CN208297964U - The synchronous sensing device of data and mobile robot - Google Patents
The synchronous sensing device of data and mobile robot Download PDFInfo
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- CN208297964U CN208297964U CN201820471099.7U CN201820471099U CN208297964U CN 208297964 U CN208297964 U CN 208297964U CN 201820471099 U CN201820471099 U CN 201820471099U CN 208297964 U CN208297964 U CN 208297964U
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Abstract
The utility model relates to a kind of synchronous sensing devices of data.A kind of sensing device that data are synchronous, the time label carried including identification sensing data, and it combines the processor of sensing data, carry the sensor module for the sensing data that the time marks according to the clock module and output of preset driving frequency output driving information, sensor module includes at least two sensor modules, processor is connected with each sensor module in sensor module, and clock module is connected with each sensor module in sensor module.It goes that each sensor module is driven to work using unified clock module, ensure the time synchronization of each sensor module work, the sensing data of the carrying time label of output also synchronizes in time, processor only needs to identify the sensing data of each sensor module of the label energy accurate combination synchronization of time entrained by sensing data, reduce the difficulty of time calibration, the error for reducing time calibration, improves calibration accuracy.
Description
Technical field
The utility model relates to mobile robot fields, more particularly to a kind of synchronous sensing device of data.
Background technique
Mobile robot, being one, to collect environment sensing, dynamic decision and planning, behaviour control and execution etc. multi-functional in one
The integrated system of body.It concentrated sensor technology, information processing, electronic engineering, computer engineering, automation control engineering with
And the multi-disciplinary research achievement such as artificial intelligence, the highest achievement of electromechanical integration is represented, is that current scientific technological advance is most living
One of field of jump.As robot performance is constantly perfect, the application range of mobile robot greatly extends, not only in work
It is widely used in the industries such as industry, agricultural, medical treatment, service, and has in urban safety, national defence and space exploration field etc.
Evil is applied well with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
The data of multiple sensor collection sensing objects are first passed through headed by the perceptive mode of traditional mobile robot, then right
The data being collected into carry out time calibration and combination.Since the data of sensor collection are complicated and multiplicity, time calibration is carried out
Heavy workload and calibration accuracy is low.
Utility model content
Based on this, it is necessary to and multiplicity complicated for the data of sensor collection, carry out the heavy workload of time calibration and
The low problem of calibration accuracy provides a kind of sensing device that data are synchronous.
A kind of synchronous sensing device of data, including according to the clock module of preset driving frequency output driving information,
The time that output carries the sensor module of the sensing data of time label and identification sensing data carries marks and combines sensing
The processor of data, sensor module include at least two sensor modules；
Processor is connected with each sensor module in sensor module, each biography in clock module and sensor module
Sensor module is connected.
Sensor module includes laser radar module, camera module and IMU in one of the embodiments,
(Inertial measurement unit, Inertial Measurement Unit) module.
The driving frequency of sensor module is different in one of the embodiments,.
The precision of time label is equal to or less than Millisecond in one of the embodiments,.
Sensing data includes that laser radar sensing data, camera sensing data and IMU are passed in one of the embodiments,
Feel data.
The synchronization sensing data for carrying time label in one of the embodiments, includes the sensing number for carrying time label
According to, and the combination sensing data of time label is carried, the combination sensing data of time label is carried by carrying time label
Sensing data combines to obtain.
Clock module is GPS (Global Positioning System, global positioning system in one of the embodiments,
System) clock module.
A kind of mobile robot, including the synchronous sensing device of mobile robot ontology and data；
The synchronous sensing device of data is set to mobile robot ontology.
Mobile robot includes processing module in one of the embodiments, and processing module is connected with processor.
Processing module includes pose computing module, object detection module, scene cut module in one of the embodiments,
With scene rebuilding module；
Pose computing module is connected with processor, object detection module is connected with processor, scene cut module with
Processor is connected to be connected with scene rebuilding module with processor.
The synchronous sensing device of above-mentioned data distinguishes output driving letter according to preset driving frequency by clock module first
For breath to each sensor module, then each sensor module collects the sensing data of sensing objects according to activation bit respectively, and defeated
The sensing data of time label is carried out to processor, and last processor receives the sensing data for carrying time label, and identification passes
Feel the time label of data carrying, combination carries the sensing data of each sensor module of same time label, when generation carries
Between the synchronization sensing data that marks.It goes that each sensor module is driven to work using unified clock module, makes each sensor module
Time it is all corresponding with the time of clock module, it is ensured that the time synchronization of each sensor module work, the carrying time of output
The sensing data of label also synchronizes in time, and processor only needs to identify that the label of time entrained by sensing data can be accurate
The sensing data for combining each sensor module of synchronization does not need to carry out complicated time calibration and combination, when reducing
Between the difficulty calibrated, reduce the error of time calibration, improve calibration accuracy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one of embodiment of the synchronous sensing device of the application data；
Fig. 2 is the structural schematic diagram of one of embodiment of the synchronous sensing device of the application data；
Fig. 3 is the explanatory diagram of one of embodiment of the synchronous sensing device of the application data；
Fig. 4 is the structural schematic diagram of one of embodiment of the application mobile robot；
Fig. 5 is the structural schematic diagram of one of embodiment of the application mobile robot.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
A kind of sensing device that data are synchronous, as shown in Figure 1, including according to preset driving frequency output driving information
The time that clock module 200, output carry the sensor module 300 of the sensing data of time label and identification sensing data carries
The processor 100 of sensing data is marked and combines, sensor module 300 includes at least two sensor modules 302；
Processor 100 is connected with each sensor module 302 in sensor module 300, clock module 200 and sensing
Each sensor module 302 in device mould group 300 is connected.
Specifically, clock module 200 is according to preset driving frequency difference output driving information to each sensor die first
Block 302, then each sensor module 302 collects the sensing data of sensing objects according to activation bit respectively, and when exporting carrying
Between the sensing data that marks to processor 100, last processor 100 receives the sensing data for carrying time label, identification sensing
The time that data carry marks, and combination carries the sensing data of each sensor module 302 of same time label, when generating carrying
Between the synchronization sensing data that marks.
Combination carries the process of the sensing data of each sensor module 302 of same time label as the combination of simple data
Process.For example, the sensing data of the carrying time label of each sensor module output includes 3D (Dimensions, dimension
Degree) point cloud data and color image data, processor is after receiving and identifying the sensing data for carrying time label, to 3D point cloud
Data and color image data are combined, and the 3D point cloud data for carrying same time label, color image data can be obtained
And RGBD (red green blue depth, RGB-depth) point cloud data, the RGBD point cloud data obtained herein is 3D
The simple superposition of point cloud data and color image data.
Driving frequency refers to each sensor module for controlling clock module 200 periodically into sensor module 300
The frequency of 302 output driving information, is arranged when initializing clock module 200, and the driving frequency of each sensor module 302 is respectively not
It is identical.Activation bit refers to the information to work for each sensor module 302 in trigger sensor mould group 300, each to sense
When device module 302 receives activation bit, start the work for collecting the sensing data of sensing objects, activation bit can be one
High level or low level.
Go to drive each sensor module 302 to work using unified clock module 200, the time with clock module 200 is
The time of benchmark, i.e., each sensor module 302 is all corresponding with the time of clock module 200, can ensure that each sensor module 302
The sensing data of the time synchronization of work, the carrying time label of output also synchronizes in time, and the later period is right using processor 100
When sensing data is handled, it is only necessary to identify each of the label energy accurate combination synchronization of time entrained by sensing data
The sensing data of sensor module 302 does not need to carry out complicated time calibration and combination, reduces the difficulty of time calibration,
The error for reducing time calibration, improves calibration accuracy.
The synchronous sensing device of above-mentioned data goes that each sensor module is driven to work using unified clock module, makes each
The time of sensor module is all corresponding with the time of clock module, it is ensured that the time synchronization of each sensor module work, output
The carrying time label sensing data also synchronize in time, processor only need to identify the time entrained by sensing data mark
The sensing data of each sensor module of note energy accurate combination synchronization does not need to carry out complicated time calibration and group
It closes, reduces the difficulty of time calibration, reduce the error of time calibration, improve calibration accuracy.
In one of the embodiments, as shown in Fig. 2, sensor module 300 includes laser radar module 304, camera
Module 306 and IMU module 308.
Specifically, laser radar module 304 includes laser radar sensor, laser radar sensor refers to utilizing laser
The sensor that technology measures.The working principle of laser radar and radar are very close, using laser as signal source, by laser
The pulse laser that device is launched is got on trees, road, bridge and the building on ground, causes to scatter, and a part of light wave can be anti-
It is mapped on the receiver of laser radar, is calculated according to laser distance measuring principle, just obtain the distance from laser radar to target point, arteries and veins
Impulse light constantly scans object, so that it may obtain the data of target complete point on object, be carried out at imaging with this data
After reason, so that it may obtain accurate three-dimensional image.Its advantages are to be able to achieve contactless telemeasurement, and speed is fast, precision
Height, range is big, and anti-light, electrical interference ability is strong etc..
Camera module 306 includes camera sensing device, and camera sensing device, that is, imaging sensor is a kind of by optical picture
Equipment as being converted into electronic signal is widely used in digital camera and other electro-optical devices.Camera module
306 can be monocular cam or more mesh cameras, and monocular cam refers to single colored or gray scale camera, more mesh camera shootings
Head refers to the camera system that two or more colour or gray scale camera form.Monocular cam handles information
Speed it is fast, more mesh cameras can be shot from different perspectives, to obtain more information.
IMU module 308 is the device for measuring object triaxial attitude angle (or angular speed) and acceleration.In general, one
IMU contains three uniaxial accelerometers and three uniaxial gyros, and accelerometer detection object is in carrier coordinate system unification and independence
The acceleration signal of vertical three axis, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system, measure object in three-dimensional
Angular speed and acceleration in space, and calculate with this posture of object.
The driving frequency of sensor module is different in one of the embodiments,.
Specifically, sensor module includes laser radar module, camera module and IMU module, three sensor modules
Driving frequency relationship are as follows:
F1=m*f2；
F2=n*f3；
Wherein, f2 is the driving frequency of camera module, and f3 is the driving frequency of laser radar module, and f1 is IMU module
Driving frequency, m and n take the integer more than or equal to 1.The trigger signal of three sensor modules work is triggered according to driving frequency
Relationship as shown in figure 3, with clock module provide length of a game's axis, herein clock module be GPS clock module.
The precision of time label is equal to or less than Millisecond in one of the embodiments,.
Sensing data includes that laser radar sensing data, camera sensing data and IMU are passed in one of the embodiments,
Feel data.
Specifically, sensing data includes the data for carrying each sensor module of time label.Laser radar sensing data
3D point cloud data including carrying the sensing objects of time label, camera sensing data include carrying the sensing pair of time label
The black white image and color image of elephant, IMU sensing data include the angular speed and acceleration for carrying the sensing objects of time label
Value.
The synchronization sensing data for carrying time label in one of the embodiments, includes the sensing number for carrying time label
According to, and the combination sensing data of time label is carried, the combination sensing data of time label is carried by carrying time label
Sensing data combines to obtain.
Specifically, the time carried on synchronous sensing data marks, group identical as the time label carried on sensing data
It is also identical as the time label carried on sensing data to close the time label carried on sensing data.Combining sensing data can be by
The sensing data of any two sensor module in each sensor module is composed, can also be by each sensor module
The sensing data of any three sensor modules is composed.Common combination sensing data includes RGB-D point cloud data and works as
Preceding pose data etc., synchronous sensing data application field includes but is not limited to: intelligent driving, smart home, three-dimensional reconstruction, number
The earth, urban planning are prevented and reduced natural disasters, marine charting etc..
For example, processor receives the 32 line 3D point clouds for carrying the time label laser radar module output of 10:00
The color image data of array data and camera module output, and the time label laser radar module of carrying 10:01 are defeated
The color image data of 32 line 3D point cloud array datas out and camera module output, processor according on sensing data when
Between mark, the 32 line 3D point cloud array datas that mark of 10:00 time will be carried and color image data combined, will carried
The 32 line 3D point cloud array datas and color image data that the 10:01 time marks are combined, and in output raw sensory number
According to while, combine two class sensor modules sensing data, generate RGBD point cloud data simultaneously export.
Clock module is GPS clock module in one of the embodiments,.
Specifically, GPS is to develop the one kind established by U.S. Department of Defense to have comprehensive, round-the-clock, all the period of time, high-precision
Satellite navigation system, can be provided for Global Subscriber the navigation such as low cost, high accuracy three-dimensional position, speed and accurate timing letter
Breath, is application examples of the communication technology of satellite in navigation field, it greatly improves the level of IT application of Terre des Hommes's meeting, effectively
Ground has pushed the development of digital economy.As shown in figure 3, when clock module be GPS clock module when, using the time of GPS as when
Between axis, the trigger signal of three sensors is aligned in time, i.e. some time point drives three sensors simultaneously, then presses
Three sensors are respectively driven according to fixed drive frequency, i.e., at regular intervals, will occur two or three again
Driven situation, this time interval are controlled sensor by m and n simultaneously, and user can voluntarily be adjusted as needed.
A kind of mobile robot, including the synchronous sensing device of mobile robot ontology 400 and data；
The synchronous sensing device of data is set to mobile robot ontology 400.
It is that collection environment sensing, dynamic decision and a planning, behaviour control and execution etc. are more specifically, mobile robot
Function is in the integrated system of one.It has concentrated sensor technology, information processing, electronic engineering, computer engineering, automation control
The multi-disciplinary research achievements such as engineering and artificial intelligence processed represent the highest achievement of electromechanical integration, are current science and technology
Develop one of most active field.As robot performance is constantly perfect, the application range of mobile robot greatly extends, no
It is only widely used in the industries such as industry, agricultural, medical treatment, service, and is led in urban safety, national defence and space exploration
The nocuousness such as domain is applied well with dangerous situation.
In one of the embodiments, as shown in figure 4, mobile robot further includes processing module 500, processing module 500
It is connected with processor 100.
Specifically, processing module 500 refer to processor 100 generate carry the time label synchronization sensing data into
The module that row is handled, the carrying time synchronization sensing data of label pass through different processing modules 500, can quick, efficient, side
Just Attitude estimation, critical object detection, scene cut are solved, key issues of 3D dense reconstruction.
In one of the embodiments, as shown in figure 5, processing module 500 includes pose computing module 502, object detection
Module 504, scene cut module 506 and scene rebuilding module 508；
Pose computing module 502 is connected with processor 100, object detection module 504 is connected with processor 100, field
Scape segmentation module 506 is connected with processor 100 to be connected with scene rebuilding module 508 with processor 100.
Specifically, pose computing module 502 refers to the module of the real-time pose of exportable sensing objects, object detection mould
Block 504 refers to that the module of the critical object information in exportable scene, scene cut module 506 refer to exportable scene
Divide the module of relevant information, scene rebuilding module 508 refers to the module of exportable 3D scene.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of synchronous sensing device of data, which is characterized in that including according to preset driving frequency output driving information
Clock module, output carry the time label sensing data sensor module and identification sensing data carry time label,
And the processor of sensing data is combined, the sensor module includes at least two sensor modules；
The processor is connected with each sensor module in the sensor module, the clock module and the sensor
Each sensor module in mould group is connected.
2. the synchronous sensing device of data according to claim 1, which is characterized in that the sensor module includes laser
Radar module, camera module and IMU module.
3. the synchronous sensing device of data according to claim 2, which is characterized in that the driving of each sensor module
Frequency is different.
4. the synchronous sensing device of data according to claim 1, which is characterized in that the precision of the time label is equal to
Or it is less than Millisecond.
5. the synchronous sensing device of data according to claim 1, which is characterized in that the sensing data includes laser thunder
Up to sensing data, camera sensing data and IMU sensing data.
6. the synchronous sensing device of data according to claim 1, which is characterized in that the synchronization for carrying time label
Sensing data includes the sensing data of the carrying time label, and carries the combination sensing data of time label, described to take
Combination sensing data with time label is combined to obtain by the sensing data of the carrying time label.
7. the synchronous sensing device of data according to claim 1, which is characterized in that the clock module is GPS clock
Module.
8. a kind of mobile robot, which is characterized in that including mobile robot ontology and as described in claim any one of 1-7
The synchronous sensing device of data；
The synchronous sensing device of the data is set to the mobile robot ontology.
9. mobile robot according to claim 8, which is characterized in that further include processing module, the processing module with
The processor is connected.
10. mobile robot according to claim 9, which is characterized in that the processing module include pose computing module,
Object detection module, scene cut module and scene rebuilding module；
The pose computing module is connected with the processor, the object detection module is connected with the processor, institute
It states scene cut module and is connected with the processor and be connected with the scene rebuilding module with the processor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001710A (en) * | 2019-04-04 | 2019-07-12 | 同济大学 | System, method and application is reconfigured quickly in a kind of magnetic-levitation three-dimensional scenic |
| WO2021035721A1 (en) * | 2019-08-30 | 2021-03-04 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Synchronizing sensors of autonomous driving vehicles |
-
2018
- 2018-03-30 CN CN201820471099.7U patent/CN208297964U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001710A (en) * | 2019-04-04 | 2019-07-12 | 同济大学 | System, method and application is reconfigured quickly in a kind of magnetic-levitation three-dimensional scenic |
| CN110001710B (en) * | 2019-04-04 | 2021-06-04 | 同济大学 | Magnetic suspension track three-dimensional scene rapid reconstruction system, method and application |
| WO2021035721A1 (en) * | 2019-08-30 | 2021-03-04 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Synchronizing sensors of autonomous driving vehicles |
| CN112752954A (en) * | 2019-08-30 | 2021-05-04 | 百度时代网络技术（北京）有限公司 | Synchronization sensor for autonomous vehicle |
| US11807265B2 (en) | 2019-08-30 | 2023-11-07 | Baidu Usa Llc | Synchronizing sensors of autonomous driving vehicles |
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