Portable laser radar measuring platform

Abstract

The utility model discloses a portable laser radar measuring platform, which comprises a sensor assembly and a mounting assembly, the sensor assembly comprises a plurality of sensors, the mounting assembly is arranged below the sensor assembly, the mounting assembly comprises a cross rod and a plurality of first mounting seats, and the cross rod is provided with a plurality of second mounting seats. The plurality of sensors are respectively arranged on the plurality of first mounting seats, and the first mounting seats are movably arranged on the cross rod so as to adjust the distance between two adjacent sensors. According to the portable laser radar measuring platform, the adjustable mounting assembly is arranged, so that the portable laser radar measuring platform can be correspondingly adjusted in different use environments, and the application range of the portable laser radar measuring platform is further widened.

Description

Technical Field

[0001] This utility model relates to the field of autonomous driving technology, and in particular to a portable lidar measurement platform. Background Technology

[0002] Mobile measurement system platforms are commonly used in fields such as urban planning, autonomous driving, and topographic mapping, employing multi-sensor systems to achieve efficient spatial data acquisition. The most common existing technology is the vehicle-mounted mobile measurement platform, which consists of various sensors such as LiDAR, inertial measurement unit (IMU), and GPS antenna. These sensors are rigidly fixed to the vehicle body and connected to a central data processing unit via cables.

[0003] In related technologies, due to different applicable environments, fixed vehicle-mounted mobile measurement platforms cannot be adjusted accordingly, thus limiting their applicable scope. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a portable lidar measurement platform. By setting adjustable mounting components, the portable lidar measurement platform can be adjusted accordingly in different usage environments, thereby improving the applicability of the portable lidar measurement platform.

[0005] A portable lidar measurement platform according to an embodiment of the present invention includes: a sensor assembly and a mounting assembly. The sensor assembly includes a plurality of sensors. The mounting assembly is disposed below the sensor assembly. The mounting assembly includes: a crossbar and a plurality of first mounting seats. The plurality of sensors are respectively disposed on the plurality of first mounting seats. The first mounting seats are movably disposed on the crossbar to adjust the distance between two adjacent sensors.

[0006] According to the embodiments of the present invention, the portable lidar measurement platform is equipped with adjustable mounting components, thereby enabling the portable lidar measurement platform to be adjusted accordingly in different usage environments, thus improving the applicability of the portable lidar measurement platform.

[0007] According to some embodiments of the present invention, the crossbar includes: a first rod body and two second rod bodies, the two second rod bodies are disposed at both ends of the first rod body, at least two first mounting seats are respectively disposed on the two second rod bodies, and the exposed length of the two second rod bodies relative to the first rod body is adjustable.

[0008] According to some embodiments of the present invention, a first sliding part is provided on the first rod body, and a second sliding part is provided on the second rod body, wherein the first sliding part and the second sliding part are slidably engaged; wherein the first sliding part is provided on the inner wall or outer wall of the first rod body.

[0009] According to some embodiments of the present invention, one of the first rod and the second rod is provided with a plurality of first locking parts, and the other of the first rod and the second rod is provided with a second locking part, wherein the second locking part engages with any one of the first locking parts.

[0010] According to some embodiments of the present invention, the first mounting base includes: a first base body, a connecting rod, and a second base body, wherein the connecting rod is connected between the first base body and the second base body, the first base body is used for fixed connection with the crossbar, and the second base body is used for fixed connection with the sensor.

[0011] According to some embodiments of the present invention, a mounting portion is provided below the crossbar for connecting to a handheld handle; and a second mounting seat is provided below the crossbar for connecting to a mobile platform.

[0012] According to some embodiments of the present invention, the plurality of sensors include: a lidar, an inertial measurement unit, and a global navigation satellite system, wherein the lidar and the inertial measurement unit are integrated, and the global navigation satellite system is disposed on at least one side of the lidar and the inertial measurement unit.

[0013] According to some embodiments of this utility model, there are at least two global navigation satellite systems, and the at least two global navigation satellite systems are respectively arranged on both sides of the lidar and the inertial measurement unit.

[0014] According to some embodiments of the present invention, the portable lidar measurement platform further includes a controller, which is electrically connected to the lidar, the inertial measurement unit, and the global navigation satellite system. The controller is configured to combine historical observations of the global navigation satellite system with the current states of the lidar and the inertial measurement unit in a signal-limited area of ​​the global navigation satellite system using a factor graph optimization method.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a top view of a portable lidar measurement platform according to an embodiment of the present utility model;

[0018] Figure 2 This is a side view of a portable lidar measurement platform according to an embodiment of the present invention.

[0019] Figure label:

[0020] 100. Portable lidar measurement platform;

[0021] 10. Sensor assembly; 11. Sensor;

[0022] 20. Mounting component; 21. Crossbar; 22. Second mounting base; 23. First mounting base; 231. First seat body; 232. Connecting rod; 233. Second seat body. Detailed Implementation

[0023] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0024] The following is for reference. Figures 1-2 A portable lidar measurement platform 100 according to an embodiment of the present invention is described.

[0025] The portable lidar measurement platform 100 of this utility model embodiment includes a sensor assembly 10 and a mounting assembly 20. The sensor assembly 10 includes a plurality of sensors 11, and the mounting assembly 20 is disposed below the sensor assembly 10. That is, the mounting assembly 20 disposed below the sensor assembly 10 can provide mounting points for the sensor assembly 10, thereby facilitating the installation and fixation of the plurality of sensors 11.

[0026] Specifically, the mounting assembly 20 includes a crossbar 21 and a plurality of first mounting seats 23. A plurality of sensors 11 are respectively mounted on the plurality of first mounting seats 23. The first mounting seats 23 are movably mounted on the crossbar 21 to adjust the distance between adjacent sensors 11. This configuration, by movably mounting the first mounting seats 23 on the crossbar 21, allows the distance between adjacent sensors 11 to be adjusted according to the usage environment.

[0027] For example, when the portable lidar measurement platform 100 is mounted on a wide vehicle such as a truck, the multiple sensors 11 can be arranged to be more sparse. Alternatively, when the portable lidar measurement platform 100 is handheld, the multiple sensors 11 can be arranged to be more densely to facilitate movement and avoid interference.

[0028] Furthermore, the first mounting base 23 and the crossbar 21 can be adjusted by means of an adjustable structure, allowing the mounting base to move on the crossbar 21. That is, the first mounting base 23 can be provided with an adjustable buckle, and the crossbar 21 can be provided with a slot, and the buckle can be engaged in any position in the slot, thereby achieving the adjustability of the first mounting base 23 through the mutual cooperation of the buckle and the slot.

[0029] Therefore, by setting the adjustable mounting components 20, the portable lidar measurement platform 100 can be adjusted accordingly in different usage environments, thereby improving the applicability of the portable lidar measurement platform 100.

[0030] The crossbar 21 includes a first rod and two second rods. The two second rods are located at both ends of the first rod, and at least two first mounting seats 23 are respectively mounted on the two second rods. The exposed length of the two second rods relative to the first rod is adjustable. In other words, adjustable-length second rods are provided at both ends of the first rod, allowing adjustment of the total length of the crossbar 21 and facilitating the adaptation of the portable LiDAR measurement platform 100 to different mounting platforms. For example, if the portable LiDAR measurement platform 100 is mounted on a wide vehicle such as a truck, the overall length of the crossbar 21 can be slightly longer, meaning the multiple sensors 11 can be spaced further apart. Alternatively, if the portable LiDAR measurement platform 100 is handheld, to facilitate movement and avoid interference, the overall length of the crossbar 21 can be slightly shorter, meaning the multiple sensors 11 can be spaced further together.

[0031] Furthermore, the first rod has a first sliding part, and the second rod has a second sliding part, with the first and second sliding parts slidingly engaged. That is, the second rod and the first rod are slidably engaged through the first and second sliding parts, thereby making the second rod adjustable relative to the first rod.

[0032] For example, when the portable lidar measurement platform 100 is mounted on a wide vehicle such as a truck, the second rod can be made slightly longer than the first rod by sliding the first and second sliding parts together, allowing the multiple sensors 11 to be spaced further apart. Alternatively, when the portable lidar measurement platform 100 is handheld, to facilitate movement and avoid interference, the second rod can be made slightly shorter than the first rod by sliding the first and second sliding parts together, allowing the multiple sensors 11 to be spaced further apart.

[0033] Specifically, the first sliding part can be one of a slide rail and a slide groove, and the second sliding part can be the other of a slide groove and a slide rail, with the slide rail and slide groove slidingly engaged.

[0034] The first sliding part is disposed on the inner or outer wall of the first rod. That is, the sliding relationship between the first and second rods can be either nested together or parallel. For example, when the first sliding part is disposed on the inner wall of the first rod, the first rod is nested on the outer side of the second rod, and the first rod can slide within the first rod during adjustment. Alternatively, when the first sliding part is disposed on the outer wall of the first rod, the first and second rods are parallel.

[0035] Furthermore, one of the first and second rods is provided with multiple first engaging portions, and the other of the first and second rods is provided with a second engaging portion. The second engaging portion engages with any one of the first engaging portions. That is, the first and second rods can be fixed to each other through the engagement of the first and second engaging portions. Moreover, by engaging the second engaging portion with any one of the multiple first engaging portions, the second rod can be adjusted relative to the first rod.

[0036] Specifically, the first locking part can be a groove, and there can be multiple grooves; the second locking part is a paddle that can be popped up or retracted, that is, the paddle can cooperate with any one of the grooves.

[0037] The first mounting base 23 includes a first base body 231, a connecting rod 232, and a second base body 233. The connecting rod 232 connects the first base body 231 and the second base body 233. The first base body 231 is used for fixed connection with the crossbar 21, and the second base body 233 is used for fixed connection with the sensor 11. In other words, the first mounting base 23 is composed of the interconnected first base body 231, connecting rod 232, and second base body 233. The connecting rod 232 can be used to lift the first mounting base 23, thereby giving the first mounting base 23 a higher dimension in the axial direction, which is beneficial to improving the sensing range of the sensor 11.

[0038] Furthermore, a mounting part is provided at the bottom of the crossbar 21 for connecting to the handheld lever. In other words, the mounting part for connecting to the handheld lever is provided at the bottom of the crossbar 21, so that the portable lidar measurement platform 100 can be fixedly connected to the handheld lever through the mounting part when held by the user.

[0039] Furthermore, a second mounting base 22 is provided below the crossbar 21, which is used to connect to the mobile platform. Thus, by providing the second mounting base 22 below the crossbar 21, the portable lidar measurement platform 100 can be fixedly connected to the mobile platform via the second mounting base 22. Multiple second mounting bases 22 can be provided.

[0040] The multiple sensors 11 include: a lidar, an inertial measurement unit, and a global navigation satellite system, wherein the lidar and the inertial measurement unit are integrated into one unit, and the global navigation satellite system is located on at least one side of the lidar and the inertial measurement unit.

[0041] Among them, various sensors such as LiDAR, inertial measurement unit (IMU), and global navigation satellite system are rigidly fixed to the mounting platform or handheld stick and connected to the central data processing unit via cables. The system's workflow is as follows:

[0042] Positioning: The inertial measurement unit and global navigation satellite system are used to provide position and attitude information of the measurement platform.

[0043] Data Acquisition: LiDAR is used to scan the surrounding environment and acquire point cloud data in three-dimensional space.

[0044] Data processing: The central data processing unit merges the collected data to generate a geospatial model.

[0045] Among them, there are at least two global navigation satellite systems, with each of the at least two global navigation satellite systems set on either side of the lidar and inertial measurement unit.

[0046] The portable lidar measurement platform 100 also includes a controller, which is electrically connected to the lidar, inertial measurement unit, and global navigation satellite system (GNSS). The controller is configured to combine historical observations from the GNSS with the current state of the lidar and inertial measurement unit in GNSS signal-limited areas using a factor graph optimization method. In other words, by employing tight coupling fusion of LiDAR, GNSS, and IMU sensors 11, combined with factor graph optimization, the platform improves attitude estimation accuracy in GNSS signal-limited areas by integrating historical observations with the current system state.

[0047] Furthermore, the controller is also configured for data management based on the LAS standard, that is, to store and organize point cloud data using the LAS standard, and to achieve efficient data access and processing by using specific spatial indexing and retrieval methods, thus solving the processing problem caused by the large amount of data.

[0048] Furthermore, the controller is also configured as a time synchronization scheme for the sensors 11. Through the timestamp synchronization mechanism, the sampling time of multiple sensors 11 is unified, and external parameter calibration is used to ensure that the data of each sensor 11 can be fused under a unified spatial reference, thus solving the data synchronization problem.

[0049] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0051] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A portable lidar measurement platform, characterized in that, include: Sensor assembly, the sensor assembly including a plurality of sensors; The mounting assembly is disposed below the sensor assembly. The mounting assembly includes a crossbar and a plurality of first mounting seats. The plurality of sensors are respectively disposed on the plurality of first mounting seats. The first mounting seats are movably disposed on the crossbar to adjust the distance between two adjacent sensors.

2. The portable lidar measurement platform according to claim 1, characterized in that, The crossbar includes: a first rod body and two second rod bodies, the two second rod bodies are disposed at both ends of the first rod body, at least two first mounting seats are respectively disposed on the two second rod bodies, and the exposed length of the two second rod bodies relative to the first rod body is adjustable.

3. The portable lidar measurement platform according to claim 2, characterized in that, The first rod body is provided with a first sliding part, and the second rod body is provided with a second sliding part, and the first sliding part and the second sliding part are slidably engaged; The first sliding part is disposed on the inner wall or outer wall of the first rod.

4. The portable lidar measurement platform according to claim 2, characterized in that, One of the first rod and the second rod is provided with a plurality of first locking parts, and the other of the first rod and the second rod is provided with a second locking part, which engages with any one of the first locking parts.

5. The portable lidar measurement platform according to claim 2, characterized in that, The first mounting base includes: a first base body, a connecting rod, and a second base body. The connecting rod is connected between the first base body and the second base body. The first base body is used to be fixedly connected to the crossbar, and the second base body is used to be fixedly connected to the sensor.

6. The portable lidar measurement platform according to claim 2, characterized in that, A mounting portion is provided below the crossbar, the mounting portion being used to connect to a handheld handle; and, A second mounting base is provided below the crossbar, which is used to connect to the mobile platform.

7. The portable lidar measurement platform according to claim 1, characterized in that, The plurality of sensors include: a lidar, an inertial measurement unit, and a global navigation satellite system, wherein the lidar and the inertial measurement unit are integrated into one unit, and the global navigation satellite system is disposed on at least one side of the lidar and the inertial measurement unit.

8. The portable lidar measurement platform according to claim 7, characterized in that, The global navigation satellite system comprises at least two systems, which are respectively positioned on either side of the lidar and the inertial measurement unit.

9. The portable lidar measurement platform according to claim 7, characterized in that, Also includes: A controller, electrically connected to the lidar, the inertial measurement unit, and the global navigation satellite system, is configured to combine historical observations of the global navigation satellite system with the current states of the lidar and the inertial measurement unit using a factor graph optimization method in areas where the global navigation satellite system signal is restricted.

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