CN209279988U - Acquire the intelligent mobile terminal and map acquisition system of map datum - Google Patents
Acquire the intelligent mobile terminal and map acquisition system of map datum Download PDFInfo
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- CN209279988U CN209279988U CN201822156804.7U CN201822156804U CN209279988U CN 209279988 U CN209279988 U CN 209279988U CN 201822156804 U CN201822156804 U CN 201822156804U CN 209279988 U CN209279988 U CN 209279988U
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Abstract
The utility model provides a kind of intelligent mobile terminal and map acquisition system for acquiring map datum, comprising: mainboard, navigation module, camera, laser radar and the first storage equipment；Navigation module is sent to mainboard by the connection relationship with mainboard, by the location data of acquisition and attitude data；Camera is sent to mainboard by the connection relationship with mainboard, by the image data of acquisition；Laser radar is sent to mainboard by the connection relationship with mainboard, by the point cloud data of acquisition；Mainboard is stored the map datum determined according to location data, attitude data, image data and point cloud data to the first storage equipment by the connection relationship with the first storage equipment.The intelligent mobile terminal provided by the utility model for being used to acquire map datum, simplifies structure, can apply on any vehicle, to improve service efficiency.
Description
Technical field
The utility model relates to technical field of map data processing, wherein the utility model more particularly to one kind are locality
The intelligent mobile terminal and map acquisition system of diagram data.
Background technique
Currently, the collecting vehicle that high-precision map acquires equipment by being equipped with high-precision map is acquired, map acquisition is set
Standby mainly includes laser radar and camera, navigation module etc..Map acquisition equipment is fixed in collecting vehicle, is being needed in collecting vehicle
While traveling on the road of acquisition, map acquisition equipment can acquire road cartographic information on the way and be stored in collecting vehicle
Storage equipment in.With after the acquisition for completing cartographic information, technical staff obtains map from the storage equipment in collecting vehicle
Information simultaneously carries out subsequent processing work.
But in the prior art, the map acquisition equipment in collecting vehicle is in order on vehicle, due to needing to connect there are more
The cable connect, it is therefore desirable to vehicle be reequiped accordingly, common vehicle is adapted as to accommodate map acquisition equipment
Collecting vehicle.
Using the prior art, the map acquisition equipment in collecting vehicle in the vehicle mounted, if vehicle trouble or into
When row map acquires the replacement of equipment, it is also necessary to carry out the corresponding repacking processing of vehicle.Therefore, existing map acquires equipment not
It can be applied on any vehicle, the service efficiency for causing map acquisition equipment is lower.
Utility model content
The utility model provides a kind of intelligent mobile terminal and map acquisition system for acquiring map datum, pass through by
Intelligent mobile terminal is set for acquiring the navigation module, laser radar and camera of map datum in the intelligent mobile terminal
On same mainboard, thus simplify structure, enable it is provided by the utility model acquisition map datum intelligent mobile terminal
It is enough to be applied on any vehicle, improve service efficiency.
The utility model provides a kind of intelligent mobile terminal for acquiring map datum, comprising:
Mainboard, navigation module, camera, laser radar and the first storage equipment；
The navigation module, the camera, the laser radar and the first storage equipment are all connected with the mainboard；
The location data of acquisition and attitude data are sent to by the navigation module by the connection relationship with the mainboard
The mainboard；
The camera is sent to the mainboard by the connection relationship with the mainboard, by the image data of acquisition；
The laser radar is sent to the mainboard by the connection relationship with the mainboard, by the point cloud data of acquisition；
The mainboard, will be according to the location data, the posture by the connection relationship with the first storage equipment
The map datum that data, described image data and the point cloud data determine is stored to the first storage equipment.
In an embodiment of the utility model, the intelligent mobile terminal of the acquisition map datum further include: wireless communication
Module；
The mainboard connects the wireless communication module；
The mainboard is by the connection relationship with the wireless communication module, by the intelligent mobile of the acquisition map datum
The working condition of terminal is sent to the wireless communication module, and by the wireless communication module by with the control equipment
The working condition of the intelligent mobile terminal of the acquisition map datum is sent to control equipment by wireless connection relationship；
The wireless communication module is received the control equipment and is sent by the wireless connection relationship with the control equipment
Control command, and the control command is sent to by the connection relationship with the mainboard by the wireless communication module
Wherein, the control command is used to control the working condition of the intelligent mobile terminal of the acquisition map datum to the mainboard.
In an embodiment of the utility model, the intelligent mobile terminal of the acquisition map datum further include: the second storage
Equipment；
Mainboard connection the second storage equipment；
The system that second storage equipment stores the mainboard.
In an embodiment of the utility model, the mainboard connects the intelligent mobile terminal place of the acquisition map datum
The vehicle-mounted cigarette lighter of vehicle, the vehicle-mounted cigarette lighter are the intelligent mobile terminal power supply of the acquisition map datum.
In an embodiment of the utility model, the mainboard, will be according to institute by the connection relationship with the navigation module
The location information for stating the intelligent mobile terminal of the acquisition map datum of image data and point cloud data determination is sent to
The navigation module.
In an embodiment of the utility model, the mainboard is by the connection relationship with the wireless communication module, by institute
It states map datum and is sent to the wireless communication module, and by the wireless communication module by being closed with the wireless connection of server
System, is sent to the server for the map datum.
In an embodiment of the utility model, the mainboard will be sweared by the connection relationship with the wireless communication module
The map datum after quantification treatment is sent to the wireless communication module, and by the wireless communication module by with service
The map datum after vectorized process is sent to the server by the wireless connection relationship of device.
In an embodiment of the utility model, the mainboard, will be according to institute by the connection relationship with the navigation module
It states location data and the attitude data determines that the location information of the intelligent mobile terminal of the acquisition map datum is sent to institute
State navigation module.
In an embodiment of the utility model, the mainboard by RS233 interface connected with RS422-USB serial ports described in lead
Model plane block.
In an embodiment of the utility model, the mainboard connects the laser radar and the camera by cable.
In an embodiment of the utility model, the mainboard connects the first storage equipment by USB interface.
The utility model also provides a kind of map acquisition system, comprising: the acquisition map as described in aforementioned any embodiment
The intelligent mobile terminal of data.
To sum up, the utility model provides a kind of intelligent mobile terminal and map acquisition system for acquiring map datum, comprising:
Mainboard, navigation module, camera, laser radar and the first storage equipment；Navigation module will be acquired by the connection relationship with mainboard
Location data and attitude data be sent to mainboard；Camera is sent the image data of acquisition by the connection relationship with mainboard
To mainboard；Laser radar is sent to mainboard by the connection relationship with mainboard, by the point cloud number of acquisition；Mainboard with first by depositing
The connection relationship for storing up equipment stores the map datum determined according to location data, attitude data, image data and point cloud data
To the first storage equipment.The intelligent mobile terminal of acquisition map datum provided by the utility model, by the way that the intelligent mobile is whole
The same mainboard that intelligent mobile terminal is set for acquiring the navigation module, laser radar and camera of cartographic information in end
On, so that the structure simplified, enables the intelligent mobile terminal of acquisition map datum provided by the utility model any
It is applied on vehicle, improves service efficiency.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model；
Fig. 2 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model；
Fig. 3 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model；
Fig. 4 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model；
Fig. 5 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model；
Fig. 6 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The specification and claims of the utility model and term " first " in above-mentioned attached drawing, " second ", " third ",
(if present)s such as " the 4 " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It answers
The data that the understanding uses in this way are interchangeable under appropriate circumstances, for example so as to the embodiments of the present invention described herein
It can be performed in other sequences than those illustrated or described herein.In addition, term " includes " and " having " and he
Any deformation, it is intended that cover it is non-exclusive include, for example, contain the process, method of a series of steps or units,
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include being not clearly listed
Or the other step or units intrinsic for these process, methods, product or equipment.
The technical solution of the utility model is described in detail with specifically embodiment below.These are specific below
Embodiment can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model,
As shown in Figure 1, the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment includes:
Mainboard 11, navigation module 12, camera 13, laser radar 14 and the first storage equipment 15.
Wherein, navigation module 12 is used to acquire location data and attitude data, and by the connection relationship with mainboard 11, will
The location data and attitude data of acquisition are sent to mainboard 11；Camera 13 for acquiring image data, and by with mainboard 11
The image data of acquisition is sent to mainboard 11 by connection relationship；Laser radar 14 for acquiring point cloud data, and by with mainboard
The point cloud data of acquisition is sent to mainboard by 11 connection relationship；Mainboard 11 is used for according to location data, attitude data, image
Data and point cloud data determine map datum, and by the connection relationship with the first storage equipment 15, by identified map number
Equipment 15 is stored according to storing to first.
Specifically, as shown in Figure 1, the intelligent mobile terminal of acquisition map datum provided in this embodiment passes through its mainboard 11
Interface connect at least one for equipment for acquiring map datum, and pass through at least one equipment data collected
After determining map datum collected jointly, map datum collected is stored.Such as: at least one described is used for
The equipment for acquiring map datum may include: navigation module 12, camera 13 and laser radar 14.Navigation module 12,13 and of camera
Laser radar 14 is all connected with mainboard 11.
Wherein, navigation module 12 described in the present embodiment can be provided simultaneously with Global Navigation Satellite System (Global
Navigation Satellite System, GNSS) and Inertial Measurement Unit (Inertial measurement unit,
IMU function), to realize the acquisition of two kinds of data of positioning and posture by a module.Such as: the navigation module 12
It can specifically include: GNSS navigation device and IMU device.Wherein, GNSS navigation device includes: antenna and chip, and chip passes through
The position where GNSS navigation device is calculated in data received by antenna；IMU device includes: gyroscope, accelerometer
And chip, the rotation angle that the acceleration and gyroscope that chip is obtained by accelerometer obtain, be calculated the IMU device from
Certain moment starts the motion profile and posture relative to some initial position.Such as: navigation module 12 can pass through global positioning system
After (Global Positioning System, GPS) antenna of uniting receives positioning signal, then intelligent mobile terminal 1 can pass through it
Set GNSS navigation device determines the location data of 1 position of intelligent mobile terminal of acquisition map datum；Intelligent sliding
Dynamic terminal 1 can also determine that the intelligent mobile of acquisition map datum is whole by the IMU device in the navigation module 12 set by it
The attitude data at end 1.Then location data collected and attitude data can be sent to mainboard 11 by navigation module 12.It needs
It is bright, mainboard is sent to described in the present embodiment, it can be understood as the central processing unit (Central being sent on mainboard
Processing Unit, CPU) handled or mainboard on can also integrate the processing module for having processor, with realize pair
The processing and transmission of related data.
Camera 13 and laser radar 14 for realizing the acquisition of image in map datum jointly, wherein camera 13 can lead to
It crosses and the ambient enviroment of 1 position of intelligent mobile terminal of acquisition map datum is shot to obtain the intelligence of acquisition map datum
The image data of energy 1 place environment of mobile terminal；Laser radar 14 obtains the intelligence of acquisition map datum by laser measurement
The point data set of the appearance surfaces of energy 1 place environment object of mobile terminal, which is point cloud data.Camera
13 and laser radar 14 acquired image data and point cloud data are sent to mainboard 11 respectively.Optionally, in the present embodiment
The camera 13 includes the camera connecting with mainboard 11.It should be noted that camera 13 and laser radar 14 in the present embodiment
Concrete operating principle can refer to the prior art, the application to camera 13 and laser radar 14 specifically acquisition data method not
It is specifically limited.
Then, when the image that mainboard 11 receives the location data of the transmission of navigation module 12 and attitude data, camera 13 are sent
After the point cloud data that data and laser radar 14 are sent, according to location data, attitude data, image data and point cloud data
Map datum is obtained jointly, completes the collecting flowchart of map datum.Such as: mainboard 11 can make image data and point cloud data
For the image in map datum, and combine location data and attitude data by image pass corresponding with foundations of the geographical location at place
System.To be supplied in the map that user can be directly viewable after treatment subsequent, the geography that can be checked according to user
Position shows that there are the images of corresponding relationship with the geographical location to user.
When mainboard 11 is after above-mentioned determining map datum, identified map datum can be stored in acquisition map datum
Intelligent mobile terminal 1 in first storage equipment in, complete the acquisition of map datum.Wherein, the first storage equipment can be U
Disk, mechanical hard disk or solid state hard disk etc. can storing data equipment.
Optionally, mainboard 11 connects camera 13 and laser radar 14 by cable (Cat6).
Optionally, mainboard 11 connects navigation module 12 by RS233 interface and/or RS422-USB interface.
Optionally, the above-mentioned image data acquired by camera 13 may include: picture material, amount of images and image aperture
Adjuster information etc..
Optionally, the above-mentioned point cloud data acquired by laser radar 14 may include: the size of laser packet, GNSS seconds arteries and veins
It rushes (Pulse Per Second, PSS) and recommends the reception condition etc. of location information (GPRMC).
Optionally, the above-mentioned location data acquired by navigation module 12 may include: the intelligent mobile for acquiring map datum
Longitude and latitude, satellite number, satellite horizontal positioning accuracy, direction and speed of terminal position etc..
To sum up, the present embodiment provides it is a kind of acquire map datum intelligent mobile terminal in, by that will be used for locality
Navigation module, camera, laser radar and the first storage equipment of diagram data are arranged on mainboard, and are connected by interface and mainboard
It connects；So as to which the movement for acquiring the intelligent mobile terminal of map datum can be realized by mobile mainboard.Therefore it simplifies and adopts
The structure for collecting the intelligent mobile terminal of map datum enables the intelligent mobile terminal of acquisition map datum on any vehicle
Using, and then improve the service efficiency of the intelligent mobile terminal of acquisition map datum.
Fig. 2 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model.
On the basis of embodiment as shown in Figure 2 is shown in Fig. 1, further includes: wireless communication module 15.Wherein, wireless communication module 15
Mainboard 11 is connected, wireless communication module 15 and control equipment 2 are wirelessly connected.Module 15 will determine mainboard 11 by wireless communication
Map datum be sent to control equipment 2.Mainboard 11 is also used to the control that 15 receiving control apparatus 2 of module is sent by wireless communication
System order.
Specifically, mainboard 11 will acquire the intelligent mobile of map datum by the connection relationship with wireless communication module 15
The working condition of terminal is sent to wireless communication module 15, and by wireless communication module 15 by connecting with the wireless of control equipment 2
Relationship is connect, the working condition for acquiring the intelligent mobile terminal of map datum is sent to control equipment 2.Wireless communication module 15 is logical
The wireless connection relationship with control equipment 2, the control command that receiving control apparatus 2 is sent are crossed, and is led to by wireless communication module 15
The connection relationship with mainboard 11 is crossed, control command is sent to mainboard 11；Wherein, the control command is for controlling the acquisition
The working condition of the intelligent mobile terminal of map datum.The working condition packet of the intelligent mobile terminal of the acquisition map datum
It includes: the working condition of mainboard 11, navigation module 12, camera 13, laser radar 14 and the first storage equipment 15.Such as: mainboard 11
Temperature；The location data of navigation module 12；Picture captured by camera 13；Point cloud data acquired in laser radar 14；The
The memory space etc. of one storage equipment 15.Control command can be the control command that operator is issued by control equipment 2, control
System order can be used for so that the intelligent mobile terminal of the acquisition map datum adjusts its working condition.Such as: work as operator
When finding that picture luminance captured by camera 13 is lower by control equipment 2, operator can be by controlling equipment 2 to acquisition
The intelligent mobile terminal of map datum issues the control command for improving 13 brightness of camera, so that camera 13 improves captured picture
Brightness.
Optionally, the control equipment 2 can be vehicle-mounted computer, or control equipment 2 is that map collector is carry-on
The electronic equipment of carrying such as mobile phone, tablet computer or laptop etc..
Optionally, wireless communication module 15 can be Wireless Fidelity (wireless fidelity, Wifi) module, bluetooth
Has data transmit-receive function used in the short distance wireless communication technologies such as module or purple peak agreement (Zigbee) communication module
The module of energy.
Therefore, using the intelligent mobile terminal of acquisition map datum provided in this embodiment, browser/service can be based on
Device (Browser/Server, BS) framework realizes that the intelligent mobile terminal 1 of acquisition map datum and control equipment 2 pass through channel radio
Letter mode is attached.The intelligent mobile of wired mode and acquisition map datum must be passed through with control equipment 2 in the prior art
When terminal 1 connects and is arranged on vehicle, monitoring personnel can only limit the intelligent mobile for checking acquisition map datum in the car
The working condition of terminal 1 and carry out control compare, monitoring personnel can to avoid cable constraint and activity it is freer, further
Vehicle refitting, the wiring that the intelligent mobile terminal 1 and control equipment 2 for simplifying acquisition map datum are installed on vehicle etc. is multiple
Miscellaneous degree, additionally it is possible to realize the control any shift position of equipment 2 and support more people while monitoring, to improve acquisition map datum
Intelligent mobile terminal 1 and control equipment 2 service efficiency.
Fig. 3 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model.
Embodiment as shown in Figure 3 is on the basis of previous embodiment, further includes: the second storage equipment 17, the second storage equipment 17 connect
Mainboard 11.
Wherein, the system that the second storage equipment 17 stores mainboard 11.
Specifically, as shown in figure 3, the intelligent mobile terminal 1 of the acquisition map datum in this implementation includes that the first storage is set
Standby 15 and second store equipment 17.First storage equipment 15 as in the preceding embodiment, for storing determined by mainboard
Diagram data, the second storage equipment 17 are then the systems for storing mainboard 11.That is, the acquisition map number provided through this embodiment
According to intelligent mobile terminal 1, can be realized being stored separately for system and data.So that when storage equipment error, data and system
It will not damage simultaneously.
It further, can also include multiple the in embodiment as shown in Figure 3 in alternatively possible implementation
One storage equipment 15, each first storage equipment 15 are used to store the map datum that mainboard determines, when one of them first is deposited
After storage equipment 15 is filled with, continue to be stored in map datum in next first storage equipment 15.
Optionally, in the present embodiment, it is attached between the first storage equipment 15 and mainboard 11 by USB interface.From
And enables and access mainboard 11 at any time when needed or from mainboard 11 for storing the first storage equipment 15 of map datum
On USB interface take out.
To sum up, the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment, can be by by the system of mainboard 11
It is stored in map datum collected in different storage equipment, so that the behaviour of the intelligent mobile terminal 1 of acquisition map datum
Normal operation of the storage equipment without will affect main board system for storing map datum can be taken out at any time by making personnel.
Fig. 4 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model.
As shown in figure 4, the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment also passes through the connection acquisition map of mainboard 11
The vehicle-mounted cigarette lighter 3 of the 1 place vehicle of intelligent mobile terminal of data.
Specifically, the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment can be connected by mainboard 11
Vehicle-mounted cigarette lighter 3 be mainboard 11, navigation module 12, camera 13, laser radar 14, first store equipment 15, second storage set
It powers for 17 and wireless communication module 16.
Optionally, in one possible implementation, the intelligent mobile terminal 1 for acquiring map datum is connected by mainboard 11
Cigarette lighter 3 is picked up, and after vehicle-mounted cigarette lighter 3 is powered to mainboard 11, the other equipment power supply connected from mainboard 11 to it.
Alternatively, vehicle-mounted cigarette lighter 3 can be separately connected acquisition by special connecting line in alternatively possible implementation
Above-mentioned each equipment in the intelligent mobile terminal 1 of map datum, and from vehicle-mounted cigarette lighter 3 respectively to the intelligence of acquisition map datum
Each equipment in energy mobile terminal 1 is individually powered.
To sum up, the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment, can pass through the vehicle-mounted of place vehicle
Cigar lighter 3 is powered.With need specially to be arranged inside the vehicle in the prior art battery etc. for power supply equipment compared with, greatly
Power supply unit and connection structure needed for simplifying the intelligent mobile terminal 1 of acquisition map datum, so that acquisition map datum
Intelligent mobile terminal 1 can be arranged in any vehicle and can work.
Fig. 5 is the structural schematic diagram of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model.
As shown in figure 5, mainboard 11 is also used to pass through channel radio in the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment
Believe that map datum is sent to server 4 by module 16.
Specifically, specifically, map datum is sent to nothing by the connection relationship with wireless communication module 16 by mainboard 11
Line communication module 16, and by wireless communication module 16 by the wireless connection relationship with server 4, map datum is sent to clothes
Business device 4.Such as: in a kind of possible implementation of the present embodiment, mainboard 11 can also pass through map datum collected
Wireless communication module 16 is sent to the server 4 on backstage for example, by the form of 4G signal.
Optionally, the mainboard 11 in the present embodiment also further to map datum collected carry out vectorized process it
Afterwards, then by the map datum after vectorized process it is sent to server.
Wherein, the diagram data over the ground progress vectorized process includes:
Determine the position of at least one marker in the map datum；
The position of at least one marker is marked to obtain the vector by phasor coordinate in the map datum
Change treated map datum.
It specifically, directly will be on acquire map datum with the intelligent mobile terminal 1 for acquiring map datum in the prior art
Server difference is passed, the mainboard 11 of the intelligent mobile terminal 1 of acquisition map datum provided in this embodiment can be to collected
Special marker in map datum is extracted and is identified.Marker for example may is that label, performance, electric pole, lamp stand,
Road curb, railing or vegetation etc. can be identified for that the marker in geographical location.
Then, the position of identified marker is marked in map datum by phasor coordinate, such as: when having determined
One square road sign is that " Beijing " is being schemed then in the image comprising the road sign map datum by the square road sign
Four vertex of picture are added in map datum as phasor coordinate, and are sent to server.So that server diagram data over the ground into
When row subsequent processing generates visualized map, it can be added in visualized map according to the phasor coordinate of the road sign of the square
The square road sign.
Further, in the present embodiment, if the position navigation module at 1 place of intelligent mobile terminal of acquisition map datum
12 cannot be properly received GPS positioning signal to determine that position data, such as the intelligent mobile terminal 1 of acquisition map datum pass through one
When section tunnel.Mainboard 11 by synchronous positioning and can build figure (simultaneous localization and at this time
Mapping, SLAM) algorithm, the image data that the point cloud data acquired by laser radar 14, camera 13 acquire is counter to release acquisition
The location information of the intelligent mobile terminal 1 of map datum.Then by mainboard 11 by the connection relationship with navigation module, by its root
The position data of the intelligent mobile terminal of the acquisition map datum determined according to location data and attitude data is sent to navigation module
12 so that navigation module 12 is adjusted or calibrates to location information, and according to the location information redefine location data and
Attitude data.
Optionally, in one possible implementation, the high-precision map of mainboard provided in this embodiment (HAD map), from
And mainboard 11 can go out acquire 1 institute of intelligent mobile terminal of map datum according to HAD map, point cloud data and image data inverse
Location information.
Optionally, Fig. 6 is the structure of one embodiment of intelligent mobile terminal of acquisition map datum provided by the utility model
Schematic diagram.As Fig. 6 shows a kind of a kind of possibility of intelligent mobile terminal of the acquisition map datum of the offer in above-described embodiment
Connection type.
Specifically, acquire map datum intelligent mobile terminal include mainboard PC Board, navigation module GNSS+IMU,
Camera Cam, laser radar Lidar, the first storage equipment: solid state hard disk (Solid State Disk, SSD), the second storage are set
It is standby: hard drive disk (Hard Disk Drive, HDD), display Screen and network interface card (Network Interface
Card, NIC).
Wherein, mainboard connects navigation module with RS232 interface by its RS422-USB interface, and navigation module passes through it
The antenna of GPS-RF connection receives GPS signal, and navigation module passes through RS422-USB interface for location data collected and appearance
State data are sent to mainboard, and mainboard will pass through RS232 interface with the location data for building figure SLAM technology inverse by synchronous positioning
It is sent to navigation module.
Navigation module also connects laser radar by RS232 interface, and location data and attitude data are connect by RS232
Mouth is sent to laser radar, and the point cloud data of acquisition and location data, attitude data are established corresponding relationship by laser radar, and
It is sent to mainboard jointly.
Mainboard connects camera and laser radar by cable interface and, for example, Cat6 cable.
Network interface card is additionally provided on mainboard, network interface card and its antenna connected are collectively as wireless communication module
It is wireless for example, by the communication and control equipment Monitor PC of local area network (Local Area Network, LAN)
Connection.
Mainboard is also connected with the storage of the second storage equipment SSD and first equipment HDD, wherein mainboard is especially by its USB interface
The first storage of connection equipment HDD.
Mainboard also passes through Video Graphics Array (Video Graphics Array, VGA) interface connection viewing area Screen.
The implementation and principle of the intelligent mobile terminal of acquisition map datum provided in this embodiment are the same as aforementioned each implementation
Example, repeats no more.
The utility model also provides a kind of map acquisition system, including acquisition map described in any one of previous embodiment
The intelligent mobile terminal of data.Wherein, the map acquisition system is for acquiring map datum.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of intelligent mobile terminal for acquiring map datum characterized by comprising
Mainboard, navigation module, camera, laser radar and the first storage equipment；
The navigation module, the camera, the laser radar and the first storage equipment are all connected with the mainboard；
The location data of acquisition and attitude data are sent to described by the navigation module by the connection relationship with the mainboard
Mainboard；
The camera is sent to the mainboard by the connection relationship with the mainboard, by the image data of acquisition；
The laser radar is sent to the mainboard by the connection relationship with the mainboard, by the point cloud data of acquisition；
The mainboard by with it is described first storage equipment connection relationship, will according to the location data, the attitude data,
The map datum that described image data and the point cloud data determine is stored to the first storage equipment.
2. the intelligent mobile terminal of acquisition map datum according to claim 1, which is characterized in that further include:
Wireless communication module, the mainboard connect the wireless communication module；
The mainboard is by the connection relationship with the wireless communication module, by the intelligent mobile terminal of the acquisition map datum
Working condition be sent to the wireless communication module, and the wireless connection with control equipment is passed through by the wireless communication module
The working condition of the intelligent mobile terminal of the acquisition map datum is sent to the control equipment by relationship；
The wireless communication module receives the control that the control equipment is sent by the wireless connection relationship with the control equipment
System order, and be sent to the control command described by the wireless communication module by the connection relationship with the mainboard
Mainboard；Wherein, the control command is used to control the working condition of the intelligent mobile terminal of the acquisition map datum.
3. the intelligent mobile terminal of acquisition map datum according to claim 1, which is characterized in that further include:
Second storage equipment, mainboard connection the second storage equipment；
The system that the second storage equipment stores the mainboard.
4. the intelligent mobile terminal of acquisition map datum according to claim 1, which is characterized in that
The vehicle-mounted cigarette lighter of vehicle where the mainboard connects the intelligent mobile terminal of the acquisition map datum；
The vehicle-mounted cigarette lighter is the intelligent mobile terminal power supply of the acquisition map datum.
5. the intelligent mobile terminal of acquisition map datum according to claim 1, which is characterized in that
The mainboard will be determined by the connection relationship with the navigation module according to described image data and the point cloud data
The location information of intelligent mobile terminal of the acquisition map datum be sent to the navigation module.
6. the intelligent mobile terminal of acquisition map datum according to claim 2, which is characterized in that
The mainboard is sent to the wireless communication by the connection relationship with the wireless communication module, by the map datum
Module, and be sent to the map datum described by the wireless communication module by the wireless connection relationship with server
Server.
7. the intelligent mobile terminal of acquisition map datum according to claim 6, which is characterized in that
The mainboard is sent the map datum after vectorized process by the connection relationship with the wireless communication module
The extremely wireless communication module, and by the wireless communication module by the wireless connection relationship with server, at vector quantization
The map datum after reason is sent to the server.
8. the intelligent mobile terminal of acquisition map datum according to claim 1, which is characterized in that
The mainboard will be determined by the connection relationship with the navigation module according to the location data and the attitude data
The location information of intelligent mobile terminal of the acquisition map datum be sent to the navigation module.
9. the intelligent mobile terminal of acquisition map datum according to claim 1-8, which is characterized in that
The mainboard connects the navigation module with RS422- general-purpose serial bus USB serial ports by RS233 interface；
The mainboard connects the laser radar and the camera by cable；
The mainboard connects the first storage equipment by general-purpose serial bus USB interface.
10. a kind of map acquisition system characterized by comprising such as the described in any item acquisition map datums of claim 1-9
Intelligent mobile terminal.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110660314A (en) * | 2019-09-30 | 2020-01-07 | 驭势科技（北京）有限公司 | Map data acquisition equipment and system |
| CN111024062A (en) * | 2019-12-31 | 2020-04-17 | 芜湖哈特机器人产业技术研究院有限公司 | Drawing system based on pseudo GNSS and INS |
| CN111811524A (en) * | 2020-07-14 | 2020-10-23 | 华普通用技术研究（广州）有限公司 | Big data-based map real-time updating device and method |
| CN113654550A (en) * | 2021-09-09 | 2021-11-16 | 武汉中海庭数据技术有限公司 | High-precision map acquisition system |
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- 2018-12-21 CN CN201822156804.7U patent/CN209279988U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110660314A (en) * | 2019-09-30 | 2020-01-07 | 驭势科技（北京）有限公司 | Map data acquisition equipment and system |
| CN111024062A (en) * | 2019-12-31 | 2020-04-17 | 芜湖哈特机器人产业技术研究院有限公司 | Drawing system based on pseudo GNSS and INS |
| CN111811524A (en) * | 2020-07-14 | 2020-10-23 | 华普通用技术研究（广州）有限公司 | Big data-based map real-time updating device and method |
| CN111811524B (en) * | 2020-07-14 | 2022-04-12 | 上海广境规划设计有限公司 | Big data-based map real-time updating device and method |
| CN113654550A (en) * | 2021-09-09 | 2021-11-16 | 武汉中海庭数据技术有限公司 | High-precision map acquisition system |
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