 can absorb the shock while contracting or expanding, so it is stable.

12 is a diagram illustrating an information module according to an embodiment of the present invention.

As shown, the information module 700 includes a buffer mechanism 1000 coupled to the upper portion of the information body 710 , a rotation mechanism 1100 coupled to the upper portion of the buffer mechanism 1000 , and a rotation mechanism 1100 . It includes an information unit 740 coupled to the upper portion, an information receiving unit 720 coupled to a lower portion of the information body 710 , and an information buffering unit 730 mounted to the information receiving unit 720 .

The information unit 740 includes a camera, terrestrial lidar, global positioning system (GPS)/inertial navigation system (INS), and a distance measurement instrument (DMI) and a laser scanner. ), etc. can be provided.

The information module 700 may be selectively fastened to the first holding unit 500 or the second holding unit 600 by using the information receiving unit 720 , and disposed inside or outside the receiving unit 300 . can be

The information buffer unit 730 is provided at both edges of the buffer body 731 and the buffer body 731 provided on the bottom of the information seating unit 720, a pair of a pair of deformation of the buffer body 731 is made. It includes a plurality of buffer holes 733 provided in the buffer body 731 to be disposed between the cut-out hole 732 and the pair of cut-out holes 732 so that contraction and expansion of the buffer body 731 are smoothly made. .

When the information module 700 is fastened to the base plate 520 of the first holding part 500 or the first body 610 and the second body 620 of the second holding part 600, a pair of cut-out holes It is deformed to correspond to the region fastened by 732 to minimize the influence of the contact region.

When the information module 700 is fastened, the buffer body 731 is gently contracted or expanded by the plurality of buffer holes 733 to significantly reduce the impact applied to the information module 700 .

The information buffer 730 may be made of a material including rubber or fiber-reinforced plastic.

13 is a view showing a cross-sectional view of a buffer mechanism according to an embodiment of the present invention.

As shown, the buffer mechanism 1000 is made to include a buffer rod 1010, a buffer case 1020, a buffer stopper 1030, a buffer connection part 1040 and a buffer bending part 1050, and a rotating mechanism ( 1100) is mounted at the bottom.

The buffer rod 1010 is coupled to the lower end of the rotating mechanism 1100, and the buffer fastening part 1011 in the form of a disk and the buffering cylindrical part 1012 in the form of a cylinder extending in the lower center of the buffer fastening part 1011. is done

The buffer case 1020 is formed in a cylindrical shape with an empty interior, and the lower end of the buffer rod 1010 is accommodated. The information body 710 is coupled to the lower end of the buffer case 1020 .

The buffer stopper 1030 is coupled to the lower outer surface of the buffer cylinder portion 1012 of the buffer rod (1010). The buffer stopper 1030 is formed in a ring shape, and is disposed inside the buffer case 1020 . When a large vibration or shock is applied from the ground and the buffer rod 1010 is greatly shaken, the buffer stopper 1030 is in contact with the inner surface of the buffer case 1020 to perform large displacement control. A predetermined gap (G) is formed between the outer surface of the buffer stopper 1030 and the inner surface of the buffer case 1020.

The buffer connection portion 1040 is coupled to the lower portion of the buffer rod 1010 and connects between the buffer rod 1010 and the inner surface of the buffer case (1020). The buffer stopper 1030 and the buffer connection part 1040 are made of a rubber material.

The buffer connection portion 1040 extends to the side of the buffer upper and lower portions 1041 and the buffer upper and lower portions 1041 connecting the lower end of the buffer rod 1010 and the inner lower surface of the buffer case 1020 up and down to extend the buffer case 1020 ) includes a buffer left and right portion 1042 connecting left and right between the inner side of the. The buffer connection portion 1040 has a 'ten (十)'-shaped cross-section as a whole.

Between the outer surface of the buffer stopper 1030 and the inner surface of the buffer case 1020, that is, the buffer bent portion 1050 is coupled to the gap (G) to connect the buffer stopper 1030 and the buffer case 1020 to each other. .

Specifically, the buffer curved portion 1050 is made including a first curved portion 1051, a second curved portion 1052, a third curved portion 1053, a fourth curved portion 1054 and a fifth curved portion 1055, and as a whole It has a 'zigzag' cross section.

The first curved portion 1051 is coupled to the outer surface of the buffer stopper 1030 and is formed in a single shape. The second curved portion 1052 extends obliquely upward from the lower end of the first curved portion 1051 . The third curved part 1053 extends downward from the upper end of the second curved part 1052 and is formed in a single shape. The fourth curved portion 1054 extends obliquely upward from the lower end of the third curved portion 1053 . The fifth curved part 1055 extends downward from the upper end of the fourth curved part 1054 , is formed in a single shape, and is coupled to the inner surface of the buffer case 1020 .

At this time, the vertical height of the first curved part 1051 is formed to be relatively higher than the vertical height of the third curved part 1053 , and the vertical height of the third curved part 1053 is relatively higher than the vertical height of the fifth curved part 1055 . is formed That is, the overall height of the buffer curved portion 1050 is gradually lowered from the first curved portion 1051 toward the fifth curved portion 1055 direction.

In addition, the thickness of the first bent portion 1051 to the fifth bent portion 1055 is preferably formed to be the same overall. The angle between the first curved part 1051 and the second curved part 1052 , the second curved part 1052 and the third curved part 1053 , and the third curved part 1053 and the fourth curved part 1054 . and the angle between the fourth curved portion 1054 and the fifth curved portion 1055 is preferably set to be substantially the same overall.

As such, the present invention can obtain the effect of substantially reducing the gap by using the buffer bend 1050 while maintaining the physical gap (G) between the buffer stopper 1030 and the buffer case 1020 as it is, so the buffer While reducing noise due to frequent contact of the stopper 1030, there is an advantageous characteristic for controlling large displacement vibration.

14 is a view showing a cross-sectional view of a rotating mechanism according to an embodiment of the present invention, and FIG. 15 is a view showing a state of a rotating rod according to an embodiment of the present invention.

As shown, the rotation mechanism 1100 is coupled to the lower end of the information unit 740 to allow the information unit to rotate, a horizontal rotation unit 1110 and a rotation control unit 1120 mounted on the lower end of the horizontal rotation unit 1110. is made including

The horizontal rotation unit 1110 is coupled to the lower end of the information unit 740 and is accommodated in the rotating case 1111, which is formed in a cylindrical shape with an open top and a rear end, and the rotating case 1111, and has an upper end of the information unit ( 740) coupled to the lower end of the rotating rod 1112 that penetrates the lower end of the rotating case 1111 and is accommodated in the rotation control unit 1120, the rotating extension plate 1113 that protrudes from the side of the rotating rod 1112 , formed on the upper end of the rotation case 1111 and between the lower surface of the rotation stopper 1111a and the rotation extension plate 1113 in contact with the upper surface of the rotation extension plate 1113 and the inner lower surface of the rotation case 1111 It includes a plurality of rotating balls 1114 disposed on.

The rotary rod 1112 is capable of horizontal rotation relative to the rotation case 1111 and other components, and thus the information unit 740 coupled to the upper end of the rotation rod 1112 can also be horizontally rotated.

The rotation rod 1112 is formed in a cylindrical shape as a whole, and a rotation extension plate 1113 protrudes and extends outwardly in a ring shape on the side of the rotation rod 1112 . The rotation extension plate 1113 is in contact with the rotation stopper 1111a.

The plurality of rotating balls 1114 are accommodated in the rotating case 1111, and when the rotating rod 1112 rotates horizontally, the frictional force between the rotating case 1111 and the rotating rod 1112 is reduced to reduce the rotating rod 1112. ) to rotate more smoothly.

As described above, in the present invention, since the direction of the information unit 740 can be changed in a state in which the information unit is combined and erected, the measurement error due to the change of the position of the information unit can be reliably excluded.

The rotation control unit 1120 is mounted on the lower end of the horizontal rotation unit 1110, the control case 1121, the control rod 1122, the stopper 1123, the control spring 1124, the prevention unit 1125, the control moving unit 1126 , a control transfer case 1127 , and a control handle 1128 .

The control case 1121 is formed in a cylindrical shape with an empty inside, and is coupled to the lower end of the rotation case 1111 . A hole is formed at the upper end of the control case 1121 to communicate with the rotating case 1111 , and the lower end of the rotating rod 1112 may be accommodated in the control case 1121 through this hole.

The control rod 1122 is accommodated in the J case, and is movable in a direction perpendicular to the rotation rod 1112 (ie, left and right). A stop part 1123 is coupled to the right end of the control rod 1122 , and the prevention part 1125 is coupled to the left end of the control rod 1122 .

The stopper 1123 is formed in a flat plate shape, and is movable left and right according to the left and right movement of the control rod 1122 . A plurality of stop grooves 1112a are radially formed in the lower portion of the rotary rod 1112, and the stopper 1123 may be inserted into any one of these stop grooves 1112a.

When the control rod 1122 is moved to the left, the stopper 1123 is inserted and accommodated in the stop groove 1112a of the rotary rod 1112, and the stopper 1123 when the control rod 1122 is moved to the right. is separated from the stop groove 1112a of the rotating rod 1112.

When the stopper 1123 is inserted and accommodated in the stop groove 1112a of the rotary rod 1112, the rotary rod 1112 is blocked by the stopper 1123 and cannot rotate any more and is fixed in place. When the stopper 1123 is separated from the stop groove 1112a of the rotary rod 1112 , the rotary rod 1112 is horizontally rotatable again.

As shown, a plurality of stop projections 1112b may protrude from the stop groove 1112a of the rotary rod 1112 . The plurality of stopping protrusions 1112b are made of an elastic material such as rubber, and are arranged at predetermined intervals along the longitudinal direction of the stopping grooves 1112a.

In addition, it is preferable that the plurality of stopping protrusions 1112b are arranged in a zigzag form so that a predetermined height difference between the facing stopping protrusions 1112b can be set. That is, the plurality of stopping protrusions 1112b are arranged alternately with each other like interlocked hands.

The plurality of stopping protrusions 1112b is not easily separated from the stopping groove 1112a when the stopping portion 1123 is inserted into the stopping groove 1112a of the rotary rod 1112 and is maintained therein. functions that enable it.

The control spring 1124 is coupled between the stopper 1123 and the inner surface of the rotating case 1111 . The control spring 1124 provides an elastic force to push the control rod 1122 and the stopper 1123 to the left.

The prevention part 1125 may be inserted into the prevention groove 1121a formed on the side of the control case 1121 . When the control rod 1122 is moved to the left, the prevention part 1125 is inserted into the prevention groove 1121a, and when the control rod 1122 is moved to the right, the prevention part 1125 is separated from the prevention groove 1121a. do.

The outer surface of the prevention part 1125 and the inner surface of the prevention groove 1121a are formed in a sawtooth shape. When the prevention part 1125 is inserted into the prevention groove 1121a, the control rod 1122 and the stop part 1123 are unable to rotate the shaft and move up and down, and thus the fixed state of the rotation rod 1112 is determined. You can keep it more robust.

The control moving unit 1126 is coupled to the left end of the prevention unit 1125 and has a triangular cross section. The control moving case 1127 is coupled to the side of the control case 1121 and the control moving unit 1126 is inserted so as to be movable left and right. In other words, the control moving unit 1126 may be accommodated in the control moving case 1127 to move left and right.

The control handle 1128 is coupled to the upper portion of the control transfer case 1127 . The control handle 1128 is mounted to be movable up and down, and the lower end of the control handle 1128 is in contact with the upper surface of the control moving part 1126 .

When the user holds the control handle 1128 and applies a downward force, the lower end of the control handle 1128 is in contact with the upper surface of the control moving unit 1126 and pushes the control moving unit 1126. Accordingly, the control moving unit 1126 is shifted to the right.

As the control moving part 1126 is moved to the right, the prevention part 1125 is separated from the prevention groove 1121a, and the control rod 1122 overcomes the elastic force of the control spring 1124 and is moved to the right.

As the control rod 1122 is moved to the right, the stopping part 1123 is also separated from the stopping groove 1112a, and the rotating rod 1112 and the information unit 740 coupled to the upper part of the stopping part 1123 are It can be rotated horizontally freely without restrictions.

When the horizontal rotation of the information unit 740 in the direction desired by the user is finished, the user releases the control handle 1128 , and the control rod 1122 moves to the left according to the elastic force of the control spring 1124 .

When the control rod 1122 moves to the left, the stop 1123 is inserted into the stop groove 1112a to limit horizontal rotation of the rotary rod 1112 . At this time, the prevention part 1125 is inserted into the prevention groove 1121a, and the control moving part 1126 moves to the left to lift the control handle 1128 upward.

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 clear to those who have the knowledge of

100: mobile mapping system 200: control system 210: pre-processing module
220: extraction module 230: classification module 240: correction module
300: accommodating part 310: open space part 400: opening and closing unit
410: first opening/closing part 411: first opening/closing body 412: first opening/closing cylinder
413: first wrinkle part 414: first guide rail 420: second opening and closing part
421: second opening/closing body 422: second opening/closing cylinder 423: second pleated part
424: second guide rail 500: first holding part 520: base plate
530: holding cylinder 540: pressure bar 550: elastic pad
600: second holding part 610: first body 620: second body
630: clamping part 631: clamping body 632: clamping cylinder
633: clamping clamp 700: information module 710: information body
720: information receiving unit 730: information buffering unit 731: buffer body
732: cut hole 733: buffer hole 740: information department
800: horizontal adjustment part 810: horizontal housing 811: vertical displacement limiting part
812: guide rail 820: mounting plate 830: rotating body
831: vertical bar 832: spherical part 840: rotation support
850: upper support 860: vertical sensing sensor 870: first guide bar
871: first roller 872: support spring 900: horizontal holding part
910: coupling block 920: first base bar 921: first mounting bar
922: first horizontal roller 923: first spring member 930: second base bar
931: second mounting bar 932: second horizontal roller 933: second spring member
940: body connection spring 950: piezoelectric element part 1000: buffer mechanism
1010: buffer rod 1011: buffer fastening part 1012: buffer cylinder part
1020: buffer case 1030: buffer stopper 1040: buffer connection part
1041: buffer upper and lower part 1042: buffer left and right parts 1050: buffer bent part
1051: first curved part 1052: second curved part 1053: third curved part
1054: fourth bent part 1055: fifth bent part 1100: rotating mechanism
1110: horizontal rotating unit 1111: rotating case 1111a: rotating stopping unit
1112: rotating rod 1112a: stopping groove 1112b: stopping projection
1113: rotation extension plate 1114: rotation ball 1120: rotation control unit
1121: control case 1121a: prevention groove 1122: control rod
1123: stop part 1124: control spring 1125: prevention part
1126: control moving unit 1127: control moving case 1128: control handle
1200: lift 1210: lift drive 1220: lift shaft
1230: lifting support body 1240: support bar 1250: support roller
1260: elevating spring 1270: connecting spring 1280: elevating housing

Claims (1)

a mobile mapping system for acquiring image data and lidar point data; and a control system for checking and correcting accuracy of data generated from the mobile mapping system; including,
The control system is
a preprocessing module for calculating the actual coordinates of image data and lidar point data acquired from a mobile mapping system through a direct georeferencing technique using GPS/INS; an extraction module for extracting color information corresponding to positions of individual points in the lidar point data from the image data; a classification module for classifying a point corresponding to a road area with respect to the lidar point data; and a correction module for confirming and correcting the accuracy of the road layer of the drawing data through the overlapping comparison of the classified road area points and the drawing data; including,
The classification module is
Using the height value, reflection intensity, and color information included in the image data included in the lidar point data, the points included in the actual road area are classified as road area points,
The mobile mapping system,
a horizontal adjustment unit coupled to the upper part of the movable vehicle; a receiving part coupled to the upper part of the horizontal adjustment part and having an open space part formed on the upper surface; an opening/closing unit installed on the upper portion of the storage unit and configured to open and close the open space; a first holding part installed inside the accommodating part; a second holding part mounted on the upper part of the opening/closing unit; and an information module that can be selectively fastened to the first holding unit or the second holding unit; includes,
The horizontal adjustment unit,
a horizontal housing coupled to the upper surface of the vehicle and having a space formed therein; a mounting plate disposed in the horizontal direction on the inside of the horizontal housing; a rotating body coupled to the center of the lower surface of the mounting plate and having a spherical part having a spherical outer circumferential surface and a vertical bar integrally formed on the upper surface of the spherical part and having an upper end coupled to the center of the mounting plate; a rotation support fixed to the inner lower surface of the horizontal housing and having a spherical inner peripheral surface corresponding to the lower surface of the spherical part of the rotation body; an upper support having a spherical inner circumferential surface that is fixedly coupled to the upper portion of the pivot support and corresponds to the upper surface of the spherical part of the pivot; And one side supports the lower surface of the mounting plate and the other side is in rolling contact with the upper surface of the horizontal housing to maintain the horizontal maintaining portion of the mounting plate; including,
The horizontal maintaining unit,
a coupling block provided on the lower surface of the mounting plate; a first base bar having one side portion rotatably coupled to the coupling block; a first mounting bar in which one side is disposed inside the first base bar and moved to the inside of the first base bar; a first horizontal roller provided on the first mounting bar and in rolling contact with the lower surface of the horizontal housing; a first spring member having one side coupled to the inside of the first base bar and the other side coupled to the first mounting bar to guide the length of the first mounting bar to be adjusted; a second base bar, one side of which is rotatably coupled to the coupling block; a second mounting bar in which one side is disposed inside the second base bar and moved to the inside of the second base bar; a second horizontal roller provided on the second mounting bar and in rolling contact with the lower surface of the horizontal housing; a second spring member having one side coupled to the inside of the second base bar and the other side coupled to the second mounting bar to guide the second mounting bar to be adjusted in length; a body connection spring connecting the first base bar and the second base bar to maintain a gap between the first base bar and the second base bar; and a piezoelectric element part provided on a lower surface of the horizontal housing in an area in which the first horizontal roller and the second horizontal roller are in contact to generate electricity by contact between the first horizontal roller and the second horizontal roller; includes,
The opening and closing unit is
a first opening/closing unit provided on an upper portion of the accommodating unit to open and close one side of the opening/closing space unit; and a second opening/closing unit provided at the upper portion of the accommodating unit to open and close the other side of the opening/closing space unit; including,
The first opening and closing part,
a first opening/closing body provided on an upper portion of the accommodating part to open and close one side of the open space part; a first opening/closing cylinder provided on an upper portion of the receiving unit and connected to the first opening/closing body to open and close the first opening/closing body; a first wrinkle part coupled to the first opening/closing body and the other side being coupled to the body of the first opening/closing cylinder to cover the rod of the first opening/closing cylinder and to be stretched and contracted when the first opening/closing body is opened and closed; and a first guide rail provided on an upper portion of the accommodating part to guide the opening and closing of the first opening/closing body; includes,
The second opening and closing portion,
a second opening/closing body provided at the upper portion of the receiving unit to open and close the other side of the open space unit; a second opening/closing cylinder provided on an upper portion of the receiving unit and connected to the second opening/closing body to open and close the second opening/closing body; a second wrinkle part coupled to the second opening/closing body and the other side being coupled to the body of the second opening/closing cylinder to cover the rod of the second opening/closing cylinder and to be stretched and contracted when the second opening/closing body is opened and closed; and a second guide rail provided on the receiving part to guide the opening and closing of the second opening/closing body; including,
The first holding unit,
Elevating unit installed inside the receiving unit; a base plate coupled to the upper portion of the lifting unit and elevating in the direction of the open space; a plurality of holding cylinders provided on the base plate; a pressure bar provided in each of the plurality of holding cylinders and moved in parallel with the base plate; and an elastic pad coupled to the pressure bar; includes,
The second holding part,
a first body provided on the first opening/closing body and moving together with the first opening/closing body; a second body provided on the second opening/closing body and moving together with the second opening/closing body; and a plurality of clamping units respectively provided on the first body and the second body; including,
The lifting unit,
Elevating driving unit coupled to the interior of the receiving unit; a spherical elevating housing coupled to the upper part of the elevating drive and having an empty interior; an elevating shaft connected to the elevating drive unit, rotating clockwise or counterclockwise, elevating up and down, and disposed inside the elevating housing; A plurality of lifting support body hinged to the outer wall of the lifting shaft; a support bar mounted to be drawn out at the ends of the plurality of lifting support bodies; a support roller provided at the end of the support bar and supported on the inner wall of the elevating housing; an elevating spring having one side coupled to the inside of the elevating support body and the other side coupled to the supporting bar to elastically support the supporting bar; and a connection spring connecting the plurality of lifting support bodies to each other so that the plurality of lifting support bodies can be supported; including,
When the elevating driving unit is operated, the elevating support body, the support bar, and the support roller are raised and lowered while rotating together with the elevating shaft, and the support roller is in rolling contact with the inner wall of the elevating housing,
The information module is
a buffer mechanism coupled to the upper part of the information body; a rotation mechanism coupled to the upper portion of the buffer mechanism; an information unit coupled to the upper portion of the rotating mechanism; an information seating unit coupled to the lower portion of the information body; and an information buffering unit mounted on the information receiving unit; including,
The information buffer unit,
a buffer body provided on the bottom of the information seating unit; a pair of incision holes provided on both edges of the buffer body to allow deformation of the buffer body; and a plurality of buffer holes provided on the buffer body so as to be disposed between the pair of incision holes so that contraction and expansion of the buffer body are smoothly made; includes,
The buffer mechanism is
a buffer rod coupled to the lower end of the rotating mechanism; The buffer case is formed in a cylindrical shape with an empty interior, the lower end of the buffer rod is accommodated, and is installed on the upper part of the information body; a buffer stopper coupled to the lower outer surface of the buffer rod in the form of a ring; a buffer connection part coupled to the lower portion of the buffer rod and connecting the buffer rod and the inner surface of the buffer case; And a buffer bent portion coupled between the outer surface of the buffer stopper and the inner surface of the buffer case to connect the buffer stopper and the buffer case to each other; including,
The buffer bending part,
a first curved portion coupled to the outer surface of the buffer stopper and formed in a single shape; a second curved portion extending obliquely upward from the lower end of the first curved portion; a third curved part extending from the upper end of the second curved part to the lower part and formed in the shape of a figure; a fourth curved portion extending obliquely upward from the lower end of the third curved portion; and a fifth curved part extending downward from the upper end of the fourth curved part and formed in a one-piece shape and coupled to the inner surface of the buffer case; A map construction system with precision capable of field-surveying a road layer that can create a numerical topographic map using MMS, characterized in that it includes a.

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