CN109974723A - A kind of portable map data acquisition equipment - Google Patents
A kind of portable map data acquisition equipment Download PDFInfo
- Publication number
- CN109974723A CN109974723A CN201910368485.2A CN201910368485A CN109974723A CN 109974723 A CN109974723 A CN 109974723A CN 201910368485 A CN201910368485 A CN 201910368485A CN 109974723 A CN109974723 A CN 109974723A
- Authority
- CN
- China
- Prior art keywords
- map data
- data acquisition
- acquisition equipment
- video camera
- keel frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000005259 measurement Methods 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 15
- 238000010586 diagram Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
The present invention provides a kind of portable map data acquisition equipments, it include: laser radar, an at least video camera, Inertial Measurement Unit and central processing unit, wherein the portable map data acquisition equipment further includes as installation foundation and being used for the laser radar, video camera, Inertial Measurement Unit and central processing unit integrate the rigid mount to keep equipment globality, wherein the rigid mount is center bar keel frame, the Inertial Measurement Unit and central processing unit are fixed in inner space defined by the keel frame, the laser radar and video camera are fixed on the wall or apex angle of the keel frame, the wiring space for cabling is formed on the outside of Inertial Measurement Unit described in the inside of the keel frame and central processing unit, portable map data acquisition equipment of the invention has Small in size, light-weight and easy to carry advantage.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of portable high-precision map data collecting equipment.
Background technique
High-precision map data collecting equipment is for acquiring road or building facility inside and outside size (mainly with three
Tie up Laser Scanning Equipment and acquire three-dimensional point cloud information), the acquisition equipment of the information such as color.
In the prior art, for carrying out the larger relatively dispersion of the data acquisition equipment distribution of high-precision map data collecting,
Farther out, for example laser radar, in roof, inertial navigation set is then placed on boot for relative position.Between this mode disparate modules
Relative position variation influence the later period quality of data fusion, need periodically to re-scale relative position.Equipment is dispersed in roof
Or it is interior, there is disassembly trouble, power low with the reliability that signal transmits, it is difficult in maintenance the problems such as.
Currently, had already appeared it is some for carrying out the integrated equipments of high-precision map data collecting, but still there are volume compared with
Big problem, it is not readily portable, it is difficult to adapt to multichip carrier demand.
Summary of the invention
The purpose of the present invention is to provide a kind of small in size, light-weight portable map data acquisition equipments.
To achieve the goals above, the present invention provides a kind of portable map data acquisition equipments, comprising: laser thunder
It reaches, at least a video camera, Inertial Measurement Unit and central processing unit.The portable map data acquisition equipment further includes making
For installation foundation and for integrating the laser radar, video camera, Inertial Measurement Unit and central processing unit to protect
The rigid mount of holding equipment globality is somebody's turn to do, and wherein the rigid mount is center bar keel frame, the Inertial Measurement Unit and centre
Reason device is fixed in inner space defined by the keel frame, and the laser radar and video camera are fixed at the keel
On the wall or apex angle of frame.
Preferably, it is formed on the outside of the inside of the keel frame Inertial Measurement Unit and central processing unit for cabling
Wiring space.
Preferably, which is collapsibly arranged on the wall of the keel frame.
Preferably, which further includes Collapsible rack；One end of the Collapsible rack with
The keel frame is fixedly connected, and the other end of the Collapsible rack is connect with the laser radar, which can make this
Laser radar is bent to horizontality from vertical state.
Preferably, the upper laser beam and horizontal angle of laser radar transmitting are α 1, under laser radar transmitting
Laser beam and horizontal angle are α 2, wherein 1 < α 2 of α.
Preferably, it is provided with the expansion fixture for installing video camera or other sensors on the angle of the keel frame, leads to
Cross the vertex that the keel frame can be arranged in adjustable angle in the expansion fixture video camera.
Preferably, which can be fixed in the expansion fixture by the first bolt and the second bolt, the extension grip
The screw socket for cooperating with first bolt and the sliding slot for cooperating with second bolt are formed on tool, which can
It rotates by shaft of first bolt to adjust camera angle.
Preferably, being respectively formed on the end face which cooperates with the video camera can be intermeshed and for reading
Take the scale joined outside pitch angle, calibration for cameras.
Preferably, the bottom of the keel frame is provided with the adjustable vacuum suction can adapt to installation curved surface of multiple pitch angles
Disk.
Preferably, the rigidity for the cover Inertial Measurement Unit and central processing unit is provided at the top of the keel frame
Shell, the outer surface of the stiff case are provided with external hard drive slot.
Preferably, the bottom of property measuring unit is provided with rubber shock-absorbing device.
The present invention has the advantages that multiple sensors and central processing unit are by being integrated in a rigid mount by (1),
So that the good integrity of equipment, and will not introduce random vibration error without relative motion between sensor, facilitate between sensor
Calibration and calibration.(2) small in size, it is light-weight.The outer dimension of equipment is about 60 centimeter length *, 40 centimetres wide * 32 centimetres of height, weight
Amount is about 8KG, and the bracket for installing laser radar can fold, therefore equipment can be put into trolley case, easy to disassemble,
Transport and installation.(3) easy for installation.Equipment installation only needs four suckers of absorption.(4) there is scalability, be applicable to
A variety of environment.Four angles of acquisition device are provided with expansion fixture, can install the other sensors such as camera, and camera pitch angle
Degree tool-free can adjust, and can rapidly adapt to new acquisition environment.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of portable map data acquisition equipment of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural schematic diagram at another visual angle of Fig. 1, it is shown that Inertial Measurement Unit and central processing unit；
Fig. 4 is the structural schematic diagram of the portable map data acquisition equipment provided with stiff case；
Fig. 5 is to show the schematic diagram of the assembled relation of video camera and expansion fixture；
Fig. 6 is to show another schematic diagram of the assembled relation of video camera and expansion fixture；
Fig. 7 is to show the structural schematic diagram of portable map data acquisition equipment when laser radar is in folded state；
Fig. 8 is the structural schematic diagram for being provided with the portable map data acquisition equipment of the adjustable sucker of pitch angle；
Fig. 9 is the first partial enlarged diagram of portable map data acquisition equipment；
Figure 10 is the second partial enlargement diagram of portable map data acquisition equipment；
Figure 11 is the use state diagram of portable map data acquisition equipment of the present invention.
In the accompanying drawings, identical component uses identical appended drawing reference.Attached drawing is not according to actual ratio.
Description of symbols:
1- portable map data acquisition equipment, 2- vehicle rear wheel profile；
100- laser radar；
The first video camera of 210-, the second video camera of 220-, 230- third video camera, the 4th video camera of 240-；
300-IMU Inertial Measurement Unit；
500- central processing unit；
600- sucker；
700-GPS；
800- expansion fixture, 801- screw socket, 802- sliding slot, 803- scale；
900- stiff case；
The big gasket of the first bolt of 10-, the second bolt of 20-, 30- with rubber washer, 40- first rotating shaft, the second shaft of 50-, 60-
Third shaft, 70- hard disk slot, 80- rubber shock-absorbing ball；
The lower laser beam and horizontal line that upper laser beam and horizontal angle, the α 2- laser radar of α 1- laser radar transmitting emit
Angle；
A- keel frame, B- Collapsible rack, D- wiring space.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, in ordinary skill
Personnel do not make every other embodiment obtained under the premise of creative work, and protection model of the invention all should belong to
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
It covers and non-exclusive includes.
Specifically, as shown in Figure 1, the present invention provides a kind of portable map data acquisition equipments.This is removably
It includes: laser radar 100, the first video camera 210, the second video camera 220, third video camera 230, inertia that diagram data, which acquires equipment,
Measuring unit 300 and central processing unit 500.Portable map data acquisition equipment further includes as installation foundation and for inciting somebody to action
Laser radar 100, the first video camera 210, the second video camera 220, third video camera 230, Inertial Measurement Unit 300 and center
Processor 500 integrates the rigid mount to keep equipment globality.
Existing map data collecting equipment there are sensor distribution, rigidity it is bad and be readily incorporated measurement error lack
It falls into.Specifically, the sensor of conventional map data acquisition equipment is typically distributed across the headstock, roof and the tailstock of vehicle, and central
Processor and communication apparatus are then installed in the car.In this case, the connection between sensor and central processing unit compared with
Length, interface is more, reliability is bad, flash occurs for the easy frame losing of signal.In addition, due to simply by virtue of vehicle body between multiple sensors
Iron sheet connection, therefore be not rigidly connected well, after body distortion the relative position between sensor can occur slight
Change, introduces measurement error.Further, that there is also volumes is big, the disadvantage of weight weight for conventional map data acquisition equipment.Specifically
Ground generally cannot achieve one fast quick-detach, peace due to being distributed dispersion, route and vehicle body Deep integrating between multiple sensors
Dress, and it is not convenient for safeguarding, do not have portability.
The present invention realizes map number by the way that all sensor and central processing unit to be integrated on a rigid mount
According to the portability and integration of acquisition equipment, without relative motion between good integrity, sensor, random vibration mistake will not be introduced
Difference facilitates calibration and calibration between sensor.
As shown in Figure 1-Figure 3, rigid mount can be center bar keel frame A made of aluminium alloy.Inertial Measurement Unit 300
It is fixed in inner space defined by keel frame A with central processing unit 500.Laser radar 100 and video camera difference
It is fixed on the wall or apex angle of keel frame A.In addition, the inside Inertial Measurement Unit 300 and central processing of keel frame A
The outside of device 500 is provided with the wiring space D for cabling.In this way, by using above-mentioned specially designed structure, keel frame
A can be fixed together all sensors, and the sensors such as laser radar 100 and video camera is made to have good setting angle
And posture, most effectively acquire the signal in each orientation.In addition, laser radar 100, video camera and Inertial Measurement Unit 300 and
Internal cabling can be carried out between central processing unit 500 by wiring space D, route is short and firm.
Since laser radar 100 requires installation unobstructed, general erection is very high, so existing map data collecting equipment
After installation onboard, total height generally can be more than 2.5 meters, can not enter the lower places of limits for height such as underground parking garage and be adopted
Collection.To solve the above-mentioned problems, as shown in Figure 1 and Figure 7, the laser radar 100 in the present invention is arranged to collapsibly be arranged in
On the wall of keel frame A.Specifically, portable map data acquisition equipment further includes Collapsible rack B.Collapsible rack B's
One end is fixedly connected with keel frame A, and the other end of Collapsible rack B is connect with laser radar 100, and Collapsible rack B can
Laser radar 100 is set to be bent to horizontality from vertical state.In this case, laser can be made when needing to acquire data
Radar 100 is in a vertical state, and does not need to bend laser radar 100 when acquisition data and be in the process of moving
Horizontality.Thus, it is possible to widen the acquisition place of equipment.
Further, as shown in figure 11, the upper laser beam and horizontal angle that laser radar 100 emits are α 1, laser
The lower laser beam and horizontal angle that radar 100 emits are α 2, wherein 1 < α 2 of α.Preferably, α 1 is 10 °, and α 2 is 30 °.This
Sample can not only guarantee that laser radar 100 had wider acquisition range, but also can guarantee that vehicle rear will not generate laser beam
It blocks, ensure that the integrality of signal acquisition.
As shown in figure 4, for the ease of map data collecting equipment other acquisition can be extended according to different acquisition scenes
Sensor acquires different information with adjustment camera angle.It is provided on the angle of keel frame A for installing video camera
Or the expansion fixture 800 of other sensors, keel frame A can be arranged in adjustable angle by 800 video camera of expansion fixture
Vertex.
In of the invention one specifically embodiment, as shown in figure 5, the 4th video camera 240 can pass through the first spiral shell
Bolt 10 and the second bolt 20 are fixed in expansion fixture 800.It is formed in expansion fixture 800 for cooperating with the first bolt 10
Screw socket 801 and sliding slot 802 for cooperating with the second bolt 20, the 4th video camera 240 can be shaft rotation with the first bolt 10
Turn to adjust camera angle.Specifically, the first bolt 10 can be M8 bolt.When installation, M8 bolt passes through the 4th video camera 240
Camera holder, be screwed into the M8 screw socket of expansion fixture 800, and as shaft.Second bolt 20 can be M5 bolt.When installation,
M5 bolt passes through the camera holder of the 4th video camera 240, and penetrates the arc chute of expansion fixture 800, prevents camera holder after locking
It is pivoted, there is the big gasket 30 with rubber ring at the both ends of M5 bolt, to increase locking frictional force, while can also play anti-
The effect of rain, Anti-splashing sanitary.
Further, as shown in fig. 6, be respectively formed on the end face that expansion fixture 800 cooperates with video camera can be mutual
It engages and is used to read the scale 803 joined outside pitch angle, calibration for cameras.In this way, the rotation angle of video camera can be accurately controlled
Degree, can adapt to changeable acquisition environment.
As shown in figure 8, the bottom of keel frame A is provided with multiple suckers 600, sucker 600 is that pitch angle is adjustable with can
Adapt to the vacuum chuck of installation curved surface.In this way, equipment installation only needs four suckers 600 of absorption.The pitching of front and back sucker 600
Angle is adjustable, adapts to roof curved surface, and it is very firm to adsorb.Preferably, sucker 600 is using vacuum for industrial use sucker, pressing
It is adsorbable.
As shown in figure 9, being provided at the top of keel frame A for the cover Inertial Measurement Unit 300 and central processing unit 500
Stiff case 900, be provided with external hard drive slot 70 on the outer surface of stiff case 900.In addition, as shown in Figure 10, inertia
The bottom of measuring unit 300 is provided with rubber shock-absorbing device.Specifically, four are provided on the pedestal of Inertial Measurement Unit 300
Rubber shock-absorbing ball can effectively absorb vehicle and jolt caused vibration, play the role of mechanical filtering.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent, it is all within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of portable map data acquisition equipment, comprising: laser radar, at least a video camera, Inertial Measurement Unit with
And central processing unit, which is characterized in that the portable map data acquisition equipment further includes as installation foundation and for inciting somebody to action
The laser radar, video camera, Inertial Measurement Unit and central processing unit are integrated to keep the rigid of equipment globality
Property device, wherein the rigid mount be center bar keel frame, the Inertial Measurement Unit and central processing unit are fixed at
In inner space defined by the keel frame, the laser radar and video camera are fixed at the wall of the keel frame
Or on apex angle.
2. portable map data acquisition equipment according to claim 1, which is characterized in that the laser radar is foldable
Ground is arranged on the wall of the keel frame.
3. portable map data acquisition equipment according to claim 2, which is characterized in that the removably diagram data
Acquiring equipment further includes Collapsible rack；One end of the Collapsible rack is fixedly connected with the keel frame, described to roll over
The other end of folded bracket is connect with the laser radar, and the Collapsible rack can make the laser radar curved from vertical state
It is folded to horizontality.
4. portable map data acquisition equipment according to claim 2, which is characterized in that the laser radar transmitting
Upper laser beam and horizontal angle are α 1, and the lower laser beam and horizontal angle of the laser radar transmitting are α 2, wherein
1 < α 2 of α.
5. portable map data acquisition equipment according to claim 1, which is characterized in that on the angle of the keel frame
It is provided with the expansion fixture for installing video camera or other sensors, it being capable of angle by video camera described in the expansion fixture
Adjustably it is arranged on the keel frame.
6. portable map data acquisition equipment according to claim 5, which is characterized in that the video camera can pass through
First bolt and the second bolt are fixed in the expansion fixture, be formed in the expansion fixture for first bolt
The screw socket of cooperation and sliding slot for cooperating with second bolt, the video camera can be revolved by shaft of first bolt
Turn to adjust camera angle.
7. portable map data acquisition equipment according to claim 5, which is characterized in that the expansion fixture with it is described
Being respectively formed on the end face of video camera cooperation can be intermeshed and for reading the scale joined outside pitch angle, calibration for cameras.
8. portable map data acquisition equipment according to claim 1, which is characterized in that the bottom of the keel frame
It is provided with the adjustable vacuum chuck can adapt to installation curved surface of multiple pitch angles.
9. portable map data acquisition equipment according to claim 1, which is characterized in that the top of the keel frame
It is provided with the stiff case for Inertial Measurement Unit described in the cover and central processing unit, the outer surface setting of the stiff case
There is external hard drive slot.
10. portable map data acquisition equipment according to claim 1, which is characterized in that the Inertial Measurement Unit
Bottom be provided with rubber shock-absorbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910368485.2A CN109974723A (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910368485.2A CN109974723A (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109974723A true CN109974723A (en) | 2019-07-05 |
Family
ID=67072804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910368485.2A Pending CN109974723A (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN109974723A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110660314A (en) * | 2019-09-30 | 2020-01-07 | 驭势科技（北京）有限公司 | Map data acquisition equipment and system |
| CN112902977A (en) * | 2021-01-27 | 2021-06-04 | 中山大学 | Data acquisition carrying support, data acquisition device and positioning and mapping method thereof |
| CN113009504A (en) * | 2021-01-29 | 2021-06-22 | 上海图趣信息科技有限公司 | Handheld full-element high-precision map acquisition equipment |
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