All-element high-precision map acquisition device and map acquisition vehicle

Abstract

The utility model relates to image acquisition equipment technical field provides a kind of full-element high-precision map acquisition equipment and map acquisition vehicle, comprising: first support, with telescopic component, for adjusting front and back length;Second support, set in the bottom of first support, for adjusting height and adsorption fixation;Third support, with the end of first support articulates, for adjusting pitch angle;Data acquisition module, set in the top of third support, for collecting the data required to constitute full-element high-precision map. Map acquisition vehicle includes vehicle chassis and full-element high-precision map acquisition equipment. The utility model contains multiple supports and data acquisition module, wherein first support can be adjusted the mounting position of map acquisition equipment in the length direction of vehicle by telescopic component, second support can adjust height and adsorb fixation to map acquisition equipment whole on vehicle, third support can adjust the pitch angle of map acquisition equipment, convenient to disassemble and assemble, flexible to use.

Description

Technical Field

[0001] This utility model relates to the field of image acquisition equipment technology, and in particular provides a full-element high-precision map acquisition device and a map acquisition vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, existing map information can no longer meet the accuracy requirements of autonomous driving, necessitating higher-precision map data collection. High-precision maps are actually generated by scanning and processing road surface information with greater accuracy. Different driving schemes for different roads and scenarios require the pre-collection of corresponding map data. In urban roads, tunnels, and other conventional open road conditions, map collection vehicles are typically used for data collection.

[0003] In existing technologies, on the one hand, map acquisition equipment is inconvenient to install and remove, so it has long been fixed on vehicles for map data collection, which limits its use; on the other hand, the position and angle of existing map acquisition equipment cannot be adjusted after it is fixed on the vehicle, making it inflexible in use. Utility Model Content

[0004] The purpose of this utility model is to provide a full-element high-precision map acquisition device and a map acquisition vehicle. The map acquisition device and vehicle are easy to install and remove, can be quickly switched to different vehicles, and can be easily adjusted in position and angle after being installed on the vehicle, making it flexible to use.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] This application provides a full-element high-precision map acquisition device, including:

[0007] The first support has a telescopic component for adjusting the front and rear length;

[0008] The second bracket is located at the bottom of the first bracket and is used for height adjustment and adsorption fixation;

[0009] The third support is hinged to the end of the first support and is used to adjust the pitch angle;

[0010] The data acquisition module, located on top of the third support, is used to collect the data required to construct a full-feature high-precision map.

[0011] Furthermore, the first bracket includes a fixed rod and a sliding rod that are sleeved together to form a telescopic assembly. The end of the fixed rod is provided with an adjusting block and is connected to the second bracket through the adjusting block. The end of the sliding rod is provided with a rotating shaft and is rotatably connected to the second bracket through the rotating shaft.

[0012] Furthermore, the second bracket includes a first leg connected to the adjusting block and a second leg connected to the rotating shaft, with the other ends of the first leg and the second leg respectively connected to the suction cup assembly.

[0013] Furthermore, the third bracket includes a support arm hinged to the fixed rod, and the other end of the support arm is hinged to a support platform, with the data acquisition module installed on the upper end of the support platform.

[0014] Furthermore, the data acquisition module includes:

[0015] Base;

[0016] The U-shaped mounting bracket has a U-shaped groove and is located at the upper end of the base;

[0017] The first radar is located below one side of the U-shaped mounting bracket;

[0018] The first camera is mounted on one side of the U-shaped mounting bracket and located above the first radar;

[0019] The second radar is installed in the U-shaped groove in the middle of the U-shaped mounting bracket;

[0020] The second camera is located on one side of the top of the U-shaped mounting bracket;

[0021] The third camera is located on the other side of the top of the U-shaped mounting bracket;

[0022] The antenna is mounted on top of the U-shaped mounting bracket;

[0023] The processing unit is located inside the U-shaped mounting bracket.

[0024] Furthermore, the first and second radars are multi-line lidar, the first and third cameras are target recognition cameras, and the second camera is a 360° panoramic camera.

[0025] Furthermore, the U-shaped mounting bracket includes an integrally formed first horizontal plate, a vertical plate, and a second horizontal plate. The end of the first horizontal plate away from the vertical plate is pointed. A camera mounting bracket is provided on the side with the pointed corner facing upward, and a radar mounting bracket is provided on the side with the pointed corner facing downward. A camera mounting plate is also provided on the side of the second horizontal plate away from the camera mounting bracket.

[0026] Furthermore, the camera mounting bracket is L-shaped, and the first camera is mounted on the end of the camera mounting bracket away from the first horizontal plate.

[0027] Furthermore, the angle between the radar mounting bracket and the first horizontal plate is 45°, and the first radar is mounted on the radar mounting bracket.

[0028] Furthermore, the U-shaped mounting bracket has an internal accommodating space, and the processing unit is built into the accommodating space. The processing unit includes an IMU inertial navigation measurement unit, a DC-DC converter, and a circuit board.

[0029] This application also provides a map acquisition vehicle, including a vehicle chassis, and also includes the full-element high-precision map acquisition equipment as described above.

[0030] The beneficial effects of this utility model are:

[0031] The high-precision map acquisition device for all elements provided by this utility model includes multiple brackets and a data acquisition module. The first bracket can adjust the installation position of the map acquisition device along the length of the vehicle through a telescopic component. The second bracket can adjust the height and magnetically fix the entire map acquisition device to the vehicle. The third bracket can adjust the pitch angle of the map acquisition device, making it easy to assemble and disassemble and flexible to use. The data acquisition module integrates multiple radars, cameras, antennas, processing units, and other modules. It acquires point cloud data through radar, image data through cameras, and GPS positioning signals through antennas, meeting users' needs for all-element data acquisition.

[0032] The map data collection vehicle provided by this utility model can collect map data on urban roads or wide areas by fixing the above-mentioned full-element high-precision map data collection equipment to different types of vehicle chassis. It is flexible in use and highly versatile. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure of a full-element high-precision map acquisition device in one embodiment;

[0035] Figure 2 for Figure 1 Side view;

[0036] Figure 3 This is a schematic diagram of the assembly of the first support, the second support, and the third support;

[0037] Figure 4 This is a schematic diagram of the data acquisition module.

[0038] Figure 5 for Figure 4 A structural diagram from another perspective;

[0039] Figure 6 for Figure 4 Side view;

[0040] Figure 7 This is a structural diagram of the U-shaped mounting bracket;

[0041] The following are the labeling elements in the figure:

[0042] 1. First bracket; 2. Second bracket; 3. Third bracket; 4. Data acquisition module; 11. Fixed rod; 12. Sliding rod; 13. Adjusting block; 14. Fixed knob; 15. Rotating shaft; 21. Suction cup assembly; 22. First leg; 23. Second leg; 31. Support arm; 32. Support platform; 41. Base; 42. U-shaped mounting bracket; 43. First radar; 44. First camera; 45. Second radar; 46. Second camera; 47. Third camera; 48. Antenna; 49. Processing unit; 421. First horizontal plate; 422. Vertical plate; 423. Second horizontal plate; 424. Camera mounting bracket; 425. Radar mounting bracket; 426. Camera mounting plate. Detailed Implementation

[0043] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0044] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] Please refer to Figures 1 to 2 This application provides a full-element high-precision map acquisition device, mainly fixed on a vehicle for acquiring full-element high-precision map data. It mainly includes a first support 1, a second support 2, a third support 3, and a data acquisition module 4. The first support 1 has a telescopic component for adjusting its front-to-back length. The second support 2 is located at the bottom of the first support 1 for height adjustment and magnetic fixation. The third support 3 is hinged to the end of the first support 1 for adjusting its pitch angle. The data acquisition module 4 is located at the top of the third support 3 for acquiring the data required to construct the full-element high-precision map.

[0048] The full-element high-precision map acquisition device provided in this application embodiment includes multiple brackets and a data acquisition module. The first bracket can adjust the installation position of the map acquisition device along the length of the vehicle through a telescopic component. The second bracket can adjust the height and magnetically fix the entire map acquisition device to the vehicle. The third bracket can adjust the pitch angle of the map acquisition device, making it easy to assemble and disassemble and flexible to use. The data acquisition module integrates multiple radars, cameras, antennas, processing units, and other modules. It acquires point cloud data through radar, image data through cameras, and GPS positioning signals through antennas, meeting the user's needs for full-element data acquisition.

[0049] In one embodiment, such as Figure 3 As shown, the first bracket 1 includes a fixed rod 11 and a sliding rod 12 that are nested together to form a telescopic assembly. The sliding rod 12 can slide within the fixed rod 11. When it slides to the desired position, it can be locked with bolts to achieve overall length adjustment. The end of the fixed rod 11 is provided with an adjustment block 13, which is connected to the second bracket 2 through the adjustment block 13 and a fixing knob 14. The adjustment block 13 is provided with an adjustment groove, and the fixed angle of the adjustment block 13 can be adjusted through the adjustment groove. The end of the sliding rod 12 is provided with a rotating shaft 15, which is rotatably connected to the second bracket 2. At this time, one end of the sliding rod 12 can rotate relative to the rotating shaft 15 to adapt to the height adjustment of the other end of the fixed rod 11, which is convenient for adjustment.

[0050] In one embodiment, such as Figure 3 As shown, the second bracket 2 includes a first leg 22 connected to the adjusting block 13 and a second leg 23 connected to the rotating shaft 15. The first leg 22 is fixedly connected to the adjusting block 13 by bolts. The tilt angle of the first leg 22 is adjusted by adjusting the fixed angle of the adjusting block 13, thereby adjusting the height of the data acquisition module 4. The second leg 23 is fixedly connected to the rotating shaft 15. The other ends of the first leg 22 and the second leg 23 are respectively connected to the suction cup assembly 21. In this embodiment, the suction cup assembly 21 is a vacuum suction cup with strong suction. When it needs to be fixed to the vehicle, the embodiment of this application is fixed by vacuuming. When it needs to be disassembled, it is only necessary to open the air inlet. Disassembly and assembly are very convenient. In other embodiments, strong adhesive can also be used for fixing, which is suitable for uneven fixing surfaces.

[0051] In one embodiment, such as Figure 3 As shown, the third bracket 3 includes a support arm 31 hinged to the fixed rod 11, and the other end of the support arm 31 is hinged to a support platform 32. The data acquisition module 4 is installed on the upper end of the support platform 32. It should be noted that an adjustment groove is also provided at the connection between the support arm 31 and the fixed rod 11, through which the pitch angle of the support arm 31 can be adjusted. The angle between the support arm 31 and the fixed rod 11 can be adjusted within the range of 30° to 60°. The angle of the support platform 32 relative to the support arm 31 is also adjustable, realizing the adjustment of the installation angle of the data acquisition module 4. The multi-joint adjustment is flexible and convenient.

[0052] In one embodiment, such as Figures 4 to 6 As shown, the data acquisition module includes a base 41, a U-shaped mounting bracket 42, a first radar 43, a first camera 44, a second radar 45, a second camera 46, a third camera 47, an antenna 48, and a processing unit 49. The base 41 has fixing holes and can be fixedly connected to the support platform 32 by bolts or fasteners. The U-shaped mounting bracket 42 has a U-shaped groove and is located at the upper end of the base 41. The first radar 43 is located below one side of the U-shaped mounting bracket 42. The first camera 44 is located on one side of the U-shaped mounting bracket 42 and above the first radar 43. The second radar 45 is located in the U-shaped groove in the middle of the U-shaped mounting bracket 42. The second camera 46 is located on one side of the top of the U-shaped mounting bracket 42. The third camera 47 is located on the other side of the top of the U-shaped mounting bracket 42. The antenna 48 is located at the top of the U-shaped mounting bracket 42. The processing unit 49 is located inside the U-shaped mounting bracket 42 and serves as the core processing part of the overall device.

[0053] In one embodiment, the first radar 43 and the second radar 45 are multi-line lidar, such as 64-line or 128-line lidar. They can be the same or different as needed. They are mainly used to read three-dimensional data of the surrounding environment. The two are installed at different heights and angles to complement each other and avoid missing data acquisition. The first camera 44 and the third camera 47 are target recognition cameras, which are used to read environmental data in front and behind, respectively. The second camera 46 is a 360° panoramic camera to realize all-round environmental data reading from both sides. In other embodiments, a surround-view camera system composed of multiple cameras and evenly arranged can also be used.

[0054] More specifically, such as Figure 7 As shown, the U-shaped mounting bracket 42 includes an integrally formed first horizontal plate 421, a vertical plate 422, and a second horizontal plate 423. The end of the first horizontal plate 421 away from the vertical plate 422 is pointed. A camera mounting bracket 424 is provided on the side with the pointed corner facing upward, and a radar mounting bracket 425 is provided on the side with the pointed corner facing downward. A camera mounting plate 426 is also provided on the side of the second horizontal plate 423 away from the camera mounting bracket 424. It should be noted that all parts of the U-shaped mounting bracket 42 are made of metal to ensure the overall rigidity of the equipment and the stability of the installation of each camera and radar.

[0055] In one embodiment, the length of the second horizontal plate 423 is less than the length of the first horizontal plate 421, so as to stagger the installation positions of each camera and radar, which not only facilitates installation but also enables more comprehensive data acquisition.

[0056] More specifically, the camera mounting bracket 424 is L-shaped, and the first camera 44 is mounted on the end of the camera mounting bracket 424 away from the first horizontal plate 421, with the lens of the first camera 44 facing directly in front of the entire device.

[0057] More specifically, the angle between the radar mounting bracket 425 and the first horizontal plate 421 is 45°. The first radar 43 is mounted on the radar mounting bracket 425, while the second radar 45 is mounted directly above the first horizontal plate 421. Therefore, the first radar 43 and the second radar 45 form a 45° angle, enabling cross-reading of data.

[0058] In one embodiment, the U-shaped mounting bracket 42 has an internal accommodating space, and the processing unit 49 is built into the accommodating space. The processing unit 49 includes an IMU inertial measurement unit, a DC-DC converter, a circuit board, etc. It should be noted that the components of the processing unit are mainly used to collect and process the data collected by each unit, and existing products are used, which will not be described in detail here. A through hole is opened at the bottom of the first horizontal plate 421, and the connection wires of the above modules are connected to the vehicle's power supply through the through hole.

[0059] In practical use, after assembling this embodiment, find a suitable and flat position on the roof or front of the vehicle. Adjust the relative distance between the front and rear suction cup assemblies 21 using the fixing rod 11 and the sliding rod 12. Then fix this embodiment to the vehicle using the suction cup assemblies 21. Adjust the relative distance between the two front suction cup assemblies 21 as needed using the adjusting block 13. Adjust the pitch angle of the data acquisition module 4 using the support arm 31. After installation and adjustment, connect the vehicle power supply to start collecting full-element high-precision maps.

[0060] This application also provides a map data collection vehicle, including a vehicle chassis and a full-element high-precision map data collection device as described above. The full-element high-precision map data collection device is detachably installed on the top of the vehicle chassis and is suitable for map data collection on urban roads or wide areas. When it is necessary to change vehicles, it can be completed with simple operations, and the installation and disassembly are quick and convenient.

[0061] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A high-precision map acquisition device with all elements, characterized in that, include: The first support (1) has a telescopic component for adjusting the front and rear length; The second support (2) is set at the bottom of the first support (1) and is used for height adjustment and adsorption fixation; The third support (3) is hinged to the end of the first support (1) and is used to adjust the pitch angle; The data acquisition module (4) is set on top of the third support (3) and is used to collect the data required to construct a full-feature high-precision map.

2. The high-precision map acquisition device with all elements according to claim 1, characterized in that, The first bracket (1) includes a fixed rod (11) and a sliding rod (12) that are sleeved together to form a telescopic assembly. The fixed rod (11) is provided with an adjusting block (13) at its end and is connected to the second bracket (2) through the adjusting block (13). The sliding rod (12) is provided with a rotating shaft (15) at its end and is rotatably connected to the second bracket (2) through the rotating shaft (15).

3. The high-precision map acquisition device with all elements according to claim 2, characterized in that, The second bracket (2) includes a first leg (22) connected to the adjustment block (13) and a second leg (23) connected to the rotating shaft (15), with the other ends of the first leg (22) and the second leg (23) respectively connected to the suction cup assembly (21).

4. The high-precision map acquisition device with all elements according to claim 3, characterized in that, The third bracket (3) includes a support arm (31) hinged to the fixed rod (11), and the other end of the support arm (31) is hinged to a support platform (32). The data acquisition module (4) is installed on the upper end of the support platform (32).

5. The full-element high-precision map acquisition device according to claim 4, characterized in that, The data acquisition module includes: Base (41); A U-shaped mounting bracket (42) having a U-shaped groove is disposed at the upper end of the base (41); The first radar (43) is located below one side of the U-shaped mounting bracket (42); The first camera (44) is disposed on one side of the U-shaped mounting bracket (42) and located above the first radar (43); The second radar (45) is installed in the U-shaped groove in the middle of the U-shaped mounting bracket (42); The second camera (46) is disposed on one side of the top of the U-shaped mounting bracket (42); A third camera (47) is located on the other side of the top of the U-shaped mounting bracket (42); Antenna (48) is disposed on top of the U-shaped mounting bracket (42); The processing unit (49) is disposed inside the U-shaped mounting bracket (42).

6. The high-precision map acquisition device for all elements according to claim 5, characterized in that, The first radar (43) and the second radar (45) are multi-line lidar, the first camera (44) and the third camera (47) are target recognition cameras, and the second camera (46) is a 360° panoramic camera.

7. A full-element high-precision map acquisition device according to claim 6, characterized in that, The U-shaped mounting bracket (42) includes an integrally formed first horizontal plate (421), a vertical plate (422), and a second horizontal plate (423). The first horizontal plate (421) has a pointed end away from the vertical plate (422). A camera mounting bracket (424) is provided on the side with the pointed end facing upward, and a radar mounting bracket (425) is provided on the side with the pointed end facing downward. A camera mounting plate (426) is also provided on the side of the second horizontal plate (423) away from the camera mounting bracket (424).

8. The high-precision map acquisition device with all elements according to claim 7, characterized in that, The camera mounting bracket (424) is L-shaped, and the first camera (44) is mounted on the end of the camera mounting bracket (424) away from the first horizontal plate (421).

9. A full-element high-precision map acquisition device according to claim 8, characterized in that, The angle between the radar mounting bracket (425) and the first horizontal plate (421) is 45°, and the first radar (43) is mounted on the radar mounting bracket (425).

10. A full-element high-precision map acquisition device according to any one of claims 5 to 9, characterized in that, The U-shaped mounting bracket (42) has an internal accommodating space, and the processing unit (49) is built into the accommodating space. The processing unit (49) includes an IMU inertial navigation measurement unit, a DC-DC converter, and a circuit board.

11. A map data collection vehicle, comprising a vehicle chassis, characterized in that, It also includes the full-element high-precision map acquisition device as described in any one of claims 1 to 10.

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