CN111044040A - All-terrain multi-sensor data acquisition platform for unmanned equipment - Google Patents
All-terrain multi-sensor data acquisition platform for unmanned equipment Download PDFInfo
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- CN111044040A CN111044040A CN201911399529.4A CN201911399529A CN111044040A CN 111044040 A CN111044040 A CN 111044040A CN 201911399529 A CN201911399529 A CN 201911399529A CN 111044040 A CN111044040 A CN 111044040A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an all-terrain multi-sensor data acquisition platform for unmanned equipment, wherein an adjustable support frame is arranged on a movable carrying platform of the platform, a multi-sensor integrated platform is arranged on the adjustable support frame, a multi-line laser sensor, a binocular vision sensor, an inertial measurement unit and a global positioning system receiver of the multi-sensor integrated platform are respectively connected with a main control box through sensor lead cables, centers of a laser radar sensor, the binocular vision sensor and the inertial measurement unit are on the same line, the distance in the Z direction is fixed and is set as an initial value of data fusion, data registration is carried out between the laser sensor and the binocular vision sensor, time stamp synchronization is carried out among data, and the frequency of acquiring the data is 1HZ-30 HZ. The problems that the existing data acquisition platform is poor in universality, the type of the sensor is single, and the geometric position among the sensors is not clear are solved, and the universality of the data acquisition platform and the abundance of acquired data can be improved.
Description
Technical Field
The invention particularly relates to an all-terrain multi-sensor data acquisition platform for unmanned equipment, and belongs to the technical field of mobile robots and data acquisition platforms.
Background
With the development of scientific technology, autonomous navigation technology and unmanned technology are the development trend in the future. At present, deep learning is widely applied to the fields of autonomous robot navigation and unmanned driving, but the deep learning needs a large amount of data for training, so that data acquisition of a sensor is an important link. The existing data acquisition platform has the following defects:
1. the existing automatic driving data acquisition platform comprises road map acquisition equipment such as Google, HERE, TomTom, Baidu, Goodand the like which are all carried on an automobile and can only acquire on a road surface with flat terrain; for a data acquisition system of an indoor robot, the indoor robot works on a closed or semi-closed flat ground in a limited space, and a plurality of pedestrians with irregular motion exist in the scene, so a small wheel type low-speed movable platform is generally adopted, and a plurality of photoelectric sensors are installed at a limited height. A data acquisition platform applicable to all terrain is lacking.
2. The existing data acquisition platform has a single sensor type, and a single-line laser radar and a monocular camera are used in an indoor robot data acquisition system; in a data acquisition system of an outdoor robot, a multi-line laser radar and a binocular camera are used; however, the requirement of multi-photoelectric sensor data fusion is not considered in assembly and later use, and the measurement ranges of different sensors are not overlapped or overlapped very little. In some complex situations, the requirements for autonomous driving or autonomous navigation cannot be met.
3. Most of the existing data acquisition platform sensors are fixed and cannot be adjusted, and the geometric position relation among the sensors is not clear enough, so that the existing data acquisition platform sensors are inconvenient for operators to manage and debug and perform subsequent data processing.
Disclosure of Invention
The invention provides an all-terrain multi-sensor data acquisition platform, which solves the problems of poor universality, single sensor type and indefinite geometric positions among sensors of the existing data acquisition platform, and can improve the universality of the data acquisition platform and the abundance of acquired data.
The invention provides an all-terrain multi-sensor data acquisition platform for unmanned equipment, which comprises a movable carrying platform, an adjustable supporting frame and a multi-sensor integrated platform, wherein the movable carrying platform is provided with the adjustable supporting frame, the adjustable supporting frame is provided with the multi-sensor integrated platform, the movable carrying platform is internally provided with a motor, the left side and the right side of the movable carrying platform are respectively provided with at least two wheels, the multi-sensor integrated platform comprises a laser sensor, a binocular vision sensor, an inertial measurement unit, a global positioning system receiver, a sensor lead cable, a sensor bracket and a master control box, the multi-line laser sensor, the binocular vision sensor, the inertial measurement unit and the global positioning system receiver are respectively connected with the master control box through the sensor lead cable, the multi-line laser sensor is arranged at the top of the sensor bracket, the binocular vision sensor is arranged in the inner space of, the inertial measurement unit is installed in the lower space of the sensor support, the global positioning system receiver is installed in the mobile carrying platform, the centers of the laser radar sensor, the binocular vision sensor and the inertial measurement unit are on the same line, the distance in the Z direction is fixed and set as an initial value of data fusion, data registration is carried out between the laser sensor and the binocular vision sensor, timestamp synchronization is carried out between data, and the frequency of collected data is 1HZ-30 HZ.
Preferably, the adjustable support frame comprises a support bottom plate, four support rods, two support slide rails, two fixing rods and a support cross beam, the support bottom plate is fixed on the movable carrying platform, the fixing rods and the support rods are fixed on the support bottom plate together, the support rods play a role in reinforcing and supporting, the support slide rails are connected with the fixing rods in a matched mode, the support cross beam is fixed between the two support slide rails and used for fixing the multi-sensor integrated platform, and the support slide rails are movable supports and used for adjusting the height of the multi-sensor integrated platform.
Preferably, a front bumper and a rear bumper are respectively installed at the front and the rear of the moving carrier platform.
Preferably, the mobile carrying platform is provided with antennas, one of the antennas is used for receiving and transmitting wireless network and bluetooth signals, so as to realize the interaction between the platform and external data, and the other antenna is used for receiving satellite signals of a global positioning system.
Preferably, the adjustable support frame comprises a positional relationship, recorded in the acquired data, for determination of the geometric position between the sensors.
Preferably, the multiline laser sensor is a 16-line, 32-line, 40-line, 64-line or 128-line multiline laser sensor.
The all-terrain multi-sensor data acquisition platform for the unmanned equipment has the beneficial effects that:
1. the all-terrain multi-sensor data acquisition platform for the unmanned equipment can acquire data indoors and outdoors, is good in universality and is not limited by scenes.
2. The all-terrain multi-sensor data acquisition platform for the unmanned equipment comprises a plurality of sensors, wherein the sensors comprise a laser radar, a binocular vision sensor, an inertia measurement unit and a global positioning system receiver, the data types are rich, and various requirements can be met. The acquired data center contains fused initial values, and timestamp synchronization is carried out among the laser radar sensor, the binocular vision sensor and the inertial measurement unit.
3. The all-terrain multi-sensor data acquisition platform for the unmanned equipment comprises an adjustable support frame, the height of a sensor can be adjusted, and the distance between a support sliding rail and a hole position of a fixed rod is 15mm, so that the minimum adjusting distance of the height is 15 mm. The minimum ground clearance of the multi-sensor integrated platform is 60cm, and the maximum ground clearance is 130 cm. The geometric positions between the sensors are definite, and the geometric positions can be used for recording the acquired data.
4. The invention relates to an all-terrain multi-sensor data acquisition platform for unmanned equipment, which has the advantages that the maximum continuous service time of the data acquisition platform is 6h, the maximum wading depth is 248mm, the maximum moving speed is 80km/h, the minimum moving speed is 3.6km/h, the working temperature is minus 45-75 ℃, the maximum approach angle is 37 degrees, the maximum departure angle is 28 degrees, the maximum longitudinal passing angle is 33 degrees, and the data acquisition frequency is 1HZ-30 HZ.
Drawings
FIG. 1 is a front view of an all terrain multi-sensor data acquisition platform for an unmanned aerial device according to the present invention;
FIG. 2 is a side view of an all terrain multi-sensor data acquisition platform for an unmanned aerial device according to the present invention;
FIG. 3 is a top half-sectional view of an all-terrain multi-sensor data acquisition platform for an unmanned aerial vehicle according to the present invention;
FIG. 4 is a perspective view of an all terrain multi-sensor data collection platform for an unmanned aerial vehicle according to the present invention;
FIG. 5 is a perspective view of a sensor holder according to the present invention;
FIG. 6 is a cross-sectional view of a sensor holder according to the present invention;
FIG. 7 is a perspective view of the mobile carrier platform of the present invention;
in the figure: 1-moving the carrying platform; 2-an adjustable support frame; 3-a multi-sensor integration platform; 4-a multi-line laser sensor; 5-binocular vision sensor; 6-an inertial measurement unit; 7-a global positioning system receiver; 8-a support base plate; 9-a rack bar; 10-a rack slide rail; 11-a fixing bar; 12-a bracket beam; 13-sensor lead wire; 14-a sensor holder; 15-main control box.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first embodiment is as follows: the present embodiment is explained with reference to fig. 1 to 7. The all-terrain multi-sensor data acquisition platform for the unmanned equipment comprises a movable carrying platform 1, an adjustable supporting frame 2 and a multi-sensor integrated platform 3, wherein the adjustable supporting frame 2 is installed on the movable carrying platform 1, the multi-sensor integrated platform 3 is installed on the adjustable supporting frame 2, a motor is arranged in the movable carrying platform 1, at least two wheels are respectively arranged on the left side and the right side of the movable carrying platform, the multi-sensor integrated platform 3 comprises a multi-line laser sensor 4, a binocular vision sensor 5, an inertial measurement unit 6, a global positioning system receiver 7, a sensor lead cable 13, a sensor support 14 and a main control box 15, the multi-line laser sensor 4, the binocular vision sensor 5, the inertial measurement unit 6 and the global positioning system receiver 7 are respectively connected with the main control box 15 through the sensor lead cable 13, the multi-line laser sensor 4 is installed at the top of the sensor support 14, the binocular vision sensor 5 is installed in the inner space of the sensor support 14, the inertia measurement unit 6 is installed in the lower space of the sensor support 14, the global positioning system receiver installation 7 is installed in the mobile carrying platform 1, the centers of the multi-line laser sensor 4, the binocular vision sensor 5 and the inertia measurement unit 6 are on the same line, the distance in the Z direction is fixed and is set as an initial value of data fusion, data registration is carried out between the multi-line laser sensor 4 and the binocular vision sensor 5, time stamps are synchronized among data, and the frequency of collected data is 1HZ-30 HZ.
The mobile carrying platform 1 is internally provided with a motor, the left side and the right side of the mobile carrying platform are respectively provided with at least two wheels, the mobile carrying platform 1 can drive the adjustable supporting frame 2 and the multi-sensor integrated platform 3 to carry out smooth operation in indoor and outdoor scenes, and in the moving process, the multi-sensor integrated platform 3 and the global positioning system receiver 7 can collect multi-photoelectric sensor data in the environment and store the data into the main control box 15.
The mobile carrying platform 1 has two control modes: manual mode and automatic mode. In the manual mode, a remote control handle or a serial port can be used for controlling the mobile platform; under the automatic mode, the self-contained high-performance data acquisition and processing platform of the platform can automatically move and control according to the surrounding environment information.
The multi-line laser sensor 4 can scan the 3D model point cloud data of the surrounding environment of the acquisition platform and the accurate distance data of the surrounding object from the platform.
The binocular vision sensor 5 can obtain color image data of the surrounding environment of the acquisition platform, and can obtain three-dimensional information and depth information of objects in a certain range in a binocular system to achieve accurate ranging.
The inertial measurement unit 6 is a device capable of obtaining the three-axis attitude angle (or angular velocity) and acceleration of the acquisition platform. In a working environment, whether indoor or outdoor, the inertial measurement unit 6 can obtain the angular velocity and the acceleration of an object in a three-dimensional space in real time, and the attitude of the acquisition platform is calculated according to the angular velocity and the acceleration.
The global positioning system receiver 7 or the GPS receiver can accurately acquire the geographic coordinates and the three-dimensional motion state of the acquisition platform outdoors in real time, thereby acquiring the real motion speed and the real travel track.
The adjustable support frame 2 comprises a support bottom plate 8, four support rods 9, two support slide rails 10, two fixing rods 11 and a support cross beam 12, the support bottom plate 8 is fixed on the movable carrying platform 1, the support bottom plate 8 is used for connecting the movable carrying platform 1 and the height-adjustable support rods, the fixing rods 11 and the support rods 9 are fixed on the support bottom plate 8 together, the support rods 9 play a role in reinforcing and supporting, the support slide rails 10 are connected with the fixing rods 11 in a matched mode, the support cross beam 12 is fixed between the two support slide rails 10 and used for fixing the multi-sensor integrated platform 3, and the support slide rails 10 are movable supports and used for adjusting the height of the multi-sensor integrated platform 3.
The adjustable support frame 2 is used for connecting the movable carrying platform 1 and the multi-sensor integrated platform 3, the adjustable support frame 2 can move up and down and is used for adjusting the distance between the multi-sensor integrated platform 3 and the ground, and the adjustable support frame 2 contains a position relation, can be recorded in collected data and is used for determining the geometric position between the sensors.
And a front bumper and a rear bumper are respectively arranged at the front and the rear of the movable carrying platform 1.
Two antennas are installed on the mobile carrying platform 1, wherein one antenna is used for receiving and transmitting wireless network and Bluetooth signals, and then the interaction between the platform and external data is realized. And the other is used for receiving satellite signals of a global positioning system.
The adjustable support 2 contains the positional relationship, and is recorded in the acquired data for determination of the geometric position between the sensors.
The multiline laser sensor 4 is a 16-line, 32-line, 40-line, 64-line or 128-line multiline laser sensor.
The main control box 15 has the following functions: 1. the control motor enables the mobile platform to advance, retreat, turn and rotate on site, and a remote control mode can be used for sending commands to the control unit of the main control box to carry out remote control.
2. Processing and storing the acquired sensor data in real time, and performing time stamp synchronization,
3. and the data of the sensor is visualized, and the sampling frequency of the sensor is changed so as to be suitable for different working environments.
The invention relates to a specific operation process and a working principle of an all-terrain multi-sensor data acquisition platform for unmanned equipment, which are as follows:
in an indoor working scene, the height of the multi-sensor integrated platform 3 is determined by adjusting the support slide rails 10, the fixing rods 11 and the support cross beams 12. In an indoor scene, the ground clearance of the multi-sensor integrated platform 3 is not too high, and the maximum ground clearance is 100 cm. After adjusting to suitable height, open the platform switch, be connected external control ware (handle) and vehicle, get into manual mode, the host computer carries out data exchange through wireless network and master control box 15, utilizes the position relation between multi-thread laser sensor 4, binocular vision sensor 5 and the inertial measurement unit 6, initializes whole sensor fusion system, marks each sensor, adjusts the sampling frequency of each sensor and makes it keep unanimous to realize the timestamp synchronization. In an indoor environment, because human beings move frequently, the moving speed is limited within 18km/h by using an upper computer.
After the steps are completed, the operator uses the handle to control the whole collection platform to move in the indoor space. During the movement, the measurement data collected by the binocular vision sensor 5, the multi-line laser sensor 4 and the inertial measurement unit 6 are automatically stored in the storage unit of the master control box 15. Under automatic mode, no operator uses external control ware (handle) to carry out remote control, and the operator only needs to utilize the host computer to set for the removal route, and the collection platform can carry out autonomous navigation to gather sensor data, save in the memory cell of master control case 15.
In an outdoor working scene, the height of the multi-sensor integrated platform 3 is determined by adjusting the support sliding rails 10, the fixing rods 11 and the support cross beams 12. In outdoor scenarios, the ground clearance of the multi-sensor integrated platform 3 needs to be higher than 80cm to obtain a good sensor data acquisition range. After the height is adjusted to a proper height, a platform switch is started, an external controller (handle) is connected with a vehicle, a manual mode is entered, and an upper computer performs data interaction with a main control box through a wireless network. The position relation among the binocular vision sensor 5, the multi-line laser sensor 4 and the inertia measurement unit 6 is utilized to initialize the whole sensor fusion system, each sensor is calibrated, and an upper computer needs to monitor whether a global positioning system receiver can obtain satellite signals. After the satellite signals are obtained, the sampling frequency of each sensor is adjusted to be consistent with the sampling frequency of the global positioning system receiver, and therefore time stamp synchronization is achieved. In an outdoor scene, in an urban area with more vehicles and pedestrians, the speed is limited within 30km/h by using the upper computer, and in an open outdoor field, the speed is limited within 60km/h by using the upper computer.
After the steps are completed, the operator uses the handle to control the whole acquisition platform to move in the outdoor space. During the movement, the measurement data collected by the binocular vision sensor 5, the multi-line laser sensor 4, the inertial measurement unit 6 and the global positioning system receiver 7 are automatically stored in the storage unit of the master control box 15. Under automatic mode, no operator uses external control ware (handle) to carry out remote control, and the operator only needs to utilize the host computer to set for the removal route, and the collection platform can carry out autonomous navigation to in the memory cell of main control box 15 will gather sensor data storage.
Outdoor topography is comparatively complicated, and the mobile platform has used independent suspension system can overcome comparatively rugged topography, like the road surface of non-artificial laying such as desert, jungle, grassland, cave, grit.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An all-terrain multi-sensor data acquisition platform for unmanned equipment is characterized by comprising a mobile carrying platform (1), an adjustable support frame (2) and a multi-sensor integrated platform (3), wherein the adjustable support frame (2) is installed on the mobile carrying platform (1), the multi-sensor integrated platform (3) is installed on the adjustable support frame (2), a motor is arranged in the mobile carrying platform (1), at least two wheels are respectively arranged on the left side and the right side of the mobile carrying platform (1),
the multi-sensor integrated platform (3) comprises a multi-line laser sensor (4), a binocular vision sensor (5), an inertial measurement unit (6), a global positioning system receiver (7), a sensor lead cable (13), a sensor bracket (14) and a master control box (15), wherein the multi-line laser sensor (4), the binocular vision sensor (5), the inertial measurement unit (6) and the global positioning system receiver (7) are respectively connected with the master control box (15) through the sensor lead cable (13), the 16-line laser radar sensor is arranged at the top of the sensor bracket (14), the binocular vision sensor (5) is arranged in the inner space of the sensor bracket (14), the inertial measurement unit (6) is arranged in the lower space of the sensor bracket (14), and the global positioning system receiver (7) is arranged in the mobile carrying platform (1), the centers of the multi-line laser sensor (4), the binocular vision sensor (5) and the inertia measurement unit (6) are on the same line, the distance in the Z direction is fixed and set as an initial value of data fusion, data registration is carried out between the multi-line laser sensor (4) and the binocular vision sensor (5), time stamp synchronization is carried out between data, and the frequency of collected data is 1HZ-30 HZ.
2. The all-terrain multi-sensor data acquisition platform for unmanned aerial devices of claim 1, it is characterized in that the adjustable supporting frame (2) comprises a bracket bottom plate (8), four bracket rods (9), two bracket sliding rails (10), two fixed rods (11) and a bracket cross beam (12), the support bottom plate (8) is fixed on the movable carrying platform (1), the fixed rod (11) and the support rod (9) are fixed on the support bottom plate (8) together, the support rod (9) plays a role in reinforcing and supporting, the support sliding rails (10) are matched and connected with a fixed rod (11), the support beam (12) is fixed between the two support sliding rails (10), the support sliding rail (10) is a movable support and is used for fixing the multi-sensor integrated platform (3) and adjusting the height of the multi-sensor integrated platform (3).
3. The all-terrain multi-sensor data acquisition platform for unmanned aerial vehicles according to claim 1, wherein front and rear bumpers are respectively installed at the front and rear of the mobile carrier platform (1).
4. The all-terrain multi-sensor data acquisition platform for the Unmanned Aerial Vehicle (UAV) device according to claim 1, wherein two antennas are installed on the mobile carrying platform (1), one antenna is used for receiving and transmitting wireless network and Bluetooth signals so as to realize interaction between the platform and external data, and the other antenna is used for receiving satellite signals of a global positioning system.
5. The all-terrain multi-sensor data acquisition platform for unmanned aerial vehicles of claim 1, wherein the adjustable support frame (2) contains positional relationships recorded in the acquired data for determination of geometric positions between sensors.
6. The all-terrain multi-sensor data acquisition platform for unmanned aerial devices of claim 1, wherein the multi-line laser sensor (4) is a 16-line, 32-line, 40-line, 64-line or 128-line multi-line laser sensor.
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| WO2024098200A1 (en) * | 2022-11-07 | 2024-05-16 | 香港科技大学 | Multi-sensor apparatus and joint data collection assembly |
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