CN208444010U - Map data collecting equipment - Google Patents
Map data collecting equipment Download PDFInfo
- Publication number
- CN208444010U CN208444010U CN201820816717.7U CN201820816717U CN208444010U CN 208444010 U CN208444010 U CN 208444010U CN 201820816717 U CN201820816717 U CN 201820816717U CN 208444010 U CN208444010 U CN 208444010U
- Authority
- CN
- China
- Prior art keywords
- support plate
- filming apparatus
- fixed
- radar
- inertial navigation
- 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.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Present disclose provides a kind of map data collecting equipment, it include: laser radar, satellite signal receiving apparatus, the first filming apparatus, inertial navigation unit and the first support plate, in which: the laser radar and satellite signal receiving apparatus are fixedly connected on the upper surface of first support plate；First filming apparatus and inertial navigation unit are fixedly installed in the space below first support plate.
Description
Technical field
This disclosure relates to electronic technology field, more particularly, to a kind of map data collecting equipment.
Background technique
With the fast development of unmanned technology, the high-precision map composition portion indispensable as unmanned technology
Point, also receive more and more attention.Wherein, high-precision map data collecting is appointed as the basis of entire high-precision cartography
Business, is also suggested the requirement of higher quality, faster speed, more scenes.
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.It bothers, fits in the presence of disassembly
Environment is limited, is installed on specific vehicle mostly, and remote transition operation is needed to drive to trudge, wave
Take manpower and material resources.
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.
Utility model content
In view of this, present disclose provides a kind of map data collecting equipment, comprising: laser radar, satellite signal receiving
Device, the first filming apparatus, inertial navigation unit and the first support plate, in which: the laser radar and satellite signal receiving dress
Set the upper surface for being fixedly connected on first support plate；First filming apparatus and inertial navigation unit are fixedly installed on institute
It states in the space below the first support plate.
According to the embodiment of the present disclosure, the equipment further includes radar pedestal, in which: the radar pedestal is fixed on described
The upper surface of one support plate, and the radar pedestal has an inclined-plane, one angle of the inclined-plane and the first support plate sandwiched is described
Laser radar is fixed on the inclined-plane；After the satellite signal receiving apparatus is set to the laser radar and radar pedestal
Side.
According to the embodiment of the present disclosure, first filming apparatus is fixedly connected on the lower surface of first support plate；Institute
The lower surface that inertial navigation unit is fixedly connected on first support plate is stated, or is fixedly connected on first filming apparatus
Lower surface.
According to the embodiment of the present disclosure, the equipment further includes the second support plate, in which: second support plate is set to institute
The lower section of the first support plate is stated, and is fixedly connected with first support plate；First filming apparatus and/or inertial navigation dress
Set the upper surface for being fixedly connected on second support plate.
According to the embodiment of the present disclosure, it includes: two layers of support that second support plate is fixedly connected with the first support plate
Multiple connecting rods are provided between plate；Or one or more sides are provided between first support plate and the second support plate
Plate, one or more of side panels and first support plate and the second support plate surround accommodating space, first shooting
Device and inertial navigation unit are set in the accommodating space, are provided at least one through-hole on the side panel, and described
One filming apparatus acquires image by the through-hole.
According to the embodiment of the present disclosure, the equipment further includes fixed device, in which: the fixed device and described first
Fagging is detachably connected, for the map data collecting equipment to be fixed on other equipment；The fixed device includes inhaling
Disk or magnet.
According to the embodiment of the present disclosure, it is arranged fluted on the inclined-plane of the radar pedestal, the laser radar bottom is placed in
In the groove, and fixed by lateral pin.
According to the embodiment of the present disclosure, the radar pedestal offers the first string holes, and first support plate is corresponding to institute
The position for stating the first string holes is provided with the second string holes, and the connecting line between the radar and the inertial navigation unit is threaded through institute
It states in the first string holes and the second string holes；Third string holes, the satellite signal receiving apparatus are additionally provided in first support plate
Connecting line between the inertial navigation unit is threaded through in the third string holes.
According to the embodiment of the present disclosure, first support plate lower surface is provided with fixed chute, first filming apparatus
Upper surface is provided with the sliding block to match with the fixed chute structure, and the sliding block is caught in the sliding slot, and passes through pin
Fix the position of the first filming apparatus.
According to the embodiment of the present disclosure, the equipment further includes the second filming apparatus, the shooting with first filming apparatus
Angle is different, and second filming apparatus is fixed on the upper surface of first support plate or the lower section of the first support plate；It is described
First filming apparatus and the second filming apparatus include monocular industrial camera.
The map data collecting equipment volume that the embodiment of the present disclosure provides is small, can be placed on different mobile vehicles,
And then data acquisition can be carried out under various scenes.And portability is stronger, can be placed in special protective housing, takes public
The vehicles carry out quickly long-distance transition operation.And each data acquisition equipment is fastenedly connected, and has very strong globality,
Make to ensure that the precision of final data fusion without demarcating repeatedly in data acquisition.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present disclosure, the above-mentioned and other purposes of the disclosure, feature and
Advantage will be apparent from, in the accompanying drawings:
Fig. 1 diagrammatically illustrates the exemplary application scene of the map data collecting equipment according to the embodiment of the present disclosure；
Fig. 2 diagrammatically illustrates the structural schematic diagram of the map data collecting equipment according to the embodiment of the present disclosure；
Fig. 3 diagrammatically illustrates the structural schematic diagram of the laser radar according to the embodiment of the present disclosure；
Fig. 4 diagrammatically illustrates the structural schematic diagram of the radar pedestal according to the embodiment of the present disclosure；
Fig. 5 diagrammatically illustrates the structural schematic diagram of the radar pedestal according to another embodiment of the disclosure；
Fig. 6 is diagrammatically illustrated to be shown according to the first filming apparatus of the embodiment of the present disclosure and the connection structure of the first support plate
It is intended to；
Fig. 7 diagrammatically illustrates the connection knot of the first filming apparatus and the first support plate according to another embodiment of the disclosure
Structure schematic diagram；
Fig. 8 diagrammatically illustrates the knot of the map data collecting equipment with the second support plate according to the embodiment of the present disclosure
Structure schematic diagram；
Fig. 9 diagrammatically illustrates point of the map data collecting equipment with the second support plate according to the embodiment of the present disclosure
Solution structure schematic diagram；
Figure 10 diagrammatically illustrates the structure of the map data collecting equipment including connecting rod according to the embodiment of the present disclosure
Schematic diagram.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
Embodiment of the disclosure provides a kind of map data collecting equipment, comprising: laser radar, satellite signal receiving dress
It sets, the first filming apparatus, inertial navigation unit and the first support plate, in which: laser radar and satellite signal receiving apparatus are fixed
It is connected to the upper surface of the first support plate；First filming apparatus and inertial navigation unit are fixedly installed below the first support plate
In space.
The map data collecting equipment volume that the embodiment of the present disclosure provides is small, and each device makes full use of space, and structure is tight
It gathers, map data collecting equipment can be placed on different mobile vehicles, and then can be carried out data under various scenes and be adopted
Collection.And portability is stronger, can be placed in special protective housing, take public transport, and carries out quickly long-distance transition operation.
And each data acquisition equipment is fastenedly connected, and has very strong globality, makes to protect in data acquisition without demarcating repeatedly
The precision of final data fusion is demonstrate,proved.
Fig. 1 diagrammatically illustrates the exemplary application scene of the map data collecting equipment according to the embodiment of the present disclosure.
As shown in Figure 1, the map data collecting equipment 1 that the embodiment of the present disclosure provides can be set on movable equipment 2,
Such as automobile, it can be dedicated for installing the special purpose vehicle of map data collecting equipment, be also possible to general-utility car.It is terrible
To better field range, map data collecting equipment 1 can be mounted as a whole on the roof of automobile, carry map datum by automobile
Acquire the acquisition that equipment 1 carries out map datum.The map data collecting equipment 1 that the embodiment of the present disclosure provides simultaneously is also convenient for taking
Band is not necessarily to drive special-purpose vehicle to destination when acquiring diagram data at a distance, only need to be by the equipment 1 transport to destination
Can, transportation cost is greatly saved.Also, the equipment 1 can be for example placed in specific protective housing, convenient for quickly long-distance
Transition operation.
It is appreciated that the application scenarios in Fig. 1 are only a kind of examples, which, can be with other than being automobile
It is other movable equipments, for example, electric bicycle, tricycle, mobile robot etc..
Fig. 2 diagrammatically illustrates the structural schematic diagram of the map data collecting equipment according to the embodiment of the present disclosure.
As shown in Fig. 2, map data collecting equipment 1 includes: laser radar 110, satellite-signal according to the embodiment of the present disclosure
Reception device 120, the first filming apparatus 130, inertial navigation unit 140 and the first support plate 150, in which: 110 He of laser radar
Satellite signal receiving apparatus 120 is fixedly connected on the upper surface of the first support plate 150；First filming apparatus 130 and inertial navigation
Device 140 is fixedly installed in the space of 150 lower section of the first support plate.
Specifically, laser radar 110, satellite signal receiving apparatus 120, the first filming apparatus 130 and inertial navigation unit
140 be the data acquisition device of map data collecting equipment 1.Each data acquisition module has data transmission interface, is used for
In the case where data acquisition device is connect with other electronic equipments, transmission map datum to other electronic equipments.
Fig. 3 diagrammatically illustrates the structural schematic diagram of the laser radar according to the embodiment of the present disclosure.
As shown in figure 3, laser radar (Light Detection And Ranging, LiDAR) i.e. laser acquisition and survey
Amount.The laser radar 110 of the embodiment of the present disclosure divides for first part 111 and second part 112, and first part 111 can be opposite
It is rotated in second part 112, is provided with laser emission port 113 in first part 111, laser beam is from laser emission port 113
It projects, in 111 rotation process of first part, laser beam can scan peripheral regions, to obtain comprehensive cartographic information.
First filming apparatus 130 for example can be monocular industrial camera, for shooting the map pictures such as streetscape, by optical signal
It is transformed into orderly electric signal.
Satellite signal receiving apparatus 120 for example can be GPS antenna, and for receiving satellite-signal, map data collecting is set
Standby 1 can also include satellite signal processing unit, and satellite signal processing unit can be set in the sky of 150 lower section of the first support plate
Between in, satellite signal receiving apparatus 120 can with satellite signal processing unit form satellite navigation system, satellite navigation system example
It such as can be global positioning system (GPS, Global Positioning System).
Inertial navigation unit 140 includes inertial navigation hardware and inertial navigation data processing unit, and inertial navigation system is not
Dependent on external information.Also not to external radiation energy, its working principle is that being carried based on Newton mechanics law by measurement
Body obtains the information such as speed, yaw angle and the position in navigational coordinate system in the acceleration of inertial reference system.
Inertial navigation unit 140 is communicatively coupled with laser radar 110 and the first filming apparatus 130 respectively, is used for
Make multiple data acquisition devices synchronous on time.
Satellite navigation system and inertial navigation system can be combined into integrated navigation system (GNSS/INS), or be known as
Positioning and orientation system (POS, Positioning and Orientation System), by GNSS/INS integrated navigation hardware system
System adds a set of precision data processing software, for carrying out post-processing to initial data, further increases positioning and orientation precision.
Since laser radar 110 and satellite signal receiving apparatus 120 need biggish visual angle and height, so the two is consolidated
Due to the top of the first support plate 150, the first filming apparatus 130 and inertial navigation unit 140 are fixedly installed on the first support
It is realized compact-sized with making full use of space in the space of 150 lower section of plate.First filming apparatus 130 and inertial navigation unit 140
It can be the lower surface for being directly fixed on the first support plate 150, be also possible to be connected with the first support plate 150 indirectly, example
Such as, support frame is set below the first support plate 150, and the first filming apparatus 130 and inertial navigation unit 140 are fixed on support frame
On.
According to the embodiment of the present disclosure, the position of each data acquisition device of map data collecting equipment is relatively fixed, tightly
It is solidly connected, there is very strong globality, ensure that the precision of final data fusion.Map data collecting device structure is compact,
Laser radar and satellite signal receiving apparatus position with higher, can collect more information, the first filming apparatus and
Inertial navigation unit is set in the space below the first support plate, can make full use of space.
Also, map data collecting equipment only includes required data acquisition device, and each data acquisition module is respectively provided with
There is data transmission interface, the data transmission interface of each data acquisition module is directly connected with external equipment, can directly transmit
Data are acquired to external equipment, it is superfluous to eliminate data storage and processing device etc. for the logical consequence being further simplified inside equipment
Remaining component further decreases the volume of equipment.
The map data collecting equipment that the embodiment of the present disclosure provides is compact-sized due to small in size, and each section fastening connects
It connects, thus map data collecting equipment can be placed on different mobile vehicles, and then can be counted under various scenes
According to acquisition.And portability is stronger, can be placed in special protective housing, take public transport, and carries out quickly long-distance transition
Operation.
According to the embodiment of the present disclosure, map data collecting equipment further includes radar pedestal 160, in which: radar pedestal 160 is solid
Due to the upper surface of the first support plate 150, and radar pedestal 160 has one jiao of an inclined-plane, inclined-plane and 150 sandwiched of the first support plate
Degree, laser radar 110 are fixed on the inclined-plane；Satellite signal receiving apparatus 120 is set to laser radar 110 and radar pedestal
160 rear.
Fig. 4 diagrammatically illustrates the structural schematic diagram of the radar pedestal according to the embodiment of the present disclosure.
As shown in figure 4, radar pedestal 160 can be a wedge block, inclined-plane is the lozenges of wedge block, radar pedestal
160 further include two opposite gores, a bottom surface and a back side, and bottom surface and the upper surface of the first support plate 150 are fixed,
Its back side is provided with rear channel, and mounting hole and/or pin hole, laser radar are provided between rear channel bottom surface and inclined-plane
Threaded hole and/or pin hole are provided on 110 bottom surfaces, the fasteners such as screw penetrate laser by the mounting hole of radar pedestal 160
In the threaded hole of radar 110 and/or pin is penetrated by the pin hole of radar pedestal 160 in the pin hole of laser radar 110,
Laser radar 110 is fixed.
Fig. 5 diagrammatically illustrates the structural schematic diagram of the radar pedestal according to another embodiment of the disclosure.
As shown in figure 5, fluted, laser radar 110 is arranged on the inclined-plane of radar pedestal 160 according to the embodiment of the present disclosure
Bottom is placed in groove, and is fixed by lateral pin.
Specifically, perforative pin hole is provided between the gore of radar pedestal 160 and the side of inclined plane groove,
The bottom on 110 cylindrical surface of laser radar is provided with pin hole corresponding with above-mentioned lead to the hole site, using pin laterally across thunder
Up to pedestal 160 pin hole and penetrate in the pin hole of laser radar 110, laser radar 110 is fixed.In this way, can swash
Fixed force is provided in the vertical direction of optical radar installation direction, laser radar is made to be not easy to fall off from radar pedestal.
According to the embodiment of the present disclosure, laser radar is obliquely fixed on the upper surface of the first support plate by radar pedestal,
In this way, not only expanding laser radar detection range, it is thus also avoided that the dry of the satellite signal receiving apparatus of setting in its rear
It disturbs.Satellite signal receiving apparatus is set to the rear of laser radar and radar pedestal, that is, is set to the reverse side of radar pedestal,
It can interference to avoid laser radar to satellite signal receiving apparatus.
According to the embodiment of the present disclosure, the first filming apparatus 130 is fixedly connected on the lower surface of the first support plate 150；Inertia
Navigation device 140 is fixedly connected on the lower surface of the first support plate 150, or is fixedly connected under the first filming apparatus 130
Surface.
Fig. 6 is diagrammatically illustrated to be shown according to the first filming apparatus of the embodiment of the present disclosure and the connection structure of the first support plate
It is intended to.
As shown in fig. 6, the first filming apparatus 130 can be fixed on the lower surface of the first support plate 150, fixed form is for example
Can be and fixed by fasteners such as screws, screw pass through the first support plate 150 through-hole or threaded hole and penetrate the first shooting
In the threaded hole of device 130, or it can also be fixed by following manner.
Fig. 7 diagrammatically illustrates the connection knot of the first filming apparatus and the first support plate according to another embodiment of the disclosure
Structure schematic diagram.
As shown in fig. 7, according to the embodiment of the present disclosure, 150 lower surface of the first support plate is provided with fixed chute 151, first
130 upper surface of filming apparatus is provided with the sliding block 131 to match with 151 structure of fixed chute, and sliding block 131 is caught in sliding slot 151,
And the position of the first filming apparatus 130 is fixed by pin 152.
Specifically, sliding slot 151 and sliding block 131 are for guaranteeing the first filming apparatus 130 and the first support plate 150 in Vertical Square
Upward relative position does not change, and sliding slot 151 and sliding block 131 can be other shapes, as long as it can ensure that being mutually clamped
?.Pin 152 is for fixing the opposite position of the first filming apparatus 130 and the first support plate 150 in the glide direction of the two
It sets, pin 152 can also be replaced with other fixed structures.In this way, not only can preferably fix the first filming apparatus, Er Qie
When needing replacing or increasing filming apparatus, disassembly and installation process can be made more convenient.
Inertial navigation unit 140 can be fixed on the lower surface of the first support plate 150, and fixed structure can refer to above-mentioned
The fixed structure of first filming apparatus 130.Or inertial navigation unit 140 can also be fixed under the first filming apparatus 130
Surface.
According to the embodiment of the present disclosure, whole data acquisition devices is fixed in one piece of support plate, each section fastening connects
It connects, not only map data collecting device structure can be made compact, increase the globality of equipment, ensure that the essence of final data fusion
Degree, and the weight of equipment can be effectively reduced, keep its more compact portable.
According to the embodiment of the present disclosure, map data collecting equipment further includes the second support plate, in which: the setting of the second support plate
It is fixedly connected in the lower section of the first support plate, and with the first support plate；First filming apparatus and/or the fixed company of inertial navigation unit
It is connected to the upper surface of the second support plate.
Fig. 8 diagrammatically illustrates the knot of the map data collecting equipment with the second support plate according to the embodiment of the present disclosure
Structure schematic diagram.Fig. 9 is diagrammatically illustrated according to the map data collecting equipment with the second support plate of the embodiment of the present disclosure
Decomposition diagram.
As shown in Figure 8 and Figure 9, map data collecting equipment may include two layers of support board, and the second support plate 170 is located at the
The lower section of one support plate 150, the first filming apparatus 130 and inertial navigation unit 140 can be fixed on the second support plate 170
Upper surface or inertial navigation unit 140 are fixed on the upper surface of the second support plate 170, and the first filming apparatus 130 is fixed on used
Property navigation device 140 upper surface or inertial navigation unit 140 be fixed on the upper surface of the second support plate 170, the first shooting
Device 130 is fixed on the lower surface etc. of the first support plate 150, can adjust fixed solution according to actual needs.
According to the embodiment of the present disclosure, the material of the first support plate 150 and the second support plate 170, which can be, has certain machinery
Any material of intensity, such as aluminium alloy etc..
Being fixedly connected according to the second support plate of the embodiment of the present disclosure 170 with the first support plate 150 includes: the first support plate
150 and second are provided with multiple connecting rods between support plate 170；Or
One or more side panels 181 are provided between first support plate 150 and the second support plate 170, it is one or more
Side panel 181 and the first support plate 150 and the second support plate 170 surround accommodating space, the first filming apparatus 130 and inertial navigation
Device 140 is set in accommodating space, at least one through-hole is provided on side panel 181, and the first filming apparatus 130 passes through through-hole
Acquire image.
As shown in Figure 8 and Figure 9, one or more side panels 181 can be set between upper and lower support plate, positioned at front
It is provided with through-hole on side panel, acquires image for the first filming apparatus 130, equally can be set on the side panel being located behind
There is through-hole, can be used for the connection of data line.
181 one side of side panel can play the role of connecting upper and lower support plate, on the other hand, to camera and can also be used to
Property navigation device plays preferable protective effect.
Figure 10 diagrammatically illustrates the structure of the map data collecting equipment including connecting rod according to the embodiment of the present disclosure
Schematic diagram.
As shown in Figure 10, multiple connecting rods 182, example can be set between the first support plate 150 and the second support plate 170
Such as, four connecting rods 182 can be set in four vertex of support plate, connecting rod 182 for example can be aluminium alloy rod, this
Sample is capable of forming an open structure between the first support plate 150 and the second support plate 170, makes map data collecting
Equipment has more preferably heat dissipation performance.
According to the embodiment of the present disclosure, map data collecting equipment further includes fixed device 190, in which: fixed device 190 with
First support plate 150 is detachably connected, for map data collecting equipment to be fixed on other equipment；Fixed device 190 wraps
Include sucker or magnet.
In the case where no second support plate 170, fixed device 190 can be connected to the first support plate by connecting rod
150。
It, can be in the lower section of the second support plate 170 as shown in Fig. 8 to Figure 10 in the case where having the second support plate 170
Fixed device 190 is set, and fixed device 190 for example may include sucker or magnet, be also possible to fixing belt, buckle etc.
Any device that can be fixed on map data collecting equipment on carrier.
Fixed device 190 is removably attachable to the second support plate 170 or the first support plate 150, user can be according to loads
The characteristics of body, selects suitable fixed device, improves the applicability and convenience of map data collecting equipment.
According to the embodiment of the present disclosure, radar pedestal 160 offers the first string holes, and the first support plate 150 is corresponding to first
The position of string holes is provided with the second string holes, and the connecting line between laser radar 110 and inertial navigation unit 140 is threaded through First Line
In hole and the second string holes；
Third string holes, satellite signal receiving apparatus 120 and inertial navigation unit 140 are additionally provided in first support plate 150
Between connecting line be threaded through in third string holes.
Specifically, between the inclined-plane of radar pedestal 160 and the bottom surface of rear channel other than offering mounting hole, may be used also
To offer radar threading hole, accordingly, the first support plate 150 equally offers radar threading hole, the connecting line of laser radar
Sequentially pass through the space that the radar threading hole on radar pedestal 160 and the first support plate 150 protrudes into 150 lower section of the first support plate
In, it is connect with inertial navigation unit 140.
First support plate 150 can also offer antenna threading hole, and satellite signal receiving apparatus 120 passes through antenna threading hole
It protrudes into the space of 150 lower section of the first support plate, is connect with inertial navigation unit 140.
According to the embodiment of the present disclosure, map data collecting equipment further includes the second filming apparatus, with the first filming apparatus
Shooting angle is different, and the second filming apparatus is fixed on the upper surface of the first support plate or the lower section of the first support plate；First shooting
Device and the second filming apparatus include monocular industrial camera.
Other than the first above-mentioned filming apparatus, map data collecting equipment can also include another or multiple shootings
Device, for shooting the map image of different perspectives, these filming apparatus can be installed on the residue of map data collecting equipment
In space, to make full use of space, reduces volume, keep structure more compact.
By above description, the map data collecting equipment of the embodiment of the present disclosure have integration, non-calibrating, multichip carrier,
Small in size, light-weight feature, can be rapidly secured at by sucker, strong magnetic or luggage carrier automobile, electric three-wheel/two-wheeled,
Trolley is even on bicycle, thus carry out different demands scene (expressway, urban mobile lane, factory road, pavement,
Cycle track) high-precision map acquisition, provide positioning map and navigation map for autonomous mobile robots such as unmanned dispensing vehicles, expire
The positioning of the autonomous mobile robots such as the unmanned dispensing vehicle of foot and navigation needs.
Because compact map data collecting equipment volume weight is smaller, and integrated degree is very high, so very just
It takes, long-distance quick transition operation can be carried out by public transport with protection case packing.
It will be understood by those skilled in the art that the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations or/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist
In the case where not departing from disclosure spirit or teaching, the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.
Embodiment of the disclosure is described above.But the purpose that these embodiments are merely to illustrate that, and
It is not intended to limit the scope of the present disclosure.Although respectively describing each embodiment above, but it is not intended that each reality
Use cannot be advantageously combined by applying the measure in example.The scope of the present disclosure is defined by the appended claims and the equivalents thereof.It does not take off
From the scope of the present disclosure, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall in this
Within scope of disclosure.
Claims (10)
1. a kind of map data collecting equipment characterized by comprising laser radar (110), satellite signal receiving apparatus
(120), the first filming apparatus (130), inertial navigation unit (140) and the first support plate (150), in which:
The laser radar (110) and satellite signal receiving apparatus (120) are fixedly connected on the upper of first support plate (150)
Surface；
First filming apparatus (130) and inertial navigation unit (140) are fixedly installed below first support plate (150)
Space in.
2. equipment according to claim 1, which is characterized in that further include radar pedestal (160), in which:
The radar pedestal (160) is fixed on the upper surface of first support plate (150), and the radar pedestal (160) has
There are an inclined-plane, one angle of the inclined-plane and the first support plate (150) sandwiched, the laser radar (110) is fixed on the inclined-plane
On；
The satellite signal receiving apparatus (120) is set to the rear of the laser radar (110) and radar pedestal (160).
3. equipment according to claim 1, which is characterized in that wherein,
First filming apparatus (130) is fixedly connected on the lower surface of first support plate (150)；
The inertial navigation unit (140) is fixedly connected on the lower surface of first support plate (150), or is fixedly connected on
The lower surface of first filming apparatus (130).
4. equipment according to claim 1, which is characterized in that further include the second support plate (170), in which:
Second support plate (170) is set to the lower section of first support plate (150), and with first support plate
(150) it is fixedly connected；
First filming apparatus (130) and/or inertial navigation unit (140) are fixedly connected on second support plate (170)
Upper surface.
5. equipment according to claim 4, which is characterized in that second support plate (170) and the first support plate (150)
It is fixedly connected and includes:
Multiple connecting rods (182) are provided between the two layers of support board；Or
It is provided with one or more side panels (181) between first support plate (150) and the second support plate (170), it is described
One or more side panels (181) and first support plate (150) and the second support plate (170) surround accommodating space, described
First filming apparatus (130) and inertial navigation unit (140) are set in the accommodating space, are set on the side panel (181)
It is equipped at least one through-hole, first filming apparatus (130) acquires image by the through-hole.
6. equipment according to any one of claim 1 to 5, which is characterized in that further include fixed device (190), in which:
The fixed device (190) is detachably connected with first support plate (150), for setting the map data collecting
It is standby to be fixed in other equipment；
The fixed device (190) includes sucker or magnet.
7. equipment according to claim 2, which is characterized in that be arranged on the inclined-plane of the radar pedestal (160) it is fluted,
Laser radar (110) bottom is placed in the groove, and is fixed by lateral pin.
8. equipment according to claim 2, which is characterized in that
The radar pedestal (160) offers the first string holes, and first support plate (150) is corresponding to first string holes
Position is provided with the second string holes, and the connecting line between the radar and the inertial navigation unit (140) is threaded through described first
In string holes and the second string holes；
Third string holes, the satellite signal receiving apparatus (120) and the inertia are additionally provided on first support plate (150)
Connecting line between navigation device (140) is threaded through in the third string holes.
9. equipment according to claim 3, which is characterized in that the first support plate (150) lower surface is provided with fixation
Sliding slot, the first filming apparatus (130) upper surface are provided with the sliding block to match with the fixed chute structure, the sliding block
It is caught in the sliding slot, and fixes the position of the first filming apparatus (130) by pin.
10. equipment according to claim 1, which is characterized in that further include the second filming apparatus, filled with first shooting
The shooting angle for setting (130) is different, and second filming apparatus is fixed on the upper surface or first of first support plate (150)
The lower section of support plate (150)；
First filming apparatus (130) and the second filming apparatus include monocular industrial camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820816717.7U CN208444010U (en) | 2018-05-29 | 2018-05-29 | Map data collecting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820816717.7U CN208444010U (en) | 2018-05-29 | 2018-05-29 | Map data collecting equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208444010U true CN208444010U (en) | 2019-01-29 |
Family
ID=65092276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820816717.7U Active CN208444010U (en) | 2018-05-29 | 2018-05-29 | Map data collecting equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208444010U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974723A (en) * | 2019-05-05 | 2019-07-05 | 上海图趣信息科技有限公司 | A kind of portable map data acquisition equipment |
| CN110018498A (en) * | 2019-04-18 | 2019-07-16 | 北京智行者科技有限公司 | Prevent the method and device of GNSS stimulated light radar chaff |
| CN110239447A (en) * | 2019-07-01 | 2019-09-17 | 百度在线网络技术（北京）有限公司 | One cartridge and unmanned vehicle |
| CN110861592A (en) * | 2019-11-27 | 2020-03-06 | 南京航空航天大学 | Vehicle-mounted mobile measurement acquisition device |
| CN111462495A (en) * | 2020-04-18 | 2020-07-28 | 福建农林大学 | Road information acquisition equipment based on monocular camera and combined positioning |
| 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 |
| CN113552591A (en) * | 2021-06-09 | 2021-10-26 | 无锡太机脑智能科技有限公司 | Multi-line laser radar obstacle avoidance device and method |
-
2018
- 2018-05-29 CN CN201820816717.7U patent/CN208444010U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018498A (en) * | 2019-04-18 | 2019-07-16 | 北京智行者科技有限公司 | Prevent the method and device of GNSS stimulated light radar chaff |
| CN109974723A (en) * | 2019-05-05 | 2019-07-05 | 上海图趣信息科技有限公司 | A kind of portable map data acquisition equipment |
| CN110239447A (en) * | 2019-07-01 | 2019-09-17 | 百度在线网络技术（北京）有限公司 | One cartridge and unmanned vehicle |
| CN110861592A (en) * | 2019-11-27 | 2020-03-06 | 南京航空航天大学 | Vehicle-mounted mobile measurement acquisition device |
| CN111462495A (en) * | 2020-04-18 | 2020-07-28 | 福建农林大学 | Road information acquisition equipment based on monocular camera and combined positioning |
| 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 |
| CN112902977B (en) * | 2021-01-27 | 2023-06-16 | 中山大学 | Data acquisition carrying bracket, data acquisition device and positioning and mapping method thereof |
| CN113552591A (en) * | 2021-06-09 | 2021-10-26 | 无锡太机脑智能科技有限公司 | Multi-line laser radar obstacle avoidance device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208444010U (en) | Map data collecting equipment | |
| CN202782968U (en) | Vehicle-mounted measure integrated system based on laser scanning and panorama images | |
| KR102485684B1 (en) | Detachable Vehicle LIDAR Data Acquisition Pod | |
| CN203126703U (en) | Mobile measurement platform on car roof | |
| EP3809808B1 (en) | Device of intelligent sensing system | |
| CN102081672A (en) | System and method for displaying interest point information in lens image of intelligent mobile device | |
| AU2017236723A1 (en) | Measurement device | |
| CN108562279A (en) | A kind of unmanned plane mapping method | |
| CN208506253U (en) | For acquiring device, system and the vehicle of map | |
| CN205749912U (en) | A kind of indoor moving measurement apparatus | |
| CN1825203A (en) | Airborne inclined camera photographing device | |
| KR102110970B1 (en) | Preprocessing automation system using hyperspectral drone | |
| CN111121725A (en) | Hyperspectral data and three-dimensional modeling data acquisition system based on unmanned aerial vehicle | |
| Prabu et al. | A wearable data collection system for studying micro-level e-scooter behavior in naturalistic road environment | |
| CN205594455U (en) | Three -dimensional modeling system of transmission line shaft tower | |
| CN110609296A (en) | Device, system and vehicle for collecting map | |
| CN109253802A (en) | A kind of multispectral polarization synchronous of bionic navigation and method | |
| CN206161003U (en) | Laser scanning and panoramic imagery volume of moving dynamic testing device integrate | |
| CN207396737U (en) | Carried micro laser radar three-dimensional mapping device | |
| CN211452323U (en) | Hyperspectral data and three-dimensional modeling data acquisition system based on unmanned aerial vehicle | |
| CN202600151U (en) | Light-duty airborne three dimensional laser radar system | |
| CN214479079U (en) | Transmission cable inspection device | |
| CN204718597U (en) | A kind of laser scanner | |
| CN210294529U (en) | SLAM laser and camera fused handheld measuring device | |
| CN105064189A (en) | Portable road reconnaissance device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |