CN115290069A - Multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform - Google Patents
Multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform Download PDFInfo
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- CN115290069A CN115290069A CN202210869647.2A CN202210869647A CN115290069A CN 115290069 A CN115290069 A CN 115290069A CN 202210869647 A CN202210869647 A CN 202210869647A CN 115290069 A CN115290069 A CN 115290069A
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Abstract
The invention discloses a multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform, which comprises: a housing; a laser radar; two visible light cameras; an infrared camera; a touch display screen; an upper layer circuit board; a millimeter wave radar; an inertial measurement unit; a time synchronization device; a calculation unit; a switch; an industrial personal computer; a lower circuit board; a power conversion device; and the power supply device is externally connected. The multi-source heterogeneous sensor data fusion and cooperative sensing handheld mobile platform provided by the embodiment of the invention has the advantages of small volume, convenience in handheld, high integration level, multiple types of sensors, high space utilization rate, high precision and the like.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform.
Background
With the breakthrough progress of technologies such as artificial intelligence and automatic driving, the autonomous intelligent development of the unmanned system comes with unprecedented opportunities. For an unmanned system, accurate and reliable sensing data is a premise for ensuring normal operation of the whole system, and even though many single sensors at present can meet basic requirements in the aspects of accuracy, real-time performance and the like, a sensing scheme based on a single sensor still has a great defect, for example, in the unmanned driving, for a single sensor, even for some basic tasks such as lane line detection, the robustness of the system is difficult to ensure.
When a single sensor independently performs a task, certain limitations are imposed. For example, a camera has a high resolution, can clearly extract features of a target object when capturing an image, but is susceptible to factors such as light and is not suitable for night work. The laser radar can detect the distance information of a target object, can better realize the tasks of avoiding obstacles and establishing a map and positioning, but has lower resolution than a camera, and the emitted wire harness of the laser radar can be influenced by heavy fog and raindrops. The millimeter wave radar can obtain the speed information of the moving object according to the Doppler effect, but the resolution is low.
The multi-source heterogeneous sensor data fusion platform in the related technology fuses data of various sensors by integrating various sensors, but the integrated functions are less and the integration level is poorer.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a multi-source heterogeneous sensor data fusion and cooperative sensing handheld mobile platform, which has the advantages of small volume, convenience in handheld, high integration level, multiple types of sensors, high space utilization rate, high precision and the like.
To achieve the above object, an embodiment of the present invention provides a multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform, including: the shell comprises an upper layer part, a lower layer part and two connecting rods, wherein an upper installation cavity is arranged in the upper layer part, a lower installation cavity is arranged in the lower layer part, the lower layer part and the upper layer part are arranged at intervals in the vertical direction, two ends of each connecting rod are respectively connected with the upper layer part and the lower layer part, a holding part is formed on the outer surface of each connecting rod, a wire passing channel communicated with the upper layer part and the lower layer part is formed in each connecting rod, the two connecting rods are respectively located on two sides of the upper layer part and two sides of the lower layer part, an observation part is arranged on the upper surface of the lower layer part, and the observation part is provided with an observation port communicated with the lower installation cavity; a lidar mounted on an upper surface of the upper portion; two visible light cameras mounted on a front surface of the upper layer portion and arranged at intervals in a horizontal direction; the infrared camera is arranged on the front surface of the upper layer part and is positioned between the two visible light cameras; a satellite positioning device mounted within the upper mounting cavity; the touch display screen is arranged on the lower surface of the upper layer part in a turnover mode and at least provided with a containing position attached to the lower surface of the upper layer part; the upper circuit board is arranged in the upper mounting cavity and is electrically connected with the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device and the touch display screen respectively; a millimeter wave radar mounted on a front surface of the lower layer portion; an inertial measurement unit mounted within the lower mounting cavity; a time synchronizer adapted to generate a pulse per second and electrically connected to the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device, the millimeter wave radar, and the inertial measurement unit, respectively; a computing unit mounted within the lower mounting cavity; a switch mounted within the lower mounting cavity; the industrial personal computer is installed in the lower installation cavity and is suitable for observing through the observation port; the lower-layer circuit board is installed in the lower installation cavity and is respectively and electrically connected with the millimeter-wave radar, the inertia measurement unit, the calculation unit, the switch and the industrial personal computer, and the lower-layer circuit board is electrically connected with the upper-layer circuit board through a wire harness penetrating through the wire passing channel; the power conversion device is arranged in the lower mounting cavity and is electrically connected with the lower-layer circuit board; and the external power supply device is positioned outside the shell and electrically connected with the power supply conversion device through a power supply line.
The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform provided by the embodiment of the invention has the advantages of small size, convenience in handheld, high integration level, multiple types of sensors, high space utilization rate, high precision and the like.
In addition, the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the upper surface of the upper layer part is provided with a laser radar mounting groove for mounting the laser radar, the front surface of the upper layer part is provided with an infrared camera mounting port for mounting an infrared camera and two visible light camera mounting ports for mounting the visible light camera, and the front surface of the lower layer part is provided with a millimeter wave radar mounting port for mounting the millimeter wave radar.
According to one embodiment of the invention, the viewing port is covered with a transparent barrier.
According to an embodiment of the present invention, the case further includes an upper bottom cover and a lower rear cover, the lower surface of the upper layer portion is provided with an upper opening, the rear surface of the lower layer portion is provided with a lower opening, the upper bottom cover is openably and closably mounted on the upper layer portion to open or close the upper opening, and the lower rear cover is openably and closably mounted on the lower layer portion to open or close the lower opening.
According to one embodiment of the invention, the height of the multi-source heterogeneous sensor data fusion and cooperative perception handheld mobile platform is less than or equal to 300 mm, and the length and the width in the horizontal direction are less than or equal to 250 mm.
According to one embodiment of the invention, the weight of the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform is less than or equal to 5 kilograms.
According to one embodiment of the invention, the housing is a piece of resin material.
According to one embodiment of the invention, the wall thickness of the housing is 3-5 mm.
According to one embodiment of the invention, the housing is one piece.
According to one embodiment of the invention, the housing is a 3D print.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a housing of a multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a housing of a multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to an embodiment of the invention.
Reference numerals are as follows: the touch screen comprises a shell 10, an upper layer part 100, a laser radar mounting groove 110, a visible light camera mounting port 120, an infrared camera mounting port 130, an upper opening 140, a touch screen mounting hole 150, a lower layer part 200, an observation part 210, an observation port 211, a millimeter wave radar mounting port 220, a lower opening 230, a connecting rod 300 and a holding part 310.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The following describes a multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform according to an embodiment of the invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to the embodiment of the invention includes a housing 10, a laser radar, two visible light cameras, an infrared camera, a satellite positioning device, a touch display screen, an upper circuit board, a millimeter wave radar, an inertial measurement unit, a time synchronization device, a calculation unit, a switch, an industrial personal computer, a lower circuit board, a power conversion device, and an external power supply device.
The lidar is mounted on an upper surface of the upper portion 100.
The visible light cameras are installed on the front surface of the upper portion 100 and are spaced apart in the horizontal direction.
The infrared camera is mounted on the front surface of the upper portion 100 and is located between the two visible light cameras.
The satellite positioning device is installed in the upper installation cavity.
The touch display screen is installed on the lower surface of the upper portion 100 in a turnable manner and at least has a containing position attached to the lower surface of the upper portion 100.
The upper circuit board is installed in the upper installation cavity and is electrically connected with the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device and the touch display screen respectively.
And a millimeter wave radar mounted on the front surface of the lower portion 200.
The inertial measurement unit is mounted in the lower mounting cavity.
A time synchronizer adapted to generate a pulse per second and electrically connected to the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device, the millimeter wave radar, and the inertial measurement unit, respectively.
The computing unit is mounted within the lower mounting cavity.
The switch is mounted within the lower mounting cavity.
The industrial computer is installed in the lower installation cavity and is suitable for observation through the observation port 211.
The lower circuit board is installed in the lower installation cavity and is respectively electrically connected with the millimeter wave radar, the inertia measurement unit, the computing unit, the switch and the industrial personal computer, and the lower circuit board is electrically connected with the upper circuit board through a wire harness which penetrates through the wire passing channel.
The power supply conversion device is arranged in the lower mounting cavity and is electrically connected with the lower-layer circuit board;
the external power supply device is located outside the housing 10 and is electrically connected with the power conversion device through a power supply line.
Specifically, the visible camera can clearly extract the features of the target object when acquiring the image. The infrared camera can be used for image acquisition at night. The laser radar can detect the distance information of a target object, and can realize the tasks of avoiding obstacles and building images and positioning. The millimeter wave radar can obtain the speed information of the moving object according to the Doppler effect. The inertial measurement unit can obtain speed and position information of the body through an accelerometer and a gyroscope, and can complete accurate positioning of the multi-source heterogeneous sensor data fusion and the cooperative sensing handheld mobile platform by matching with a satellite positioning device, a laser radar and the like.
The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform can perform data fusion and collaborative perception on the data of the 6 sensors to obtain multi-source comprehensive data, make up for the defects of a single sensor, and improve target detection tracking and image identification positioning accuracy.
According to the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform provided by the embodiment of the invention, the shell 10 comprises the upper layer part 100, the lower layer part 200 and the two connecting rods 300, so that one part of a plurality of sensors can be installed in the upper layer part 100, and the other part can be installed in the lower layer part 200.
Through setting up connecting rod 300, not only can utilize connecting rod 300 to connect upper portion 100 and lower part portion 200, can set up on connecting rod 300 portion of gripping 310 moreover, make the user can grip connecting rod 300, it is right multisource heterogeneous sensor data fusion and the handheld mobile platform of perception in coordination move, because the both ends of connecting rod 300 connect upper portion 100 and lower part portion 200 respectively and two connecting rods 300 are located the both sides of upper portion 100 and lower part portion 200 respectively, can make when holding connecting rod 300 multisource heterogeneous sensor data fusion and the handheld mobile platform's of perception in coordination focus more steady, make the user grip when multisource heterogeneous sensor data fusion moves with the handheld mobile platform of perception in coordination more steady. In addition, the wire passage in the link 300 may allow the wire harness to pass through the sensor that is convenient to connect the upper portion 100 and the lower portion 200, may not only facilitate the electrical connection of the upper portion 100 and the lower portion 200, but also may improve the space utilization rate in the link 300.
Through inciting somebody to action laser radar installs the upper surface of upper portion 100, because laser radar needs 360 degrees scanning work to can not shelter from around its transmitting surface, consequently will laser radar installs the upper surface of upper portion 100 and can be convenient for laser radar's scanning work avoids other structures to shelter from laser radar's scanning guarantees laser radar operates the reliability.
Through installing infrared camera and two visible light cameras at the front surface of upper portion 100, can be convenient for gather the image in the place ahead, avoid sheltering from infrared camera and visible light camera, the user is handheld moreover during the handheld mobile platform of multisource heterogeneous sensor data fusion and perception in coordination, can make the collection visual angle of infrared camera and visible light camera and user's visual angle be close to further be convenient for user operation.
By installing the satellite positioning device in the upper portion 100, blocking and interference of other structures to satellite signals can be reduced, and accuracy of the satellite positioning device can be improved.
Through setting up the touch display screen can utilize the touch display screen shows the operation and the data acquisition state of handheld mobile platform of heterogeneous sensor data fusion of multisource and perception in coordination, can be convenient for moreover the user through the operation the touch display screen is right handheld mobile platform of heterogeneous sensor data fusion of multisource and perception in coordination is controlled. In addition, the touch display screen can be arranged on the lower surface of the upper layer part in a turnover mode and at least has a containing position attached to the lower surface of the upper layer part, so that the touch display screen can be turned to a position suitable for observation when the touch display screen needs to be operated and observed, and can be turned to the containing position when the touch display screen does not need to be operated, the touch display screen is prevented from occupying extra space, the touch display screen is prevented from interfering other operations, and the screen is prevented from being scratched.
By installing the millimeter wave radar on the front surface of the lower portion 200, since the millimeter wave radar detects the position and the moving speed of the object in front through the doppler effect, the millimeter wave radar can be prevented from being blocked, and the detection accuracy of the millimeter wave radar is ensured.
Through setting up time synchronizer utilizes time synchronizer sends the pulse per second in step to each sensor, makes each sensor synchronous trigger, can guarantee that it can not take place to detect the target because the time stamp is asynchronous and appear delaying the problem that mismatch to and positioning failure such as inertial measurement unit motion compensation when data acquisition.
Through setting up viewing aperture 211, make the industrial computer is suitable for and observes through viewing aperture 211, can make the user observe through viewing aperture 211 the running state of industrial computer, thereby be convenient for monitor multisource heterogeneous sensor data fusion and the handheld moving platform's of perception in coordination running state.
Through setting up external power supply unit not only can alleviate the weight of casing 10 part, avoids the battery to occupy in casing 10 space, reduces casing 10's volume, makes casing 10 part miniaturization, and the handheld of being convenient for can be convenient for connect the power supply structure of bigger capacity moreover, is convenient for external power supply unit's change and replenishment to extension multisource heterogeneous sensor data fusion and the duration of the handheld moving platform of perception in coordination.
The method has the advantages that the sensors of 6 different modes are integrated on the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform to serve as perception equipment, fusion perception data are provided, tasks such as pedestrian/vehicle tracking, target recognition, obstacle/lane line detection and the like can be completed, corresponding decision instructions are generated, redundant fusion perception data are provided for different types of robots, tasks in specific scenes are achieved, and acquisition work of data such as images and point clouds in different scenes is provided.
Therefore, the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform has the advantages of being small in size, convenient to hold, high in integration level, multiple in sensor types, high in space utilization rate, high in precision and the like.
The following describes a multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform according to an embodiment of the invention with reference to the accompanying drawings.
In some embodiments of the present invention, as shown in fig. 1 and fig. 2, a multi-source heterogeneous sensor data fusion and collaborative sensing handheld mobile platform according to an embodiment of the present invention includes a housing 10, a laser radar, two visible light cameras, an infrared camera, a satellite positioning device, a touch display screen, an upper circuit board, a millimeter wave radar, an inertial measurement unit, a time synchronization device, a computing unit, a switch, an industrial personal computer, a lower circuit board, a power conversion device, and an external power supply device.
Specifically, as shown in fig. 1 and 2, the upper surface of the upper portion 100 is provided with a laser radar installation groove 110 for installing the laser radar, the front surface of the upper portion 100 is provided with an infrared camera installation port 130 for installing an infrared camera and two visible light camera installation ports 120 for installing the visible light camera, and the front surface of the lower portion 200 is provided with a millimeter wave radar installation port 220 for installing the millimeter wave radar. Can be convenient for like this laser radar infrared camera visible light camera with millimeter wave radar's installation can avoid sheltering from moreover laser radar infrared camera visible light camera with millimeter wave radar guarantees the accuracy and the reliability that these sensors detected.
Specifically, the lidar may protrude out of the lidar mounting slot 110 to avoid being obscured.
Advantageously, the viewing port 211 is covered with a transparent barrier. This prevents foreign matter such as dust from entering the lower portion 200, and ensures the observation effect of the observation port 211.
More specifically, the case 10 further includes an upper bottom cover provided with an upper opening 140 on a lower surface thereof and a lower rear cover provided with a lower opening 230 on a rear surface thereof, the upper bottom cover being openably and closably mounted on the upper layer portion 100 to open or close the upper opening 140, and the lower rear cover being openably and closably mounted on the lower layer portion 200 to open or close the lower opening 230. This may facilitate the installation of the various structures within the upper and lower sections 100 and 200.
Optionally, the height of the multi-source heterogeneous sensor data fusion and cooperative sensing handheld mobile platform is less than or equal to 300 mm, and the length and the width in the horizontal direction are less than or equal to 250 mm. Therefore, the miniaturization of the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform can be facilitated, and the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform can be conveniently handled.
Further, the weight of the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform is less than or equal to 5 kilograms. Therefore, the light weight of the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform can be facilitated, and the multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform can be conveniently held in hand.
Fig. 1 and 2 illustrate a multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform according to some examples of the invention. As shown in fig. 1 and 2, the housing 10 is a unitary piece. Therefore, the structural strength of the housing 10 can be ensured, the mounting steps of the housing 10 can be saved, and the connecting piece on the housing 10 can be saved, so that the weight of the housing 10 can be further reduced, and the housing 10 can be lightened.
Specifically, the housing 10 is a 3D printed piece. This may facilitate the shaping of the housing 10.
Alternatively, the housing 10 is a resin material piece. This can facilitate the manufacture of the housing 10 while ensuring the structural strength of the housing 10.
Further, the wall thickness of the housing 10 is 3-5 mm. This makes it possible to reduce the weight of the housing 10 while ensuring the structural strength of the housing 10.
Specifically, the observation portion 210 protrudes upward above the upper surface of the lower portion 200. This may facilitate viewing of structures within the lower portion 200.
A touch screen mounting hole 150 is formed at the rear edge of the lower surface of the upper portion 100, and the touch display screen is mounted on the lower portion 200 by a fastener fitted into the touch screen mounting hole 150. This may facilitate the mounting of the touch sensitive display screen.
The front surface of the grip 310 may be provided with a non-slip protrusion and the rear surface may be provided with a depression. This may make the grip 310 more ergonomic for the user to hold.
The housing 10 is adapted to be mounted on an unmanned vehicle to facilitate the collection of multi-source fusion data with the unmanned vehicle.
As can be understood by those skilled in the art, the positions of the sensors need to be calibrated between formal acquisition of the multi-source heterogeneous sensor data fusion and the cooperative sensing handheld mobile platform, so that data fusion is facilitated. The calibration of the laser radar and the camera adopts a PnP (passive-n-Point) method, the line-surface characteristics on the laser radar Point cloud are manually selected by extracting the angular Point characteristics of a calibration plate on a color picture, so that matching is performed, the optimization is performed by using a least square method, and finally a transfer matrix from the laser radar to the camera is obtained. And verifying the calibration result in a reprojection mode.
The laser radar and the inertia measurement unit are calibrated by adopting the principle of hand-eye calibration. Firstly, collecting 8-word data outdoors by using a portable device, then constructing a map of the surrounding environment by using a fast-lio SLAM algorithm, and simultaneously collecting the odometry information of the laser radar to obtain the movement track of the laser radar; and then recording data of the inertial measurement unit and solving the position information. And then, optimizing the distance between the two tracks by a least square method, thereby obtaining an optimal rotation and translation matrix from the laser radar to the inertial measurement unit, namely a calibration result.
After the calibration is completed, various algorithms can be deployed on the industrial personal computer to verify the target detection distance, positioning accuracy and other targets.
According to the multi-source heterogeneous sensor data fusion and cooperative sensing handheld mobile platform provided by the embodiment of the invention, the platform can be held by hands to complete the task of building images indoors and outdoors, and can also be placed on an unmanned vehicle to assist in completing the task of unmanned driving. The method can complete the work of three-dimensional reconstruction and the like, and the constructed three-dimensional map can be used in actual tasks such as building construction, factory detection, AR/VR and the like. Of course, the platform can also be used as an experimental platform for algorithms such as colleges and universities research machine vision, SLAM and three-dimensional reconstruction
Other configurations and operations of the multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform is characterized by comprising:
the shell comprises an upper layer part, a lower layer part and two connecting rods, wherein an upper installation cavity is arranged in the upper layer part, a lower installation cavity is arranged in the lower layer part, the lower layer part and the upper layer part are arranged at intervals in the vertical direction, two ends of each connecting rod are respectively connected with the upper layer part and the lower layer part, a holding part is formed on the outer surface of each connecting rod, a wire passing channel communicated with the upper layer part and the lower layer part is formed in each connecting rod, the two connecting rods are respectively located on two sides of the upper layer part and two sides of the lower layer part, an observation part is arranged on the upper surface of the lower layer part, and the observation part is provided with an observation port communicated with the lower installation cavity;
a lidar mounted on an upper surface of the upper layer portion;
the two visible light cameras are arranged on the front surface of the upper layer part and are arranged at intervals along the horizontal direction;
the infrared camera is arranged on the front surface of the upper layer part and is positioned between the two visible light cameras;
a satellite positioning device mounted within the upper mounting cavity;
the touch display screen is arranged on the lower surface of the upper layer part in a turnover mode and at least provided with a containing position attached to the lower surface of the upper layer part;
the upper circuit board is arranged in the upper mounting cavity and is electrically connected with the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device and the touch display screen respectively;
a millimeter wave radar mounted on a front surface of the lower layer portion;
an inertial measurement unit mounted within the lower mounting cavity;
a time synchronization device adapted to generate a pulse per second and electrically connected to the laser radar, the two visible light cameras, the infrared camera, the satellite positioning device, the millimeter wave radar, and the inertial measurement unit, respectively;
a computing unit mounted within the lower mounting cavity;
a switch mounted within the lower mounting cavity;
the industrial personal computer is installed in the lower installation cavity and is suitable for observing through the observation port;
the lower-layer circuit board is installed in the lower installation cavity and is respectively and electrically connected with the millimeter-wave radar, the inertia measurement unit, the calculation unit, the switch and the industrial personal computer, and the lower-layer circuit board is electrically connected with the upper-layer circuit board through a wire harness penetrating through the wire passing channel;
the power conversion device is arranged in the lower mounting cavity and is electrically connected with the lower-layer circuit board;
and the external power supply device is positioned outside the shell and is electrically connected with the power supply conversion device through a power supply line.
2. The handheld mobile platform for data fusion and collaborative perception of the multisource heterogeneous sensor according to claim 1, wherein a laser radar installation groove for installing the laser radar is formed in the upper surface of the upper layer portion, an infrared camera installation opening for installing an infrared camera and two visible light camera installation openings for installing the visible light cameras are formed in the front surface of the upper layer portion, and a millimeter wave radar installation opening for installing the millimeter wave radar is formed in the front surface of the lower layer portion.
3. The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to claim 1, wherein the view port cover is covered with a transparent partition.
4. The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to claim 1, wherein the housing further includes an upper bottom cover and a lower rear cover, an upper opening is provided on a lower surface of the upper layer portion, a lower opening is provided on a rear surface of the lower layer portion, the upper bottom cover is openably and closably mounted on the upper layer portion to open or close the upper opening, and the lower rear cover is openably and closably mounted on the lower layer portion to open or close the lower opening.
5. The multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform according to claim 1, wherein the multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform has a height of 300 mm or less and a horizontal length and width of 250 mm or less.
6. The multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform of claim 1, wherein a weight of the multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform is less than or equal to 5 kilograms.
7. The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to claim 1, wherein the housing is a piece of resin material.
8. The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to claim 1, wherein a wall thickness of the housing is 3-5 millimeters.
9. The multi-source heterogeneous sensor data fusion and collaborative perception handheld mobile platform according to claim 1, wherein the housing is a single piece.
10. The multi-source heterogeneous sensor data fusion and collaborative awareness handheld mobile platform of claim 1, wherein the housing is a 3D print.
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