CN208505332U - A kind of multi-sensor data fusion caliberating device - Google Patents
A kind of multi-sensor data fusion caliberating device Download PDFInfo
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- CN208505332U CN208505332U CN201821148383.7U CN201821148383U CN208505332U CN 208505332 U CN208505332 U CN 208505332U CN 201821148383 U CN201821148383 U CN 201821148383U CN 208505332 U CN208505332 U CN 208505332U
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- guide rail
- direction guide
- rail
- sensor
- data fusion
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- 230000004927 fusion Effects 0.000 title claims abstract description 18
- 238000009826 distribution Methods 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001669679 Eleotris Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model relates to a kind of multi-sensor data fusion caliberating devices, the device includes X direction guiding rail, Y-direction guide rail and the Z-direction guide rail in three axis formal distributions, the Y-direction guide rail slides setting perpendicular to X direction guiding rail and along X direction guiding rail, the Z-direction guide rail slides setting perpendicular to Y-direction guide rail and along Y-direction guide rail, the Z-direction guide rail is equipped with sensor installing platform, the sensor installing platform is slided along Z-direction guide rail to be arranged, and the sensor installing platform is equipped with multiple sensors.Compared with prior art, the utility model sensor installing platform motion path can self-setting, error is small, and calibration result is more acurrate.
Description
Technical field
The utility model relates to a kind of track geometry measuring devices, more particularly, to a kind of multi-sensor data fusion caliberating device.
Background technique
The safety of urban railway transit train operation and comfort, which have become, measures the one of rail traffic development degree
Item important technology standard.Basic components of the track as train operation directly affect safety and the comfort of train operation.With
The rapid growth of China's track circuit operating mileage, study the non-contact track long wave irregularity detection method of new high speed and skill
Art is a urgent science and engineering duty.
Current track detection method mainly has based on inertial navigation technology and view-based access control model technology.By inertia measurement and vision
Sensor combines, and the absolute coordinate that can use binocular vision system offer repairs the accumulated error of inertia system
Just, while inertia system can also correct binocular camera during the motion because of the error shaken or environmental factor introduces, to mentioning
High measurement accuracy has great importance.And the precise calibration of inertia and visual sensor relative pose is to inertia and visual sensing
The fusion tool of device information has very important significance.
Currently, China's track detecting multi-sensor data fusion calibration facility type is few and occupied space is big, is carrying, storing
With big inconvenience can be brought during use.Therefore, a kind of multi-sensor data fusion caliberating device is studied to examine track
It is very necessary for survey.
Utility model content
The purpose of this utility model is exactly to provide to overcome the problems of the above-mentioned prior art and sense letter one kind more
Breath fusion caliberating device.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of multi-sensor data fusion caliberating device, the device include the X direction guiding rail for being in three axis formal distributions, Y-direction guide rail
With Z-direction guide rail, the Y-direction guide rail slides setting perpendicular to X direction guiding rail and along X direction guiding rail, and the Z-direction guide rail is perpendicular to Y
Direction guiding rail simultaneously slides setting along Y-direction guide rail, and the Z-direction guide rail is equipped with sensor installing platform, the sensor installation
Platform is slided along Z-direction guide rail to be arranged, and the sensor installing platform is equipped with multiple sensors.
Preferably, the sensor installing platform includes L-type pedestal, right angle u-bracket and installation backing plate, the L
Type pedestal is slidably arranged on Z-direction guide rail, and the right angle u-bracket is rotatably arranged on L-type pedestal by rotary electric machine, institute
The installation backing plate stated is rotatably arranged in right angle u-bracket by rotary electric machine, and the biography is arranged on the installation backing plate
Sensor.
Preferably, the sensor includes camera, inertia measurement sensor and obliquity sensor.
Preferably, the X direction guiding rail, Y-direction guide rail and Z-direction guide rail include rail and lead screw transmission mechanism, described
Rail, which is arranged two and is symmetrical arranged, forms tracks, and the lead screw transmission mechanism is arranged between two rail.
Preferably, the lead screw transmission mechanism includes screw rod and lead screw motor, and the screw rod is arranged in two rail
Between and be parallel to rail setting, the described lead screw motor connection screw rod.
Preferably, the Z-direction guide rail is vertically set in Y-direction guide rail by Z-direction guiderail base, the Z-direction guide rail
Pedestal is triangular support structure.
Compared with prior art, the utility model has the advantages that
(1) the utility model multi-sensor data fusion caliberating device is arranged to the mobile form of three axis, sensor installing platform
Motion path can self-setting, error is small, and calibration result is more acurrate；
(2) sensor on the utility model sensor installing platform is fixed by installing backing plate, and installing backing plate can be with
Rotation, realizes comprehensive calibration；
(3) the utility model sensor installing platform is Demountable, and installation and removal are convenient, conducive to the dimension of device
Shield and replacement, strong flexibility.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model multi-sensor data fusion caliberating device；
Fig. 2 is the mounting structure schematic diagram of the utility model sensor；
Fig. 3 is the structural schematic diagram of the utility model L-type pedestal；
Fig. 4 is the structural schematic diagram of the utility model X direction guiding rail；
Fig. 5 is the structural schematic diagram of the utility model Z-direction guide rail.
In figure, 11 be X direction guiding rail, and 12 be Y-direction guide rail, and 13 be Z-direction guide rail, and 2 be installation backing plate, and 3 be camera, and 4 be inertia
Measurement sensor, 5 be obliquity sensor, and 6 be Z-direction guiderail base, and 7 be rotary electric machine, and 8 be L-type pedestal, and 9 be the U-shaped branch in right angle
Frame, 10 be lead screw motor.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.Note that the following embodiments and the accompanying drawings
Explanation only substantial illustration, the utility model is not intended to be applicable in it object or its purposes is defined, and this is practical
It is novel to be not limited to the following embodiments and the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of multi-sensor data fusion caliberating device, the device include motion carrier, motion carrier includes
In the X direction guiding rail 11 of three axis formal distributions, Y-direction guide rail 12 and Z-direction guide rail 13, Y-direction guide rail 12 is perpendicular to X direction guiding rail 11 and along X
The sliding setting of direction guiding rail 11, Z-direction guide rail 13 slide setting perpendicular to Y-direction guide rail 12 and along Y-direction guide rail 12, set on Z-direction guide rail 13
There is sensor installing platform, sensor installing platform is slided along Z-direction guide rail 13 to be arranged, and sensor installing platform is equipped with a variety of biographies
Sensor.
Sensor installing platform includes L-type pedestal 8, right angle u-bracket 9 and installation backing plate 2 combined with Figure 1 and Figure 2,.Such as Fig. 3
Shown, L-type pedestal 8 is slidably arranged on Z-direction guide rail 13, and right angle u-bracket 9 is rotatably arranged on L-type pedestal by rotary electric machine 7
On 8, installation backing plate 2 is rotatably arranged in right angle u-bracket 9 by rotary electric machine 7, installs and sensor is arranged on backing plate 2.Sensing
Device includes camera 3, inertia measurement sensor 4 and obliquity sensor 5.Camera 3 is arranged two in the present embodiment, and two cameras 3 are pressed
Certain angle tilts inwardly, it is ensured that takes complete scaling board image.Sensor installing platform can be done on Z-direction guide rail 13
The up and down motion of vertical direction, meanwhile, right angle u-bracket 9 can be rotated relative to L-type pedestal 8, install backing plate 2 relative to straight
Angle u-bracket 9 is able to rotate, so that installing backing plate 2 may be implemented the rotation of six degree of freedom, realizes comprehensive calibration.In the measurements,
The motion path of whole device is arranged in advance, and error is small, and the calibration results are more acurrate, and sensor installing platform is detachable knot
Structure, installation and removal are convenient, conducive to the maintenance and replacement of device, have significant application value.
X direction guiding rail 11, Y-direction guide rail 12 and Z-direction guide rail 13 include rail and lead screw transmission mechanism, and rail is arranged two simultaneously
It is symmetrical arranged and forms tracks, lead screw transmission mechanism is arranged between two rail.Lead screw transmission mechanism includes screw rod and silk
Bar motor 10, screw rod are arranged between two rail and are parallel to rail setting, 10 connection wire rod of lead screw motor.Specifically, Y-direction
Guide rail 12 is erected on the rail on X direction guiding rail 11, while driving Y-direction guide rail by the lead screw transmission mechanism on X direction guiding rail 11
Along X to moving, Z-direction guide rail 13 is erected on the rail in Y-direction guide rail 12 12 framves, while being passed by the screw rod in Y-direction guide rail 12
Motivation structure driving 13 frame of Z-direction guide rail is moved along Y-direction, and the L-type pedestal 8 of sensor installing platform is erected at the steel on Z-direction guide rail 13
On rail, while L-type pedestal 8 is driven to move along Z-direction by the lead screw transmission mechanism on Z-direction guide rail 13,
In addition, realizing the stability of whole device as shown in figure 4, X guide rails are equidistantly positioned sleeper therebetween.
As shown in figure 5, Z-direction guide rail 13 is vertically set in Y-direction guide rail 12 by Z-direction guiderail base 6, Z-direction guiderail base 6
For triangular support structure.
Above embodiment is only to enumerate, and does not indicate the restriction to the scope of the utility model.These embodiments can also be with
Various other modes are implemented, and can make various to omit, displacement, become in the range of not departing from the utility model technical idea
More.
Claims (6)
1. a kind of multi-sensor data fusion caliberating device, which is characterized in that the device includes the X direction guiding rail in three axis formal distributions
(11), Y-direction guide rail (12) and Z-direction guide rail (13), the Y-direction guide rail (12) is perpendicular to X direction guiding rail (11) and along X direction guiding rail
(11) sliding setting, the Z-direction guide rail (13) slides setting perpendicular to Y-direction guide rail (12) and along Y-direction guide rail (12), described
Z-direction guide rail (13) is equipped with sensor installing platform, and the sensor installing platform is slided along Z-direction guide rail (13) to be arranged, institute
The sensor installing platform stated is equipped with multiple sensors.
2. a kind of multi-sensor data fusion caliberating device according to claim 1, which is characterized in that the sensor peace
Assembling platform includes that L-type pedestal (8), right angle u-bracket (9) and installation backing plate (2), the L-type pedestal (8) are slidably arranged in Z
On direction guiding rail (13), the right angle u-bracket (9) is rotatably arranged on L-type pedestal (8) by rotary electric machine (7), described
Installation backing plate (2) is rotatably arranged on right angle u-bracket (9) by rotary electric machine (7), is arranged on the installation backing plate (2)
The sensor.
3. a kind of multi-sensor data fusion caliberating device according to claim 1 or 2, which is characterized in that the sensing
Device includes camera (3), inertia measurement sensor (4) and obliquity sensor (5).
4. a kind of multi-sensor data fusion caliberating device according to claim 1, which is characterized in that the X direction guiding rail
(11), Y-direction guide rail (12) and Z-direction guide rail (13) include rail and lead screw transmission mechanism, and the rail setting two is simultaneously right
Setting is claimed to form tracks, the lead screw transmission mechanism is arranged between two rail.
5. a kind of multi-sensor data fusion caliberating device according to claim 4, which is characterized in that the screw rod transmission
Mechanism includes screw rod and lead screw motor (10), and the screw rod is arranged between two rail and is parallel to rail setting, described
Lead screw motor (10) the connection screw rod.
6. a kind of multi-sensor data fusion caliberating device according to claim 1, which is characterized in that the Z-direction guide rail
(13) it is vertically set on Y-direction guide rail (12) by Z-direction guiderail base (6), the Z-direction guiderail base (6) is triangle branch
Support structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821148383.7U CN208505332U (en) | 2018-07-19 | 2018-07-19 | A kind of multi-sensor data fusion caliberating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821148383.7U CN208505332U (en) | 2018-07-19 | 2018-07-19 | A kind of multi-sensor data fusion caliberating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208505332U true CN208505332U (en) | 2019-02-15 |
Family
ID=65290443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821148383.7U Expired - Fee Related CN208505332U (en) | 2018-07-19 | 2018-07-19 | A kind of multi-sensor data fusion caliberating device |
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| Country | Link |
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| CN (1) | CN208505332U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440957A (en) * | 2020-11-05 | 2022-05-06 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN117969888A (en) * | 2024-03-29 | 2024-05-03 | 沈阳翔梦科技有限公司 | Tool for calibrating sensor |
-
2018
- 2018-07-19 CN CN201821148383.7U patent/CN208505332U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440957A (en) * | 2020-11-05 | 2022-05-06 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN114440957B (en) * | 2020-11-05 | 2024-06-07 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN117969888A (en) * | 2024-03-29 | 2024-05-03 | 沈阳翔梦科技有限公司 | Tool for calibrating sensor |
| CN117969888B (en) * | 2024-03-29 | 2024-05-28 | 沈阳翔梦科技有限公司 | Tool for calibrating sensor |
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Granted publication date: 20190215 |