CN203366016U - Mobile measurement and detection system sensor data fusion-synchronization controller - Google Patents
Mobile measurement and detection system sensor data fusion-synchronization controller Download PDFInfo
- Publication number
- CN203366016U CN203366016U CN 201320270405 CN201320270405U CN203366016U CN 203366016 U CN203366016 U CN 203366016U CN 201320270405 CN201320270405 CN 201320270405 CN 201320270405 U CN201320270405 U CN 201320270405U CN 203366016 U CN203366016 U CN 203366016U
- Authority
- CN
- China
- Prior art keywords
- frequency
- sensor
- controller
- processor
- variable controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model relates to the field of data fusion and synchronization control of a sensor, especially to a mobile measurement and detection system sensor data fusion-synchronization controller. A synchronization data processor is connected with an inertial measurement unit (IMU) unit, a GPS OEM plate, a frequency-variable controller; and the GPS OEM plate, the synchronization data processor and the frequency-variable controller are connected. On the basis of a mode of connection between a filter and an encoder, the frequency-variable controller enables high integration and synchronization control of the sensor to be realized, so that the system is precise and compact; and, the realization is especially important for a vehicle-mounted system with the limited space. Moreover, with a mode of association of machine time with a GPS time, the provided controller enables fusion and synchronization of multi-source data to be realized.
Description
Technical field
The utility model relates to data fusion and the synchro control of sensor, and the spy relates to a kind of traverse measurement and detection system Data Fusion of Sensor and isochronous controller.
Background technology
At present, at vehicle-mounted mobile, measure and detection field, can use much such as various types of sensors such as line array CCD, area array CCD, laser scanner, smart wire laser identification camera, Inertial Measurement Units, the data that these sensors detect must keep corresponding relation just meaningful with the displacement of carrying car or position coordinate, the necessary synchronous working of while sensor, gather in order the effective integration of guarantee data message, could be for follow-up road maintenance GIS database, structure digital topography map provide efficiently, accurate data source.How various sensor signal synchronous transmission is become to this area key issue to be solved is arranged.
Summary of the invention
For the deficiency of background technology, the utility model is connected with IMU unit, GPS OEM plate, frequency-variable controller by the synchrodata processor, and GPS OEM plate interconnects mutually with synchrodata processor and frequency-variable controller; The mode that frequency-variable controller is connected with scrambler by wave filter, realized the integrated and synchro control of the height of sensor, makes that system is simplified, compactness, and especially for onboard system, due to limited space, this point is particularly important; Secondly native system is by " the machine time " mode associated with gps time, the fusion that has realized multi-source data with synchronize.
The technical solution of the utility model is:
A kind of traverse measurement and detection system Data Fusion of Sensor and isochronous controller, comprise GPS OEM plate, scrambler, IMU unit, frequency-variable controller and synchrodata processor, it is characterized in that: described synchrodata processor is connected with IMU unit, GPS OEM plate, frequency-variable controller, and GPS OEM plate interconnects mutually with synchrodata processor and frequency-variable controller; Frequency-variable controller is connected with scrambler by wave filter.Its beneficial effect is: realized the integrated and synchro control of the height of sensor, made that system is simplified, compactness, especially for onboard system, due to limited space, this point is particularly important; Secondly native system is by " the machine time " mode associated with gps time, the fusion that has realized multi-source data with synchronize.
Data Fusion of Sensor as above and isochronous controller is characterized in that: the embedded computer of described synchrodata processor adopting PC104 bus architecture.Its beneficial effect is: physical dimension reduces greatly, related algorithm is transplanted on powerful embedded computer and is completed simultaneously, the base plate formed with ARM+CPLD, mainly as controlling topworks, makes synchrodata processor level clearly demarcated, development difficulty reduces, and software maintenance is convenient.
Data Fusion of Sensor as above and isochronous controller is characterized in that: described synchrodata processor also is connected with banded topography system with view industrial computer, flatness industrial computer, road surface industrial computer, three-dimensional road shape system.Its beneficial effect is: the data that can realize a plurality of industrial computers or system are synchronous.
Data Fusion of Sensor as above and isochronous controller is characterized in that: described frequency-variable controller is comprised of CPLD and ARM.
The accompanying drawing explanation
Accompanying drawing 1: layout of the present utility model;
Accompanying drawing 2: theory diagram of the present utility model;
Accompanying drawing 3: frequency-variable controller main circuit;
Accompanying drawing 4: main signal conditioning, level shifting circuit;
Accompanying drawing 5:GPS OEM plate place in circuit.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described further.
In order to meet space-time synchronous and the external trigger work of sweeping the sensors such as CCD, area array CCD, laser scanner, smart wire laser identification camera as line, as shown in Figure 2, traverse measurement of the present utility model and detection system Data Fusion of Sensor and isochronous controller, comprise GPS OEM plate, scrambler, IMU unit, the frequency-variable controller be comprised of CPLD and ARM, synchrodata processor, layout of the present utility model as shown in Figure 1.
The synchrodata processor interconnects with IMU unit, GPS OEM plate, frequency-variable controller, Ethernet switch and each industrial computer or the system that need to synchronize, as shown in Figure 2 view industrial computer, flatness industrial computer, road surface industrial computer, three-dimensional road shape system, banded topography system; GPS OEM plate interconnects mutually with synchrodata processor and frequency-variable controller; Frequency-variable controller is connected with scrambler by wave filter.
Scrambler: for the unit of measuring distance.Scrambler and wheel are coaxially installed, and angular velocity equates, the distance of the wheel unit of passing by, and scrambler can send fixing umber of pulse, and the quantity by count pulse just can obtain the distance that wheel is passed by.The data of scrambler, by after filter filtering, are transferred to frequency-variable controller.
GPS OEM plate: the satellite-signal received for receiving gps antenna, and real-time longitude and latitude and time data are transferred in synchrodata processor and frequency converter, its circuit diagram as shown in Figure 5.
The IMU unit: Inertial Measurement Unit, for measuring attitude this moment, comprises rolling, pitching, course three-dimensional perspective, and transfers data in the synchrodata processor.
Frequency-variable controller: formed by CPLD and ARM, for calculating in real time current distance the work of each sensor of real-time synchronization.And sweep the sensors such as camera, area array cameras, range finder using laser, laser scanner by the distance synchronous triggering line of artificial setting, the frequency-variable controller circuit is as shown in Figure 3.
The synchrodata processor: the synchrodata processor is comprised of the PC104 sum counter, for the real time fusion of time, space, attitude signal, and precise time and spatial data is transferred to the data server (industrial computer) of each subsystem by Ethernet,
The main signal condition of the utility model, level shifting circuit are as shown in Figure 4.
When system works, the pulse signal of scrambler is transferred to frequency-variable controller and synchrodata processor after by filter filtering, frequency-variable controller according to the synchrodata processor, issue apart from triggering command, to encoder pulse through row frequency multiplication or frequency division, sweep the sensors such as camera, range finder using laser, laser scanner, area array cameras to line by the distance of appointment respectively and send the Transistor-Transistor Logic level signals, synchro control its by appointment apart from image data; Meanwhile, the synchrodata processor receives the attitude signal of the position of distance signal from scrambler, GPS OEM plate and time signal, IMU unit, by the signal transmission of each device, can guarantee that the data of individual sensor collection are synchronizeed with maintenance on the time in space accurately.
1. sensor is synchronous: scrambler of the present utility model is arranged on wheel, often turn around and send a fixed pulse number (minute A phase and B phase, orthogonal coding), rotating speed is faster, pulsed frequency is higher, after code device signal is introduced the base plate of frequency-variable controller, the ARM microcontroller of frequency-variable controller receives host computer master control instruction by serial ports, ARM enables CPLD corresponding controling end mouth, CPLD just can the real-time response order recall the frequency conversion program module, scrambler is carried out to frequency division or frequency multiplication, frequency variation signal is exported to each sensor as synchronous triggering signal, each sensor is worked under different frequency according to self-characteristic.All the sensors orders about lower work at the pulse signal of unique signal source scrambler like this, the collection that has guaranteed sensor is synchronous, code device signal sends to the PC104 numbered card of synchrodata processor simultaneously, this numbered card paired pulses is counted, and the PC104 computer module carries out computing to these data and show that the real-time speed of vehicle and real-time mileage Bing Yu highway pile No. associate.
the fusion of multi-source data with synchronize:this onboard system relates to following a few class data: data, scrambler one dimension mileage (highway pile No.) that GPS locator data, gps time, sensor gather, above data must merge in order and space-time synchronous just can make the data of collection meaningful, and implementation method is as follows:
After sensor (as line is swept camera) collects a two field picture, acquisition software is stamped local zone time mark (being computer time) in real time, on the other hand, GPS OEM plate receives positioning signal, send to the PC104 computing machine with the data updating rates of 20 hertz by serial ports, the PC104 computing machine extracts located in connection data (longitude and latitude, altitude figures) and gps time etc. synchronously be transmitted to each collecting computer by serial ports, and after storage and aftertreatment, make the data of each sensor collection associate by the machine time and GPS space time information, associated by with gps time in addition, eliminated the time error of the image data that each acquisition subsystem brings because of the machine Time Inconsistency, the effective integration and vehicle carried data collecting system synchronizeing on logic and space-time of multi-source data have been guaranteed.
Main innovate point of the present invention:
1, realized the integrated and synchro control of the height of sensor.
Adopt at present distributed control mode in vehicle-mounted mobile Road Detection field more, each subsystem (as the road surface subsystem) is all joined an isochronous controller, system forms complicated, equipment is many, easily is out of order, and native system adopts single master mode that the mode of synchronous triggering externally is provided, system is simplified, compactness, for onboard system, due to limited space, this point is particularly important especially.
2, by " the machine time " mode associated with gps time, the fusion that has realized multi-source data with synchronize.
Adopt single master mode on vehicle-mounted detecting system, because there is error in the machine time of each acquisition subsystem, be difficult to guarantee the space-time synchronous of each image data, native system adopts " the machine time " and unified external clock reference (gps time) real time correlation, carry out the data fusion after aftertreatment, realized the synchronous of sensor image data.
3, adopted modular building form, be convenient for changing and keep in repair.
It is base plate that controller be take frequency-variable controller (ARM+CPLD), is plugged with GPS OEM plate, AC/DC power module, stack on it and is connected to synchrodata processor (containing PC104, timer counter plate) module, and the module convenient maintenance and replacement, reduced physical dimension.
4, adopt the mode of embedded computer, constantly simplified physical dimension, and reduced the systemic software development difficulty.
System adopts the embedded computer of PC104 bus architecture, physical dimension reduces greatly, related algorithm is transplanted on powerful embedded computer and is completed simultaneously, the base plate formed with ARM+CPLD is mainly as controlling topworks, make synchrodata processor level clearly demarcated, development difficulty reduces, and software maintenance is convenient.
Claims (4)
1. a traverse measurement and detection system Data Fusion of Sensor and isochronous controller, comprise GPS OEM plate, scrambler, IMU unit, frequency-variable controller and synchrodata processor, it is characterized in that: described synchrodata processor is connected with IMU unit, GPS OEM plate, frequency-variable controller, and GPS OEM plate interconnects mutually with synchrodata processor and frequency-variable controller; Frequency-variable controller is connected with scrambler by wave filter.
2. Data Fusion of Sensor as claimed in claim 1 and isochronous controller, is characterized in that: the embedded computer of described synchrodata processor adopting PC104 bus architecture.
3. Data Fusion of Sensor as claimed in claim 1 and isochronous controller, it is characterized in that: described synchrodata processor also is connected with banded topography system with view industrial computer, flatness industrial computer, road surface industrial computer, three-dimensional road shape system.
4. Data Fusion of Sensor as claimed in claim 1 and isochronous controller, it is characterized in that: described frequency-variable controller is comprised of CPLD and ARM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320270405 CN203366016U (en) | 2013-05-17 | 2013-05-17 | Mobile measurement and detection system sensor data fusion-synchronization controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320270405 CN203366016U (en) | 2013-05-17 | 2013-05-17 | Mobile measurement and detection system sensor data fusion-synchronization controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203366016U true CN203366016U (en) | 2013-12-25 |
Family
ID=49813759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320270405 Expired - Fee Related CN203366016U (en) | 2013-05-17 | 2013-05-17 | Mobile measurement and detection system sensor data fusion-synchronization controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203366016U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635532A (en) * | 2014-12-17 | 2015-05-20 | 严俊文 | Mobile acquisition synchronization control device and method |
| CN106123802A (en) * | 2016-06-13 | 2016-11-16 | 天津大学 | A kind of autonomous flow-type 3 D measuring method |
| CN106197471A (en) * | 2016-07-22 | 2016-12-07 | 长安大学 | Road Detection spacing based on information fusion triggers device and triggering method |
| CN108279014A (en) * | 2017-01-05 | 2018-07-13 | 武汉四维图新科技有限公司 | Automatic Pilot map data collecting apparatus and system, map Intelligent Production System |
| CN108318489A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of system and method for the real-time storage of Tunnel testing data |
| CN110926332A (en) * | 2019-11-14 | 2020-03-27 | 中国航空工业集团公司西安飞行自动控制研究所 | Rail contact net spatial position detection vehicle |
| WO2020133038A1 (en) * | 2018-12-27 | 2020-07-02 | 深圳市大疆创新科技有限公司 | Detection system and mobile platform provided with detection system |
| CN113093628A (en) * | 2021-04-14 | 2021-07-09 | 中国矿业大学(北京) | Synchronous acquisition control method for subway tunnel potential safety hazard detection vehicle |
-
2013
- 2013-05-17 CN CN 201320270405 patent/CN203366016U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635532A (en) * | 2014-12-17 | 2015-05-20 | 严俊文 | Mobile acquisition synchronization control device and method |
| CN104635532B (en) * | 2014-12-17 | 2017-04-12 | 严俊文 | Mobile acquisition synchronization control device and method |
| CN106123802A (en) * | 2016-06-13 | 2016-11-16 | 天津大学 | A kind of autonomous flow-type 3 D measuring method |
| CN106197471A (en) * | 2016-07-22 | 2016-12-07 | 长安大学 | Road Detection spacing based on information fusion triggers device and triggering method |
| CN106197471B (en) * | 2016-07-22 | 2019-03-22 | 长安大学 | Road detection vehicle based on information fusion is apart from trigger device and triggering method |
| CN108279014A (en) * | 2017-01-05 | 2018-07-13 | 武汉四维图新科技有限公司 | Automatic Pilot map data collecting apparatus and system, map Intelligent Production System |
| CN108318489A (en) * | 2017-01-17 | 2018-07-24 | 南京火眼猴信息科技有限公司 | A kind of system and method for the real-time storage of Tunnel testing data |
| WO2020133038A1 (en) * | 2018-12-27 | 2020-07-02 | 深圳市大疆创新科技有限公司 | Detection system and mobile platform provided with detection system |
| CN110926332A (en) * | 2019-11-14 | 2020-03-27 | 中国航空工业集团公司西安飞行自动控制研究所 | Rail contact net spatial position detection vehicle |
| CN113093628A (en) * | 2021-04-14 | 2021-07-09 | 中国矿业大学(北京) | Synchronous acquisition control method for subway tunnel potential safety hazard detection vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203366016U (en) | Mobile measurement and detection system sensor data fusion-synchronization controller | |
| CN102737511B (en) | Intelligent road side system | |
| CN102425991B (en) | Automation storage yard laser measurement device and application method thereof | |
| CN101949715B (en) | Multi-sensor integrated synchronous control method and system for high-precision time-space data acquisition | |
| CN104244406B (en) | Mine movable object locating system and method under a kind of cloud computing data | |
| CN103217693B (en) | Vehicle navigation and remote service terminal, system and method based on Beidou satellite system | |
| CN201269758Y (en) | Vehicle mounted full automatic detection recording system for traffic signs | |
| CN104089649B (en) | A kind of indoor environment data collecting system and acquisition method | |
| CN103150786A (en) | Non-contact type unmanned vehicle driving state measuring system and measuring method | |
| CN106197413B (en) | A kind of airborne distributed location attitude measurement system | |
| CN103033836B (en) | navigation pointing method of vehicle navigation pointing device | |
| CN203133590U (en) | Vehicle-mounted synchronous controller | |
| CN203365452U (en) | Vehicle speed detection system based on binocular stereoscopic vision | |
| CN207601626U (en) | A kind of robot local positioning system based on UWB and SINS | |
| CN203126621U (en) | Vehicular three-dimensional laser and panorama image measuring system | |
| CN104864909A (en) | Road surface pothole detection device based on vehicle-mounted binocular vision | |
| CN108282242A (en) | Space-time synchronous apparatus and system, map collecting vehicle and map Intelligent Production System | |
| CN104267444A (en) | Real-time three-dimensional imaging device for hole | |
| CN106524924A (en) | Track inspection vehicle position and attitude measurement system and method based on optical/inertia combination | |
| CN202209948U (en) | Vehicle-mounted road ride comfort measurement system | |
| CN204329976U (en) | A kind of robot course-angle mensurement device and comprise the robot of this device | |
| CN206649347U (en) | A kind of application deployment system based on unmanned vehicle | |
| CN101504289B (en) | Method for implementing vertical height positioning by acceleration sensing in satellite positioning system | |
| CN110375786A (en) | A kind of scaling method, mobile unit and storage medium that sensor is joined outside | |
| CN109798870A (en) | A kind of well lid settlement monitoring device and mobile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131225 Termination date: 20180517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |