CN112902977B - Data acquisition carrying bracket, data acquisition device and positioning and mapping method thereof - Google Patents
Data acquisition carrying bracket, data acquisition device and positioning and mapping method thereof Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 29
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- 238000005259 measurement Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 3
- 239000000969 carrier Substances 0.000 abstract description 10
- 230000008569 process Effects 0.000 description 10
- 238000007781 pre-processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013480 data collection Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
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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
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention provides a data acquisition carrying support, which sequentially comprises a carrying layer, a handheld layer and a chassis layer from top to bottom, wherein a detachable sucker is arranged at the bottom of the chassis layer, the carrying layer comprises a sensor carrying plate and a fixing frame, the sensor carrying plate is positioned between the fixing frame and the handheld layer, and a plurality of connecting holes for fixing a sensor are formed in the sensor carrying plate. The invention also provides a data acquisition device. The invention also provides a positioning and mapping method of the data acquisition device. The invention not only can collect data by hand, but also can be loaded on other carriers, and is suitable for collaborative positioning and mapping of multiple intelligent bodies.
Description
Technical Field
The invention relates to the technical field of positioning and mapping, in particular to a data acquisition carrying bracket, a data acquisition device and a positioning and mapping method thereof.
Background
The instant positioning and map construction (Simultaneous Localization and Mapping, SLAM, hereinafter collectively referred to as SLAM) is a popular research direction in the fields of current mobile robots and computer vision, and is used for researching the observation of the environment when the robots move in an unknown environment, detecting the pose and the movement track of the robots, and finally constructing an accurate map. In general, in order to ensure the accuracy of mapping, in the mapping process, a plurality of sensors are used to collect current environmental information, such as a plurality of cameras, radars, inertial measurement units, etc., at the same time. The data acquisition process in the map building mainly has two modes, namely, a sensor group is carried on a carrier through a robot chassis, an automobile and the like, and the sensor group is started when the carrier starts to move, so that the sensor group records the environmental change in the whole moving process; this method is most commonly used in the SLAM field; the other is to manually hold the sensor group and walk around the whole environment to be collected, and the sensor group is often used in the areas where a plurality of obstacles are collected and the carrier is inconvenient to walk, such as indoor environments and the like. Meanwhile, in order to ensure the accuracy of the instant positioning and mapping algorithm, the data fusion of various sensors is often adopted as the input of the algorithm, namely, the same process is recorded by using various sensors, and the data in the process are combined as required, so that the requirements on the number of the types of the sensors which can be carried by the device and the flexibility of replacement are also met.
The Chinese patent publication No. CN109490907A, publication date 2019, 3 month and 19 day, this patent discloses a handheld synchronous positioning and map construction equipment and method, including handheld mechanical support structure, by mounting platform, base and handheld holding rod are constituteed, laser radar, IMU inertial measurement unit and camera are all fixed at mounting platform, and handheld mechanical support in this patent can not be used for on-vehicle, does not have the universality, and faces the use of multiple sensor, need to reform transform handheld mechanical support, and is relatively troublesome, can not directly multiplexing.
Disclosure of Invention
The invention aims to overcome the defect that the existing sensor carrying support cannot support the hand holding and the vehicle carrying at the same time and needs to be modified in structure for carrying different sensors, and provides a data acquisition carrying support. The invention not only can collect data by hand, but also can be loaded on other carriers, and is suitable for collaborative positioning and mapping of multiple intelligent bodies.
The invention also provides a data acquisition device.
The invention also provides a positioning and mapping method of the data acquisition device.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a data acquisition carries on support, is from top to bottom including carrying layer, handheld layer and chassis layer in proper order, the bottom of chassis layer is equipped with detachable sucking disc, carry the layer including sensor carrying plate and mount, the sensor carrying plate is located between mount and the handheld layer, be equipped with the connecting hole that a plurality of is used for fixed sensor on the sensor carrying plate.
In this technical scheme, carry the layer and divide into sensor carrier plate and mount, all kinds of sensors pass through the connecting hole to be fixed on sensor carrier plate, and the controller of processing data is fixed on the mount, and the data that the sensor will gather can directly input the controller of fixing on the mount through the data line like this. When the handheld removal of staff is needed, can dismantle the sucking disc of chassis, when needs are applied to car or robot carrier with carrying the support, install the bottom at the chassis with the sucking disc, fix data acquisition device on other carriers through carrying the support, even if use the scene change, the scene after adaptation that also can be fine, the universality is strong.
Further, the mount includes "T" type frame, first rubber band, second rubber band and gag lever post, a gag lever post is inserted respectively to the three end of "T" type frame, be equipped with the couple of lining a row on the gag lever post, the gag lever post is kept away from the terminal surface of "T" type frame is equipped with the stopper, one of them couple of each gag lever post is hooked to first rubber band, the second rubber band cover is established on the stopper of each gag lever post. In this technical scheme, the controller is placed on "T" type frame, and the stopper of each gag lever post terminal surface can be fixed the controller, and the cooperation of first rubber band and second rubber band makes each gag lever post can tighten up to "T" type frame inside, and its respective stopper carries out elastic fixation to the controller. Because each gag lever post can stretch out and draw back in "T" type frame, can fix the controller of equidimension like this.
Further, a detachable camera mounting frame and a detachable radar mounting frame are arranged on the sensor mounting plate.
Further, the hand-held layer comprises two handles symmetrically arranged on two sides of the chassis layer, and finger-shaped holding positions are arranged on the inner sides of the handles.
Further, the chassis layer is a storage box with an open top, and the bottom of the storage box is a flat surface which is convenient for disassembling and assembling the sucker. The storage box can be used for loading a power supply module or other physical equipment, the bottom of the storage box is provided with a flat surface, the suction disc is convenient to disassemble and assemble, and the carrying support is convenient to install on other carriers through the suction disc.
The data acquisition device comprises the data acquisition carrying support, a data acquisition unit, a data processing unit, a data integration unit and a positioning and mapping unit, wherein the data acquisition unit is fixed on a sensor carrying plate of the data acquisition carrying support, and the data processing unit, the data integration unit and the positioning and mapping unit are positioned on the fixing frame.
In the technical scheme, the data acquisition carrying support supports and carries the whole data acquisition device, so that the data acquisition carrying support can be fixed on other carriers to move through the data acquisition carrying support to complete data acquisition, or the data acquisition device is convenient for a worker to hold and move, and the data acquisition is completed.
Further, the data acquisition unit comprises a solid-state radar, a vision camera, an inertial measurement unit, an event camera and a laser radar, wherein the solid-state radar, the vision camera, the inertial measurement unit, the event camera and the laser radar are fixed on the sensor carrying board.
Further, the data processing unit, the data integration unit and the positioning and mapping unit are integrated in the micro server/the notebook computer/the singlechip.
Further, the micro server/notebook computer/single chip microcomputer is fixed on the fixing frame.
A positioning and mapping method of a data acquisition device comprises the following steps:
s1, inputting acquired data into a micro server/a notebook computer/a singlechip by a visual sensor, a radar sensor and an inertial measurement unit;
s2, in the micro server/notebook computer/singlechip, carrying out heterogeneous data feature matching on data acquired by a visual sensor and data acquired by a radar sensor to complete a local constraint component, and optimizing the local component by adopting sensor group pose data provided by an inertial measurement unit; meanwhile, heterogeneous point cloud registration is carried out on data collected by the vision sensor and the radar sensor, so that inter-frame attitude estimation is completed, and the inter-frame attitude is optimized by adopting sensor group pose data provided by the inertial measurement unit;
s3, based on the inter-frame attitude estimation, global constraint construction is completed, global optimization is carried out on the inter-frame attitude estimation by utilizing a local constraint component, and finally a generalized point cloud map is constructed.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the application of multiple carriers and multiple acquisition scenes through the detachable sucker, can be applied to two most common data acquisition processes of vehicle-mounted and hand-held by hands, and can freely switch the carrying mode in the same acquisition process due to the carrying flexibility, and the vehicle-mounted (or opposite) mode is replaced by hand-held mode, thereby greatly improving the flexibility of data acquisition; the invention can carry the physical device of the data acquisition device, carry various sensors, and replace the carried sensors according to actual use conditions, thereby having strong reusability.
The data acquisition device and the positioning mapping method thereof realize the data association of the heterogeneous sensors, break through the limitations of the traditional single sensor data association model and mapping method, realize robust and high-precision feature extraction and pose estimation, provide the mapping method with robustness and excellent performance based on the data association of the heterogeneous sensors, solve the problem of poor performance of the traditional method in complex scenes such as indoor and outdoor transition, and simultaneously improve the precision of the output mapping result, and more meet the application performance requirements of the current intelligent body in actual scenes.
Drawings
Fig. 1 is a schematic structural diagram of a data acquisition mounting bracket according to the present invention.
Fig. 2 is a schematic structural diagram of a data acquisition device according to the present invention.
Fig. 3 is a flow chart of a positioning and mapping method of a data acquisition device according to the present invention.
The graphic indicia are illustrated as follows:
the device comprises a chassis layer 1, a grip 2, a T-shaped frame 3, a limit rod 4, a limit block 5, a sensor carrying plate 6, a hook 7, a camera carrying frame 8, a radar carrying frame 9, a vision sensor 10 and a radar sensor 11.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Example 1
Fig. 1 shows an embodiment of a data acquisition mounting bracket according to the present invention. The utility model provides a data acquisition carries on support, wherein, includes carrying layer, handheld layer and chassis layer 1 in proper order from the top to the bottom, and the bottom of chassis layer 1 is equipped with detachable sucking disc, carries the layer including sensor carrying plate 6 and mount, and sensor carrying plate 6 is located between mount and the handheld layer, is equipped with the connecting hole that a plurality of is used for fixed sensor on the sensor carrying plate 6.
The fixing frame comprises a T-shaped frame 3, first rubber bands, second rubber bands and a limiting rod 4, wherein one limiting rod 4 is inserted into three ends of the T-shaped frame 3 respectively, a row of hooks 7 are arranged on the limiting rod 4, limiting blocks 5 are arranged on the end faces, away from the T-shaped frame 3, of the limiting rods 4, one of the hooks 7 on each limiting rod 4 is hooked by the first rubber bands, the three limiting rods 4 can be elastically fixed in the T-shaped frame 3, when the controller is placed on the T-shaped frame 3, the limiting rods 4 can be contracted towards the T-shaped frame 3 under the control of the first rubber bands, the limiting blocks 5 can fix the controller, the second rubber bands are sleeved on the limiting blocks 5 of each limiting rod 4, the limiting rods 4 can be further tightened into the T-shaped frame 3, and the limiting blocks 5 can firmly fix the controller.
In the present embodiment, the sensor mounting board 6 is provided with a detachable camera mounting frame 8 and a radar mounting frame 9, the vision sensor 10 is fixed to the sensor mounting board 6 via the camera mounting frame 8, and the radar sensor 11 is fixed to the sensor mounting board 6 via the radar mounting frame 9. When the vision sensor 10 or the radar sensor 11 is required to be mounted, the mounting can be performed by the relevant mounting rack, so that the mounting position of other sensors is not occupied, and other sensors can be mounted at the same time.
In this embodiment, the hand-held layer includes two handles 2 symmetrically disposed at two sides of the chassis layer 1, the inner side of the handles 2 is provided with finger-shaped holding positions, the handles 2 are fixed between the sensor carrying plate 6 and the chassis layer 1 by screws, and the handles 2 with different lengths can be replaced according to the use situation.
In addition, the chassis layer 1 is a storage box with an open top, the bottom of the storage box is a flat surface which is convenient for disassembling and assembling the sucker, and the storage box can be used for placing a battery or other physical devices for supplying power to the sensor or the controller. The smooth surface is convenient for the installation of sucking disc for whole carrying support can be fixed at other carriers, moves along with the carrier.
The working principle of this embodiment is as follows: the carrying layer is divided into a sensor carrying board 6 and a fixing frame, various sensors are fixed on the sensor carrying board 6 through connecting holes, a controller for processing data is fixed on the fixing frame, and therefore the sensors can directly input collected data into the controller fixed on the fixing frame through data lines. When the handheld removal of staff is needed, can dismantle the sucking disc on chassis, when needs are applied to the carrier such as car or robot with carrying the support, install the bottom on the chassis with the sucking disc, just so can fix data acquisition device on other carriers through carrying the support, even if the scene of use changes, the scene after adaptation that also can be fine, the universality is strong.
Example 2
Fig. 2 shows an embodiment of a data acquisition device according to the present invention. The data acquisition device comprises a data acquisition carrying support in embodiment 1, and further comprises a data acquisition unit, a data processing unit, a data integration unit and a positioning image construction unit, wherein the data acquisition unit is fixed on a sensor carrying plate 6 of the data acquisition carrying support, the data processing unit, the data integration unit and the positioning image construction unit are located on a fixing frame, the data processing unit, the data integration unit and the positioning image construction unit are integrated in a micro server, the micro server is fixed on the fixing frame, and the data processing unit, the data integration unit and the positioning image construction unit can be integrated on a notebook computer or a single chip microcomputer.
The micro server is provided with a ubuntu system and a ros (robot operation system) environment, can perform data interaction with the sensor based on a wired and wireless mode, has the functions of preprocessing and packaging original data, comprises the functions of removing distortion of a visual image, packaging the required original data into a data packet in a rosbag format by using a rosbag instruction, and the like.
In addition, the data acquisition unit comprises a solid-state radar, a vision camera, an inertial measurement unit, an event camera and a laser radar, wherein the solid-state radar, the vision camera, the inertial measurement unit, the event camera and the laser radar are fixed on the sensor carrying board 6; the vision camera can acquire image frames in real time, the laser radar and the like can acquire point cloud images of surrounding environments in real time, the event camera can acquire event stream information triggered and output by brightness change in real time, and the IMU (inertial measurement unit) can acquire velocity, triaxial acceleration and other pose information in the motion process in real time
In the embodiment, a micro server sends an instruction for starting acquisition to a solid-state radar and a binocular camera, the solid-state radar and the binocular camera start data acquisition after receiving the instruction, and the camera records image frames at a speed of 20 frames per second; the radar records the point cloud frame at a speed of 50 frames per second; the recorded data are transmitted to the micro server in real time through a wire; the staff holds the whole carrying bracket by the grip 2 and walks in the room, and the relative positions of the data acquisition unit and the person are kept unchanged as much as possible in the moving process, so that the quality of the data acquired by the data acquisition unit is improved; after the staff walks around the whole indoor environment and returns to the starting point, sending a collection stopping instruction to the data collection unit through the micro server, and stopping data collection after the data collection unit receives the instruction; preprocessing the collected original data through a micro server, wherein the preprocessing generally comprises data preprocessing work such as de-distortion of images; and the data packing operation is completed through interface instructions provided in the ros environment. The packed data is usually in a rosbag format, contains information of a time stamp, a binocular image frame and a point cloud frame, and can be used as input of a positioning and mapping algorithm to reconstruct the indoor environment acquired in the process of just moving. It should be noted that, the present embodiment may be fixed to other mobile carriers through a suction cup, and the data of the scene may be collected through the movement of the carriers.
Example 3
Fig. 3 shows an embodiment of a positioning and mapping method of a data acquisition device according to the present invention. A positioning and mapping method of a data acquisition device comprises the following steps:
s1, inputting acquired data into a micro server by a vision sensor 10, a radar sensor 11 and an inertial measurement unit;
s2, in a micro server, heterogeneous data feature matching is carried out on data acquired by the vision sensor 10 and data acquired by the radar sensor 11, so that a local constraint component is completed, and the sensor group pose data provided by an inertial measurement unit is adopted to optimize the local component; meanwhile, heterogeneous point cloud registration is carried out on data acquired by the vision sensor 10 and the radar sensor 11, so that inter-frame attitude estimation is completed, and the inter-frame attitude is optimized by adopting sensor group pose data provided by an inertial measurement unit;
s3, based on the inter-frame attitude estimation, global constraint construction is completed, global optimization is carried out on the inter-frame attitude estimation by utilizing a local constraint component, and finally a generalized point cloud map is constructed.
Note that, the micro server in this embodiment may be replaced by a notebook computer or a single chip microcomputer with a ubuntu system and a ros (robot operation system, robot operating system) environment.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. The utility model provides a data acquisition carries on support which characterized in that: the sensor comprises a carrying layer, a handheld layer and a chassis layer from top to bottom, wherein a detachable sucker is arranged at the bottom of the chassis layer, the carrying layer comprises a sensor carrying plate and a fixing frame, the sensor carrying plate is positioned between the fixing frame and the handheld layer, and a plurality of connecting holes for fixing a sensor are formed in the sensor carrying plate; the fixing frame comprises a T-shaped frame, first rubber bands, second rubber bands and limiting rods, wherein three ends of the T-shaped frame are respectively inserted into one limiting rod, a row of hooks are arranged on each limiting rod, limiting blocks are arranged on the end faces, away from the T-shaped frame, of each limiting rod, one of the hooks of each limiting rod is hooked by the first rubber band, and the limiting blocks of each limiting rod are sleeved with the second rubber bands; the cooperation of first rubber band and second rubber band makes each gag lever post can tighten up to "T" type frame inside, and its respective stopper is fixed to the controller elasticity.
2. A data acquisition mounting bracket as claimed in claim 1, wherein: the sensor carrying board is provided with a detachable camera carrying frame and a detachable radar carrying frame.
3. A data acquisition mounting bracket as claimed in claim 1, wherein: the hand-held layer comprises two handles symmetrically arranged on two sides of the chassis layer, and finger-shaped holding positions are arranged on the inner sides of the handles.
4. A data acquisition mounting bracket as claimed in claim 3, wherein: the chassis layer is a storage box with an open top, and the bottom of the storage box is a flat surface which is convenient for disassembling and assembling the sucker.
5. A data acquisition device, characterized in that: the data acquisition carrying bracket comprises any one of claims 1-4, and further comprises a data acquisition unit, a data processing unit, a data integration unit and a positioning and mapping unit, wherein the data acquisition unit is fixed on a sensor carrying plate of the data acquisition carrying bracket, and the data processing unit, the data integration unit and the positioning and mapping unit are positioned on the fixing frame.
6. A data acquisition device according to claim 5, wherein: the data acquisition unit comprises a solid-state radar, a vision camera, an inertial measurement unit, an event camera and a laser radar, wherein the solid-state radar, the vision camera, the inertial measurement unit, the event camera and the laser radar are fixed on the sensor carrying board.
7. A data acquisition device according to claim 5, wherein: the data processing unit, the data integration unit and the positioning and mapping unit are integrated in a micro server or a notebook computer or a singlechip.
8. A data acquisition device according to claim 7, wherein: the micro server/notebook computer/single chip microcomputer is fixed on the fixing frame.
9. A method for locating and mapping a data acquisition device, characterized in that the data acquisition carrying bracket according to claim 1 is used, comprising the following steps:
s1, inputting collected data into a micro server by a visual sensor, a radar sensor and an inertial measurement unit;
s2, in the micro server, heterogeneous data feature matching is carried out on data acquired by a visual sensor and data acquired by a radar sensor, so that a local constraint component is completed, and the sensor group pose data provided by an inertial measurement unit is adopted to optimize the local component; meanwhile, heterogeneous point cloud registration is carried out on data collected by the vision sensor and the radar sensor, so that inter-frame attitude estimation is completed, and the inter-frame attitude is optimized by adopting sensor group pose data provided by the inertial measurement unit;
s3, based on the inter-frame attitude estimation, global constraint construction is completed, global optimization is carried out on the inter-frame attitude estimation by utilizing a local constraint component, and finally a generalized point cloud map is constructed.
10. The method for locating and mapping a data acquisition device according to claim 9, wherein the micro server can be replaced by a notebook computer or a single chip microcomputer.
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