CN202782968U - Vehicle-mounted measure integrated system based on laser scanning and panorama images - Google Patents
Vehicle-mounted measure integrated system based on laser scanning and panorama images Download PDFInfo
- Publication number
- CN202782968U CN202782968U CN201220486578.9U CN201220486578U CN202782968U CN 202782968 U CN202782968 U CN 202782968U CN 201220486578 U CN201220486578 U CN 201220486578U CN 202782968 U CN202782968 U CN 202782968U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- integrated system
- signal receiver
- platform
- cylinder pole
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
A vehicle-mounted measure integrated system based on laser scanning and panorama images comprises a car roof platform, an operation platform, a control assembly, a power supply system and a car wheel encoder. The car roof platform comprises a panorama camera, a laser radar and global position system(GPS)antennae and is detachably installed on the car roof. The operation platform comprises a display device and an input and output device. The display device is a display screen or a touch screen. The display device and the input and output device are installed inside a car through a support plate. The control assembly comprises a computer and a synchronizing signal receiver. The computer and the synchronizing signal receiver are placed inside a cabinet of a boot. The computer is connected with the synchronizing signal receiver, the display device and the input and output device. The synchronizing signal receiver is connected with the panorama camera, the laser radar, the GPS antennae and the car wheel encoder in order to receive sensor signals of each monitoring device and then sends the sensor signals of each monitoring device to the computer. The vehicle-mounted measure integrated system based on the laser scanning and the panorama images is simple in structure, convenient to use, capable of videoing and absorbing the panorama images and conducting the laser scanning combining a plurality of sensor synchronizing signals.
Description
Technical field
The utility model relates to the geography information survey field, relates in particular to a kind of vehicle-mounted measurement integrated system based on laser-scan and full-view image for panorama information acquisition, processing.
Background technology
In the past, people mainly obtain needed information with some simple tools, for example adopt traditional ruler to measure the size of object.Along with the development of science and technology, some advanced mapping equipment indirect labor work appear, can improve by a relatively large margin efficient and the precision of operation, for example adopt laser rangefinder can carry out quickly and easily the measurement of position and size.Yet after the epoch, the information that necessary for human is wanted is more comprehensive and comprehensive at stepped into information, and the acquisition speed of information is also had higher requirement.Therefore, obtained numerous researchers' concern based on the multisensor integrated system of some mobile platform.These mobile platforms comprise the various current equipment that runs in the aeroamphibious, such as automobile, aircraft, steamer etc.
Be an integrated technology of using multiple sensors device and multiple metering system based on the vehicle-mounted measuring system integrated technology of laser-scan and full-view image, comprise that high precision global-positioning technology, laser-scan direct measuring and live-action panorama are as measurement technique etc.Vehicle-mounted measuring system based on this technology has following functions: the deformation monitoring in the measurement of topographical survey, road final survey, city map, planning chart and renewal, urban architecture completion and three-dimensional artificial modeling, geographical parts collection, bridge and tunnel, traffic accident rapid reconnaissance, map of navigation electronic production and various GIS data acquisition and service etc. based on road.
For this reason, designer of the present utility model is because defects by concentrating on studies and designing, comprehensively is engaged in for a long time experience and the achievement of related industry for many years, research and design goes out a kind of vehicle-mounted measurement integrated system based on laser-scan and full-view image, to overcome defects.
Summary of the invention
The purpose of this utility model is to provide a kind of vehicle-mounted measurement integrated system based on laser-scan and full-view image, and it is simple in structure, and is easy to use, can carry out laser-scan and full-view image typing and picked-up in conjunction with the synchronizing signal of multisensor.
For achieving the above object, the utility model discloses a kind of vehicle-mounted measurement integrated system based on laser-scan and full-view image, this system comprises vehicle roof platform, service platform, control assembly, power-supply system and wheel encoder device; It is characterized in that:
Vehicle roof platform comprises panorama camera, laser radar and gps antenna, its detouchable is assemblied on the roof, service platform comprises read out instrument and input/output unit, this read out instrument is read-out or touch-screen, read out instrument and input/output unit are by in the support base wooden handcart, control assembly comprises computing machine and synchronous signal receiver, this computing machine and synchronous signal receiver are arranged in the boot rack, this computing machine and synchronous signal receiver, read out instrument is connected with input/output unit, this synchronous signal receiver and panorama camera, laser radar, gps antenna is exported to computing machine be connected to receive the signal of each monitoring device with the wheel encoder device after.
Wherein: power-supply system includes battery in the engine bin, and battery is connected to synchronous signal receiver so that power supply to be provided by air switch in this engine bin.
Wherein: this power-supply system also includes boot battery and charger, battery and boot cell parallel in the engine bin.
Wherein: this vehicle roof platform is installed on the roof, at least comprise the panorama camera box that panorama camera is housed, cylinder pole, sliding bottom, strut, sliding rail and fixed platform, this panorama camera box detouchable is fixed in the top of cylinder pole, the bottom of cylinder pole is articulated on the sliding bottom, be provided with two sliding rails that extend in parallel on the fixed platform, this sliding bottom slidably is arranged on these two sliding rails, and an end of strut is articulated in fixed platform, the detachably hinged middle part in cylinder pole of the other end also is provided with the laser radar apparatus 22 that laser radar is housed and the gps antenna device that gps antenna is housed to provide support on cylinder pole when cylinder pole is upright.
Wherein: this strut is two, lays respectively at the both sides of cylinder pole.
Wherein: the front end at sliding rail is provided with the front limit piece, and limiting stopper after the rear end of sliding rail is provided with respectively is equipped with the quick-speed jigs that can clamp this sliding bottom on front limit piece and rear limiting stopper.
Wherein: this fixed platform is aluminium sheet at the bottom of the case of baggage container, is fixedly connected with three automobile luggage racks on the roof of car body, and aluminium sheet is fixed on the baggage rack at the bottom of the case of baggage container.
Wherein: cylinder pole is fixed on the sliding bottom by bottom axis of revolution and bearing.
Vehicle-mounted measurement integrated system based on laser-scan and full-view image of the present utility model, the multisensor integrated system of movement-based platform has clearly advantage obtaining corresponding data and message context.That is:
1, obtaining information is comprehensive: once can obtain several data information.
2, obtaining information is quick: the passage rate with these mobile platforms carries out data acquisition, and efficient has improved several times than traditional mode of operation.
3, obtaining information is accurate: adopt up-to-date state-of-the-art equipment, the data of obtaining are more accurate, and objectivity is stronger.
4, automatic data processing: the data of obtaining and information are directly transmitted with the form of numeral or are stored Personal Computer or workstation into, can carry out real-time, automatically data processing.
5, much information manifestation: to same data and information, can represent in a different manner to the user; To same place or time, can the retrieval and indexing several data.
Detailed content of the present utility model can obtain by explanation described later and institute's accompanying drawing.
Description of drawings
Fig. 1 has shown the overall schematic of the vehicle-mounted measurement integrated system based on laser-scan and full-view image of the present utility model.
Fig. 2 has shown that hardware configuration of the present utility model forms scheme drawing.
Fig. 3 has shown the vehicle-mounted measurement integrated system vehicle roof platform scheme drawing based on laser-scan and full-view image of the present utility model.
The specific embodiment
Referring to Fig. 1, shown the overall schematic of the vehicle-mounted measurement integrated system based on laser-scan and full-view image of the present utility model, this integrated system can be set up on the car body 1 and roof 2 among Fig. 1, and this system can be set up in numerous vehicles such as popular Polo.
Referring to Fig. 2, this system mainly comprises vehicle roof platform 110, service platform 120, control assembly, power-supply system and wheel encoder device 150.
Wherein, comprise panorama camera 111, laser radar 112 and gps antenna 113 in the hardware configuration of vehicle roof platform 110 to obtain corresponding information, detouchable is assemblied on the roof 2, referring to Fig. 3, the structural representation on the roof 2 of being installed on that has shown this vehicle roof platform, this panorama gathers vehicle roof platform and is arranged at roof or other suitable positions, and this platform comprises panorama camera box 21, cylinder pole 23, sliding bottom 24, strut 26, sliding rail 27 and the fixed platform that panorama camera 111 is housed at least; These panorama camera box 21 detouchables are fixed in the top of cylinder pole 23, the bottom of cylinder pole 23 is articulated on the sliding bottom 24, be provided with two sliding rails 27 that extend in parallel on the fixed platform, this sliding bottom 24 slidably is arranged on these two sliding rails 27, and an end of strut 26 is articulated in fixed platform, the detachably hinged middle part in cylinder pole 23 of the other end is to provide support when cylinder pole 23 is upright, when this cylinder pole 23 is in erectility, because its bottom-hinged is in sliding bottom 24, strut 26 has then guaranteed the upright of cylinder pole, on cylinder pole 23, also be provided with the laser radar apparatus 22 that laser radar 112 is housed, this laser radar apparatus 22 is fixed in camera box 21 belows by clamp, and the gps antenna device that gps antenna is housed also can be arranged on the cylinder pillar 23.
Preferably, this strut 26 is two, lays respectively at the both sides of cylinder pole 23, and more sane support and protection is provided.
Preferably, front end at sliding rail 27 is provided with front limit piece 25, limiting stopper 28 after the rear end of sliding rail 27 is provided with, on front limit piece 25 and rear limiting stopper 28, the quick-speed jigs that can clamp this sliding bottom 24 is installed respectively, thus, before and after sliding bottom slides into behind the end position quick-speed jigs on the available limiting stopper fix.
Preferably, cylinder pole 23 is fixed on the sliding bottom 24 by bottom axis of revolution and bearing.
Preferably, this fixed platform is aluminium sheet at the bottom of the case of baggage container, is fixedly connected with three automobile luggage racks 29 on the roof 2 of car body, and aluminium sheet is fixed on the baggage rack 29 at the bottom of the case of baggage container.
This vehicle roof platform has following advantage:
1, the vehicle roof platform portability is good.This platform is applicable to the commercially available automobile of Multiple Type;
2, the acquisition component interchangeability is good.The pole top is furnished with universal fastener, and the replaceable camera box for Multiple Type of the panorama camera box at top need not change parts.
3, compact conformation, appearance looks elegant, firm supporting.Whole vehicle roof platform can be placed in the common commercially available roof boxes, and luggage-boot lid can cover when not carrying out data acquisition, is as good as with common vehicle; Bottom aluminium sheet area is larger, and on force dispersion to 3 baggage rack, bulk strength is higher.
4, safety performance is good.Two struts support about having when pole erects, and steadiness is good, guarantee instrument safety; Pole has gas spring to cushion when tilting, and can prevent that instrument from falling down suddenly impaired with pole.
5, dismounting is easy to operate.Movable part is fixed by hardwares easy to operate such as quick-speed jigs, five-pointed star handles mostly, and convenience is single to be operated at roof.
6, carrying capacity is strong.Owing to take to need, instrument need be inserted into certain altitude, but there is limit for height in a lot of places in the city, and the traditional measurement car may need to pull down various instruments, by after be loaded on.The instrument pole of this utility model vehicle roof platform is designed to the tiltable state, need not the dismounting instrument by the limit for height place.
During this vehicle roof platform work, take off the travelling case lid, hold up the camera box support; The camera box support can fall down when not working.The copper binding ring of rotation panorama camera box below, dismantled and assembled panorama camera box.Can fix with the top set collar after having connected line with trigger board.
Wherein, service platform 120 comprises read out instrument 121 and input/output unit 122, this read out instrument 121 can be read-out or touch-screen, this input/output unit 122 can comprise keyboard, mouse, touch pad etc., read out instrument 121 and input/output unit 122 are installed on correct position in the car by stent bearing plank, co-driver for example, thus can come as required the convenient orientation of adjusting.
Wherein, control assembly comprises computing machine 131 and synchronous signal receiver 132, this computing machine 131 and synchronous signal receiver 132 are arranged in the boot rack 130, this computing machine 131 and synchronous signal receiver 132, read out instrument 121 are connected with input/output unit and are connected, and this synchronous signal receiver 132 is connected with panorama camera 111, laser radar 112, gps antenna 113 and wheel encoder device and is exported to computing machine behind the signal that is connected to receive each monitoring device.
Wherein, power-supply system includes battery 140 in the engine bin, battery 140 is connected to synchronous signal receiver 132 so that power supply to be provided by air switch 134 in this engine bin, for guaranteeing that power supply is sufficient, this power-supply system also includes boot battery 133 and charger, battery 140 is in parallel with boot battery 133 in the engine bin, can utilize mobile generator that battery is replenished electric power during Vehicle Driving Cycle.When being positioned at the place of the convenient connection civil powers such as parking area when vehicle, can utilize charger that boot battery 133 is carried out fast charge.Break-make between air switch 134 control power supplys and the electrical equipment.
Wherein, this synchronous signal receiver 132 is positioned at the inside of rack 130, and computing machine 131 is positioned at rack 130 tops, and can extend to the multi-section computing machine.Rack 130 was realized with being connected by the vehicle window cable hole of vehicle roof platform 110 and wheel encoder device 150.Boot battery 133 is positioned at rack 130 lower lefts, and charger is positioned at rack 130 lower rights.
Wherein, this wheel encoder device 150 is the rotational pulses of wheel of picking up the car, and is converted into the straight-line distance value.The wheel encoder device needs alignment pins when installing, guarantee the consistent of orientation.Wheel encoder device cable via the trough interface into the car.
As shown in Figure 2, system's wiring everywhere all is collected to computing machine 131 and synchronous signal receiver 132 places of boot rack 130. Engine bin battery 140 and 133 parallel connections of boot battery are synchronous signal receiver 132 power supplies in the boot, synchronous signal receiver 132 and then be that computing machine 131 and each sensor are powered.Synchronous signal receiver 132 centrally connected power supplies are convenient to the monitoring of tools management, and the button of synchronous signal receiver front panel can be controlled respectively each equipment operation.
The internal host of data acquisition car of the present utility model has been installed the control software that is used for the measurement activity, can carry out real-time control ﹠ monitor to system, mainly contains:
Panorama acquisition monitoring software mainly is that control synchro sends photographing instruction to panorama camera, the shooting situation of all cameras of Real Time Monitoring, and with the panorama data conversion storage in hard disc of computer.
SPAN controls software, monitoring synchronizing signal, gps signal, data receiver, number of satellites and usable satellite number, visual level height and direction etc.
SICK laser acquisition software provides the laser scanning data of 3D.
Geography information is described software, shows and map making at map template according to SPAN information
The existing mature technology that the vehicle-mounted measuring system of the utility model adopts has:
1) high-rate laser scanning techniques
The structure of three-dimensional city model needs very three-dimensional spatial data and real image data, adopts the laser scanning system based on ground to obtain city three-dimensional reconstruction and local regional space information.Laser scanner can improve precision, failure-free dimensional data.The scanner that adopts can be divided into 2D and 3D.The scanner of 2D type be used for to obtain to advance contour of object on the direction perpendicular to garage; The 3D scanner then once obtains the three dimensional point cloud of whole scene.
Do two-dimensional scan perpendicular to vehicle heading, as the motion dimension, consisting of 3 D scanning system with vehicle traveling direction, " the some cloud " that the data of obtaining are made of complete discrete vector distance point, what each pixel comprised is a distance value and angle value.The raw measurement data that scanner obtains mainly comprises: the 1. sequence number of every scanning line (256 lines of every scanning repeat once); 2. at a time resulting scanner center-point to the distance value (ultimate range is 80 meters, and maximal accuracy is 0.001 meter) of body surface; The scanning angle of any one scanning spot that 3. calculates according to the number of the scanning spot of minimum and maximum scanning angle and every line; 4. scanner is according to the time of the scanning spot under self time counter precision.Wherein, obtain the 2., 3. two kinds of data can be used for calculating scanning line with respect to the coordinate figure of scanner self, 1., 4. two kinds of data then for the different sensors data fusion, carry out the three-dimensional conversion data be provided.
2) the high precision inertial positioning is surveyed the appearance technology
Vehicle-mounted data requires positional precision high, and data are accurate.Inertial Measurement Unit provides position of platform and attitude for system.The core of system is integrated inertial navigation software, and both real time execution was in computing system for it, and mode that also can post-processing runs on (POSPacTM) on the computing machine.This software can integrated gps data and IMU data, and export position and an angle after the fusion.Output rusults had both kept the dynamic accuracy of inertial navigation, also had the absolute accuracy of GPS.
Hardware comprises IMU and GPS receiver.IMU is comprised of three groups of accelerometers, gyroscope, digitalisation coil and a CPU, and CPU is used to executive signal and regulates and temperature compensating.Accelerometer after the compensation and gyro data are used as the line rate of acceleration and the angle rate of acceleration outputs in the PCS.The GPS receiver is with distance measure and the triangle location technology position of calculating receiver antenna of satellite to it.The carrier phase difference GPS that adopts is a kind of advanced person's technology, it combines the phase data of two receivers, be used for eliminating all significant errors, the unascertainable wavelength between two receivers (base station receiver and roaming receiver) and each satellite is complete cycle.
3) high resolution optical imaging technology
Onboard system has adopted multiple HD digital industrial camera and video frequency collection card.When taking high definition road surface image and judging data source as crackle thus, adopted capable resolution to reach 4086 line-scan digital camera, picking rate reaches 2Kfps.When taking the road surface image as road mark extraction data source, adopted 2,000,000 and 5,000,000 high-resolution video camera, the phase function realizes hardware to the compression of image and video, and realizes high definition collection at a high speed.When being used for the self-control panorama camera, having adopted 1394 industrial cameras of 8 2,000,000 resolution, thereby realized obtaining of high definition panorama image data source.When stereopsis is used in the shooting measurement, select the line by line digital camera of 1300*1030 resolution, and carry out size and position measurement through behind the accurate calibration.
The gordian technique that the vehicle-mounted measuring system of the utility model has been captured has:
1) based on the multisensor of GPS and DMI combination integrated with the precise synchronization control technology
Onboard system is the comprehensive system of a kind of multi-source data collection and fusion.The source data that relates to comprises the POS data of vision imaging data (full-view image being arranged, road surface image, stereopsis, monitor video image), size laser scanning data, location survey appearance etc.These data are obtained by different collecting computers, and every kind of sensor and computing machine have frequency of operation or the internal time of oneself.In order under unified time and system of axes, to show, merge, analyze these data, need a unified time and position reference.
This shows the different sensors type, have the data of separate sources, have different data characteristics.Can be known by top description, if will get up whole system synchronously, provide the time tag of every frame data in different pieces of information source, and whole time tag to be unified below this time reference, necessary system Time Synchronizing: absolute time reference, introduce relative system; Design a relative time system, the time tag of every frame data is provided to the equipment of not free function; During data acquisition, gather in the lump the moment that every frame data produce.
For this reason, this Project design and realized a cover multisensor synchronous controller.It is integrated GPS, gyroscope, wheel encoder device (DMI) and other control information (the handle energizing signal is to obtain the linear reference coordinate), has set up unified time reference, linear reference space coordinates and GPS space coordinates (WGS84).The measurement requirement that the energy User is set, with the time or apart from as trigger condition, when it was sent corresponding synchro control instruction, the energizing signal of synchronous controller output can make the working sensor with outer synchronizing function.Do not have the sensor of outer synchronizing function then by obtaining corresponding synchrodata, obtain by high-precision temporal interpolation.
2) solved the Bonding Problem of polyphaser high definition 360 degree panorama cameras
Low and the fair problem for Ladybug full-view image resolution, our designed, designed and developed the panorama camera of two kinds of models.A kind of is the panorama camera that uses the industrial camera composition of 8 2,000,000 resolution, and another kind is to use 6 little one cameras of Sony and 4 high definition panorama cameras that the nikon slr camera consists of.
In this process, solved obtaining synchronously and memory technology of camera image, the polyphaser panorama splices and spares the gordian techniquies such as light.
3) solved the integrated problem of calibrating of multisensor
Be space and the attribute data that the extracting data from a large amount of separate sources of collecting needs based on the vehicle-mounted measuring system integrated technology ultimate aim of laser-scan and full-view image, thereby realize the value that onboard system exists.
The demarcation of the vehicle-mounted measuring system that multisensor is integrated comprises relative Calibration and two aspects of absolute calibration.Relative Calibration refers to finding the solution of the inherent parameter of each sensor, has relative measurement ability with respect to self mounting center in order to obtain this sensor or sensor group.The absolute calibration refers to that the relativeness between each sensor and the absolute location attitude sensor finds the solution.Vehicle-mounted stereo triangulation subsystem and laser scanner subsystem based on imageing sensor all need to finish similar absolute calibration.The absolute calibration need to realize by outdoor Calibration Field, and the relative indoor standardization of outdoor Calibration Field field does not need the controlling point of too many number.But each controlling point must be with geodetic coordinate.
For camera, set up the indoor standardization field and carried out the confidential reference items demarcation, set up outdoor Calibration Field and be used for absolute location and attitude demarcation.
For laser scanner, first by position and the attitude initial value of total powerstation acquisition with respect to POS, then in the fused data of reality, introduce absolute controlling point and retrain Exact Solution.
It is evident that above description and record only are for example rather than in order to limit disclosure of the present utility model, application or use.Although described in an embodiment and be described in the drawings embodiment, but the optimal mode that the utility model does not limit by the accompanying drawing example and the conduct of describing is in an embodiment thought at present to be implementing the specific examples of instruction of the present utility model, and scope of the present utility model will comprise any embodiment of the specification sheets that falls into the front and appended claim.
Claims (8)
1. vehicle-mounted measurement integrated system based on laser-scan and full-view image, this system comprises vehicle roof platform, service platform, control assembly, power-supply system and wheel encoder device; It is characterized in that:
Vehicle roof platform comprises panorama camera, laser radar and gps antenna, its detouchable is assemblied on the roof, service platform comprises read out instrument and input/output unit, this read out instrument is read-out or touch-screen, read out instrument and input/output unit are installed in the car by stent bearing plank, control assembly comprises computing machine and synchronous signal receiver, this computing machine and synchronous signal receiver are arranged in the boot rack, this computing machine and synchronous signal receiver, read out instrument is connected with input/output unit, this synchronous signal receiver and panorama camera, laser radar, gps antenna is exported to computing machine be connected to receive the sensor signal of each monitoring device with the wheel encoder device after.
2. vehicle-mounted measurement integrated system as claimed in claim 1 is characterized in that: power-supply system includes battery in the engine bin, and battery is connected to synchronous signal receiver so that power supply to be provided by air switch in this engine bin.
3. vehicle-mounted measurement integrated system as claimed in claim 2, it is characterized in that: this power-supply system also includes boot battery and charger, battery and boot cell parallel in the engine bin.
4. such as arbitrary described vehicle-mounted measurement integrated system in the claims 1 to 3, it is characterized in that: this vehicle roof platform is installed on the roof, at least comprise the panorama camera box that panorama camera is housed, cylinder pole, sliding bottom, strut, sliding rail and fixed platform, this panorama camera box detouchable is fixed in the top of cylinder pole, the bottom of cylinder pole is articulated on the sliding bottom, be provided with two sliding rails that extend in parallel on the fixed platform, this sliding bottom slidably is arranged on these two sliding rails, and an end of strut is articulated in fixed platform, the detachably hinged middle part in cylinder pole of the other end also is provided with the laser radar apparatus 22 that laser radar is housed and the gps antenna device that gps antenna is housed to provide support on cylinder pole when cylinder pole is upright.
5. vehicle-mounted measurement integrated system as claimed in claim 4, it is characterized in that: this strut is two, lays respectively at the both sides of cylinder pole.
6. vehicle-mounted measurement integrated system as claimed in claim 4, it is characterized in that: the front end at sliding rail is provided with the front limit piece, limiting stopper after the rear end of sliding rail is provided with respectively is equipped with the quick-speed jigs that can clamp this sliding bottom on front limit piece and rear limiting stopper.
7. vehicle-mounted measurement integrated system as claimed in claim 4 is characterized in that: this fixed platform is aluminium sheet at the bottom of the case of baggage container, is fixedly connected with three automobile luggage racks on the roof of car body, and aluminium sheet is fixed on the baggage rack at the bottom of the case of baggage container.
8. vehicle-mounted measurement integrated system as claimed in claim 4, it is characterized in that: cylinder pole is fixed on the sliding bottom by bottom axis of revolution and bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220486578.9U CN202782968U (en) | 2012-09-21 | 2012-09-21 | Vehicle-mounted measure integrated system based on laser scanning and panorama images |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220486578.9U CN202782968U (en) | 2012-09-21 | 2012-09-21 | Vehicle-mounted measure integrated system based on laser scanning and panorama images |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202782968U true CN202782968U (en) | 2013-03-13 |
Family
ID=47810288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220486578.9U Expired - Lifetime CN202782968U (en) | 2012-09-21 | 2012-09-21 | Vehicle-mounted measure integrated system based on laser scanning and panorama images |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202782968U (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303183A (en) * | 2013-07-03 | 2013-09-18 | 国家电网公司 | Three-dimensional data collection vehicle for structuring three-dimensional digital power grid for power transmission and transformation and control method |
| CN103366250A (en) * | 2013-07-12 | 2013-10-23 | 中国科学院深圳先进技术研究院 | City appearance environment detection method and system based on three-dimensional live-action data |
| CN103632538A (en) * | 2013-12-17 | 2014-03-12 | 重庆交通大学 | Three-dimensional (3D) live-action collection system for road |
| CN103754231A (en) * | 2014-01-22 | 2014-04-30 | 成都唐源电气有限责任公司 | Contact network step touring working equipment |
| CN104112363A (en) * | 2014-07-04 | 2014-10-22 | 西安交通大学 | Multi-sensing-data space-time synchronization method and road multi-sensing-data vehicle-mounted acquisition system |
| CN104280730A (en) * | 2013-07-09 | 2015-01-14 | 北京瑞达恩科技股份有限公司 | Low-altitude search radar |
| CN104330074A (en) * | 2014-11-03 | 2015-02-04 | 熊友谊 | Intelligent surveying and mapping platform and realizing method thereof |
| CN104536255A (en) * | 2015-01-07 | 2015-04-22 | 纵横皆景（武汉）信息技术有限公司 | Backpack style panoramic picture capturing device |
| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN105738917A (en) * | 2016-03-02 | 2016-07-06 | 深圳大舜激光技术有限公司 | Novel laser radar device for measuring cloud height and cloud amount |
| US9420176B2 (en) | 2014-06-19 | 2016-08-16 | Omnivision Technologies, Inc. | 360 degree multi-camera system |
| CN106200626A (en) * | 2016-08-26 | 2016-12-07 | 上海瑞言信息科技有限公司 | Natural driving data acquisition system and security algorithm thereof |
| CN106443687A (en) * | 2016-08-31 | 2017-02-22 | 欧思徕（北京）智能科技有限公司 | Piggyback mobile surveying and mapping system based on laser radar and panorama camera |
| CN106885113A (en) * | 2017-02-22 | 2017-06-23 | 浙江工业大学 | Vehicle-mounted lifting detection means based on face recognition technology |
| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| CN108051823A (en) * | 2017-10-26 | 2018-05-18 | 亘冠智能技术（杭州）有限公司 | A kind of non-rotating insect detection radar and method based on face imaging laser radar |
| CN108318489A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of system and method for the real-time storage of Tunnel testing data |
| CN108592904A (en) * | 2018-01-16 | 2018-09-28 | 中国人民解放军陆军军事交通学院 | A kind of vehicle movement parameters measuring system |
| CN108664029A (en) * | 2018-05-22 | 2018-10-16 | 芜湖乐知智能科技有限公司 | A kind of unpiloted intelligent automobile and its control method |
| CN108819859A (en) * | 2018-07-19 | 2018-11-16 | 多伦科技股份有限公司 | A kind of Vehicular satellite positioning device |
| CN109188458A (en) * | 2018-07-25 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of traverse measurement system based on double laser radar sensor |
| CN109421612A (en) * | 2017-08-21 | 2019-03-05 | 百度在线网络技术（北京）有限公司 | The sensor assemblies of pilotless automobile |
| US10272850B2 (en) | 2016-07-15 | 2019-04-30 | Ford Global Technologies, Llc | Roof mounting for autonomous vehicle sensor assembly |
| CN110163067A (en) * | 2018-12-11 | 2019-08-23 | 腾讯科技（深圳）有限公司 | Panoramic view data acquisition device, collecting vehicle and acquisition method |
| CN111474532A (en) * | 2020-04-10 | 2020-07-31 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| CN112308927A (en) * | 2020-10-26 | 2021-02-02 | 南昌智能新能源汽车研究院 | Fusion device of panoramic camera and laser radar and calibration method thereof |
| CN112303454A (en) * | 2020-10-26 | 2021-02-02 | 深圳市镭神智能系统有限公司 | Backpack type surveying and mapping device |
| CN112762945A (en) * | 2021-01-14 | 2021-05-07 | 佳都新太科技股份有限公司 | Information synchronization method, system and device of high-precision map full-element acquisition equipment |
| CN113076383A (en) * | 2020-01-06 | 2021-07-06 | 阿里巴巴集团控股有限公司 | Road data acquisition vehicle and data acquisition system thereof |
| EP3809808A4 (en) * | 2018-06-21 | 2021-08-18 | Navinfo Co., Ltd. | Device of intelligent sensing system |
| CN115096267A (en) * | 2022-06-14 | 2022-09-23 | 北京逸群工程技术有限公司 | Vehicle-mounted close-range photogrammetric equipment and use method thereof |
-
2012
- 2012-09-21 CN CN201220486578.9U patent/CN202782968U/en not_active Expired - Lifetime
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303183B (en) * | 2013-07-03 | 2015-06-24 | 国家电网公司 | Three-dimensional data collection vehicle for structuring three-dimensional digital power grid for power transmission and transformation and control method |
| CN103303183A (en) * | 2013-07-03 | 2013-09-18 | 国家电网公司 | Three-dimensional data collection vehicle for structuring three-dimensional digital power grid for power transmission and transformation and control method |
| CN104280730A (en) * | 2013-07-09 | 2015-01-14 | 北京瑞达恩科技股份有限公司 | Low-altitude search radar |
| CN103366250A (en) * | 2013-07-12 | 2013-10-23 | 中国科学院深圳先进技术研究院 | City appearance environment detection method and system based on three-dimensional live-action data |
| CN103632538A (en) * | 2013-12-17 | 2014-03-12 | 重庆交通大学 | Three-dimensional (3D) live-action collection system for road |
| CN103754231A (en) * | 2014-01-22 | 2014-04-30 | 成都唐源电气有限责任公司 | Contact network step touring working equipment |
| US9420176B2 (en) | 2014-06-19 | 2016-08-16 | Omnivision Technologies, Inc. | 360 degree multi-camera system |
| CN104112363A (en) * | 2014-07-04 | 2014-10-22 | 西安交通大学 | Multi-sensing-data space-time synchronization method and road multi-sensing-data vehicle-mounted acquisition system |
| CN104330074A (en) * | 2014-11-03 | 2015-02-04 | 熊友谊 | Intelligent surveying and mapping platform and realizing method thereof |
| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN104567708B (en) * | 2015-01-06 | 2018-03-16 | 浙江工业大学 | Full section of tunnel high speed dynamical health detection means and method based on active panoramic vision |
| CN104536255A (en) * | 2015-01-07 | 2015-04-22 | 纵横皆景（武汉）信息技术有限公司 | Backpack style panoramic picture capturing device |
| CN105738917A (en) * | 2016-03-02 | 2016-07-06 | 深圳大舜激光技术有限公司 | Novel laser radar device for measuring cloud height and cloud amount |
| CN105738917B (en) * | 2016-03-02 | 2019-03-19 | 深圳大舜激光技术有限公司 | A kind of laser radar apparatus of novel measuring cloud level cloud amount |
| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| US10272850B2 (en) | 2016-07-15 | 2019-04-30 | Ford Global Technologies, Llc | Roof mounting for autonomous vehicle sensor assembly |
| CN106200626A (en) * | 2016-08-26 | 2016-12-07 | 上海瑞言信息科技有限公司 | Natural driving data acquisition system and security algorithm thereof |
| CN106443687A (en) * | 2016-08-31 | 2017-02-22 | 欧思徕（北京）智能科技有限公司 | Piggyback mobile surveying and mapping system based on laser radar and panorama camera |
| CN108318489A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of system and method for the real-time storage of Tunnel testing data |
| CN106885113A (en) * | 2017-02-22 | 2017-06-23 | 浙江工业大学 | Vehicle-mounted lifting detection means based on face recognition technology |
| CN109421612A (en) * | 2017-08-21 | 2019-03-05 | 百度在线网络技术（北京）有限公司 | The sensor assemblies of pilotless automobile |
| CN108051823A (en) * | 2017-10-26 | 2018-05-18 | 亘冠智能技术（杭州）有限公司 | A kind of non-rotating insect detection radar and method based on face imaging laser radar |
| CN108592904A (en) * | 2018-01-16 | 2018-09-28 | 中国人民解放军陆军军事交通学院 | A kind of vehicle movement parameters measuring system |
| CN108664029A (en) * | 2018-05-22 | 2018-10-16 | 芜湖乐知智能科技有限公司 | A kind of unpiloted intelligent automobile and its control method |
| EP3809808A4 (en) * | 2018-06-21 | 2021-08-18 | Navinfo Co., Ltd. | Device of intelligent sensing system |
| CN108819859B (en) * | 2018-07-19 | 2024-01-16 | 多伦科技股份有限公司 | Vehicle-mounted satellite positioning device |
| CN108819859A (en) * | 2018-07-19 | 2018-11-16 | 多伦科技股份有限公司 | A kind of Vehicular satellite positioning device |
| CN109188458A (en) * | 2018-07-25 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of traverse measurement system based on double laser radar sensor |
| CN110163067A (en) * | 2018-12-11 | 2019-08-23 | 腾讯科技（深圳）有限公司 | Panoramic view data acquisition device, collecting vehicle and acquisition method |
| CN110163067B (en) * | 2018-12-11 | 2022-04-15 | 腾讯科技（深圳）有限公司 | Panoramic data acquisition device, acquisition vehicle and acquisition method |
| CN113076383B (en) * | 2020-01-06 | 2023-03-21 | 阿里巴巴集团控股有限公司 | Road data acquisition vehicle and data acquisition system thereof |
| CN113076383A (en) * | 2020-01-06 | 2021-07-06 | 阿里巴巴集团控股有限公司 | Road data acquisition vehicle and data acquisition system thereof |
| CN111474532B (en) * | 2020-04-10 | 2022-05-03 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| CN111474532A (en) * | 2020-04-10 | 2020-07-31 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| CN112303454A (en) * | 2020-10-26 | 2021-02-02 | 深圳市镭神智能系统有限公司 | Backpack type surveying and mapping device |
| CN112308927A (en) * | 2020-10-26 | 2021-02-02 | 南昌智能新能源汽车研究院 | Fusion device of panoramic camera and laser radar and calibration method thereof |
| CN112308927B (en) * | 2020-10-26 | 2024-05-17 | 南昌智能新能源汽车研究院 | Fusion device of panoramic camera and laser radar and calibration method thereof |
| CN112762945A (en) * | 2021-01-14 | 2021-05-07 | 佳都新太科技股份有限公司 | Information synchronization method, system and device of high-precision map full-element acquisition equipment |
| CN115096267A (en) * | 2022-06-14 | 2022-09-23 | 北京逸群工程技术有限公司 | Vehicle-mounted close-range photogrammetric equipment and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202782968U (en) | Vehicle-mounted measure integrated system based on laser scanning and panorama images | |
| CN106443687B (en) | A kind of backpack mobile mapping system based on laser radar and panorama camera | |
| CN203580743U (en) | Vehicle-mounted tunnel measurement system | |
| CN202782963U (en) | Panorama acquisition car roof platform | |
| CN101241011B (en) | High precision positioning and posture-fixing device on laser radar platform and method | |
| JP6316568B2 (en) | Surveying system | |
| CN109597095A (en) | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method | |
| CN109737981B (en) | Unmanned vehicle target searching device and method based on multiple sensors | |
| CN203126621U (en) | Vehicular three-dimensional laser and panorama image measuring system | |
| CN105928493A (en) | Binocular vision three-dimensional mapping system and method based on UAV | |
| US20170023665A1 (en) | Integrative Multi-sensor Lidar Scanning System | |
| EP3809808B1 (en) | Device of intelligent sensing system | |
| KR101220527B1 (en) | Sensor system, and system and method for preparing environment map using the same | |
| CN107807365A (en) | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude | |
| Kukko et al. | Road environment mapping system of the Finnish Geodetic Institute-FGI ROAMER | |
| CN212008943U (en) | High-flux three-dimensional scanning spectral imaging measuring device | |
| CN104913766A (en) | Laser scanning measurement method and device | |
| CN204757984U (en) | Three -dimensional measurement system is removed in integration | |
| CN104180793A (en) | Device and method for obtaining mobile spatial information for digital city construction | |
| KR101105606B1 (en) | The method and apparatus of topographical map data with movement multi sensor moudle | |
| CN203133590U (en) | Vehicle-mounted synchronous controller | |
| CN202074965U (en) | Full-function day and night laser distance measuring instrument | |
| CN103148803A (en) | Light and small three-dimensional laser scanning measurement system and method | |
| CN208506253U (en) | For acquiring device, system and the vehicle of map | |
| KR102224173B1 (en) | Mobile mapping system for producing topographical map data with movement multi sensor moudle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Changjun Inventor after: Wang Gang Inventor after: Guan Hongliang Inventor after: Tao Yongliang Inventor before: Chen Changjun Inventor before: Wang Gang Inventor before: Guan Hongliang |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: CHEN CHANGJUN WANG GANG GUAN HONGLIANG TO: CHEN CHANGJUN WANG GANG GUAN HONGLIANG TAO YONGLIANG |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130313 |
|
| CX01 | Expiry of patent term |