CN208506253U - For acquiring device, system and the vehicle of map - Google Patents
For acquiring device, system and the vehicle of map Download PDFInfo
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- CN208506253U CN208506253U CN201820932875.9U CN201820932875U CN208506253U CN 208506253 U CN208506253 U CN 208506253U CN 201820932875 U CN201820932875 U CN 201820932875U CN 208506253 U CN208506253 U CN 208506253U
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Abstract
The embodiment of the present application discloses device, system and vehicle for acquiring map.One specific embodiment of the device includes: mounting platform, is fixed on the roof of acquisition vehicle；First laser radar, is horizontally placed on mounting platform by first base；Second laser radar is obliquely installed by second base on mounting platform, and is located at the front end or rear end of mounting platform；Image capture device is fixed on the two sides of mounting platform；Positioning antenna and Inertial Measurement Unit, Inertial Measurement Unit are fixed on mounting platform.The device of this structure, can be with the environmental structure information and terrestrial information around acquisition device by laser radar and image capture device；By positioning the available temporal information of antenna；Pass through the posture information of the available device of Inertial Measurement Unit.The automatic acquisition of map datum may be implemented in this way, to help to improve the formation efficiency of map.
Description
Technical field
The invention relates to map acquisition technique fields, and in particular to for acquiring device, system and the vehicle of map
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Background technique
With universal and the mobile interchange epoch the arrival of smart phone, electronic map has become people's trip indispensability
One of tool.Electronic map possesses a large number of users at present, and wherein car owner occupies greatly.Existing electronic map is in outdoor
Road, building attribute, POI (Point of Interest, point of interest) etc. are more and more complete, can provide abundant
Information and service.But for parking lot map often general lack of relevant information, especially underground parking.
Utility model content
The embodiment of the present application proposes device, system and vehicle for acquiring map.
In a first aspect, the embodiment of the present application propose it is a kind of for acquiring the device of map, comprising: mounting platform, it is fixed
In the roof of acquisition vehicle；First laser radar, is horizontally placed on mounting platform by first base；Second laser radar,
It is obliquely installed by second base on mounting platform, and is located at the front end or rear end of mounting platform；Image capture device, it is fixed
In the two sides of mounting platform；Positioning antenna and Inertial Measurement Unit, Inertial Measurement Unit are fixed on mounting platform.
In some embodiments, second laser radar is located at the rear end of mounting platform, and the working face of second laser radar
It is tilted towards ground direction, wherein front-end and back-end are respectively the both ends of the headstock of direction acquisition vehicle, tailstock direction；And
Isolation board is provided between second laser radar and first laser radar, isolation board is arranged close to the front end of second laser radar,
And height of the isolation board on mounting platform is not less than height of the second laser radar on mounting platform.
In some embodiments, the front end of mounting platform is provided with fender rod, and height of the fender rod on mounting platform is not
Lower than object height, wherein object height is the height of first laser radar, second laser radar and isolation board on mounting platform
Maximum height in degree.
In some embodiments, first base short transverse is adjustable and/or second base at least pitch orientation can
It adjusts.
In some embodiments, mounting platform is provided with mounting base in the direction of advance perpendicular to acquisition vehicle, installs
The length of bottom plate is less than the width of acquisition vehicle；And image capture device is symmetrically fixed on the both ends of mounting base, wherein figure
As acquisition equipment includes moving camera.
In some embodiments, mounting base is flexible adjustable in length direction, and or image capture device pass through third
Pedestal is fixedly connected with mounting base, wherein third pedestal is at least adjustable in pitch orientation.
In some embodiments, the both ends of mounting base and/or the rear end of mounting platform are in the roof towards acquisition vehicle
Surface firm banking is installed, firm banking is at least adjustable in short transverse, wherein firm banking includes magnetic pedestal.
In some embodiments, positioning antenna is detachably secured on the roof or mounting platform of acquisition vehicle, wherein
The mode of being detachably fixed includes magnetic mode；And/or Inertial Measurement Unit is horizontally arranged at the underface of first laser radar.
Second aspect, the embodiment of the present application propose a kind of system for acquiring map, including power supply unit, control are set
Device that is standby and being used to acquire map as described in any embodiment in first aspect；Power supply unit and control unit
Electrical connection is configured to provide stabilized power supply to control unit；Equipment and device is controlled to communicate to connect, be configured to
Device sends control signal；And during acquiring vehicle driving, the data of reception device acquisition, to generate map；Its
In, information is comprised at least one of the following in map: spatial structural form, lane information and parking space information.
The third aspect, the embodiment of the present application propose it is a kind of for acquiring the vehicle of map, including as appointed in first aspect
One embodiment is described for acquiring the device of map；Device is fixed on the roof of vehicle by mounting platform, and vehicle
Power supply system is electrically connected with device.
In some embodiments, vehicle is also equipped with the car-mounted terminal with device communication connection.
Device, system and the vehicle for being used to acquire map that the embodiment of the present application proposes, swash by horizontally disposed first
Optical radar can acquire environmental structure information；By the second laser radar and image capture device being obliquely installed, can adopt
Collect terrestrial information；It can be accurately obtained current time information by positioning antenna, to carry out time service；And pass through inertia measurement
Unit can be with the posture information of measuring device.The positioning of device may be implemented in conjunction with these data, so that it is determined that the position of device
Information.Above equipment in device can be fixed on to the roof of acquisition vehicle by mounting platform.The device of this structure can
To realize the automatic acquisition of map datum, to improve the convenience of data acquisition, and the formation efficiency of map is helped to improve.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram according to one embodiment of the device for acquiring map of the application；
Fig. 2 is shown in FIG. 1 for acquiring the structure left view of the device of map；
Fig. 3 is shown in FIG. 1 for acquiring the structure top view of the device of map；
Fig. 4 is the structural schematic diagram in one embodiment of the adjustable pedestal of pitch orientation；
Fig. 5 is the structural schematic diagram according to one embodiment of the system for acquiring map of the application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, part relevant to related utility model is illustrated only for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to Figure 1, the structure that it illustrates provided by the present application for acquiring one embodiment of the device of map is shown
It is intended to.As shown in Figure 1, the device for acquiring map of the present embodiment may include: mounting platform 1, first laser radar 2,
Second laser radar 4, image capture device 6 and positioning antenna and Inertial Measurement Unit.
In the present embodiment, mounting platform 1 can be fixed on the roof of acquisition vehicle.Meanwhile in order to guarantee device entirety
Stability and fastness, mounting platform 1 can acquire the higher metal material of intensity and be made, such as steel.In addition, in order to reduce
The overall weight of device, as shown in Figure 1, hole slot can be opened up in the non-fixed position of mounting platform 1.Peace can both be mitigated in this way
The weight of assembling platform, and will not influence the structural strength of mounting platform.
In the present embodiment, first laser radar 2 can be horizontally placed on mounting platform 1 by first base 3.This
Sample, first laser radar 2 can be with the environmental structure information around acquisition device.Wherein, environmental structure information may include (but not
It is limited to) metope, the pillar roof, ground information in such as parking lot.In order to more close to the true environment structure in parking lot, environment
Structural information can also include metope, the identification information on pillar, door and window and the other equipment for being set to parking lot.Here
Identification information can be mark common in the parking lots such as security against fire mark, prompt or guidance mark.
In the present embodiment, second laser radar 4 can be obliquely installed on mounting platform 1 by second base 5, and position
In the front end or rear end of mounting platform 1.Wherein, the front-end and back-end of mounting platform 1 are both ends opposite on mounting platform 1.This
Sample, second laser radar 4 can be with the terrestrial informations in (such as parking lot) around acquisition device.Wherein, terrestrial information may include (but
It is not limited to) ground structure, lane information, parking space information and the equipment (such as deceleration strip, roadblock) being set on ground
Deng.Herein, lane information may include driveway line, driving direction mark (such as arrow, text).And parking space information
It may include parking stall line, parking stall numbering.
In the present embodiment, image capture device 6 can be fixed on the two sides of mounting platform 1.That is image capture device 6
The vehicle body two sides of camera lens direction acquisition vehicle.In this way, image capture device 6 equally can with around acquisition device (such as parking lot)
Ground image information.Under the collective effect of second laser radar 4 and image capture device 6, complete ground letter can be obtained
Breath.It is understood that the quantity and installation site of image capture device are not intended to limit in this application.
In addition, the device in the present embodiment can also include positioning antenna (not shown in figure 1) and Inertial Measurement Unit (such as
Inertial Measurement Unit 7 shown in Fig. 2).Positioning antenna can (but not limiting) be fixed on acquisition vehicle roof or installation it is flat
On platform 1.And Inertial Measurement Unit can be fixed on mounting platform 1.Wherein, the available temporal information of antenna is positioned.Here
Positioning antenna may include positioning time service antenna, and various location technologies, including GPS (Global can be used
Positioning System, global positioning system), BDS (BeiDou Navigation Satellite System, Beidou
Satellite navigation system) etc..Since device is mounted on acquisition vehicle, so passing through Inertial Measurement Unit (IMU, Inertial
Measurement unit) posture information for acquiring vehicle (being equivalent to device) can be measured.
It should be noted that when acquisition vehicle (i.e. device) is located outside, it can be by positioning antenna come acquisition device
Location information.And when acquiring vehicle and being located at indoor, especially underground parking often loses positioning signal.Therefore, exist
Before acquisition vehicle enters the room, the available correct time information of positioning antenna and location information.Hereafter, it positions in antenna
The RTC (Real Time Clock, real-time clock) in portion is run.In this way, positioning antenna can also after acquisition vehicle enters the room
To synchronize time service to other equipment in device.Meanwhile acquisition vehicle driving can be obtained by Inertial Measurement Unit
Acceleration (angular acceleration, linear acceleration), angular speed and linear velocity in the process, thus the indoor positioning of realization device.
It is understood that user can select first laser radar, second laser radar, image according to the actual situation
Equipment, positioning antenna and the specifications and models of Inertial Measurement Unit etc. are acquired, to meet the needs of different.And in order to guarantee that first swashs
Optical radar 2 can acquire more comprehensively environmental structure information, and height of the first laser radar 2 on mounting platform 1 is usually wanted
Higher than height of the other equipment on mounting platform 1, thus be reduced or avoided other equipment generation block influence.Meanwhile Fig. 1
Shown in mounting platform structure it is only schematical, be not intended to limit in this application.
The device for acquiring map in the present embodiment can acquire dress by horizontally disposed first laser radar
Set the environmental structure information of surrounding；It, can be with acquisition device by the second laser radar and image capture device being obliquely installed
The terrestrial information of surrounding；It can be accurately obtained current time information by positioning antenna, to carry out time service；And pass through inertia
Measuring unit can be with the posture information of measuring device.The positioning of device may be implemented in conjunction with these data, so that it is determined that device
Location information.Above equipment in device can be fixed on to the roof of acquisition vehicle by mounting platform.The dress of this structure
Map datum can be obtained automatically by setting, to improve the convenience of data acquisition, and help to improve the formation efficiency of map.
In some optional implementations of the present embodiment, above-mentioned front end and above-mentioned rear end can be respectively towards collecting vehicle
Headstock, tailstock direction both ends.I.e. the front end of mounting platform 1 is be located at the headstock for acquiring vehicle in mounting platform 1 one
End；The rear end of mounting platform 1 is the one end for being located at the tailstock of acquisition vehicle in mounting platform 1.Further, since general collecting vehicle
The headstock of (such as general car) will be longer than the tailstock, so influencing to reduce the structure of acquisition vehicle, as shown in Figure 1, second
Laser radar 4 can be located at the rear end of mounting platform 1.And the working face of second laser radar 4 is tilted towards ground direction.This
Sample can make second laser radar 4 acquire more terrestrial informations.
At this point, in order to avoid second laser radar 4 and first laser radar 2 interfere with each other, second laser radar 4 and first
Isolation board 8 can be set between laser radar 2.As shown in Figure 1, isolation board 8 can be set close to the front end of second laser radar 4
It sets, and height of the isolation board 8 on mounting platform 1 is not less than height of the second laser radar 4 on mounting platform.That is isolation board
8 are located at the front end of second laser radar 4, and are close to second laser radar 4.That is, second laser radar 4 is mainly used for adopting
Collect backsight picture data (i.e. tailstock ground data), and forward sight picture data can be collected by first laser radar 2.
Therefore, it is generated and is blocked by setting isolation board 8, to artificially lose the forward sight picture data of the acquisition of second laser radar 4.
It should be noted that the relative position between first laser radar 2 and second laser radar 4 can immobilize.
Such as shown in Fig. 1, first laser radar 2 is fixed on the middle position (i.e. roof before and after nearly medium position) of mounting platform 1, and the
The shape and size of one pedestal 3 are fixed.Meanwhile second base 5 is the fixed inclined-plane pedestal of shape and size.At this point, second swashs
Optical radar 4 is mounted on the inclined-plane of second base 5, and can be so that second laser radar 4 tilts after being fixed on mounting platform 1
End.In this way, it is only necessary to initial parameter calibration is carried out to device, calibration operation can be removed from during subsequent use, thus
Help to simplify operating process.And isolation board 8 can be fixed in second base 5.It not only may be implemented to block function in this way, but also
It can reduce the size and weight of isolation board 8, to facilitate the overall weight of alleviator.
Optionally, in order to improve the scope of application of device, first base 3 is adjustable in short transverse.Such as first base 3
Common stretching structure can be used.It can be connected again using screw rod between such as first base 3 and mounting platform 1, thus logical
Rotary screw is crossed to realize height adjustment.In this way, first base 3 can be adjusted according to the roof structure of different acquisition vehicle
Highly, the height of the roof so as to adjust first laser radar 2 apart from acquisition vehicle.With or second base 5 at least in pitching side
To adjustable.Such as the inclined-plane of second base be fixed on being hinged on mounting platform.The other side of second base simultaneously
Face is provided with multiple card slots in short transverse, for fixing the inclined-plane of second base.At this point, inclined-plane is fixed on different card slots
Place, can adjust the angle between inclined-plane and mounting platform, realize the adjusting of pitch angle.It in this way can be according to different acquisition
The tailstock structure of vehicle adjusts the tilt angle of second laser radar 4, to guarantee that it collects more terrestrial informations.This
The Installation Flexibility of device can be improved in sample, can be applicable in more acquisition vehicles.
It should be noted that first laser radar 2 and second laser radar 4 (acquire the vehicle of vehicle in mounting platform 1
Top) on height it is unsuitable excessively high.Vehicle is acquired after the device in installation the embodiment of the present application, whole height not surpass usually
Corresponding limit for height requirement is crossed, damages laser radar to prevent from colliding with limit for height column.
Further, as shown in Figure 1-Figure 3, fender rod 9 has can be set in the front end of mounting platform 1.Fender rod 9 is being installed
Height on platform 1 can be not less than object height.Wherein, object height can be first laser radar 2, second laser radar
4 and maximum height of the isolation board 8 in the height on mounting platform 1.That is, the height of fender rod 9 swashs not less than first
The height of the height of optical radar 2, the height of second laser radar 4 and isolation board 8.Fender rod 9 can be to mounting platform 1 in this way
On other equipment play a protective role.It, can also be in the headstock of the direction acquisition vehicle of fender rod 9 in application scenes
Detection sensor is installed on the surface in direction.In this way, when fender rod 9 and other objects collide, detection sensor can be with
Issue alarm signal.
In addition, as shown in Figure 1, mounting base has can be set in the direction of advance perpendicular to acquisition vehicle in mounting platform 1
10.I.e. mounting base 10 is mutually perpendicular to mounting platform 1.Wherein, mounting base 10, which turns platform 1 with peace, may be a fixed connection
(as welded), may be a detachable connection (such as bolt and nut).Image capture device 6 can be symmetrically fixed on mounting base 10
Both ends.At this point, the length of mounting base 10 may be typically less than the width of acquisition vehicle, to avoid damage is collided in driving process
Bad image capture device 6.Wherein, image capture device 6 can be with the various equipment of image collecting function, such as camera or take the photograph
Camera.As an example, image capture device 6 may include small in size, light and handy moving camera, facilitate the entirety for reducing device
Size and weight.
Herein, the relative position between image capture device 6 and other equipment (such as the first, second laser radar) can be with
It is fixed and invariable.Such as shown in Fig. 1 or Fig. 3, image capture device 6 can be fixed on mounting base 10 by fixing piece 11
On.Mounting base 10 is fluted corresponding to being formed at the position of image capture device 6.Image capture device 6 is placed in groove
In, and the tabletting on fixing piece 11 is turned to the top of image capture device 6, it can realize fixation.
Optionally, in order to further improve the scope of application of device, mounting base 10 can stretch in length direction can
It adjusts, to adjust image capture device 6 and acquire the distance between the vehicle body two sides of vehicle.He or image capture device 6 can be with
It is fixedly connected by third pedestal with mounting base 10.Wherein, third pedestal is at least adjustable in pitch orientation.It in this way can root
It is adjusted according to different acquisition vehicles, to avoid vehicle body from causing to block influence on acquisition picture, to guarantee that Image Acquisition is set
The more ground image information of standby 6 acquisition.
As an example, third pedestal can use the adjustable structure of above-mentioned second base.It is as also shown in fig. 4, third bottom
Seat may include fixing seat A and fixing seat B.Fixing seat A can be fixedly connected with mounting base.Fixing seat B can be adopted with image
Collection equipment is fixedly connected.Meanwhile fixing seat B and fixing seat A is rotatablely connected.In this way by adjusting fixing seat B relative to fixing seat A
Rotational angle, can realize the adjusting of pitch angle.
In some embodiments, as shown in Figure 1, the both ends of mounting base 10 and/or the rear end of mounting platform 1 are adopted in direction
The surface for collecting the roof of vehicle can be equipped with firm banking 12.Firm banking 12 is at least adjustable in short transverse.It will fill
It sets after being mounted on roof, the height of adjustable firm banking 12, so that it be made to contact with roof.It can make mounting platform in this way
And component mounted thereto is more stable, advantageously reduces device generated shake in acquisition vehicle travel process.Make
For example, in order to adapt to different vehicle type structures, the lower end of firm banking 12 can be rotated with 360 °, and then can be preferably bonded
Roof.Meanwhile for the ease of the disassembly and installation of device, firm banking 12 may include magnetic pedestal and/or vacuum chuck bottom
Seat.
Optionally, above-mentioned positioning antenna can be detachably secured on the roof or mounting platform 1 of acquisition vehicle.Here
The mode that is detachably fixed may include magnetic mode.Positioning antenna can be dismounted according to the actual situation in this way, improve installation
Flexibility.At this point, positioning antenna can give first laser radar 2, second laser radar 4, image capture device 6 and inertia
Measuring unit 7 synchronizes time service.It is understood that here can (but being not limited to) the use of a positioning antenna is multiple to set
It is standby to carry out time service, so as to avoid multiple antennas time service bring error.In addition, in order to which the position and attitude of device is better achieved
Positioning, as shown in Fig. 2, Inertial Measurement Unit 7 can be horizontally arranged at the underface of first laser radar 2.
It is adopted it should be noted that can be fixed on mounting platform 1 using various detachable structures in the embodiment of the present application
Collect the roof of vehicle.Such as shown in Fig. 1, the front and back of mounting platform 1 can be respectively arranged with slide plate 13.At this point it is possible to by two
The propulsion of slide plate 13 is fixed in the sliding slot of two horizontally-parallel support frames of roof, and left and right adjusts entire platform into roof
Portion, whole device and roof can be fixed by tightening tightening knob 15.In addition, mounting platform 1 corresponds at the position of slide plate 13
It offers and adjusts sliding slot 14, to realize the adjustment of 13 front-rear position of slide plate.It is adapted to the support frame of more sizes in this way, thus
Device is mounted on to the central region of roof as much as possible.
The embodiment of the present application also provides a kind of systems for acquiring map.The system may include power supply unit, control
Control equipment and the device for being used to acquire map as described in above-mentioned any embodiment.Wherein, control equipment can be and have
The various electronic equipments of display screen, such as tablet computer, notebook.
In the present embodiment, power supply unit can be electrically connected with control unit, to provide to control unit
Stabilized power supply.Control equipment can be communicated to connect with device, so that control signal is sent to device, with the work shape of control device
State.And during acquiring vehicle driving, the data that control equipment can be acquired with reception device, to generate map.Its
In, it may include following at least one information: spatial structural form, lane information and parking space information in map.For example,
Acquiring vehicle can each lanes in parking lot.At this point, control equipment can receive the parking number of fields of device acquisition
According to, and parking data generates parking lot map based on the received.Here parking lot map may include: the space in parking lot
At least one of structural information, lane information and parking space information information.
As an example, may refer to shown in Fig. 5, it illustrates provided by the present application for acquiring one of the system of map
The structural schematic diagram of embodiment.
In Fig. 5, power supply unit can be set with control equipment, first laser radar, second laser radar and Image Acquisition
Standby electrical connection.Meanwhile control equipment can be with first laser radar, second laser radar, image capture device and inertia measurement
Unit (IMU) communication connection.In this way, control equipment can not only control the equipment for communicating with connection, such as control
Image capture device starts or stops shooting, can also store to these equipment data collected.It can from Fig. 5
Out, control equipment with IMU during communicating, such as even using USB (Universal Serial Bus, universal serial bus)
Wiring can also power to it.In addition, positioning antenna can be connect with first laser radar and second laser radar communication, with
Synchronize time service.Meanwhile first laser radar or second laser radar can be to positioning antenna power supplies.
It should be noted that the map generated in the embodiment of the present application can be two-dimensional map, it is also possible to three-dimensional map.
The format of map may include the data format of (but being not limited to) GDF, KIWI and NavTech.Wherein, GDF (Geographical
Data File) it is the spatial data criterion that European transportation network is expressed, for describing and transmitting number relevant to road network and road
According to.KIWI format is specific to the electronic data format of auto navigation, it is desirable to provide the general electronic map data of one kind
Storage format, to meet Embedded Application quickly accurate and efficient requirement.The format be it is disclosed, anyone all can be used.
And the data format of NavTech is then that general electronic map data can be converted to SDAL format by SDAL compiler,
And then various automobile navigation applications can be used for by SDAL program interface call SDAL formatted data.SDAL format itself provides
The optimization of to map quick search and display can be improved path analysis and calculating speed, and can store the voice data of high quality
Voice prompting is provided for user.The standard of SDAL format is also disclosed.
System provided in this embodiment for acquiring map, can carry out map data collecting on a large scale, can it is automatic,
Quickly, comprehensively, accurately data (such as parking data) is obtained.The data of acquisition are handled by controlling equipment, it can be with
More detailed map is generated, such as specific distribution and number information including environment space structure, all parking stalls.
In addition, the embodiment of the present application also provides a kind of for acquiring the vehicle of map, including the various embodiments described above are retouched
That states is used to acquire the device of map.The device can be fixed on the roof of vehicle by mounting platform.Meanwhile the power supply of vehicle
System (such as storage battery) can be electrically connected with device, to provide stabilized power supply to the device.
In some embodiments, which can also include control equipment.Control equipment can be communicated to connect with device, and
It is electrically connected with the power supply system of vehicle.Control equipment can be set to car at this time.Facilitate driver to operate control in this way to set
It is standby to execute control program, while being convenient for its operating status for monitoring each equipment.As an example, the control equipment can be vehicle
Car-mounted terminal.
The vehicle provided in this embodiment for being used to acquire map, only needs vehicle to travel one time in pickup area, such as parking lot
Interior each runway traverses traveling, can it is automatic, quickly, comprehensively, accurately obtain parking data, to generate more detailed
Parking lot map, including parking lot space structure, all parking stalls it is specific distribution and number etc. information.This may be implemented greatly
The acquisition of the parking data of scale.And device dismounting is quick, acquires easy to operate.Can reduce in this way time and manpower at
This, it helps improve the renewal speed of map (especially parking lot map).
It is understood that the map that acquisition obtains, such as parking lot map, especially parking garage map, Ke Yijie
Enter electronic map product, thus the blank in terms of filling up parking data, so that the data of electronic map are more complete.In this way,
Electronic map can also provide parking service, including parking lot, parking space information and parking navigation etc. for car owner user, with solution
Certainly the problem of car owner's parking difficulty.A large amount of time energy is saved so as to find parking lot and parking stall for car owner, is realized high
User experience is enriched and is improved in effect parking.
On the other hand, by that, for acquiring device, system and the vehicle of map, can be large-scale in the embodiment of the present application
Parking lot management side provides accurate, complete parking lot map, preferably to carry out resource management.At the same time, parking lot
Parking space state real time monitoring information can access electronic map, be presented to the user, user facilitated to go on a journey.Meanwhile it can alleviate
The parking pressure of vehicle easily intensively (such as large supermarket or market), traffic caused by being reduced or avoided because of vehicle concentrations are gathered around
Stifled phenomenon.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that utility model range involved in the application, however it is not limited to made of the specific combination of above-mentioned technical characteristic
Technical solution, at the same should also cover do not depart from above-mentioned utility model design in the case where, by above-mentioned technical characteristic or its be equal
Feature carries out any combination and other technical solutions for being formed.Such as features described above and (but being not limited to) disclosed herein have
The technical solution for thering is the technical characteristic of similar functions to be replaced mutually and being formed.
Claims (11)
1. a kind of for acquiring the device of map, comprising:
Mounting platform is fixed on the roof of acquisition vehicle；
First laser radar is horizontally placed on the mounting platform by first base；
Second laser radar is obliquely installed by second base on the mounting platform, and before being located at the mounting platform
End or rear end；
Image capture device is fixed on the two sides of the mounting platform；
Positioning antenna and Inertial Measurement Unit, the Inertial Measurement Unit are fixed on the mounting platform.
2. the apparatus according to claim 1, wherein the second laser radar is located at the rear end of the mounting platform, and
The working face of the second laser radar is tilted towards ground direction, wherein front-end and back-end are respectively towards acquisition vehicle
Headstock, tailstock direction both ends；And
Isolation board is provided between the second laser radar and the first laser radar, the isolation board is close to described second
The front end of laser radar is arranged, and height of the isolation board on the mounting platform exists not less than the second laser radar
Height on the mounting platform.
3. the apparatus of claim 2, wherein the front end of the mounting platform is provided with fender rod, the fender rod
Height on the mounting platform is not less than object height, wherein the object height is the first laser radar, described
The maximum height of second laser radar and the isolation board in the height on the mounting platform.
4. the apparatus according to claim 1, wherein the first base is adjustable and/or described second in short transverse
Pedestal is at least adjustable in pitch orientation.
5. the apparatus according to claim 1, wherein the mounting platform is arranged in the direction of advance perpendicular to acquisition vehicle
There is mounting base, the length of the mounting base is less than the width of acquisition vehicle；And
Described image acquisition equipment is symmetrically fixed on the both ends of the mounting base, wherein it includes fortune that described image, which acquires equipment,
Dynamic camera.
6. device according to claim 5, wherein the mounting base is flexible adjustable in length direction, and or it is described
Image capture device is fixedly connected by third pedestal with the mounting base, wherein the third pedestal is at least in pitching side
To adjustable.
7. device according to claim 5, wherein the both ends of the mounting base and/or the rear end of the mounting platform
Firm banking is installed on the surface of the roof towards acquisition vehicle, the firm banking is at least adjustable in short transverse,
In, the firm banking includes magnetic pedestal.
8. device described in one of -7 according to claim 1, wherein the positioning antenna is detachably secured to acquisition vehicle
On roof or the mounting platform, wherein the mode of being detachably fixed includes magnetic mode；And/or the Inertial Measurement Unit water
Safety is mounted in the underface of the first laser radar.
9. a kind of system for acquiring map, including power supply unit, control equipment and use as described in one of claim 1-8
In the device of acquisition map；
The power supply unit is electrically connected with the control equipment, described device, is configured to the control equipment, described device
Stabilized power supply is provided；
The control equipment and described device communicate to connect, and are configured to send control signal to described device；And it is acquiring
During vehicle driving, the data of described device acquisition are received, to generate map；Wherein, include in the map with down toward
Few a kind of information: spatial structural form, lane information and parking space information.
10. it is a kind of for acquiring the vehicle of map, including as described in one of claim 1-8 for acquiring the device of map；
Described device is fixed on the roof of the vehicle, and the power supply system of the vehicle and described device electricity by mounting platform
Connection.
11. vehicle according to claim 10, wherein the vehicle is also equipped with vehicle-mounted with described device communication connection
Terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501712A (en) * | 2019-09-05 | 2019-11-26 | 北京百度网讯科技有限公司 | For determining the method, apparatus, equipment and medium of position and attitude data |
| CN110609296A (en) * | 2018-06-15 | 2019-12-24 | 百度在线网络技术（北京）有限公司 | Device, system and vehicle for collecting map |
| CN111239758A (en) * | 2020-03-13 | 2020-06-05 | 苏州天准科技股份有限公司 | Map collecting device |
| CN112179362A (en) * | 2019-07-03 | 2021-01-05 | 深动科技（北京）有限公司 | High-precision map data acquisition system and acquisition method |
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2018
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609296A (en) * | 2018-06-15 | 2019-12-24 | 百度在线网络技术（北京）有限公司 | Device, system and vehicle for collecting map |
| CN112179362A (en) * | 2019-07-03 | 2021-01-05 | 深动科技（北京）有限公司 | High-precision map data acquisition system and acquisition method |
| CN110501712A (en) * | 2019-09-05 | 2019-11-26 | 北京百度网讯科技有限公司 | For determining the method, apparatus, equipment and medium of position and attitude data |
| CN111239758A (en) * | 2020-03-13 | 2020-06-05 | 苏州天准科技股份有限公司 | Map collecting device |
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