CN219285863U

CN219285863U - Laser radar sensing system, teaching training platform, mobile device and training vehicle

Info

Publication number: CN219285863U
Application number: CN202223223776.9U
Authority: CN
Inventors: 安向京; 周铁兵; 罗佳俊; 谭筠
Original assignee: Changsha Xingshen Intelligent Technology Co Ltd
Current assignee: Changsha Xingshen Intelligent Technology Co Ltd
Priority date: 2022-12-02
Filing date: 2022-12-02
Publication date: 2023-06-30
Anticipated expiration: 2032-12-02

Abstract

The utility model relates to the technical field of teaching and practical training equipment, and provides a laser radar sensing system, a teaching and practical training platform, a moving device and a practical training vehicle, which comprises a middle fixing plate, wherein the lower end of the middle fixing plate is provided with a controller assembly, the upper end of the middle fixing plate is fixedly connected with a mounting frame, the outer side surface of the mounting frame is symmetrically provided with two camera assemblies, the top of the mounting frame is provided with a laser radar assembly, the inner side of the mounting frame is provided with a laser range finder and an inertial measurement unit, the bottom of the mounting frame is symmetrically provided with supporting strips at two ends of the middle fixing plate, and the bottom of each supporting strip is detachably provided with a sucker assembly; the laser radar sensing system provided by the utility model adopts a convenient sucker type mounting form, supports free disassembly and assembly, can be quickly combined or separated with carriers such as a teaching practical training platform, a teaching mobile device, a teaching practical training vehicle and the like, and realizes multi-scene use.

Description

Laser radar sensing system, teaching training platform, mobile device and training vehicle

Technical Field

The utility model relates to the technical field of teaching training equipment, and particularly provides a laser radar sensing system, a teaching training platform, a mobile device and a training vehicle.

Background

The teaching practical training is to simulate the actual working environment, the teaching process theory is combined with practice, the participation type study of students is emphasized, the students can be improved in the aspects of professional skills, practical experience, working methods, team cooperation and the like in the shortest time, the final purpose of practical training is to comprehensively improve the professional quality of the students, and finally the purposes of satisfactory employment of the students and satisfactory use of enterprises are achieved.

The laser radar sensing system in the teaching training equipment generally comprises a laser radar, a vision camera, an inertial measurement unit, an intelligent hardware controller and other equipment, so that a learner can mainly know the appearance, the structural composition, the assembly and combination modes and the like of various sensors, can learn data acquisition, display, storage, playback, calibration, training, verification and the like based on the laser radar, the vision camera and inertial navigation, and is particularly important for development and verification of the laser radar and the vision sensing fusion system.

To complete the development of a more accurate laser radar sensing system, a more accurate training model is required to be established for the laser radar sensing system, the accurate training model is obtained by training and correcting the sensing system on the basis of a basic model by means of a large amount of environment data, and during training, the laser radar sensing system is required to be placed in different environment scenes to extract environment information, so that the environment is distinguished, and the model is continuously corrected according to the recognition result; however, most of the conventional laser radar sensing system teaching training devices fixedly integrate the laser radar sensing system on a training rack, are limited to be used statically in a laboratory, have poor universality and narrow application range, and cannot meet the requirements of outdoor dynamic data acquisition, calibration, verification and the like, so that a more accurate training model cannot be obtained, and the system development, calibration and other works are limited, so that a novel laser radar sensing system is needed to meet the requirements.

Disclosure of Invention

The utility model aims to provide a laser radar sensing system, a teaching training platform, a mobile device and a training vehicle, and aims to solve the problems that the conventional laser radar sensing system teaching training device is only limited to be used in a laboratory statically, has poor universality and a narrow application range, is inconvenient to assemble and disassemble, cannot meet the requirements of outdoor dynamic data acquisition, calibration, verification and the like, and limits the work of system development, calibration and the like.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the first aspect of the application provides a laser radar perception system, including middle fixed plate, middle fixed plate lower extreme is provided with controller subassembly, upper end fixed connection mounting bracket, mounting bracket outside surface symmetry is provided with two camera subassembly, top and installs laser radar subassembly, inboard and installs laser range finder and inertial measurement unit, bottom are located middle fixed plate both ends symmetry is provided with the supporting strip, sucking disc subassembly is installed to supporting strip bottom detachably.

In one embodiment, the horizontal field of view, the vertical field of view, the effective focal length of the two camera assemblies are respectively set to be the same or different.

In one embodiment, the controller assembly comprises a controller main body, a circuit main board is arranged in an inner cavity of the controller main body, a plurality of rows of heat dissipation substrates are arranged on the outer side surface of the controller main body, a heat dissipation fan is arranged on the outer side of each heat dissipation substrate, and a plurality of controller interfaces electrically connected with the circuit main board are arranged on the end face of each heat dissipation substrate.

In one embodiment, the controller interface is one or more of a network port, a serial port and CAN, GPIO, USB, FPDLINK.

In one embodiment, the mounting frame comprises a transverse plate for mounting the inertial measurement unit, two camera mounting plates for mounting the camera component are symmetrically arranged at two ends of the transverse plate, inclined support plates for connecting the supporting strips are symmetrically arranged at two ends of the camera mounting plates, the top of each inclined support plate is fixedly connected with a radar seat for mounting the laser radar component, and a fixing strip fixedly connected with the middle fixing plate is arranged at the bottom of each inclined support plate.

In one embodiment, a laser range finder is fixedly mounted at the bottom of the radar base, and the laser range finder is arranged above the inertial measurement unit.

The utility model provides a real standard platform of teaching, including the rack that embeds there is electrical system, set up in the mesa at rack top and with the perpendicular show face that sets up of mesa, be provided with software principle interface, mutual all-in-one, mechanical principle interface, electrical principle interface on the show face in parallel, be provided with key mouse subassembly and laser radar perception system as previously described on the mesa.

In one embodiment, four casters are mounted to the bottom of the stand, the casters being self-locking casters.

A third aspect of the present application provides a portable teaching mobile device, comprising a mobile platform, and further comprising a lidar sensing system as described above, the lidar sensing system being detachably mounted on top of the mobile platform.

The fourth aspect of the application provides a teaching training vehicle, which comprises a chassis and a vehicle body, and further comprises a laser radar sensing system as described above, wherein the laser radar sensing system is detachably arranged at the top of the vehicle body.

The utility model has the beneficial effects that:

the laser radar sensing system provided by the utility model adopts a convenient sucker type mounting form, supports free disassembly and assembly, can be quickly combined or separated with carriers such as a teaching practical training platform, a teaching mobile device, a teaching practical training vehicle and the like, and realizes multi-scene use; when the laser radar sensing system provided by the utility model is combined with a teaching practical training platform, static use in a laboratory can be realized, and when the laser radar sensing system is combined with a teaching mobile device, a teaching practical training vehicle and other carriers, outdoor dynamic data acquisition, calibration, verification and the like can be met, so that the work of system development, calibration and the like can be smoothly carried out; the universality is strong, the disassembly and the assembly are convenient, and the application range is wide.

It can be understood that the teaching training platform, the portable teaching mobile device and the teaching training vehicle of the present utility model all include the millimeter wave radar sensing system, and the beneficial effects thereof can be seen from the related description in the first aspect, and are not repeated herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a lidar sensing system according to an embodiment of the present utility model;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic structural diagram of a controller assembly according to a first embodiment of the present utility model;

fig. 4 is a schematic structural view of a mounting frame according to a first embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a teaching training platform according to a second embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a teaching mobile device according to a third embodiment of the present utility model;

fig. 7 is a schematic structural diagram of a teaching training vehicle according to a fourth embodiment of the present utility model;

wherein, each reference sign in the figure:

1. a stand; 2. a table top; 3. a display surface; 4. a software principle interface; 5. the interaction integrated machine; 6. a mechanical principle interface; 7. a lidar sensing system; 8. an electrical principle interface; 9. a mouse assembly; 10. a mobile platform; 71. a support bar; 72. a mounting frame; 721. a fixing strip; 722. a camera mounting plate; 723. a radar base; 724. a diagonal brace plate; 725. a cross plate; 73. a camera assembly; 74. a laser range finder; 75. a lidar component; 76. an inertial measurement unit; 77. a suction cup assembly; 78. a middle fixing plate; 79. a controller assembly; 791. a controller main body; 792. a controller interface; 793. a heat radiation fan; 794. a heat dissipating substrate.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Example 1

Referring to fig. 1 and 2, the lidar sensing system in the embodiment of the present application includes a middle fixing plate 78, a controller assembly 79 is disposed at the lower end of the middle fixing plate 78, the upper end is fixedly connected with a mounting frame 72, the controller assembly 79 adopts a gpu+fpga+mcu architecture, and the computing power is better than 32TOPS; two camera components 73 are symmetrically arranged on the outer side surface of the mounting frame 72, a laser radar component 75 is arranged at the top, a laser range finder 74 and an inertial measurement unit 76 are arranged on the inner side, supporting strips 71 are symmetrically arranged at the bottom of the two ends of the middle fixing plate 78, and a sucker component 77 is detachably arranged at the bottom of the supporting strips 71; one of the suction cup assemblies 77 is mounted to each of the bottom ends of each of the support bars 71. On one hand, each component device in the lidar sensing system of the embodiment can be freely disassembled and combined so as to meet different use requirements; on the other hand, the laser radar sensing system in this embodiment can realize quick disassembly and assembly through the sucker component 77, support to use with multiple carriers in cooperation, for example, with the carrier quick assembly or separation such as the real standard platform of teaching, teaching mobile device, the real standard vehicle of teaching, realize the use of multiple scenes, the commonality is strong, makes things convenient for the dismouting, and application scope is extensive.

In one embodiment, the horizontal field of view, the vertical field of view, and the effective focal length of the two camera assemblies 73 may be all set to be the same or may be set to be different; for example, the two camera assemblies are arranged completely symmetrically, for example, the horizontal view fields of the two camera assemblies are all 120 degrees, the vertical view fields are all 66 degrees, the effective focal lengths are all 2.8mm, and bidirectional data acquisition is achieved.

More specifically, as shown in fig. 3, the controller assembly 79 is also called an intelligent driving controller or BU controller, and includes a controller main body 791, a circuit motherboard is disposed in an inner cavity of the controller main body 791, and a plurality of rows of heat dissipation substrates 794 are disposed on an outer surface of the controller main body, so that heat generated by the circuit motherboard in the controller assembly cavity can be dissipated, and a avoiding groove for avoiding a wire harness can be formed, thereby hiding the wire harness and protecting the wire harness to a certain extent; the heat dissipation fan 793 is mounted on the outer side of the heat dissipation substrate 794 to further dissipate heat, and a plurality of controller interfaces 792 electrically connected with the circuit board are arranged on the end face of the heat dissipation substrate 794.

As a preferred technical solution, the controller interface 792 is one or more of a network port, a serial port and a CAN, GPIO, USB, FPDLINK, and the interfaces are diversified to realize different functional expansion.

More specifically, as shown in fig. 4, the mounting frame 72 includes a cross plate 725 for mounting the inertial measurement unit 76, two camera mounting plates 722 for mounting the camera assembly 73 are symmetrically disposed at two ends of the cross plate 725, diagonal plates 724 for connecting the supporting bars 71 are symmetrically mounted at two ends of the two camera mounting plates 722, a radar base 723 for mounting the laser radar assembly 75 is fixedly connected to the top of the diagonal plates 724, and a fixing bar 721 fixedly connected to the middle fixing plate 78 is disposed at the bottom of the diagonal plates; as a preferred technical solution, the camera mounting plate 722, the radar seat 723 and the diagonal brace 724 are provided with various through holes, which not only can reduce the overall weight, but also can make the appearance more beautiful.

As a preferred solution, a laser range finder 74 is fixedly installed at the bottom of the radar base 723, and the laser range finder 74 is disposed above the inertial measurement unit 76.

The practical training items that can be supported by the lidar sensing system of this embodiment, alone or in combination with other carriers, include: data acquisition and display, data storage and playback, sensor calibration, space-time synchronization, data labeling and training, perception fusion algorithm, test and verification and the like, thereby meeting the requirements of daily teaching and learning.

Example two

Referring to fig. 5, a teaching training platform in the embodiment of the present application includes a bench 1 with an electronic control system, a table 2 disposed on top of the bench 1, and a display surface 3 perpendicular to the table 2, wherein a software principle interface 4, an interaction integrated machine 5, a mechanical principle interface 6, and an electrical principle interface 8 are disposed on the display surface 3 in parallel, and a key mouse assembly 9 and a lidar sensing system as described in embodiment one are disposed on the table 2; the software principle interface 4, the interaction integrated machine 5, the mechanical principle interface 6, the electric principle interface 8 and the keyboard and mouse assembly 9 are all commercially available products, wherein the software principle interface 4, the mechanical principle interface 6 and the electric principle interface 8 are schematic drawings stuck on the display surface 3, and the interaction integrated machine 5 is a computer integrated machine or a combination product of a display screen and a computer host.

As a preferable technical scheme, four universal casters are arranged at the bottom of the bench 1, and are self-locking casters, so that the position movement and the fixation after the position movement of the teaching and practical training platform are facilitated.

In other embodiments, the software principle interface 4, the interaction integrated machine 5, the mechanical principle interface 6, and the electrical principle interface 8 may be other display interfaces such as product introduction, working principle diagram, internal structure diagram, and the like, and may be selected or replaced according to requirements.

The teaching training platform is suitable for being used in a laboratory or other indoor scenes, and meets the traditional teaching training requirements.

Example III

Referring to fig. 6, a teaching mobile device according to an embodiment of the present application includes a mobile platform 10, and further includes a lidar sensing system as described in the first embodiment, where the lidar sensing system is detachably mounted on top of the mobile platform 10.

The teaching mobile device is suitable for being used in a small outdoor range, and meets the requirements of simple outdoor dynamic data acquisition, calibration and verification.

Example IV

Referring to fig. 7, a teaching training vehicle according to an embodiment of the present application includes a chassis, a vehicle body, and a lidar sensing system according to the first embodiment, where the lidar sensing system is detachably mounted on a top of the vehicle body.

The teaching training vehicle is suitable for being used outdoors in a large range, can meet the requirements of outdoor dynamic data acquisition, calibration and verification, and can also provide support for system development, calibration and other works.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. The utility model provides a laser radar perception system, includes middle fixed plate (78), its characterized in that, middle fixed plate (78) lower extreme is provided with controller subassembly (79), upper end fixed connection mounting bracket (72), mounting bracket (72) outside surface symmetry is provided with two camera subassembly (73), installs laser radar subassembly (75) at the top, installs laser range finder (74) and inertial measurement unit (76) inboard, the bottom is located middle fixed plate (78) both ends symmetry is provided with supporting strip (71), sucking disc subassembly (77) are installed to supporting strip (71) bottom detachably.

2. Lidar perception system according to claim 1, characterized in that the horizontal field of view, the vertical field of view, the effective focal length of the two camera assemblies (73) are respectively set to be the same or different.

3. The lidar sensing system of claim 1, wherein the controller assembly (79) comprises a controller body (791), a circuit board is arranged in an inner cavity of the controller body (791), a plurality of rows of heat dissipation substrates (794) are arranged on the outer side surface of the controller body, a heat dissipation fan (793) is arranged on the outer side of the heat dissipation substrates (794), and a plurality of controller interfaces (792) electrically connected with the circuit board are arranged on the end faces of the controller assembly.

4. A lidar sensing system according to claim 3, characterized in that the controller interface (792) is one or several of a network port, a serial port, CAN, GPIO, USB, FPDLINK.

5. The lidar sensing system according to claim 1, wherein the mounting frame (72) comprises a cross plate (725) for mounting the inertial measurement unit (76), two camera mounting plates (722) for mounting the camera assembly (73) are symmetrically arranged at two ends of the cross plate (725), diagonal bracing plates (724) for connecting the supporting bars (71) are symmetrically arranged at two ends of the two camera mounting plates (722), a radar seat (723) for mounting the lidar assembly (75) is fixedly connected to the top of the diagonal bracing plates (724), and a fixing bar (721) fixedly connected with the middle fixing plate (78) is arranged at the bottom of the diagonal bracing plates.

6. The lidar sensing system according to claim 5, wherein a laser range finder (74) is fixedly mounted at the bottom of the radar base (723), the laser range finder (74) being arranged above the inertial measurement unit (76).

7. The utility model provides a real standard platform of teaching, includes rack (1) that embeds there is electrical system, set up in mesa (2) at rack (1) top and with display surface (3) that mesa (2) set up perpendicularly, a serial communication port, be provided with software principle interface (4), mutual all-in-one (5), mechanical principle interface (6), electrical principle interface (8) on display surface (3) in parallel, be provided with on mesa (2) key mouse subassembly (9) and laser radar perception system according to any one of claims 1 to 6.

8. The teaching and practical training platform according to claim 7, characterized in that four universal casters are installed at the bottom of the bench (1), and the universal casters are self-locking casters.

9. A portable teaching mobile device comprising a mobile platform (10), characterized in that it further comprises a lidar sensing system according to any of claims 1 to 6, which is detachably mounted on top of the mobile platform (10).

10. A teaching and practical training vehicle comprising a chassis and a vehicle body, and further comprising the lidar sensing system according to any of claims 1 to 6, wherein the lidar sensing system is detachably mounted on top of the vehicle body.