CN203133590U - Vehicle-mounted synchronous controller - Google Patents
Vehicle-mounted synchronous controller Download PDFInfo
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- CN203133590U CN203133590U CN2013201160507U CN201320116050U CN203133590U CN 203133590 U CN203133590 U CN 203133590U CN 2013201160507 U CN2013201160507 U CN 2013201160507U CN 201320116050 U CN201320116050 U CN 201320116050U CN 203133590 U CN203133590 U CN 203133590U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model relates to the geographic information surveying and mapping field, in particular to a vehicle-mounted synchronous controller. The vehicle-mounted synchronous controller includes a voltage conversion module, a synchronous control circuit module, a programmable controller module, a relay module, an indicator and a control button module and an input/output interface module; the voltage conversion module is with connected the relay module; the indicator, the control button module, the programmable controller module, the relay module and the input/output interface module are connected in series sequentially; and the indicator, the control buttons module, the synchronous control circuit module and the input/output interface module are connected in series sequentially. With multi-sensor real-time synchronous data acquisition technology and GPS/IMU/ODO integrated position and orientation adopted, the vehicle-mounted synchronous controller can realize high-precision position and orientation acquisition. The vehicle-mounted synchronous controller of the utility model is advantageous in multiple functions, compact structure, convenient operation, great simplification of the structure of a vehicle-mounted information acquisition system, and convenience in acquisition operation of acquisition personnel.
Description
Technical field
The utility model relates to the geography information survey field, relates in particular to a kind of vehicle-mounted traverse measurement equipment.
Background technology
Vehicle-mounted city space information acquisition system is an automated data acquisition system that multisensor is integrated, the integrated multiple sensors of newly-developed can be done in real time GPS location, attitude algorithm, the laser point cloud data of city three-dimensional spatial information and the collection of full-view image data of carrier.Its sensor mainly contains two kinds, and a kind of is the pose sensor, comprises GPS, inertial navigation unit IMU and wheel encoder device, obtains position and the attitude of traverse measurement system with certain sample frequency; Another is a cloud and image sensor, comprises laser scanner, panorama camera, wherein utilizes laser scanner to obtain the three-dimensional geometric information of target, and panorama camera then obtains the textural characteristics of target.Utilize vehicle-mounted synchronous control system to carry out centralized control to multiple sensors.
The utility model content
Onboard system is the comprehensive system of a kind of multi-source data collection and fusion.The source data that relates to comprises the POS(position and attitude of full-view image data, laser scanning data, location survey appearance) data etc.These data are obtained by different collecting computers, and every kind of sensor and computing machine have frequency of operation or the internal time of oneself.In order under unified time and coordinate system, to show, merge, analyze these data, need set up a unified time and position reference.
The purpose of this utility model is to design a cover multisensor isochronous controller, it is integrated GPS, gyroscope, wheel encoder device (DMI) and other control information, set up the unified time benchmark, linear reference space coordinates and GPS space coordinates (WGS84), can be according to the measurement requirement of user's setting, with the time or the distance as trigger condition, when it being sent the instruction of corresponding synchro control, the trigger pip of isochronous controller output can be controlled the working sensor with outer synchronizing function, and the sensor that does not have outer synchronizing function then obtains corresponding synchrodata by the high precision time interpolation.
For achieving the above object, the technical scheme that the utility model is taked is: a kind of vehicle-mounted isochronous controller comprises: voltage transformation module, synchronization control circuit module, Programmable Logic Controller module, relay module, indicator and control knob module, input/output interface module; Described voltage transformation module is connected with described relay module; Described indicator and control knob module, Programmable Logic Controller module, relay module, input/output interface module are connected in series in proper order; Described indicator and control knob module, synchronization control circuit module, input/output interface module are connected in series in proper order.
As preferably, described voltage transformation module inside is provided with a more than D.C. regulated power supply, can be each external unit required voltage with the vehicle power voltage transitions.
As preferably, described relay module inside is provided with a more than relay.
As preferably, described synchronization control circuit inside modules is provided with the GPS chip, traverse measurement car roof gps antenna signal can be introduced, and is used for synchronous time service and longitude and latitude position and obtains.
As preferably, described synchronization control circuit inside modules is provided with standby micro-electro-mechanical gyroscope, and gyroscope can obtain the corner attitude information of vehicle, calculates the vehicle motion track in conjunction with the wheel encoder device.
As preferably, described vehicle-mounted isochronous controller is interconnected with computing machine and communicate by letter by USB interface.
As preferably, described vehicle-mounted isochronous controller size is standard server cabinet size, can be positioned in the standard cabinet.
By comparing with the product of existing similar functions, the vehicle-mounted isochronous controller of the utility model has following advantage:
1. the real-time synchronous data collection technology of multisensor.Absolute time reference, introduce relative system; Design a relative time system, the time tag of every frame data is provided to the equipment of not free function; During data acquisition, gather the moment that every frame data produce in the lump;
2.GPS/IMU (inertial navigation unit)/ODO (odometer) integrated positioning is decided appearance.Integrated positioning is decided principle and the advantage that the appearance technology has fully been used different sensors, remedies the deficiency that exists separately, thereby has realized that high-precision position and attitude obtains;
3. gather multi-function in integral whole, compact conformation, easy to operate.The vehicle-mounted isochronous controller of the utility model is the standard PC case size, is convenient to install, transplant.Possess multi-source information simultaneously and integrate functions such as processing, power devices, system monitoring, equipment control, simplified the formation of on-vehicle information acquisition system greatly, made things convenient for the personnel's that gather collection operation.
Description of drawings
Fig. 1: vehicle-mounted isochronous controller circuit connection diagram of the present utility model.
Fig. 2: vehicle-mounted isochronous controller synchro control time synchronized schematic diagram of the present utility model.
Fig. 3: vehicle-mounted isochronous controller GPS/IMU of the present utility model (inertial navigation unit)/ODO (odometer) integrated positioning schematic diagram.
Fig. 4: vehicle-mounted isochronous controller Principle of Synchronic Control figure of the present utility model.
Fig. 5: vehicle-mounted isochronous controller front panel synoptic diagram of the present utility model.
Fig. 6: vehicle-mounted isochronous controller rear panel synoptic diagram of the present utility model.
Embodiment
Below in conjunction with further describing the technical program with reference to the accompanying drawings, the example of described embodiment is shown in the drawings, wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish, only be used for explaining the utility model but should describe, and can not be interpreted as restriction of the present utility model.
Ask for an interview Fig. 1, a kind of vehicle-mounted isochronous controller of the present utility model comprises: voltage transformation module 1, synchronization control circuit module 2, Programmable Logic Controller module 3, relay module 4, indicator and control knob module 5, input/output interface module 6; Voltage transformation module 1 is connected with relay module 4; Indicator and control knob module 5, Programmable Logic Controller module 3, relay module 4, input/output interface module 6 orders are connected in series; Indicator and control knob module 5, synchronization control circuit module 2, input/output interface module 6 orders are connected in series.Voltage transformation module 1 inside is provided with a more than D.C. regulated power supply.Relay module 4 inside are provided with a more than relay.Synchronization control circuit module 2 inside are provided with GPS chip and standby micro-electro-mechanical gyroscope.Vehicle-mounted isochronous controller is interconnected with computing machine and communicate by letter by USB interface.Vehicle-mounted isochronous controller size is standard server cabinet size, can be positioned in the standard cabinet.
Indicator and control knob module 5 are arranged on this vehicle-mounted synchro control case front panel, make things convenient for man-machine interaction.Indicator comprises pilot lamp and display screen, can receive the sensor states signal that the synchronization control circuit plate sends.The part control knob can be controlled the on/off of output interface modules 6 by Programmable Logic Controller module 3 and relay module 4, thus the power supply of control external unit; Part button can send control information by 2 pairs of equipment of synchronization control circuit module.Voltage transformation module 1 comprises some D.C. regulated power supplies, can be the required burning voltage of external unit with Vehicular accumulator cell 12V voltage transitions.Signal input output interface module 6 is arranged on the synchronizer controller rear panel.
Ask for an interview Fig. 2, vehicle-mounted isochronous controller synchro control time synchronized schematic diagram of the present utility model.In vehicle-mounted traverse measurement system, reach obtaining of synchronous sensing data in real time, be one important and need the problem that at first solves.Be that this just requires data to obtain in real time owing to the online dynamic operation of vehicle on the one hand; The existence of multiple different sensors on the other hand needs data to have strict synchronous or corresponding relation.According to top analysis, onboard system needs design system GPS synchronous control unit.This GPS synchronous control unit is behind time service type GPS locking some satellites, from high precision time service type GPS, obtain the absolute reference time (per second constantly/whole pulse per second (PPS)), the accuracy of being held time by the highly stable crystal oscillator of synchronizer inside, and offer the INS(inertial navigation system) and Sync (synchrotimer).The INS(inertial navigation system) receive per second constantly/whole pulse per second (PPS), the calibration relative time provides data label.The Sync(synchronizer) receive per second constantly/whole pulse per second (PPS), the calibration relative time provides data label, and to panorama camera, Laser(laser scanner) send and gather gating pulse, send the correct time label simultaneously to main control computer.Main control computer time of reception benchmark, and other computing machine, panorama camera, Laser(laser scanner are provided) the time synchronized benchmark.Panorama camera receives the Sync(synchrotimer) and main control computer the shooting gating pulse, the data label that provide, captured image data.The Laser(laser scanner) receive the Sync(synchronizer) and the main control computer time reference, the time tag that provide, the collection laser data.
Ask for an interview Fig. 3, Fig. 3 is GPS/IMU (inertial navigation unit)/ODO (odometer) integrated positioning schematic diagram.GPS has characteristics such as bearing accuracy height, whole world covering, but satellite-signal can exert an influence to positioning result when being subjected to stopping, on the other hand, GPS generally can only provide per second locator data once, concerning the vehicle-mounted traverse measurement of high speed, measure car and may in one second, move 10 to 20 meters distance, and passed through the variation of attitude several times.Therefore, must adopt other sensors to remedy the deficiency that GPS located and decided appearance, make locating navigation information more accurate, adopt GPS/IMU (inertial navigation unit)/ODO (odometer) integrated positioning system to address this problem.Position and the speed data of system integration IMU (inertial navigation unit) data (3 accelerometer, 3 gyroscopes), ODO (odometer) data and GPS, output integrated navigation data.
GPS supposes that vehicle has entered this section tunnel, owing at the interior signal deletion in tunnel, therefore can not form effective locator data in this section distance.Mileometer (ODO) and gyrostatic down auxiliary can be after vehicle enters the tunnel, and the travel direction information that the range information that pulse monitors according to mileage and gyroscope obtain is calculated to draw the driving trace of vehicle in the tunnel.
Fig. 4 is onboard system isochronous controller Principle of Synchronic Control figure.All the sensors is fixed on the mobile platform, and sets up its strict geometric relationship by system calibrating, adopts computer clock and GPS as time reference simultaneously, guarantees that by synchronous control system motion and the attitude of all the sensors and platform carried out synchronously.When vehicle at the uniform velocity travels with certain speed, GPS and IMU (inertial navigation unit) observe and record position and the attitude data of each sensor simultaneously, by Kalman filtering position and attitude data are merged to determine the orientation of whole onboard system then, laser scanner and panorama camera begin scanning with certain sample frequency and take pictures simultaneously, all the sensors all is controlled by carried-on-vehicle computer system, and realizes the synchronous collection of data by the synchronous control system trigger pulse.
Fig. 5 is vehicle-mounted isochronous controller front panel synoptic diagram.Front panel is made up of action button, pilot lamp, LCDs;
Wherein, left and right sides display screen can show acquisition state (as satellite lock-out state, trigger number, running status etc.) and supply voltage respectively, can understand system state in real time for operating personnel;
Wherein, the POWER button is total power switch, the power switch of the corresponding computer of PC1, PC2, and the power switch of the corresponding laser radar of LASER, the power switch of the corresponding synchronizer of power switch SYNC of the corresponding panorama camera of CAMERA can be controlled the relevant device on/off;
Wherein, the lock condition of the demonstration of LOCK button and satellite;
Wherein, whether the TRIG button just has trigger pip;
Wherein, RUN, HANDLE, SHIFT button can send trigger pulse control panorama camera by control synchro and take pictures, and HANDLE is manual triggers, and SHIFT switches inside and outside trigger mode;
Fig. 6 is vehicle-mounted isochronous controller rear panel synoptic diagram.Comprise 7 power supply input and output air plug seats, 6 data input and output air plug seats, gps antenna interface and USB control interfaces;
Wherein, the power supply input of the corresponding computer of PC1, PC2, the power supply input of the corresponding laser radar of LASER, the power supply input of the corresponding inertial navigation of GPS/MT, the power supply input of the corresponding panorama camera of PANO, the power supply input of the corresponding synchronizer of DC IN1, DC IN2;
Wherein, the data input and output of the corresponding wheel encoder device of ODO IN, ODO OUT;
Wherein, the data input of the corresponding gps signal of GPS IN;
Wherein, the output of TRIG EV, TRIG CA, the corresponding synchronizer trigger pip of TRIG DA;
Wherein, GPS is the gps antenna interface;
Wherein, USB CONTROL is standard USB mouth, and by this interface, computing machine can be connected with synchronizer, by the control of software realization to synchronizer;
By comparing with the product of existing similar functions, the vehicle-mounted isochronous controller of the utility model has following advantage:
1. the real-time synchronous data collection technology of multisensor.Absolute time reference, introduce relative system; Design a relative time system, the time tag of every frame data is provided to the equipment of not free function; During data acquisition, gather the moment that every frame data produce in the lump;
2.GPS/IMU (inertial navigation unit)/ODO (odometer) integrated positioning is decided appearance.Integrated positioning is decided principle and the advantage that the appearance technology has fully been used different sensors, remedies the deficiency that exists separately, thereby has realized that high-precision position and attitude obtains;
3. gather multi-function in integral whole, compact conformation, easy to operate.The vehicle-mounted isochronous controller of the utility model is the standard PC case size, is convenient to install, transplant.Possess multi-source information simultaneously and integrate functions such as processing, power devices, system monitoring, equipment control, simplified the formation of on-vehicle information acquisition system greatly, made things convenient for the personnel's that gather collection operation.
It below only is preferred embodiment of the present utility model; be not for limiting protection domain of the present utility model; therefore, all any modifications of within spirit of the present utility model and principle, doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (7)
1. a vehicle-mounted isochronous controller comprises: voltage transformation module (1), synchronization control circuit module (2), Programmable Logic Controller module (3), relay module (4), indicator and control knob module (5), input/output interface module (6); Described voltage transformation module (1) is connected with described relay module (4); Described indicator and control knob module (5), Programmable Logic Controller module (3), relay module (4), input/output interface module (6) order are connected in series; Described indicator and control knob module (5), synchronization control circuit module (2), input/output interface module (6) order are connected in series.
2. vehicle-mounted isochronous controller according to claim 1, it is characterized in that: described voltage transformation module (1) inside is provided with a more than D.C. regulated power supply.
3. vehicle-mounted isochronous controller according to claim 1, it is characterized in that: described relay module (4) inside is provided with a more than relay.
4. vehicle-mounted isochronous controller according to claim 1, it is characterized in that: described synchronization control circuit module (2) inside is provided with the GPS chip.
5. vehicle-mounted isochronous controller according to claim 1, it is characterized in that: described synchronization control circuit module (2) inside is provided with standby micro-electro-mechanical gyroscope.
6. vehicle-mounted isochronous controller according to claim 1 is characterized in that: described vehicle-mounted isochronous controller is interconnected with computing machine and communicate by letter by USB interface.
7. vehicle-mounted isochronous controller according to claim 1 is characterized in that: described vehicle-mounted isochronous controller size is standard server cabinet size, can be positioned in the standard cabinet.
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| CN2013201160507U CN203133590U (en) | 2013-03-14 | 2013-03-14 | Vehicle-mounted synchronous controller |
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| CN2013201160507U CN203133590U (en) | 2013-03-14 | 2013-03-14 | Vehicle-mounted synchronous controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103616710A (en) * | 2013-12-17 | 2014-03-05 | 靳文瑞 | Multi-sensor combined navigation time synchronizing system based on field programmable gate array (FPGA) |
| CN103744371A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Sensor integrated circuit for unmanned plane power patrol |
| CN104112363A (en) * | 2014-07-04 | 2014-10-22 | 西安交通大学 | Multi-sensing-data space-time synchronization method and road multi-sensing-data vehicle-mounted acquisition system |
| CN106200626A (en) * | 2016-08-26 | 2016-12-07 | 上海瑞言信息科技有限公司 | Natural driving data acquisition system and security algorithm thereof |
| CN107246876A (en) * | 2017-07-31 | 2017-10-13 | 中北智杰科技（北京）有限公司 | A kind of method and system of pilotless automobile autonomous positioning and map structuring |
| CN110933384A (en) * | 2019-12-17 | 2020-03-27 | 深圳爱克莱特科技股份有限公司 | Offline play synchronous control device and control method of LED play system |
| WO2020113358A1 (en) * | 2018-12-03 | 2020-06-11 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for synchronizing vehicle sensors and devices |
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2013
- 2013-03-14 CN CN2013201160507U patent/CN203133590U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103616710A (en) * | 2013-12-17 | 2014-03-05 | 靳文瑞 | Multi-sensor combined navigation time synchronizing system based on field programmable gate array (FPGA) |
| CN103744371A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Sensor integrated circuit for unmanned plane power patrol |
| CN103744371B (en) * | 2013-12-23 | 2016-06-08 | 广东电网公司电力科学研究院 | The sensor IC of unmanned plane electric inspection process |
| CN104112363A (en) * | 2014-07-04 | 2014-10-22 | 西安交通大学 | Multi-sensing-data space-time synchronization method and road multi-sensing-data vehicle-mounted acquisition system |
| CN106200626A (en) * | 2016-08-26 | 2016-12-07 | 上海瑞言信息科技有限公司 | Natural driving data acquisition system and security algorithm thereof |
| CN107246876A (en) * | 2017-07-31 | 2017-10-13 | 中北智杰科技（北京）有限公司 | A kind of method and system of pilotless automobile autonomous positioning and map structuring |
| WO2020113358A1 (en) * | 2018-12-03 | 2020-06-11 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for synchronizing vehicle sensors and devices |
| CN112041767A (en) * | 2018-12-03 | 2020-12-04 | 北京嘀嘀无限科技发展有限公司 | System and method for synchronizing vehicle sensors and devices |
| CN110933384A (en) * | 2019-12-17 | 2020-03-27 | 深圳爱克莱特科技股份有限公司 | Offline play synchronous control device and control method of LED play system |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20170314 |