Map acquisition mechanism for unmanned driving, map acquisition equipment and unmanned vehicle

Abstract

The utility model discloses a map acquisition mechanism for unmanned driving, map acquisition equipment and an unmanned vehicle, and belongs to the technical field of automatic driving. The map acquisition mechanism for unmanned driving comprises a fixing unit, the fixing unit comprises an installation frame and first cantilevers, the first cantilevers are arranged at the two ends of the installation frame in the first direction respectively, and an installation support used for being installed on a car roof is arranged at the bottom of the installation frame; the sensor unit comprises camera modules, laser radars and GNSS antennas, the camera modules are arranged on the periphery of the fixing unit, the laser radars are arranged on the mounting frame, each first cantilever is provided with one GNSS antenna, one GNSS antenna is used for positioning, and the other GNSS antenna is used for orientation. The non-motorized road information acquisition device is high in measurement precision and efficiency, and can be used for finely acquiring the information of a non-motorized road in a narrow non-motorized road.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic driving, and in particular to a map collection mechanism, map collection equipment and an unmanned vehicle for unmanned driving. Background Art

[0002] Geographic Information System, sometimes called "Geo-information System", is a specific and very important spatial information system. General map information collection equipment is a machine that updates Internet maps such as Baidu Maps and Amap in a timely manner and quickly collects data for new road planning.

[0003] In the prior art, such as patent publication number CN219237109U, in a portable map collection device, a collection mechanism including a laser radar is installed on a cart to collect map information. Not only is the measurement accuracy low and the measurement speed slow, which cannot meet the map accuracy requirements of unmanned driving, but the portable map collection device is prone to collision when traveling on narrow non-motorized roads, resulting in the inability to accurately collect information on non-motorized roads.

[0004] Therefore, it is urgent to provide a map collection mechanism for unmanned driving to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a map collection mechanism, a map collection device and an unmanned vehicle for unmanned driving, which improves the measurement accuracy and speed and can finely collect information on non-motorized roads on narrow non-motorized roads.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] Map collection mechanism for unmanned driving, including:

[0008] A fixing unit, comprising a mounting frame and a first cantilever, wherein the first cantilever is respectively disposed at two ends of the mounting frame along a first direction, and a mounting bracket for mounting on a vehicle roof is disposed at the bottom of the mounting frame;

[0009] The sensor unit includes a camera module, a laser radar and a GNSS antenna. The camera module is arranged around the fixed unit, the laser radar is arranged on the mounting frame, and each of the first cantilevers is provided with a GNSS antenna. One of the GNSS antennas is used for positioning, and the other GNSS antenna is used for orientation.

[0010] As an optional solution for the map collection mechanism for unmanned driving, the fixing unit further includes a mounting stand, the mounting stand is vertically arranged on the mounting frame, a receiving space is formed between the bottom of the mounting stand and the mounting frame, the laser radar is arranged on the mounting stand, and the sensor unit further includes:

[0011] An inertial measurement module is disposed on the mounting frame and is located in the accommodating space.

[0012] As an optional solution for the map collection mechanism for unmanned driving, the sensor unit also includes:

[0013] 5G antenna, two of the 5G antennas are spaced apart on the mounting frame and located on both sides of the laser radar, and the GNSS antenna, the 5G antenna and the laser radar are all located in the same straight line direction.

[0014] As an optional solution for the map collection mechanism for unmanned driving, the mounting stand is made of non-metallic material.

[0015] As an optional solution for the map collection mechanism for unmanned driving, the fixing unit also includes a second cantilever, and the second cantilever is respectively provided at both ends of the mounting frame along the second direction, and the camera module includes a first camera group, a second camera group, a third camera group and a fourth camera group, and the first camera group and the second camera group are respectively arranged on the corresponding first cantilever, and the third camera group and the fourth camera group are respectively arranged on the corresponding second cantilever.

[0016] As an optional solution for the map collection mechanism for unmanned driving, the length of the first cantilever is greater than the length of the second cantilever.

[0017] A map acquisition device comprises a protective shell and a map acquisition mechanism for unmanned driving as described in any one of the above items, wherein the map acquisition mechanism for unmanned driving is arranged in the protective shell, and a mounting frame is located outside the protective shell.

[0018] As an optional solution for the map acquisition device, the protective shell is provided with a first avoidance hole, a second avoidance hole and a third avoidance hole, and the head of the laser radar extends out of the first avoidance hole, the head of the GNSS antenna extends out of the second avoidance hole, and the head of the camera module extends out of the third avoidance hole.

[0019] As an optional solution for the map acquisition device, the overall width of the map acquisition device is not greater than 700 mm.

[0020] An unmanned vehicle comprises a vehicle body and the map acquisition device as described above, wherein the map acquisition device is installed on the roof of the vehicle body.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] The map collection mechanism for unmanned driving provided by the utility model installs the sensor unit on the fixed unit, wherein the information of the non-motorized road is collected and integrated by the camera module and the laser radar, thereby improving the measurement accuracy. A first cantilever is provided at the front and rear ends of the installation frame, and the GNSS antenna is installed on the corresponding first cantilever. On the one hand, the distance between the two GNSS antennas can be increased to ensure the stable transmission of the signal; on the other hand, the sensor unit is arranged along the first direction, so that the map collection mechanism is in the shape of a long strip as a whole, and the width of the map collection mechanism as a whole is reduced, so that the map collection mechanism can walk on narrow non-motorized roads, which is convenient for fine collection of information on non-motorized roads. Moreover, the map collection mechanism is fixedly assembled to the roof of the vehicle through a mounting bracket, and the map collection mechanism is carried out by a small vehicle, thereby improving the measurement efficiency.

[0023] The map collection device provided by the utility model arranges the map collection mechanism for unmanned driving in a protective shell and installs it on the roof of the vehicle, thereby ensuring the stable operation of the sensor unit.

[0024] The unmanned vehicle provided by the utility model can realize high-precision and high-efficiency collection of map information for unmanned driving when traveling on a non-motorized vehicle lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0026] Figure 1 This is a schematic diagram of the assembly of a map collection mechanism for unmanned driving in an embodiment of the utility model;

[0027] Figure 2 This is an exploded schematic diagram of a map collection mechanism for unmanned driving in an embodiment of the utility model;

[0028] Figure 3 This is a schematic diagram of the structure of a map collection device in an embodiment of the utility model;

[0029] Figure 4 It is an exploded schematic diagram of a map collection device in an embodiment of the utility model;

[0030] Figure 5Schematic diagram of an unmanned vehicle in an embodiment of the utility model.

[0031] Reference numerals:

[0032] 100. Map collection mechanism for unmanned driving; 200. Map collection equipment; 300. Unmanned vehicle;

[0033] 1. Mounting frame; 2. First cantilever; 3. Mounting bracket; 4. Camera module; 5. LiDAR; 6. GNSS antenna; 7. Mounting table; 8. Inertial measurement module; 9. 5G antenna; 10. Second cantilever; 11. Protective shell; 1101. First avoidance hole; 1102. Second avoidance hole; 1103. Third avoidance hole;

[0034] 401, first camera group; 402, second camera group; 403, third camera group; 404, fourth camera group. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] In the description of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] In order to improve the measurement accuracy and speed, and to be able to finely collect information on non-motorized roads on narrow non-motorized roads, this embodiment provides a map collection mechanism, a map collection device and an unmanned vehicle for unmanned driving. Figures 1 to 5 The specific contents of this embodiment are described in detail. It should be noted that the first direction mentioned in this embodiment is Figure 2 The X direction in the embodiment is also called the length direction or the front-back direction. Figure 2 The Y direction is also called the width direction or the left-right direction.

[0040] like Figure 1 and Figure 2 As shown, the map collection mechanism 100 for unmanned driving in this embodiment includes a fixing unit and a sensor unit. The fixing unit includes a mounting frame 1 and a first cantilever 2. The first cantilever 2 is respectively provided at both ends of the mounting frame 1 along the first direction, and a mounting bracket 3 for mounting on the roof is provided at the bottom of the mounting frame 1. The sensor unit includes a camera module 4, a laser radar 5 and a GNSS antenna 6. The camera module 4 is arranged around the fixing unit, the laser radar 5 is arranged on the mounting frame 1, and each first cantilever 2 is provided with a GNSS antenna 6, one of which is used for positioning, and the other GNSS antenna 6 is used for orientation.

[0041] In short, the map collection mechanism 100 for unmanned driving provided in this embodiment installs the sensor unit on the fixed unit, wherein the camera module 4 and the laser radar 5 jointly collect information of the non-motorized lane and fuse them with each other, thereby improving the measurement accuracy. A first cantilever 2 is provided at the front and rear ends of the mounting frame 1, and the GNSS antenna 6 is installed on the corresponding first cantilever 2. On the one hand, the spacing between the two GNSS antennas 6 can be increased to ensure stable signal transmission; on the other hand, the sensor unit is arranged along the first direction, so that the map collection mechanism is in the shape of a long strip as a whole, and the width of the map collection mechanism as a whole is reduced, so that the map collection mechanism can walk on narrow non-motorized roads, which is convenient for fine collection of information on non-motorized roads. Moreover, the map collection mechanism is fixedly assembled to the roof of the vehicle through the mounting bracket 3, and the map collection mechanism is carried out by a small vehicle, thereby improving the measurement efficiency.

[0042] Furthermore, the fixing unit also includes a mounting platform 7, which is vertically arranged on the mounting frame 1, and a receiving space is formed between the bottom of the mounting platform 7 and the mounting frame 1, and the laser radar 5 is arranged on the mounting platform 7. The sensor unit also includes an inertial measurement module 8, which is arranged on the mounting frame 1 and is located in the receiving space. The inertial measurement module 8 is also called an IMU (full name: Inertial Measurement Unit) module, which is a sensor mainly used to detect and measure acceleration and rotational motion. By installing the inertial measurement module 8 at the bottom of the mounting platform 7, space can be saved to make the structure more compact, and the width of the mounting frame 1 will not be increased.

[0043] Furthermore, the sensor unit further includes a 5G antenna 9, two 5G antennas 9 are arranged at intervals on the mounting frame 1 and on both sides of the laser radar 5, and the GNSS antenna 6, the 5G antenna 9 and the laser radar 5 are all located in the same straight line direction. The two 5G antennas 9 and the two GNSS antennas 6 are symmetrically arranged on the front and rear sides of the laser radar 5, so that the GNSS antenna 6, the 5G antenna 9 and the laser radar 5 are all arranged along the first direction, increasing the overall length dimension of the fixing unit without increasing the width dimension.

[0044] Preferably, the mounting platform 7 is made of non-metallic material. Using non-metallic material to make the mounting platform 7 can ensure that the signals of the 5G antenna 9 and the GNSS antenna 6 arranged on both sides of the laser radar 5 are not affected.

[0045] Furthermore, if Figure 2 As shown, the fixing unit also includes a second cantilever 10, and the second cantilevers 10 are respectively provided at both ends of the mounting frame 1 along the second direction. The camera module 4 includes a first camera group 401, a second camera group 402, a third camera group 403 and a fourth camera group 404. The first camera group 401 and the second camera group 402 are respectively arranged on the corresponding first cantilever 2, and the third camera group 403 and the fourth camera group 404 are respectively arranged on the corresponding second cantilever 10. The two first cantilevers 2 are located on the front and rear sides of the mounting frame 1, and the two second cantilevers 10 are located on the left and right sides of the mounting frame 1. In this embodiment, 11 cameras are used, and the first camera group 401 located on the front side, the third camera group 403 located on the left side, and the fourth camera group 404 located on the right side each include 3 cameras, and the second camera group 402 located on the rear side includes 2 cameras, and corresponding angles are set between the cameras according to the FOV. FOV refers to the range that a lens can cover. Objects beyond this angle will not be included in the lens. The range of scenery that a camera lens can cover is usually expressed in degrees. This angle is called the FOV of the lens. The area covered by the visible image of the subject through the lens on the focal plane is the field of view of the lens.

[0046] Specifically, in this embodiment, the length of the first cantilever 2 is greater than the length of the second cantilever 10 , so that the dimension of the entire fixing unit in the length direction is greater than the dimension in the width direction.

[0047] Optionally, the mounting frame 1, the first cantilever 2 and the second cantilever 10 in this embodiment are an integrated hollow structure with a light overall mass. Weight reduction holes may be provided on the mounting frame 1, the first cantilever 2 and the second cantilever 10. In this embodiment, the camera module 4, the laser radar 5, the inertial measurement module 8, the GNSS antenna 6 and the 5G antenna 9 may be fixed by bolt connection or clamping, but are not limited thereto, and no further restrictions are imposed herein.

[0048] like Figure 3 and Figure 4 As shown, this embodiment also provides a map collection device 200, which includes a protective shell 11 and the map collection mechanism 100 for unmanned driving as mentioned above, the map collection mechanism 100 for unmanned driving is arranged in the protective shell 11, and the mounting bracket 3 is located outside the protective shell 11, and the mounting bracket can be fixed on the roof by bolts. The overall length direction of the protective shell 11 is greater than the width direction.

[0049] Exemplarily, the protective shell 11 includes a top cover and a bottom shell, which are buckled together to form a receiving cavity, and the top cover and the bottom shell are fastened together with screws, and the main components of the unmanned driving map collection mechanism 100 are arranged in the receiving cavity.

[0050] Furthermore, the protective shell 11 is provided with a first avoidance hole 1101, a second avoidance hole 1102 and a third avoidance hole 1103, and the head of the laser radar 5 extends out of the first avoidance hole 1101, the head of the GNSS antenna 6 extends out of the second avoidance hole 1102, and the head of the camera module 4 extends out of the third avoidance hole 1103. By adding the first avoidance hole 1101, the second avoidance hole 1102 and the third avoidance hole 1103, it is convenient to expose the heads of the laser radar 5, the GNSS antenna 6 and the camera module 4, and avoid blocking of sight, field of view and signal.

[0051] Specifically, the map collection device 200 in this embodiment has an overall width of no more than 700 mm. The map collection device in this embodiment reduces the overall device size through the good arrangement of internal components to meet the requirements of non-motorized vehicle lane driving and the need to collect road information on non-motorized vehicle lanes.

[0052] like Figure 5 As shown, this embodiment also provides an unmanned vehicle 300, which includes a vehicle body and the above-mentioned map collection device 200, and the map collection device 200 is installed on the roof of the vehicle body. The overall width of the vehicle body does not exceed 1000mm, and it can freely collect maps on non-motorized vehicle lanes.

[0053] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A map collection mechanism for unmanned driving, characterized in that: include: A fixing unit comprises a mounting frame (1) and a first cantilever (2), wherein the mounting frame (1) is provided with the first cantilever (2) at both ends along a first direction, and a mounting bracket (3) for mounting on a vehicle roof is provided at the bottom of the mounting frame (1); The sensor unit comprises a camera module (4), a laser radar (5) and a GNSS antenna (6), wherein the camera module (4) is arranged around the fixing unit, the laser radar (5) is arranged on the mounting frame (1), and each of the first cantilevers (2) is provided with a GNSS antenna (6), one of the GNSS antennas (6) is used for positioning, and the other of the GNSS antennas (6) is used for orientation.

2. The map collection mechanism for unmanned driving according to claim 1, characterized in that: The fixing unit further comprises a mounting platform (7), wherein the mounting platform (7) is vertically arranged on the mounting frame (1), a receiving space is formed between the bottom of the mounting platform (7) and the mounting frame (1), and the laser radar (5) is arranged on the mounting platform (7). The sensor unit further comprises: An inertial measurement module (8), the inertial measurement module (8) being arranged on the mounting frame (1) and located in the accommodating space.

3. The map collection mechanism for unmanned driving according to claim 2, characterized in that: The sensor unit further comprises: 5G antenna (9), two of the 5G antennas (9) are arranged on the mounting frame (1) at intervals and are located on both sides of the laser radar (5), and the GNSS antenna (6), the 5G antenna (9) and the laser radar (5) are all located in the same straight line direction.

4. The map collection mechanism for unmanned driving according to claim 2, characterized in that: The mounting platform (7) is made of non-metallic material.

5. The map collection mechanism for unmanned driving according to claim 1, characterized in that: The fixing unit further comprises a second cantilever (10), and the second cantilever (10) is respectively provided at both ends of the mounting frame (1) along the second direction; the camera module (4) comprises a first camera group (401), a second camera group (402), a third camera group (403) and a fourth camera group (404); the first camera group (401) and the second camera group (402) are respectively arranged on the corresponding first cantilever (2), and the third camera group (403) and the fourth camera group (404) are respectively arranged on the corresponding second cantilever (10).

6. The map collection mechanism for unmanned driving according to claim 5, characterized in that: The length of the first cantilever (2) is greater than the length of the second cantilever (10).

7. A map acquisition device, characterized in that: It comprises a protective shell (11) and a map collection mechanism for unmanned driving as claimed in any one of claims 1 to 6, wherein the map collection mechanism for unmanned driving is arranged in the protective shell (11), and the mounting bracket (3) is located outside the protective shell (11).

8. The map collection device according to claim 7, characterized in that: The protective shell (11) is provided with a first avoidance hole (1101), a second avoidance hole (1102) and a third avoidance hole (1103), and the head of the laser radar (5) extends out of the first avoidance hole (1101), the head of the GNSS antenna (6) extends out of the second avoidance hole (1102), and the head of the camera module (4) extends out of the third avoidance hole (1103).

9. The map collection device according to claim 7, characterized in that: The overall width of the map collection device is no more than 700 mm.

10. An unmanned vehicle, characterized in that: It comprises a vehicle body and a map acquisition device as claimed in claim 7 or 8, wherein the map acquisition device is installed on the roof of the vehicle body.

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