CN110658825A - Data acquisition device and method and automatic driving system - Google Patents
Data acquisition device and method and automatic driving system Download PDFInfo
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- CN110658825A CN110658825A CN201910985285.1A CN201910985285A CN110658825A CN 110658825 A CN110658825 A CN 110658825A CN 201910985285 A CN201910985285 A CN 201910985285A CN 110658825 A CN110658825 A CN 110658825A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention provides a data acquisition device, a data acquisition method and an automatic driving system, wherein the data acquisition device comprises a plurality of sensor modules integrated on a circuit board and a processor connected with the circuit board, and the plurality of sensor modules are used for acquiring driving information of a target vehicle in the driving process; the processor is used for sending the driving information who gathers to the industrial computer to make the industrial computer carry out the analysis to driving information, consequently, can solve the problem that data acquisition equipment is complicated, stability is low among the correlation technique, reach and need not line and switching equipment, effect that stability is high.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a data acquisition device, a data acquisition method and an automatic driving system.
Background
In the related art, in order to realize the data acquisition process in the automatic driving of the vehicle, a variety of sensors, such as global navigation system GNSS, IMU, LiDAR or etc., are mostly purchased directly for connection, such design makes the connection of the system capable of realizing the automatic driving complicated, and many other switching devices are required in the middle, which has poor stability, low integration level, inflexible control and higher price, and cannot be applied to the refitting of the automatic driving vehicles in batches.
Aiming at the problems of complex connection and low stability of data acquisition equipment in the related art, an effective solution is not provided.
Disclosure of Invention
The embodiment of the invention provides a data acquisition device, which at least solves the problems of complex connection and low stability in data acquisition equipment in the related art.
According to an embodiment of the present invention, there is provided a data acquisition apparatus including: the system comprises a circuit board, a plurality of sensor modules and a control module, wherein the circuit board is integrated with the plurality of sensor modules, and the plurality of sensor modules are used for acquiring driving information of a target vehicle in a driving process; and the processor is connected with the circuit board and used for sending the collected driving information to the industrial personal computer so that the industrial personal computer analyzes the driving information.
Optionally, the processor is further configured to receive an operation instruction sent by an industrial personal computer, and control the plurality of sensors to be turned on or turned off respectively in response to the operation instruction.
Optionally, the processor is further configured to determine, after receiving the operation instruction, whether an equipment identifier carried in the operation instruction is consistent with an equipment identifier of the data acquisition equipment; and responding to the operation instruction under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment.
Optionally, the processor is further configured to determine an instruction type of the operation instruction after receiving the operation instruction sent by the industrial personal computer; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction.
Optionally, the data acquisition device further comprises: a data interface, wherein the processor is further configured to receive a change instruction through the data interface; and changing the connection relation of the plurality of sensor modules in response to the change instruction.
Optionally, the data acquisition device further comprises: the circuit board and the processor are fixedly arranged in the shell; the base is used for fixing the data acquisition equipment on the target vehicle.
According to another embodiment of the present invention, there is provided a data acquisition method applied to the data acquisition apparatus described in any one of the above, including:
collecting driving information of a target vehicle in the driving process by utilizing the plurality of sensor modules;
and the processor is utilized to send the collected driving information to an industrial personal computer so that the industrial personal computer analyzes the driving information.
Optionally, the method further comprises: and the processor is used for receiving an operation instruction sent by an industrial personal computer, responding to the operation instruction and respectively controlling the plurality of sensors to be switched on or switched off.
Optionally, the method further comprises: after the processor receives the operation instruction, determining whether the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment; and under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment, responding to the operation instruction by using the processor.
Optionally, the method further comprises: determining the instruction type of an operation instruction after the processor receives the operation instruction sent by the industrial personal computer; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction by using the processor.
Optionally, the method further comprises: receiving, with the processor, a change instruction through a data interface; and changing the connection relation of the plurality of sensor modules by using the processor to respond to the change instruction, wherein the data acquisition equipment further comprises: the data interface.
According to a further embodiment of the invention, there is also provided an autopilot system including a data acquisition device as described in any of the above.
According to the invention, the data acquisition device comprises a plurality of sensor modules integrated on the circuit board and a processor connected with the circuit board, and the sensor modules are used for acquiring the driving information of the target vehicle in the driving process; the processor is used for sending the driving information who gathers to the industrial computer to make the industrial computer carry out the analysis to driving information, consequently, can solve the problem that data acquisition equipment is complicated, stability is low among the correlation technique, reach and need not line and switching equipment, effect that stability is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of a data acquisition device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a data acquisition method according to an embodiment of the invention;
FIG. 3 is a block diagram of a data acquisition device according to an alternative embodiment of the present invention;
FIG. 4 is a schematic diagram of the internal structure of a data acquisition device according to an alternative embodiment of the present invention;
FIG. 5 is a schematic diagram of a structural connection between a data acquisition device and an industrial personal computer according to an alternative embodiment of the present invention;
FIG. 6 is a flow chart of a data acquisition device receiving operational instructions in accordance with an alternative embodiment of the present invention;
FIG. 7 is a flow chart of an industrial personal computer controlling a data acquisition device according to an alternative embodiment of the present invention;
FIG. 8 is a first schematic structural diagram of a data acquisition device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a data acquisition device according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The embodiment provides a data acquisition device which is used for realizing data acquisition, and particularly can realize data acquisition in an unmanned process. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 1 is a block diagram of a data acquisition apparatus according to an embodiment of the present invention, and as shown in fig. 1, the apparatus includes:
the system comprises a circuit board 11, a plurality of sensor modules and a plurality of sensors, wherein the circuit board is integrated with the plurality of sensor modules, and the plurality of sensor modules are used for acquiring driving information of a target vehicle in a driving process;
and the processor 13 is connected with the circuit board and used for sending the collected driving information to the industrial personal computer so that the industrial personal computer analyzes the driving information.
According to the embodiment of the invention, the data acquisition device comprises a plurality of sensor modules integrated on the circuit board and a processor connected with the circuit board, and the sensor modules are used for acquiring the driving information of the target vehicle in the driving process; the processor is used for sending the driving information who gathers to the industrial computer to make the industrial computer carry out the analysis to driving information, consequently, can solve the problem that data acquisition equipment is complicated, stability is low among the correlation technique, reach and need not line and switching equipment, effect that stability is high.
It should be noted that the driving information may include at least one of environment information around the vehicle, positioning information of the vehicle, and posture information of the vehicle, which are used to realize automatic driving of the vehicle. The sensor module described above may be at least one of: the system comprises an inertial measurement unit IMU module, a laser radar LiDAR module, a global positioning system GPS module, an inertial navigation system INS module, an ETC module, an antenna module and the like.
In some cases, the user needs to turn on or off one or more of the sensors, and the control can be performed through the industrial personal computer. For example, a processor in the data acquisition device may receive an operation instruction sent by the industrial personal computer, and control the plurality of sensors to be turned on or off respectively in response to the operation instruction.
In an optional embodiment, the processor is further configured to determine, after receiving the operation instruction, whether the device identifier carried in the operation instruction is consistent with the device identifier of the data acquisition device; and responding to the operation instruction under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment. It should be noted that, since one industrial personal computer may control a plurality of data acquisition devices, it is also necessary to distinguish the operation instruction sent to each data acquisition device to avoid false sending. Therefore, the device identifier of the target data acquisition device sent by the instruction, for example, the device address information of the target data acquisition device sent by the instruction, may be attached to the operation instruction, so that when the data acquisition device receives the operation instruction, the processor may analyze and determine whether the operation instruction is an operation instruction sent to itself, for example, may determine whether the device address information carried in the operation instruction is a device address of itself. If the operation instruction is sent to the user, the operation instruction can be further analyzed; if the operation instruction is not sent to the user, the execution can be refused. Responding to the operation instruction may include: and sending a feedback message to the industrial personal computer.
In an optional embodiment, the processor may determine an instruction type of an operation instruction after receiving the operation instruction sent by the industrial personal computer; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction. It should be noted that the processor may determine the indication content of the operation instruction according to the type of the operation instruction, for example, when the operation instruction carries the first function code, the operation instruction may be considered as type one, and the operation instruction of type one may be used to indicate a certain operation; for example, when the operation instruction carries the second function code, the operation instruction may be considered as type two, and the operation instruction of type two may be used to indicate another operation; for example, the processor may determine the type of the operation instruction according to a function code carried in the operation instruction, and the function code may distinguish the type of the operation, for example, the function code may be used to indicate that the operation instruction is an inquiry instruction or a control instruction, where the inquiry instruction may be used to indicate to inquire a current state of a sensor, and the control instruction may be used to indicate to control a current sensor switch.
In one embodiment, the data acquisition device in this embodiment further includes: the processor is also used for receiving a change instruction through the data interface; and changing the connection relation of the plurality of sensor modules in response to the changing instruction. It should be noted that, because the plurality of sensor modules are integrated on the circuit board, the connection relationship between the sensor modules can be modified conveniently, so that the data acquisition device of the embodiment of the present invention has better flexibility and can adapt to various requirements. For example, a change instruction from an industrial personal computer can be received through a data interface, and a change instruction from other equipment can also be received through the data interface; the processor can respond to the change instruction to open or close the connection between the interfaces on the modules, thereby changing the connection relation between the modules.
In one embodiment, the data acquisition device further comprises: the circuit board and the processor are fixedly arranged in the shell; the base is used for fixing the data acquisition equipment on the target vehicle. It should be noted that, because the base and the target vehicle are in a direct contact fixed relationship, an inertial navigation device can be arranged on the base, and the driving information of the vehicle, such as the attitude information of the vehicle, can be measured more accurately.
Fig. 2 is a flowchart of a data acquisition method according to an embodiment of the present invention, and as shown in fig. 2, according to another embodiment of the present invention, there is also provided a data acquisition method, which is applied to any one of the data acquisition apparatuses, including:
step S202, collecting driving information of a target vehicle in the driving process by utilizing a plurality of sensor modules;
and S204, sending the collected driving information to an industrial personal computer by using the processor so that the industrial personal computer analyzes the driving information.
Through the steps, the driving information of the target vehicle in the driving process is acquired by utilizing the plurality of sensor modules; utilize the treater to send the driving information who gathers to the industrial computer to make the industrial computer carry out the analysis to driving information, consequently, can solve the problem that data acquisition equipment is complicated, stability is low among the correlation technique, reach and need not line and switching equipment, effect that stability is high.
In one embodiment, further comprising: and the processor is used for receiving the operation instruction sent by the industrial personal computer, responding to the operation instruction and respectively controlling the plurality of sensors to be turned on or turned off.
In one embodiment, further comprising: after receiving the operation instruction, the processor determines whether the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment; and under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment, responding to the operation instruction by using the processor.
In one embodiment, further comprising: determining the instruction type of an operation instruction after the operation instruction sent by the industrial personal computer is received by using the processor; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction by using the processor.
In one embodiment, further comprising: receiving a change instruction through a data interface by using a processor; and utilizing the processor to respond to the change instruction and change the connection relation of the plurality of sensor modules, wherein the data acquisition equipment further comprises: and a data interface.
According to a further embodiment of the invention, there is also provided an automatic driving system, characterized by comprising the data acquisition device according to any one of the above.
In an embodiment, for a specific example in this embodiment, reference may be made to the examples described in the above embodiment and optional embodiments, and this embodiment is not described herein again.
Alternative embodiments
The following further explains the above technical solutions of the embodiments of the present invention with reference to alternative embodiments applied to specific scenarios, but the embodiments of the present invention are not limited thereto.
Fig. 3 is a block diagram of a data acquisition apparatus according to an alternative embodiment of the present invention, as shown in fig. 3, including:
the data acquisition device in the embodiment of the present invention may include at least one of a global navigation satellite system module GNSS, an inertial measurement unit IMU, and a LIDAR module, and may further include an antenna module, an antenna interface (ANT1/2), an expansion interface (AUX), a LIDAR interface (LIDAR1-6), a MAIN line interface (MAIN), and the like, where the antenna module is used to realize positioning of a vehicle, the antenna module is connected to an antenna through the antenna interface, and the antenna module receives or transmits data through the antenna; the expansion interface (AUX) is used for connecting other expansion equipment to realize more data acquisition functions; the laser radar interface can be connected with peripheral equipment of the laser radar, and data acquired by the peripheral equipment of the laser radar can be transmitted to the laser radar module in the data acquisition device of the embodiment through the laser radar interface; the main line interface is used for communicating with an industrial personal computer IPC and is also responsible for power supply input; the industrial personal computer can acquire corresponding data through a plurality of serial ports, for example, three serial ports (RS232/RS422/RS485) so as to realize the control of the industrial personal computer on the data acquisition device.
As shown in fig. 4, fig. 4 is a schematic diagram of an internal structure of a data acquisition device according to an alternative embodiment of the present invention, and as shown in fig. 4, the data acquisition device according to the embodiment of the present invention includes:
the first GNSS module is connected with the antenna, and the antenna is used for assisting the GNSS module to realize the positioning of the vehicle; one or more IN interfaces, COM interfaces, SPI interfaces, ETH interfaces, PPS interfaces, OUT interfaces, ANT interfaces, VALID interfaces, ERR interfaces, RDY interfaces, S-R interfaces, S-G interfaces, or RST interfaces may be provided on the first GNSS module. The VALID interface, the ERR interface, the RDY interface, the S-R interface and the S-G interface can be connected with the LED. The PPS interface can provide a pulse per second signal for the laser radar for time alignment; the ETH interface is mainly used for LIDAR data acquisition; the ANT interface is mainly used for connecting the main antenna and the auxiliary antenna.
The data acquisition device of the embodiment of the invention also comprises a second GNSS module, wherein the second GNSS module comprises an ANT interface, a COM1 interface, a DDC interface and a PPS interface, wherein the COM1 interface is used for communicating with the IPC, so that the related configuration of the GNSS is facilitated.
The data acquisition device of the embodiment of the invention also comprises an IMU module, wherein the IMU module comprises an RS-422 interface, a TOV interface, an EXT interface and a RST interface, wherein the RS-422 interface can be connected to the COM interface of the first GNSS module through a GPIO (general purpose input/output) interface so as to realize the interaction between the IMU module and the first GNSS module; or the RS-422 interface can be connected to a COM interface of the second GNSS module through a GPIO to realize the interaction between the IMU module and the second GNSS module; the TOV interface can be connected to an IN interface of the first GNSS module through a GPIO; the EXT interface can be connected to other interfaces through GPIO; the RST interface may also be connected to other interfaces through GPIOs. The RS-422 interface is used for IPC to receive IMU data, RS232 is used for receiving GNSS positioning information, and TOV is used for external mode triggering.
The data acquisition device in the embodiment of the invention further comprises a LiDAR module, an interface which is arranged on the LiDAR module and can be connected with peripheral laser radar equipment, and an interface which can be connected with other modules included in the data acquisition device in the embodiment. The lidar module can be connected with the first GNSS module, for example, can be connected with the first GNSS module through an IN interface and/or a COM interface on the first GNSS module, and the lidar module is linked with the GNSS module and mainly functions to provide a pulse-per-second signal and positioning information for the lidar.
The data acquisition device of the embodiment of the invention further comprises an SWITCH exchange module, wherein an ETH interface is arranged on the SWITCH module, and the SWITCH module can be connected with other modules included in the data acquisition device of the embodiment of the invention through the ETH interface so as to realize network communication.
The data acquisition device of the embodiment of the invention also comprises a connector module which is used for connecting each interface on each module so as to realize the interaction between different modules. It should be noted that the connector module may implement intercommunication of direct interfaces of each module included in the data acquisition device of the embodiment of the present invention, so that different modules directly transfer data or exchange information.
It should be further noted that, in the embodiment of the present invention, as shown in fig. 4, the dashed line part indicates that the interfaces at both ends of the dashed line may be connected, which is not described herein any more, and different connection relationships may implement different functions; and the connection relationship between the interfaces can be changed by instructions or other ways, for example, opening the connection between some two interfaces or closing the connection between some two interfaces.
The basic functions of the firmware of the data acquisition device provided by the embodiment of the invention comprise:
(1) the time synchronization signal (PPS/GPRMC) of the GNSS receiver can be transferred to the laser radar and the IPC, and the position information obtained by the point cloud data of the laser radar and the combined navigation is transferred to the IPC;
(2) the power-on time sequences (Novatel, Lidar, power) of different modules can be controlled;
(3) after all the peripheral equipment starts to work, the states of all the modules are inquired and switched on and off through IPC.
Fig. 5 is a schematic view of structural connection between a data acquisition device and an industrial personal computer according to an alternative embodiment of the present invention, as shown in fig. 5:
the data acquisition device comprises a GNSS module, a LIDAR module and an IMU module, wherein the GNSS module comprises an input interface EVENT _ IN1 and an output interface EVENT _ OUT3, the GNSS module is connected with the LIDAR module through an RS232 interface and a PPS interface, the GNSS module is connected with the IPC through an RS422 interface and an RS232 interface, and the GNSS module is connected with the IMU module through a TOV interface and an RS422 interface.
It should be noted that, the power-on sequence control process of the data acquisition apparatus of this embodiment is as follows:
Fig. 6 is a flow chart of a data acquisition device receiving an operation instruction according to an alternative embodiment of the present invention, as shown in fig. 6, including:
step S101, start;
step S102, receiving an operation instruction; the data acquisition device receives an operation instruction sent by the industrial personal computer;
step S103, judging whether the operation instruction is an instruction for controlling the data acquisition device; for example, it may be determined whether the operation instruction carries the device identifier of the data acquisition device, and if the received operation instruction carries the device identifier of the data acquisition device, the operation instruction may be regarded as an instruction for controlling the data acquisition device, and the next step S104 is continued; otherwise, returning to the previous step to wait for receiving the operation instruction;
step S104, judging the type of the operation instruction; after the received operation instruction is determined to be the instruction for controlling the data acquisition device, the operation indicated by the operation instruction can be determined by judging the type of the operation instruction; if it is an instruction to read operation, step S105 is executed; if the write operation is indicated, step S106 is executed;
step S105, reading a register of the data acquisition device;
step S106, writing the operation indicated by the operation instruction into a register of the data acquisition device; executing corresponding operation according to the instruction of the operation instruction, for example, closing a certain sensor module;
step S107, sending feedback information.
Fig. 7 is a flowchart of an industrial personal computer controlling a data acquisition device according to an alternative embodiment of the present invention, as shown in fig. 7, including:
step S101, start;
step S102, receiving an input operation instruction input by a user;
step S103, sending an operation instruction to the data acquisition device;
step S104, determining whether a feedback message is received within a preset time period after the operation instruction is sent; if the feedback message is received, performing step S105, otherwise, returning to step S102; it should be noted that the predetermined time period may be 1 s; if the feedback message sent by the data acquisition device is received, the operation instruction sent before is indicated to be successfully received by the data acquisition device;
step S105, judging whether the received feedback message is a feedback message sent to the industrial personal computer; if yes, go to step S106, if not, go back to step S102;
and step S106, analyzing and displaying the feedback message.
The data acquisition device provided by the embodiment of the invention can be installed on the roof of a vehicle and needs to be used outdoors, so that the protection grade can be set to be IP 67. FIG. 8 is a first schematic diagram of a data acquisition device according to an alternative embodiment of the invention; FIG. 9 is a schematic structural diagram of a data acquisition device according to an alternative embodiment of the present invention; as shown in fig. 8 and 9, the data acquisition apparatus may further include: a base 1 and an upper shell 2. The base 1 is used for fixing the inertial navigation device 3, and the upper shell 2 is used for fixing the related circuit board and the output interface.
According to a further embodiment of the invention, there is also provided an autopilot system including a data acquisition device as described in any of the above. The structure and the implemented steps of the data acquisition device are as described in any of the above, and will not be described herein again.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A data acquisition device, comprising:
the system comprises a circuit board, a plurality of sensor modules and a control module, wherein the circuit board is integrated with the plurality of sensor modules, and the plurality of sensor modules are used for acquiring driving information of a target vehicle in a driving process;
and the processor is connected with the circuit board and used for sending the collected driving information to the industrial personal computer so that the industrial personal computer analyzes the driving information.
2. The data acquisition device of claim 1, wherein the processor is further configured to receive an operation instruction sent by an industrial personal computer, and control the plurality of sensors to be turned on or off respectively in response to the operation instruction.
3. The data acquisition device according to claim 2, wherein the processor is further configured to determine, after receiving the operation instruction, whether a device identifier carried in the operation instruction is consistent with a device identifier of the data acquisition device; and responding to the operation instruction under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment.
4. The data acquisition device according to claim 2, wherein the processor is further configured to determine an instruction type of the operation instruction after receiving the operation instruction sent by the industrial personal computer; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction.
5. The data acquisition device of claim 1, further comprising: a data interface, wherein the processor is further configured to receive a change instruction through the data interface; and changing the connection relation of the plurality of sensor modules in response to the change instruction.
6. The data acquisition device of claim 1, further comprising: the circuit board and the processor are fixedly arranged in the shell; the base is used for fixing the data acquisition equipment on the target vehicle.
7. A data acquisition method applied to the data acquisition apparatus of any one of claims 1 to 6, comprising:
collecting driving information of a target vehicle in the driving process by utilizing the plurality of sensor modules;
and the processor is utilized to send the collected driving information to an industrial personal computer so that the industrial personal computer analyzes the driving information.
8. The data acquisition method of claim 7, further comprising:
and the processor is used for receiving an operation instruction sent by an industrial personal computer, responding to the operation instruction and respectively controlling the plurality of sensors to be switched on or switched off.
9. The data acquisition method of claim 8, further comprising:
after the processor receives the operation instruction, determining whether the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment; and under the condition that the equipment identifier carried in the operation instruction is consistent with the equipment identifier of the data acquisition equipment, responding to the operation instruction by using the processor.
10. The data acquisition method of claim 8, further comprising:
determining the instruction type of an operation instruction after the processor receives the operation instruction sent by the industrial personal computer; and executing the operation corresponding to the instruction type on the plurality of sensors according to the instruction type of the operation instruction by using the processor.
11. The data acquisition method of claim 7, further comprising:
receiving, with the processor, a change instruction through a data interface; and changing the connection relation of the plurality of sensor modules by using the processor to respond to the change instruction, wherein the data acquisition equipment further comprises: the data interface.
12. An autopilot system comprising a data acquisition device according to one of the claims 1 to 6.
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