CN209673112U - A kind of portable map data acquisition equipment - Google Patents
A kind of portable map data acquisition equipment Download PDFInfo
- Publication number
- CN209673112U CN209673112U CN201920628287.0U CN201920628287U CN209673112U CN 209673112 U CN209673112 U CN 209673112U CN 201920628287 U CN201920628287 U CN 201920628287U CN 209673112 U CN209673112 U CN 209673112U
- Authority
- CN
- China
- Prior art keywords
- map data
- data acquisition
- acquisition equipment
- keel frame
- video camera
- 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
Abstract
The utility model provides a kind of portable map data acquisition equipment, it include: laser radar, an at least video camera, Inertial Measurement Unit and central processing unit, wherein the portable map data acquisition equipment further includes as installation foundation and being used for the laser radar, video camera, Inertial Measurement Unit and central processing unit integrate the rigid mount to keep equipment globality, wherein the rigid mount is center bar keel frame, the Inertial Measurement Unit and central processing unit are fixed in inner space defined by the keel frame, the laser radar and video camera are fixed on the wall or apex angle of the keel frame, the wiring space for cabling is formed on the outside of Inertial Measurement Unit described in the inside of the keel frame and central processing unit, the removably diagram data of the utility model acquires Equipment has the advantages that small in size, light-weight and easy to carry.
Description
Technical field
The utility model relates to electronic technology fields more particularly to a kind of portable high-precision map data collecting to set
It is standby.
Background technique
High-precision map data collecting equipment is for acquiring road or building facility inside and outside size (mainly with three
Tie up Laser Scanning Equipment and acquire three-dimensional point cloud information), the acquisition equipment of the information such as color.
In the prior art, for carrying out the larger relatively dispersion of the data acquisition equipment distribution of high-precision map data collecting,
Farther out, for example laser radar, in roof, inertial navigation set is then placed on boot for relative position.Between this mode disparate modules
Relative position variation influence the later period quality of data fusion, need periodically to re-scale relative position.Equipment is dispersed in roof
Or it is interior, there is disassembly trouble, power low with the reliability that signal transmits, it is difficult in maintenance the problems such as.
Currently, had already appeared it is some for carrying out the integrated equipments of high-precision map data collecting, but still there are volume compared with
Big problem, it is not readily portable, it is difficult to adapt to multichip carrier demand.
Utility model content
The purpose of this utility model is to provide a kind of small in size, light-weight portable map data acquisition equipments.
To achieve the goals above, the utility model provides a kind of portable map data acquisition equipment, comprising: laser
Radar, at least a video camera, Inertial Measurement Unit and central processing unit.The portable map data acquisition equipment further includes
As installation foundation and for by the laser radar, video camera, Inertial Measurement Unit and central processing unit integrate with
The rigid mount of equipment globality is kept to be somebody's turn to do, wherein the rigid mount is center bar keel frame, the Inertial Measurement Unit and center
Processor is fixed in inner space defined by the keel frame, and the laser radar and video camera are fixed at the dragon
On the wall or apex angle of bone frame, it is formed with and is used on the outside of the inside of the keel frame Inertial Measurement Unit and central processing unit
The wiring space of cabling.
Preferably, which is collapsibly arranged on the wall of the keel frame.
Preferably, which further includes Collapsible rack；One end of the Collapsible rack with
The keel frame is fixedly connected, and the other end of the Collapsible rack is connect with the laser radar, which can make this
Laser radar is bent to horizontality from vertical state.
Preferably, the upper laser beam and horizontal angle of laser radar transmitting are α 1, under laser radar transmitting
Laser beam and horizontal angle are α 2, wherein 1 < α 2 of α.
Preferably, the expansion fixture for installing video camera or sensor is provided on the angle of the keel frame, by this
The vertex of the keel frame can be arranged in adjustable angle in the expansion fixture video camera.
Preferably, which can be fixed in the expansion fixture by the first bolt and the second bolt, the extension grip
The screw socket for cooperating with first bolt and the sliding slot for cooperating with second bolt are formed on tool, which can
It rotates by shaft of first bolt to adjust camera angle.
Preferably, being respectively formed on the end face which cooperates with the video camera can be intermeshed and for reading
Take the scale joined outside pitch angle, calibration for cameras.
Preferably, the bottom of the keel frame is provided with the adjustable vacuum suction can adapt to installation curved surface of multiple pitch angles
Disk.
Preferably, the rigidity for the cover Inertial Measurement Unit and central processing unit is provided at the top of the keel frame
Shell, the outer surface of the stiff case are provided with external hard drive slot.
Preferably, the bottom of property measuring unit is provided with rubber shock-absorbing device.
Utility model has the advantages that (1) is by being integrated in a rigidity dress for multiple sensors and central processing unit
In setting, so that the good integrity of equipment, and random vibration error will not be introduced without relative motion between sensor, facilitate sensing
Calibration and calibration between device.(2) small in size, it is light-weight.The outer dimension of equipment is about 60 centimeter length * 40 centimetres * 32 lis wide
Meter Gao, weight are about 8KG, and the bracket for installing laser radar can fold, therefore equipment can be put into trolley case, side
Just it dismantles, transport and installs.(3) easy for installation.Equipment installation only needs four suckers of absorption.(4) there is scalability, it can
Suitable for a variety of environment.Four angles of acquisition device are provided with expansion fixture, can install the other sensors such as camera, and camera
Pitch angle tool-free can adjust, and can rapidly adapt to new acquisition environment.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model
Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing
In:
Fig. 1 is the structural schematic diagram of the utility model portable map data acquisition equipment；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural schematic diagram at another visual angle of Fig. 1, it is shown that Inertial Measurement Unit and central processing unit；
Fig. 4 is the structural schematic diagram of the portable map data acquisition equipment provided with stiff case；
Fig. 5 is to show the schematic diagram of the assembled relation of video camera and expansion fixture；
Fig. 6 is to show another schematic diagram of the assembled relation of video camera and expansion fixture；
Fig. 7 is to show the structural representation of portable map data acquisition equipment when laser radar is in folded state
Figure；
Fig. 8 is the structural schematic diagram for being provided with the portable map data acquisition equipment of the adjustable sucker of pitch angle；
Fig. 9 is the first partial enlarged diagram of portable map data acquisition equipment；
Figure 10 is the second partial enlargement diagram of portable map data acquisition equipment；
Figure 11 is the use state diagram of the utility model portable map data acquisition equipment.
In the accompanying drawings, identical component uses identical appended drawing reference.Attached drawing is not according to actual ratio.
Description of symbols:
1- portable map data acquisition equipment, 2- vehicle rear wheel profile；
100- laser radar；
The first video camera of 210-, the second video camera of 220-, 230- third video camera, the 4th video camera of 240-；
300-IMU Inertial Measurement Unit；
500- central processing unit；
600- sucker；
700-GPS；
800- expansion fixture, 801- screw socket, 802- sliding slot, 803- scale；
900- stiff case；
The big gasket of the first bolt of 10-, the second bolt of 20-, 30- with rubber washer, 40- first rotating shaft, second turn of 50-
Axis, 60- third shaft, 70- hard disk slot, 80- rubber shock-absorbing ball；
The lower laser beam and water that upper laser beam and horizontal angle, the α 2- laser radar of α 1- laser radar transmitting emit
The angle of horizontal line；
A- keel frame, B- Collapsible rack, D- wiring space.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art better understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained, is all answered without ordinary skill in the art, creative workers are not
When belonging to the protection scope of the utility model.
It should be noted that the specification and claims of the utility model and term " first " in above-mentioned attached drawing,
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that in this way
The data used are interchangeable under appropriate circumstances, so that the embodiments of the present invention described herein can be in addition at this
In illustrate or description those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, meaning
Figure, which is to cover, non-exclusive includes.
Specifically, as shown in Figure 1, the utility model provides a kind of portable map data acquisition equipment.This is portable
Formula map data collecting equipment includes: laser radar 100, the first video camera 210, the second video camera 220, third video camera
230, Inertial Measurement Unit 300 and central processing unit 500.Portable map data acquisition equipment further includes as installation foundation
And it is used for laser radar 100, the first video camera 210, the second video camera 220, third video camera 230, Inertial Measurement Unit 300
And central processing unit 500 integrates the rigid mount to keep equipment globality.
Existing map data collecting equipment there are sensor distribution, rigidity it is bad and be readily incorporated measurement error lack
It falls into.Specifically, the sensor of conventional map data acquisition equipment is typically distributed across the headstock, roof and the tailstock of vehicle, and central
Processor and communication apparatus are then installed in the car.In this case, the connection between sensor and central processing unit compared with
Length, interface is more, reliability is bad, flash occurs for the easy frame losing of signal.In addition, due to simply by virtue of vehicle body between multiple sensors
Iron sheet connection, therefore be not rigidly connected well, after body distortion the relative position between sensor can occur slight
Change, introduces measurement error.Further, that there is also volumes is big, the disadvantage of weight weight for conventional map data acquisition equipment.Specifically
Ground generally cannot achieve one fast quick-detach, peace due to being distributed dispersion, route and vehicle body Deep integrating between multiple sensors
Dress, and it is not convenient for safeguarding, do not have portability.
The utility model realizes ground by the way that all sensor and central processing unit to be integrated on a rigid mount
The portability and integration of diagram data acquisition equipment will not introduce random vibration without relative motion between good integrity, sensor
Error facilitates calibration and calibration between sensor.
As shown in Figure 1-Figure 3, rigid mount can be center bar keel frame A made of aluminium alloy.Inertial Measurement Unit 300
It is fixed in inner space defined by keel frame A with central processing unit 500.Laser radar 100 and video camera difference
It is fixed on the wall or apex angle of keel frame A.In addition, the inside Inertial Measurement Unit 300 and central processing of keel frame A
The outside of device 500 is provided with the wiring space D for cabling.In this way, by using above-mentioned specially designed structure, keel frame
A can be fixed together all sensors, and the sensors such as laser radar 100 and video camera is made to have good setting angle
And posture, most effectively acquire the signal in each orientation.In addition, laser radar 100, video camera and Inertial Measurement Unit 300 and
Internal cabling can be carried out between central processing unit 500 by wiring space D, route is short and firm.
Since laser radar 100 requires installation unobstructed, general erection is very high, so existing map data collecting equipment
After installation onboard, total height generally can be more than 2.5 meters, can not enter the lower places of limits for height such as underground parking garage and be adopted
Collection.To solve the above-mentioned problems, as shown in Figure 1 and Figure 7, the laser radar 100 in the utility model is arranged to collapsibly set
It sets on the wall of keel frame A.Specifically, portable map data acquisition equipment further includes Collapsible rack B.Collapsible rack
One end of B is fixedly connected with keel frame A, and the other end of Collapsible rack B is connect with laser radar 100, Collapsible rack B energy
Laser radar 100 is enough set to be bent to horizontality from vertical state.In this case, can make to swash when needing to acquire data
Optical radar 100 is in a vertical state, and does not need to bend laser radar 100 when acquisition data and make at its in the process of moving
In horizontality.Thus, it is possible to widen the acquisition place of equipment.
Further, as shown in figure 11, the upper laser beam and horizontal angle that laser radar 100 emits are α 1, laser
The lower laser beam and horizontal angle that radar 100 emits are α 2, wherein 1 < α 2 of α.Preferably, α 1 is 10 °, and α 2 is 30 °.This
Sample can not only guarantee that laser radar 100 had wider acquisition range, but also can guarantee that vehicle rear will not generate laser beam
It blocks, ensure that the integrality of signal acquisition.
As shown in figure 4, for the ease of map data collecting equipment other acquisition can be extended according to different acquisition scenes
Sensor acquires different information with adjustment camera angle.It is provided on the angle of keel frame A for installing video camera
Or the expansion fixture 800 of other sensors, keel frame A can be arranged in adjustable angle by 800 video camera of expansion fixture
Vertex.
In one of the utility model specifically embodiment, as shown in figure 5, the 4th video camera 240 can pass through
One bolt 10 and the second bolt 20 are fixed in expansion fixture 800.Be formed in expansion fixture 800 for the first bolt 10
The screw socket 801 of cooperation and sliding slot 802 for cooperating with the second bolt 20, the 4th video camera 240 can be with the first bolt 10
Shaft is rotated to adjust camera angle.Specifically, the first bolt 10 can be M8 bolt.When installation, M8 bolt passes through the 4th and takes the photograph
The camera holder of camera 240 is screwed into the M8 screw socket of expansion fixture 800, and as shaft.Second bolt 20 can be M5 bolt.
When installation, M5 bolt passes through the camera holder of the 4th video camera 240, and penetrates the arc chute of expansion fixture 800, prevents after locking
Camera holder is pivoted, and there is the big gasket 30 with rubber ring at the both ends of M5 bolt, to increase locking frictional force, while can be with
Play the role of rain-proof, Anti-splashing sanitary.
Further, as shown in fig. 6, be respectively formed on the end face that expansion fixture 800 cooperates with video camera can be mutual
It engages and is used to read the scale 803 joined outside pitch angle, calibration for cameras.In this way, the rotation angle of video camera can be accurately controlled
Degree, can adapt to changeable acquisition environment.
As shown in figure 8, the bottom of keel frame A is provided with multiple suckers 600, sucker 600 is that pitch angle is adjustable with can
Adapt to the vacuum chuck of installation curved surface.In this way, equipment installation only needs four suckers 600 of absorption.The pitching of front and back sucker 600
Angle is adjustable, adapts to roof curved surface, and it is very firm to adsorb.Preferably, sucker 600 is using vacuum for industrial use sucker, pressing
It is adsorbable.
As shown in figure 9, being provided at the top of keel frame A for the cover Inertial Measurement Unit 300 and central processing unit 500
Stiff case 900, be provided with external hard drive slot 70 on the outer surface of stiff case 900.In addition, as shown in Figure 10, inertia
The bottom of measuring unit 300 is provided with rubber shock-absorbing device.Specifically, four are provided on the pedestal of Inertial Measurement Unit 300
Rubber shock-absorbing ball can effectively absorb vehicle and jolt caused vibration, play the role of mechanical filtering.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents, all in the utility model
Within spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the protection scope of the utility model
Within.
In addition, any combination can also be carried out between a variety of different embodiments of the utility model embodiment, as long as
It equally should be considered as the utility model embodiment disclosure of that without prejudice to the thought of the utility model embodiment.
Claims (10)
1. a kind of portable map data acquisition equipment, comprising: laser radar, at least a video camera, Inertial Measurement Unit with
And central processing unit, which is characterized in that the portable map data acquisition equipment further includes as installation foundation and for inciting somebody to action
The laser radar, video camera, Inertial Measurement Unit and central processing unit are integrated to keep the rigid of equipment globality
Property device, wherein the rigid mount be center bar keel frame, the Inertial Measurement Unit and central processing unit are fixed at
In inner space defined by the keel frame, the laser radar and video camera are fixed at the wall of the keel frame
Or on apex angle, it is formed on the outside of Inertial Measurement Unit described in the inside of the keel frame and central processing unit for cabling
Wiring space.
2. portable map data acquisition equipment according to claim 1, which is characterized in that the laser radar is foldable
Ground is arranged on the wall of the keel frame.
3. portable map data acquisition equipment according to claim 2, which is characterized in that the removably diagram data
Acquiring equipment further includes Collapsible rack；One end of the Collapsible rack is fixedly connected with the keel frame, described to roll over
The other end of folded bracket is connect with the laser radar, and the Collapsible rack can make the laser radar curved from vertical state
It is folded to horizontality.
4. portable map data acquisition equipment according to claim 2, which is characterized in that the laser radar transmitting
Upper laser beam and horizontal angle are α 1, and the lower laser beam and horizontal angle of the laser radar transmitting are α 2, wherein
1 < α 2 of α.
5. portable map data acquisition equipment according to claim 1, which is characterized in that on the angle of the keel frame
It is provided with the expansion fixture for installing video camera or sensor, it being capable of adjustable angle by video camera described in the expansion fixture
Ground is arranged on the keel frame.
6. portable map data acquisition equipment according to claim 5, which is characterized in that the video camera can pass through
First bolt and the second bolt are fixed in the expansion fixture, be formed in the expansion fixture for first bolt
The screw socket of cooperation and sliding slot for cooperating with second bolt, the video camera can be revolved by shaft of first bolt
Turn to adjust camera angle.
7. portable map data acquisition equipment according to claim 5, which is characterized in that the expansion fixture with it is described
Being respectively formed on the end face of video camera cooperation can be intermeshed and for reading the scale joined outside pitch angle, calibration for cameras.
8. portable map data acquisition equipment according to claim 1, which is characterized in that the bottom of the keel frame
It is provided with the adjustable vacuum chuck can adapt to installation curved surface of multiple pitch angles.
9. portable map data acquisition equipment according to claim 1, which is characterized in that the top of the keel frame
It is provided with the stiff case for Inertial Measurement Unit described in the cover and central processing unit, the outer surface setting of the stiff case
There is external hard drive slot.
10. portable map data acquisition equipment according to claim 1, which is characterized in that the Inertial Measurement Unit
Bottom be provided with rubber shock-absorbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920628287.0U CN209673112U (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920628287.0U CN209673112U (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209673112U true CN209673112U (en) | 2019-11-22 |
Family
ID=68574867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920628287.0U Active CN209673112U (en) | 2019-05-05 | 2019-05-05 | A kind of portable map data acquisition equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209673112U (en) |
Cited By (1)
| 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 |
-
2019
- 2019-05-05 CN CN201920628287.0U patent/CN209673112U/en active Active
Cited By (1)
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109974723A (en) | A kind of portable map data acquisition equipment | |
| CN1031596C (en) | Method and apparatus for measuring coordinates of surveyed point | |
| CN103895584B (en) | Movable lifting type vehicle-mounted panorama holder with high precision locating function | |
| CN204301734U (en) | A kind of indoor panoramic view data harvester | |
| CN105277177A (en) | Oblique photography system adopting multi-rotor unmanned aerial vehicle | |
| CN203126703U (en) | Mobile measurement platform on car roof | |
| CN203250853U (en) | Three-axis stabilization mobile tracking mount of shipborne satellite antenna | |
| CN209673112U (en) | A kind of portable map data acquisition equipment | |
| CN104653963A (en) | Dual-freedom degree tracking cloud deck with inertial orientation function | |
| CN102829291B (en) | T-shaped shooting stand for three-dimensional restoring shooting | |
| CN107819998A (en) | A kind of panorama Camcording system and method based on vehicle-mounted integral | |
| CN108225563B (en) | Field environment sky polarization modeling alignment measuring device | |
| CN108896165A (en) | A kind of substation's noise synthesis cloud atlas test method | |
| CN106686306B (en) | A kind of target tracker and tracking | |
| CN110203393A (en) | A kind of quickly mapping multi-rotor unmanned aerial vehicle and its mapping method | |
| CN109104606A (en) | The system and method at rapid survey video camera inclination angle and field angle | |
| CN201503267U (en) | Digital water level capable of measuring automatically | |
| CN110989677A (en) | Telemetering parabolic antenna electric axis dynamic calibration method based on unmanned aerial vehicle | |
| CN109458998A (en) | A kind of civil engineering surveying device | |
| CN202757608U (en) | Control device for antenna azimuth measuring system and radio communication antenna thereof | |
| CN215258643U (en) | Three-dimensional modeling image shooting device based on oblique photography | |
| CN208376659U (en) | Vehicular panorama acquisition device | |
| CN106482708A (en) | A kind of aircraft folded surface corner measuring apparatus | |
| CN109060111A (en) | A kind of multi-channel type substation noise synthesis cloud atlas test device | |
| CN209460412U (en) | Dynamic positioning error test device and system applied to navigation positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Gui Guan Inventor after: Tao Chuang Inventor after: Chen Wenya Inventor before: Gui Guan |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 200120 Room 903, floor 9, building 1, No. 58, Xiangke Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Weizhi Zhuoxin Information Technology Co.,Ltd. Address before: 200331 room 446, building 20, No. 958, Zhenbei Road, Putuo District, Shanghai Patentee before: SHANGHAI TUQU INFORMATION TECHNOLOGY Co.,Ltd. |