CN217276298U - Simple environment sensing device easy for multi-platform transplantation - Google Patents
Simple environment sensing device easy for multi-platform transplantation Download PDFInfo
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- CN217276298U CN217276298U CN202221045082.8U CN202221045082U CN217276298U CN 217276298 U CN217276298 U CN 217276298U CN 202221045082 U CN202221045082 U CN 202221045082U CN 217276298 U CN217276298 U CN 217276298U
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 11
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 4
- 230000002159 abnormal effect Effects 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011120 plywood Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The utility model relates to a data acquisition technical field just discloses a simple and easy device of environment perception of easily transplanting many platforms, including the support plate, be provided with on the support plate: the binocular camera and the inertial unit are used for acquiring image and point cloud information of an object in a certain front view field, acquiring angular velocity, acceleration and position information of the object in real time, and calculating a motion track of the object according to the acquired information; a solid state lidar for scanning a forward object; the expansion interface is used for installing the sensors required by different scenes; a router for local area network data transmission; the standby power supply is used for maintaining the normal operation of equipment when a circuit fails. The utility model discloses set up two mesh cameras and inertial unit, solid-state laser radar, extension interface, router, stand-by power supply are integrated on the support plate, and is small, and simple and easy integration, easily debugging work has improved the collection efficiency of data, and the sensor that the different scenes of extension interface mountable demand easily many platforms transplant.
Description
Technical Field
The utility model relates to a data acquisition technical field specifically is an environment sensing device that easily multiple platform transplanted.
Background
With the development of automatic driving, vehicle-road coordination, three-dimensional reconstruction and scenic spot safety management research, a sensing module is required to be used as a support for data collection and reception in many related scientific researches and topics, and the data acquisition depends on a corresponding data sensing device. The sensing module for automatic driving needs to collect data of corresponding cameras, laser radars, inertia detection units and the like on a fixed coordinate system, and is generally fixed on a vehicle roof for collection.
The sensing module in cooperation with the vehicle and the road needs data of a laser radar and a camera, and a sensor sensing device is generally placed on complex road sections such as a crossroad side end and a highway side end for equipment collection. Three-dimensional reconstruction requires the acquisition of camera and lidar data within a fixed area, typically through hand-held or piggy-back equipment. Scenic spot safety control needs to gather camera and lidar data in a plurality of fixed areas, generally through patrolling and examining the car, with place and pay perception in dangerous high-rise district. The existing data sensing device is large in size, not easy to integrate, not easy to transplant by multiple platforms, and when the sensor is damaged, parts are not easy to replace.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an environment perception device that easily many platforms transplanted for solve the data perception device that exists among the prior art bulky, simple and easy integration inadequately, be difficult for the problem that many platforms transplanted.
In order to achieve the above purpose, the utility model adopts the following technical scheme to realize:
the utility model provides a simple and easy device of environmental perception of easy multi-platform transplantation, includes the support plate, be provided with on the support plate:
the binocular camera and the inertia unit are used for acquiring image and point cloud information of an object in a certain front view, acquiring angular velocity, acceleration and position information of the object in real time, and calculating a motion track of the object according to the acquired information;
a solid state lidar for scanning a forward object;
the expansion interface is used for installing the sensors required by different scenes;
a router for local area network data transmission;
the standby power supply is used for maintaining the normal operation of equipment when a circuit fails.
Furthermore, the carrier board is also provided with a standby storage unit for storing sensor data and a standby execution unit for receiving the sensor data and transmitting the data to the standby storage unit through an internal execution program when the sensor data detects network abnormality.
Further, the carrier plates comprise a first layer of carrier plates, a second layer of carrier plates and a top plate, and the first layer of carrier plates, the second layer of carrier plates and the top plate are sequentially arranged in parallel in the vertical direction;
router fixed mounting is in the below of first layer support plate, reserve execution unit, expansion interface install on first layer support plate, and expansion interface is close to the side reason of first layer support plate, stand-by power supply, reserve memory cell, solid-state lidar all install on second floor support plate, binocular camera and inertial unit install on the roof, and are located solid-state lidar directly over.
Furthermore, the first layer of carrier plate and the second layer of carrier plate are fixedly connected through a hollow aluminum strip made of aluminum alloy, a right-angle connecting piece and a T-shaped nut, and a copper column is further arranged between the first layer of carrier plate and the second layer of carrier plate.
Further, the second layer support plate and the top plate are fixedly connected through a hollow aluminum strip and a right-angle connecting piece which are made of aluminum alloy materials, and the solid laser radar is fixedly connected with the binocular camera and the inertial unit through a copper column.
Furthermore, a plurality of through holes for placing connecting wires are formed in the first layer of carrier plate, the second layer of carrier plate and the top plate.
To sum up, the utility model discloses following beneficial effect has:
the utility model discloses set up two mesh cameras and inertial unit, solid-state laser radar, extension interface, router integration on the support plate, small, simple and easy integration, easily debugging work has reduced the debugging complexity, specifically does: compared with the mode that the single sensor is independently debugged and then fixed, and then internal and external parameter calibration is carried out, the device saves more time, and after the sensor fault is changed, the micro external parameter change can be ignored or calibrated under the condition that the prior external parameter exists, so that the debugging calculation complexity is saved more. The expansion interface can be provided with sensors required by different scenes, and is easy to transplant to multiple platforms such as an unmanned system, vehicle-road cooperation, three-dimensional reconstruction and the like, so that the acquisition of the data of the surrounding environment of the platform is realized. In addition, in this device, still be provided with when being used for circuit fault or unusual, the stand-by power supply who maintains equipment normal operating has improved platform environmental data collection's stability.
Further, the utility model discloses in, still be provided with reserve storage unit on the support plate and be used for receiving sensor data to when it detects the circuit anomaly, transmit data to reserve storage unit's reserve execution unit through inside execution procedure, when the abnormal conditions such as network fault appear, can save sensor data in reserve storage unit, improved platform environmental data acquisition's integrality.
Further, the utility model discloses in, all through aluminum alloy's cavity aluminium strip between each plywood, right angle joint spare, T shape nut fixed connection, aluminum alloy's cavity aluminium strip weight is lighter, hardness is higher, toughness is sufficient, difficult fracture, and install the copper post between each plywood and support as the additional, prevent that the inferior gram force board material of two-layer support plate from taking place serious deformation and leading to its relative position to change, the steadiness of whole device is strong, be difficult to the shake, can use under special environment or scene, be applicable to many platform transplantation.
Drawings
FIG. 1: the utility model has the overall structure schematic diagram;
FIG. 2: the top view of the first layer carrier plate in the utility model;
FIG. 3: the top view of the second layer of carrier plate in the utility model;
FIG. 4 is a schematic view of: the utility model discloses a top view of the middle top plate;
in the figure: the method comprises the following steps of 1-a first-layer carrier plate, 2-a second-layer carrier plate, 3-a binocular camera and inertial unit, 4-a solid-state laser radar, 5-an expansion interface, 6-a router, 7-a standby power supply, 8-a standby storage unit, 9-a standby execution unit, 10-a copper column, 11-a hollow aluminum strip, 12-a top plate and 13-a through hole.
Detailed Description
The following examples are provided to explain the present invention in detail, but not to limit the present invention.
As shown in fig. 1-4, a simple device for environmental sensing easy for multi-platform transplantation comprises a carrier plate made of acrylic plate, and the carrier plate is embedded and fixed with:
a binocular camera and an inertial unit 3, which are used for acquiring the image and point cloud information of an object in a certain view ahead, acquiring the angular velocity, acceleration and position information of the object in real time, and calculating the motion trail of the object according to the acquired information;
a solid state lidar 6 for scanning objects in front;
the system comprises an expansion interface 5, a plurality of sensors and a plurality of control modules, wherein the expansion interface 5 is used for accessing the sensors required by corresponding scenes such as a plurality of cameras, a GPS module, a barometer, a temperature and humidity sensor and the like;
a router 6 for local area network data transmission;
the standby power supply 7 is used for maintaining the normal operation of the equipment when a circuit fails, after the power failure occurs, the standby power supply 7 maintains the operation of the equipment for a period of time, power failure information is sent out through the standby execution unit 9, and the sensor information is stored in the standby storage unit 8.
The carrier plate is also provided with a standby storage unit 8 and a standby execution unit 9, and the standby storage unit 8 is used for storing sensor data when a circuit fails; the standby execution unit 9 receives the specific data of the sensor information while detecting whether the network is abnormal in the background, and transmits the data to the standby storage unit 8 through the internal execution program when detecting that the network is abnormal.
The carrier plate comprises a first layer of carrier plate 1, a second layer of carrier plate 2 and a top plate 12, wherein the first layer of carrier plate 1, the second layer of carrier plate 2 and the top plate 12 are sequentially arranged in parallel in the vertical direction.
The router 6 is fixedly arranged below the first-layer carrier plate 1, the standby execution unit 9 and the expansion interface 5 are arranged on the first-layer carrier plate 1, and the expansion interface 5 is close to the side edge of the first-layer carrier plate 1, so that the sensor can be conveniently plugged and pulled out, and sensor components can be easily replaced under the abnormal condition of the sensor; in addition, the positions of the router 6, the standby execution unit 9 and the expansion interface 5 are more favorable for being more easily protected in case of collision.
Stand-by power supply 7, reserve memory cell 8, solid-state laser radar 4 all install on second floor support plate 2, stand-by power supply 7, reserve memory cell 8, solid-state laser radar 4 are put in the superiors' main reason for easy to change or take.
The binocular camera and inertial unit 3 is mounted on the top plate 12 and is located right above the solid state laser radar 4. The relative placement position of the camera and the solid-state laser radar 4 greatly increases the perception visual field of the global environment, reduces unnecessary data waste, and is more beneficial to the accuracy of the result in a short distance when external parameters for sensor data alignment are calibrated.
Among the binocular camera and the inertial unit 3, the inertial unit is attached behind the binocular camera, and data alignment among a plurality of sensors is facilitated.
The first layer of carrier plate 1 and the second layer of carrier plate 2 are fixedly connected through the hollow aluminum strip 11, the right-angle connecting piece and the T-shaped nut which are made of aluminum alloy, although the hollow aluminum strip made of aluminum alloy is light in weight, high in hardness, sufficient in toughness and not easy to break, under special environments or use scenes, for example, under the condition of being held by hands, the relative positions of the two layers of carrier plates are easily dislocated by directly adopting aluminum strip fixation, and therefore four copper columns 10 are further installed between the first layer of carrier plate 1 and the second layer of carrier plate to serve as additional supports.
Second floor support plate 2 and roof 12 pass through aluminum alloy's cavity aluminum strip 11, right angle connection spare fixed connection, solid-state laser radar 4 prevents camera and with solid-state laser radar 4's relative shake through copper post 10 and two mesh cameras and inertial unit 3 fixed connection.
A plurality of through holes 13 are formed in the first layer of support plate 1, the second layer of support plate 2 and the top plate 12, and the through holes 13 are used for placing and fixing connecting wires in the whole device, so that the connecting wires are placed orderly and are not prone to winding in an intricate mode.
Claims (6)
1. The utility model provides a simple and easy device of environmental perception of easy multi-platform transplantation which characterized in that, includes the support plate, be provided with on the support plate:
the binocular camera and the inertia unit (3) are used for acquiring image and point cloud information of an object in a certain front view, acquiring angular velocity, acceleration and position information of the object in real time, and calculating a motion track of the object according to the acquired information;
a solid state lidar (4) for scanning an object in front;
an expansion interface (5) for installing sensors required by different scenes;
a router (6) for local area network data transmission;
and a backup power supply (7) for maintaining the normal operation of the equipment when the circuit fails.
2. The simple environment sensing device easy for multi-platform transplantation according to claim 1, wherein the carrier board is further provided with a spare storage unit (8) for storing sensor data and a spare execution unit (9) for receiving the sensor data and transmitting the data to the spare storage unit (8) through an internal execution program when the spare storage unit detects a network abnormality.
3. The environmental sensing simple device easy for multi-platform transplantation according to claim 2, wherein the carrier plates comprise a first layer carrier plate (1), a second layer carrier plate (2) and a top plate (12), and the first layer carrier plate (1), the second layer carrier plate (2) and the top plate (12) are sequentially placed in parallel with each other in a vertical direction;
router (6) fixed mounting is in the below of first floor support plate (1), reserve execution unit (9), expansion interface (5) are installed on first floor support plate (1), and expansion interface (5) are close to the side reason of first floor support plate (1), stand-by power supply (7), reserve memory cell (8), solid state lidar (4) are all installed on second floor support plate (2), the binocular camera is installed on roof (12) with inertial unit (3), and is located solid state lidar (4) directly over.
4. The simple environment sensing device easy for multi-platform transplantation according to claim 3, wherein the first layer carrier (1) and the second layer carrier (2) are fixedly connected through a hollow aluminum strip (11) made of aluminum alloy, a right-angle connector and a T-shaped nut, and a copper column (10) is further installed between the first layer carrier (1) and the second layer carrier.
5. The simple environment sensing device easy for multi-platform transplantation according to claim 3 or 4, wherein the second layer carrier plate (2) and the top plate (12) are fixedly connected through a hollow aluminum strip (11) made of an aluminum alloy material and a right-angle connecting piece, and the solid-state laser radar (4) is fixedly connected with the binocular camera and the inertial unit (3) through a copper column (10).
6. The simple environment sensing device easy to transplant for multiple platforms as claimed in claim 5, wherein the first layer of carrier board (1), the second layer of carrier board (2) and the top board (12) are all provided with a plurality of through holes (13) for placing connecting wires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221045082.8U CN217276298U (en) | 2022-04-29 | 2022-04-29 | Simple environment sensing device easy for multi-platform transplantation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221045082.8U CN217276298U (en) | 2022-04-29 | 2022-04-29 | Simple environment sensing device easy for multi-platform transplantation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217276298U true CN217276298U (en) | 2022-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221045082.8U Expired - Fee Related CN217276298U (en) | 2022-04-29 | 2022-04-29 | Simple environment sensing device easy for multi-platform transplantation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217276298U (en) |
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2022
- 2022-04-29 CN CN202221045082.8U patent/CN217276298U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20220823 |