CN217770222U - Environmental information collection equipment - Google Patents
Environmental information collection equipment Download PDFInfo
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- CN217770222U CN217770222U CN202222010785.3U CN202222010785U CN217770222U CN 217770222 U CN217770222 U CN 217770222U CN 202222010785 U CN202222010785 U CN 202222010785U CN 217770222 U CN217770222 U CN 217770222U
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- acquisition module
- rotating
- point cloud
- upper computer
- environmental information
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Abstract
The application provides an environmental information collection equipment, includes: an upper computer; the point cloud acquisition module is connected with the upper computer so as to upload the acquired point cloud data to the upper computer; the image acquisition module is connected with the upper computer so as to upload the acquired image to the upper computer; the point cloud acquisition module is arranged on the rotating mechanism and is driven to rotate by the rotating mechanism so as to adjust the acquisition angle; the image acquisition module is arranged on one side of the rotating mechanism and is matched with the point cloud acquisition module to acquire information of the same target object in a preset area; the control module is respectively connected with the upper computer and the rotating mechanism; the method and the device can be integrally installed and deployed, and multi-sensor field integration and multi-device compatibility debugging are not needed.
Description
Technical Field
The utility model relates to an intelligent production application especially relates to an environmental information collection equipment.
Background
With the promotion of national intelligent manufacturing strategy and the rise of new generation artificial intelligence technology, the intelligent unmanned application is increasingly wide, and the development trend from manual operation to intelligent and unmanned operation is formed in the industrial fields of mining, manufacturing, electric power, transportation and the like.
An intelligent unmanned system needs to autonomously acquire environmental information, perform environmental sensing, position a sensing object according to a sensing result, make a decision, and then drive an execution structure to complete a predefined action. The environment perception is a necessary and key link for realizing intelligent unmanned operation, and the intelligent unmanned system has a common technical requirement on the environment perception.
The sensing devices such as laser scanners and cameras which are related to environment sensing are needed, and at present, the sensing devices are independently installed and debugged when used, so that the problems of device integration, compatibility and the like exist, and much environment information is inconvenient to obtain. Aiming at the technical requirement of environment perception, no integrated special environment information acquisition equipment exists.
SUMMERY OF THE UTILITY MODEL
In view of the problem that prior art exists above, the utility model provides an environmental information collection equipment mainly solves the inconvenient and compatible poor problem of current collection equipment debugging.
In order to achieve the above and other objects, the present invention adopts the following technical solutions.
The application provides an environmental information collection equipment includes:
an upper computer;
the point cloud acquisition module is connected with the upper computer and used for uploading acquired point cloud data to the upper computer;
the image acquisition module is connected with the upper computer to upload the acquired image to the upper computer;
the point cloud acquisition module is arranged on the rotating mechanism and is driven to rotate by the rotating mechanism so as to adjust the acquisition angle; the image acquisition module is arranged on one side of the rotating mechanism and is matched with the point cloud acquisition module to acquire information of the same target object in a preset area;
and the control module is respectively connected with the upper computer and the rotating mechanism.
In an embodiment of the present application, the rotation mechanism includes:
the rotating cloud platform is used for bearing the point cloud acquisition module;
the input end of the angle detection unit is connected with the rotating shaft of the rotating holder to measure the rotating angle of the rotating holder, and the output end of the angle detection unit is connected with the control module.
In an embodiment of the present application, the angle detection unit includes an angle encoder.
In an embodiment of the application, the point cloud acquisition module comprises a 2D laser scanner.
In an embodiment of the present application, the control module includes:
the control circuit board is provided with a microcontroller, and the microcontroller is connected with the rotating mechanism to control the rotating angle and the rotating speed of the rotating mechanism.
In an embodiment of the present application, the rotating mechanism further includes:
the servo motor is connected with the rotating holder through a transmission assembly;
and one end of the servo controller is connected with the servo motor, and the other end of the servo controller is connected with the control module to receive the control instruction of the control module and drive the servo motor to drive the rotating holder to rotate.
In an embodiment of the present application, the control module further includes:
and the switch unit is connected with the point cloud acquisition module and the image acquisition module so as to control the opening or closing states of the point cloud acquisition module and the image acquisition module.
As described above, the utility model relates to an environmental information collection equipment has following beneficial effect.
This application drives some cloud collection module through slewing mechanism and rotates and combine the different angle information of image acquisition module collection specified area target object, exports information collection to the host computer, but compatible some cloud and image acquisition module obtain the special environment collection equipment of integration, and equipment simple operation can gather more abundant environmental information.
Drawings
Fig. 1 is a schematic structural diagram of an environmental information collection device in an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an environmental information collection device in another embodiment of the present application.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.
Referring to fig. 1, the present invention provides an environmental information collecting apparatus, including:
an upper computer 01;
the point cloud acquisition module 05 is connected with the upper computer 01 and used for uploading acquired point cloud data to the upper computer 01;
the image acquisition module 02 is connected with the upper computer 01 to upload the acquired image to the upper computer 01;
the rotating mechanism 04 is provided with the point cloud acquisition module 05, and the point cloud acquisition module 05 is driven to rotate by the rotating mechanism 04 so as to adjust the acquisition angle; the image acquisition module 02 is arranged on one side of the rotating mechanism 04 to be matched with the point cloud acquisition module 05 to acquire information of the same target object in a preset area;
and the control module 03 is respectively connected with the upper computer 01 and the rotating mechanism 04.
In one embodiment, the rotation mechanism 04 includes:
the rotating cloud platform is used for bearing the point cloud acquisition module 05;
an input end of the angle detection unit is connected with a rotating shaft of the rotating holder so as to measure a rotating angle of the rotating holder, and an output end of the angle detection unit is connected with the control module 03;
the servo motor is connected with the rotating holder through a transmission assembly;
servo controller, its one end with servo motor connects, servo controller's the other end with control module 03 is connected, in order to receive control module 03's control command, the drive servo motor drives it rotates to rotate the cloud platform.
In an embodiment, the angle detection unit comprises an angle encoder.
In an embodiment, the point cloud acquisition module comprises a 2D laser scanner.
In one embodiment, the control module 03 includes:
the control circuit board is provided with a microcontroller and is connected with the rotating mechanism through the microcontroller so as to control the rotating angle and the rotating speed of the rotating mechanism;
and the switch unit is connected with the point cloud acquisition module 05 and the image acquisition module 02 to control the opening or closing states of the point cloud acquisition module 05 and the image acquisition module 02.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an environmental information collecting device according to another embodiment of the present application. The equipment comprises a 2D laser scanner 1, a camera 2, a high-precision rotating holder 3 and control circuit boards 5 and 4, wherein the control circuit boards are angle encoders arranged in the holder, and other necessary components such as an equipment shell, a switch, a power supply module and the like.
The 2D laser scanner 1, the camera 2, the control circuit board 5, and the upper computer are connected together using a switch, and communicate with each other via a network to transmit and receive commands and data.
External 220V alternating current power supply of environmental information collection equipment supplies power for inside each module through power module, and control circuit board 5 is through MOS pipe control 2D laser scanner 1, camera 2 and the rotatory cloud platform 3's of high accuracy power break-make, and all module power of default equipment power on inside all switch-ons.
The high-precision rotary holder 3 consists of a rotary table, a servo motor, a servo driver and an angle encoder 4. The turntable and the servo motor are driven by a worm gear; the servo motor is connected with and controlled by the servo driver; the servo driver is also connected with a control circuit board 5 through an RS-485 interface and is used as an external interface for receiving and sending the pan-tilt control instruction by the high-precision rotary pan-tilt 3. The angle encoder 4 is an absolute value angle encoder, is installed on a rotating shaft of the high-precision rotating holder 3, is connected with the control circuit board 5 through an RS-422 interface, and outputs a rotating angle value of the high-precision rotating holder 3 to the control circuit board 5.
And the microcontroller on the control circuit board 5 is an STM32F407 and is provided with a network port, RS-422 interfaces and RS-485 interfaces, and a mu C/OS-II operating system is installed on the microcontroller STM32F 407. The control circuit board 5 is in data communication with an upper computer through a network port.
The 2D laser scanner 1 is LASE 2000D-224, and is in data communication with an upper computer directly through a network port.
The Camera 2 is an AXIS P1378 Network Camera and is in data communication with an upper computer directly through a Network port.
When the environmental information acquisition equipment starts to work, the upper computer sends instructions to the 2D laser scanner 1, the camera 2 and the control circuit board 5. The control circuit board 5 sends a pan/tilt control command to the high-precision rotating pan/tilt 3, the high-precision rotating pan/tilt 3 and the 2D laser scanner 1 start to rotate together, and the control circuit board 5 starts to receive the rotation angle value of the high-precision rotating pan/tilt 3 output by the angle encoder 4 built in the pan/tilt. The upper computer receives the image data of the perception object sent by the camera 2, the scanning point data of the perception object sent by the 2D laser scanner 1 and the rotating angle value data of the high-precision rotating holder 3 sent by the control circuit board 5, and finally obtains the image and the three-dimensional point cloud data of the perception object through data fusion. When the control circuit board 5 receives a pan-tilt still command, the image and the two-dimensional point cloud data of the perception object are obtained.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. An environmental information collection apparatus, comprising:
an upper computer;
the point cloud acquisition module is connected with the upper computer so as to upload the acquired point cloud data to the upper computer;
the image acquisition module is connected with the upper computer so as to upload the acquired image to the upper computer;
the point cloud acquisition module is arranged on the rotating mechanism and is driven to rotate by the rotating mechanism so as to adjust the acquisition angle; the image acquisition module is arranged on one side of the rotating mechanism and is matched with the point cloud acquisition module to acquire information of the same target object in a preset area;
and the control module is respectively connected with the upper computer and the rotating mechanism.
2. The environmental information collection apparatus according to claim 1, wherein the rotation mechanism includes:
the rotating cloud platform is used for bearing the point cloud acquisition module;
the input end of the angle detection unit is connected with the rotating shaft of the rotating holder to measure the rotating angle of the rotating holder, and the output end of the angle detection unit is connected with the control module.
3. The environmental information collection apparatus according to claim 2, wherein the angle detection unit includes an angle encoder.
4. The environmental information collection apparatus of claim 1, wherein the point cloud collection module comprises a 2D laser scanner.
5. The environmental information collection apparatus according to claim 1, wherein the control module includes:
the control circuit board is provided with a microcontroller, and the microcontroller is connected with the rotating mechanism to control the rotating angle and the rotating speed of the rotating mechanism.
6. The environmental information collection apparatus according to claim 2, wherein the rotation mechanism further comprises:
the servo motor is connected with the rotating holder through a transmission assembly;
and one end of the servo controller is connected with the servo motor, and the other end of the servo controller is connected with the control module to receive the control instruction of the control module and drive the servo motor to drive the rotating holder to rotate.
7. The environmental information collection apparatus according to claim 1, wherein the control module further comprises:
and the switch unit is connected with the point cloud acquisition module and the image acquisition module so as to control the opening or closing states of the point cloud acquisition module and the image acquisition module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222010785.3U CN217770222U (en) | 2022-07-29 | 2022-07-29 | Environmental information collection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222010785.3U CN217770222U (en) | 2022-07-29 | 2022-07-29 | Environmental information collection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217770222U true CN217770222U (en) | 2022-11-08 |
Family
ID=83878268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222010785.3U Active CN217770222U (en) | 2022-07-29 | 2022-07-29 | Environmental information collection equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217770222U (en) |
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2022
- 2022-07-29 CN CN202222010785.3U patent/CN217770222U/en active Active
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