CN113313945A - Intelligent network system and method for self-adaptive attitude adjustment based on sensor data - Google Patents
Intelligent network system and method for self-adaptive attitude adjustment based on sensor data Download PDFInfo
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- CN113313945A CN113313945A CN202110602870.6A CN202110602870A CN113313945A CN 113313945 A CN113313945 A CN 113313945A CN 202110602870 A CN202110602870 A CN 202110602870A CN 113313945 A CN113313945 A CN 113313945A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The invention provides an intelligent network system and a method for carrying out posture self-adaptive adjustment based on sensor data, which comprises the following steps: a data acquisition module: acquiring position and speed information of a target and real-time image information of the target, and sending the position and speed information and the real-time image information to a data processing module; a communication module: sending the attitude control command to the intelligent holder, receiving the real-time angle information and IMU data returned by the intelligent holder and sending the real-time angle information and IMU data to the data processing module; a data processing module: the data sent by the data acquisition module and the communication module are received, the coordinate transformation of the original data of the sensor and the correction of data distortion are realized through a preset algorithm, and the intelligent cloud platform is controlled to adjust the angle of the current sensor. According to the invention, the data processing unit is adopted to adjust the image in real time, so that the precision and accuracy of the sensing data acquired by the intelligent network connection system are effectively improved.
Description
Technical Field
The invention relates to the technical field of data intelligence, in particular to an intelligent network system and method for carrying out posture self-adaptive adjustment based on sensor data.
Background
The intelligent network system is an intelligent system applied to road side units to monitor road side traffic data in real time. The system has higher requirement on the accuracy of the posture. At present, the posture of the intelligent networking equipment is mainly adjusted by a sensor arranged on the intelligent networking equipment. Meanwhile, the common intelligent networking equipment does not have the function of receiving real-time execution angle information fed back by the holder. The intelligent networking equipment applied to vehicle-road cooperation has high requirements on attitude stability and transmission delay, and real-time attitude information acquired by the sensor needs to be processed in real time. The current intelligent networking devices cannot meet the requirements in the field.
Patent document CN111405187A (application number: CN202010300537.5) discloses an image anti-shake method, system, device and storage medium for monitoring equipment, which estimates the translational shake amount of an image in a pixel coordinate system by means of scale-invariant feature transformation, and combines the shake amount detected by MEMS to accurately supplement the shake amount. However, the invention does not consider the stability factor of the intelligent networking device, and the method is not suitable for the intelligent device fixed at a certain position. Meanwhile, in a special environment, the intelligent network connection equipment has limited capability of recovering unintended movement, and cannot meet actual requirements.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide an intelligent network system and method for performing posture adaptive adjustment based on sensor data.
The intelligent networking system for self-adaptive attitude adjustment based on sensor data provided by the invention comprises the following modules:
a data acquisition module: acquiring position and speed information of a target and real-time image information of the target, and sending the position and speed information and the real-time image information to a data processing module;
a communication module: sending the attitude control command to the intelligent holder, receiving the real-time angle information and IMU data returned by the intelligent holder and sending the real-time angle information and IMU data to the data processing module;
a data processing module: the data sent by the data acquisition module and the communication module are received, the coordinate transformation of the original data of the sensor and the correction of data distortion are realized through a preset algorithm, and the intelligent cloud platform is controlled to adjust the angle of the current sensor.
Preferably, the algorithm comprises:
coordinate transformation algorithm: a sensor observes position information under a coordinate system, namely a rotation translation matrix which is position information under a world coordinate system (ENU);
and (3) an aberration correction algorithm: position information in a sensor coordinate system is a rotation translation matrix which is corrected position information;
and obtaining a rotation and translation matrix based on the attitude angle acquired from the intelligent holder.
Preferably, the data acquisition module comprises a laser radar, a millimeter wave radar and a camera;
the laser radar is used for collecting position information of a target;
the millimeter wave radar is used for acquiring the position and speed information of a target;
the camera is used for collecting current real-time image information.
Preferably, the data processing module sends an angle control command to the intelligent holder through the communication module so as to adjust the angle of the sensor;
the data processing module judges whether the original data are normal or not through the data returned by the intelligent holder and the data sent by the data acquisition module;
and if the actually acquired data exceeds the range of the sensor, determining that the data is abnormal, carrying out communication transmission on normal data, and sending a restart instruction to the abnormal data to restart the sensor.
Preferably, the data processing module sends the sensor data after coordinate transformation and distortion data correction to a back-end user through the communication module.
The method for self-adaptive attitude adjustment based on sensor data provided by the invention comprises the following steps:
a data acquisition step: acquiring position and speed information of a target and real-time image information of the target;
communication step: sending the attitude control command to the intelligent cloud deck, and receiving real-time angle information and IMU data returned by the intelligent cloud deck;
and (3) data processing: and receiving data sent in the data acquisition step and the communication step, realizing coordinate transformation and data distortion correction of the original data of the sensor through a preset algorithm, and controlling the intelligent cloud platform to adjust the angle of the current sensor.
Preferably, the algorithm comprises:
coordinate transformation algorithm: a sensor observes position information under a coordinate system, namely a rotation translation matrix which is position information under a world coordinate system (ENU);
and (3) an aberration correction algorithm: position information in a sensor coordinate system is a rotation translation matrix which is corrected position information;
and obtaining a rotation and translation matrix based on the attitude angle acquired from the intelligent holder.
Preferably, a laser radar, a millimeter wave radar and a camera are used for data acquisition;
the laser radar is used for collecting position information of a target;
the millimeter wave radar is used for acquiring the position and speed information of a target;
the camera is used for collecting current real-time image information.
Preferably, the data processing step includes: sending an angle control command to the intelligent holder to adjust the angle of the sensor;
judging whether the original data is normal or not according to the data returned by the intelligent holder and the collected data;
and if the actually acquired data exceeds the range of the sensor, determining that the data is abnormal, carrying out communication transmission on normal data, and sending a restart instruction to the abnormal data to restart the sensor.
Preferably, the sensor data after the coordinate transformation and the distortion data correction is transmitted to a back-end user.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, the remote attitude adjustment between the intelligent network system and the intelligent cloud deck is realized by adopting the remote communication transmission of the target data of the plurality of sensing sensors;
(2) according to the invention, by adopting the real-time adjusting system of the intelligent cradle head, the function of automatic regression when the detection angle of the networking sensor is interfered by the external environment is realized;
(3) according to the invention, the real-time angle information and IMU data are fed back by the intelligent cradle head, so that the data processing unit can obtain the result of the target attitude executed by the cradle head in real time;
(4) the data processing unit is adopted to process the data fed back by the holder, so that the coordinate transformation of the original data of the sensor and the correction of the data distortion are realized by the data processing unit;
(5) according to the invention, the data processing unit is adopted to adjust the image in real time, so that the precision and accuracy of the sensing data acquired by the intelligent network connection system are effectively improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of an adaptive adjustment system of a networking sensor;
fig. 2 is a flow chart of the network connection device.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
as shown in fig. 1, the present invention provides a system for adaptively adjusting sensing sensor data and attitude at an intelligent network networking end, including: the system comprises a perception sensor unit, a data processing unit, a communication unit and an intelligent holder;
the perception sensor unit comprises a laser radar, a millimeter wave radar and a camera;
the laser radar is used for collecting position information of a target;
the millimeter wave radar is used for acquiring the position and speed information of a target;
the camera is used for collecting current real-time image information;
the data processing unit is used for receiving the data sent by the sensing sensor unit, receiving angle information and IMU data information sent by the intelligent cloud platform, realizing coordinate transformation and data distortion correction of original data of the sensor through a self-research algorithm, and controlling the intelligent cloud platform to adjust the angle of the current sensor;
and the communication unit is used for sending an intelligent cradle head attitude control command and receiving real-time angle information and IMU data returned by the cradle head.
The data processing unit sends an angle control command to the intelligent holder through the communication unit;
the intelligent cloud deck transmits real-time angle information of the cloud deck and IMU data to a data processing unit of the self-adaptive adjusting system of the internet connection sensor through a communication unit;
a perception sensor unit of the network connection sensor self-adaptive adjusting system acquires position information, speed information and image information of a target and sends the position information, the speed information and the image information to a data processing unit;
the data processing unit judges whether the original data is normal or not according to the data provided by the intelligent holder and the data of the perception sensor unit;
the data processing unit carries out coordinate transformation and data distortion correction on the original data of the sensor through a self-research algorithm;
and the data processing unit sends the adjusted sensing data to a back-end user through a communication unit.
The method is particularly applied to the situation that a field-end sensing sensor changes an original fixed state, and the self-adaptive adjusting system is used for regressing the sensor posture and correcting the sensor data;
the following conditions can be used to cause the sensor to change the fixed state:
1. road settlement causes sensor displacement;
2. ground vibration causes the sensor to vibrate;
3. windy weather resonance causes the sensor to shake;
4. natural corrosion causes the attitude of the sensor to change;
5. the construction personnel engineering installation causes the attitude error of the sensor;
6. external force impacts cause the sensor to shift;
the system can automatically solve the problems of troublesome high-altitude operation, frequent manual correction, extra cost increase and the like, and can also be remotely monitored and controlled.
As shown in fig. 2, a work flow diagram of the networking device includes the following steps:
step 1: initializing a perception sensor and an intelligent holder;
step 2: sensor data reading and visualization;
and step 3: judging whether the detection angle of the sensor needs to be adjusted, if so, adjusting the detection angle of the sensing sensor and then sending data to the intelligent holder; if the adjustment is not needed, directly processing the data of the perception sensor and then sending the perception data;
and 4, step 4: the intelligent cradle head obtains cradle head attitude information and IMU data according to the adjusted detection angle information of the sensing sensor and sends the cradle head attitude information and the IMU data to the sensing sensor;
and 5: and processing and transmitting the data of the perception sensor.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The intelligent networking system for self-adaptive attitude adjustment based on sensor data is characterized by comprising the following modules:
a data acquisition module: acquiring position and speed information of a target and real-time image information of the target, and sending the position and speed information and the real-time image information to a data processing module;
a communication module: sending the attitude control command to the intelligent holder, receiving the real-time angle information and IMU data returned by the intelligent holder and sending the real-time angle information and IMU data to the data processing module;
a data processing module: the data sent by the data acquisition module and the communication module are received, the coordinate transformation of the original data of the sensor and the correction of data distortion are realized through a preset algorithm, and the intelligent cloud platform is controlled to adjust the angle of the current sensor.
2. The intelligent networking system for attitude adaptive adjustment based on sensor data according to claim 1, wherein the algorithm comprises:
coordinate transformation algorithm: a sensor observes position information under a coordinate system, namely a rotation translation matrix which is position information under a world coordinate system (ENU);
and (3) an aberration correction algorithm: position information in a sensor coordinate system is a rotation translation matrix which is corrected position information;
and obtaining a rotation and translation matrix based on the attitude angle acquired from the intelligent holder.
3. The intelligent networking system for self-adaptive attitude adjustment based on sensor data according to claim 1, wherein the data acquisition module comprises a laser radar, a millimeter wave radar and a camera;
the laser radar is used for collecting position information of a target;
the millimeter wave radar is used for acquiring the position and speed information of a target;
the camera is used for collecting current real-time image information.
4. The intelligent networking system for self-adaptive attitude adjustment based on sensor data according to claim 1, wherein the data processing module sends an angle control command to the intelligent cradle head through the communication module to adjust the angle of the sensor;
the data processing module judges whether the original data are normal or not through the data returned by the intelligent holder and the data sent by the data acquisition module;
and if the actually acquired data exceeds the range of the sensor, determining that the data is abnormal, carrying out communication transmission on normal data, and sending a restart instruction to the abnormal data to restart the sensor.
5. The intelligent networking system for self-adaptive attitude adjustment based on sensor data according to claim 1, wherein the data processing module sends the sensor data subjected to coordinate transformation and distortion data correction to a back-end user through the communication module.
6. A method for performing attitude adaptive adjustment based on sensor data is characterized by comprising the following steps:
a data acquisition step: acquiring position and speed information of a target and real-time image information of the target;
communication step: sending the attitude control command to the intelligent cloud deck, and receiving real-time angle information and IMU data returned by the intelligent cloud deck;
and (3) data processing: and receiving data sent in the data acquisition step and the communication step, realizing coordinate transformation and data distortion correction of the original data of the sensor through a preset algorithm, and controlling the intelligent cloud platform to adjust the angle of the current sensor.
7. The method for attitude adaptive adjustment based on sensor data according to claim 6, wherein the algorithm comprises:
coordinate transformation algorithm: a sensor observes position information under a coordinate system, namely a rotation translation matrix which is position information under a world coordinate system (ENU);
and (3) an aberration correction algorithm: position information in a sensor coordinate system is a rotation translation matrix which is corrected position information;
and obtaining a rotation and translation matrix based on the attitude angle acquired from the intelligent holder.
8. The method for adaptive attitude adjustment based on sensor data according to claim 6, wherein data acquisition is performed using a laser radar, a millimeter wave radar, and a camera;
the laser radar is used for collecting position information of a target;
the millimeter wave radar is used for acquiring the position and speed information of a target;
the camera is used for collecting current real-time image information.
9. The method for attitude adaptive adjustment based on sensor data according to claim 6, wherein the data processing step comprises: sending an angle control command to the intelligent holder to adjust the angle of the sensor;
judging whether the original data is normal or not according to the data returned by the intelligent holder and the collected data;
and if the actually acquired data exceeds the range of the sensor, determining that the data is abnormal, carrying out communication transmission on normal data, and sending a restart instruction to the abnormal data to restart the sensor.
10. The method for performing attitude adaptive adjustment based on sensor data according to claim 6, wherein the sensor data subjected to coordinate transformation and distortion data correction is transmitted to a back-end user.
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| CN202110602870.6A CN113313945A (en) | 2021-05-31 | 2021-05-31 | Intelligent network system and method for self-adaptive attitude adjustment based on sensor data |
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