KR102052953B1 - Network type mobile sensor data recording device - Google Patents

Abstract

Provided is a network type mobile sensor data recording device capable of reducing computational burden. The network type mobile sensor data recording device includes at least one node module having a permanent storage unit directly or indirectly connected to at least one sensor, acquiring data of the sensor moving and observing for generating geographic information, and storing the obtained data of the sensor according to an acquisition storage signal; a process unit directly or indirectly transmitting the data of the sensor to an external predesigned device according to a data transfer signal initiated after the suspension of the acquisition storage signal.

Description

Network type mobile sensor data recording device

The present invention relates to a network type mobile sensor data recording apparatus, and more particularly, at least one node module for distributing and storing sensor data from a plurality of sensors mounted on a platform of a mobile mapping system or a system for autonomous vehicles. It is provided for each sensor of, each node module transmits the corresponding sensor data to the device for generating geographic information based on the plurality of sensor data.

Accordingly, the present invention provides a network type mobile sensor data recording which reduces the computational burden required for further processing of sensor data or interoperability between multiple sensors while delivering to a device without data loss while significantly reducing the transmission bandwidth of a large amount of sensor data. Relates to a device.

 Recently, the mobile mapping and autonomous driving system under development is equipped with lidar, camera, GPS / navigation sensors, and is used for situation recognition and HD map generation. Such sensors may be mounted on a mobile mapping platform for mapping, or on a platform for autonomous vehicle for recognizing the surrounding geographical situation in autonomous driving.

Each sensor is connected to a single computer running the platform's system to detect terrain around the platform, imagery of the object, measurement distance, reflection intensity, positioning information, navigation information such as platform position, attitude and speed.

Conventionally, a plurality of heterogeneous sensors are wired or wirelessly connected to a single computer controlling a system to transmit sensor data related to a detection value to a single computer, and the computer generates geographic information based on the plurality of sensor data.

Geographic information includes not only three-dimensional point group data, geocoding image data and map data based on a predetermined coordinate system, but also information necessary for calculating the above-described data.

The sensor data not only acquires terrain and feature-related detection information around the mobile platform in real time, but also generates a large amount of geographical information with high accuracy, and thus requires a large amount of data.

As in the prior art, when a plurality of sensors are intensively connected to a single computer to transmit a large amount of sensor data to a single computer, data loss may occur or the sensor data may be analyzed due to the limited transmission bandwidth between each sensor and the single computer. In processing to be processed, speed delay and heavy computational burden are caused.

To this end, it is possible to configure a system consisting of a single computer with a high specification and a plurality of LAN cards, but the problem that the system manufacturing cost is excessively increased still occurs.

The technical problem to be achieved by the present invention is to significantly reduce the transmission bandwidth of large-capacity sensor data and deliver it to a device for generating geographic information without data loss, and to perform computational load required for further processing of sensor data or interoperability between multiple sensors. It is to provide a network-type mobile sensor data recording device to reduce the.

The object of the present invention is not limited to the above-mentioned object, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention for achieving the above technical problem, the network-type mobile sensor data recording device is connected to at least one sensor, directly or indirectly, according to the acquisition and storage signal, the sensor for moving observation to generate geographic information A process of directly or indirectly transferring the sensor data to an externally designated device according to a permanent storage unit for acquiring the data of the sensor and storing the acquired sensor data and a data transmission signal initiated after the acquisition storage signal is stopped. At least one node module having a portion.

In another embodiment, the node module is configured in the form of a sensor network, is a top node of the sensor network, a master node module for transmitting the sensor data to the predetermined device by the data transfer signal, and the master node module. And directly connected to the sensor, receiving the acquisition storage signal to store the sensor data acquired from the sensor in the permanent storage, receiving the data transfer signal, and transmitting the sensor data to at least the master node module. It may include at least one slave node module.

In addition, any one of the master node module and the slave node module may function as a module for providing a reference time to be time synchronized.

In addition, the predetermined device may be an external computer that receives the sensor data and generates and stores drawing data and map information as the geographic information.

In another embodiment, when the degree of load of additional processing on the acquired sensor data exceeds a threshold, the process unit additionally acquires the sensor data from the node module that acquired the sensor data and additionally processes the sensor. The data may be configured to process data, store the processed sensor data in the permanent storage unit, and transmit the data to the predetermined device.

In another embodiment, the processor may acquire the sensor data from the node module that acquired the sensor data and store the sensor data in the permanent storage when the load of the additional processing on the acquired sensor data exceeds a threshold. Afterwards, the sensor data may be processed and stored in the permanent storage unit by further processing of the sensor data, and the sensor data may be set to be transmitted to the predetermined device.

In addition, when the additional processing load is less than the threshold, the processor may be configured to transmit the sensor data to the predetermined device, and the predetermined device may be configured to execute additional processing on the sensor data.

In addition, the sensor comprises a navigation sensor, an image sensor, and a three-dimensional survey sensor for acquiring three-dimensional geographic data, wherein further processing above the threshold may include image smoothing filtering, image of the sensor data. At least one of image sharpen filtering, signal log filtering, sensor data extraction at a specific time, image brightness adjustment, noise removal processing, and format conversion of the sensor data may be included.

In another embodiment, the node module connected with the preprocessing sensor, when the preprocessing sensor for acquiring the preliminary data for controlling the sensor before the data acquisition of the sensor is directly or indirectly connected to the node module. A process unit of the node obtains the preceding data from the preprocessed sensor and transmits the preceding data to the node module to which the sensor is connected, and the process unit of the node module connected to the sensor controls the sensor based on the preceding data to provide Can be obtained.

In addition, the sensor includes a navigation sensor, an image sensor, a three-dimensional survey sensor for obtaining three-dimensional geographic data, a light amount sensor and a wheel sensor (odometry sensor), when the sensor is the image sensor, the preprocessing sensor May be a light amount sensor for controlling a shutter exposure time of the image sensor, and when the sensor is a Lidar sensor as the 3D measurement sensor, the preprocessing sensor may be a wheel sensor for measuring a driving distance.

Specific details of other embodiments are included in the detailed description and the drawings.

According to the present invention, a node module for distributing and storing sensor data from a plurality of sensors mounted on a platform of a mobile mapping system or an autonomous vehicle is provided for at least one sensor, and each node module includes a plurality of sensors. The sensor data is transmitted to a device that generates geographic information based on the data.

Accordingly, it is possible to significantly reduce the transmission bandwidth of a large amount of sensor data and deliver it to the device without data loss, and to reduce the computational burden required for further processing of sensor data or interoperability between multiple sensors.

1 is a block diagram of a system in which a network type mobile sensor data recording apparatus and an external computer according to an embodiment of the present invention are connected.
2 is a configuration diagram of a master node module.
3 is a flowchart illustrating a process of storing and transmitting sensor data implemented in a network type mobile sensor data recording apparatus according to an embodiment of the present invention.
FIG. 4 is a flowchart illustrating an additional process of sensor data and storage and transmission of related data implemented in a network type mobile sensor data recording apparatus according to an exemplary embodiment of the present invention.
FIG. 5 is a flowchart illustrating a process through the preceding and the following process sensors implemented in the network type mobile sensor data recording apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents described below. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed subject matter is thorough and complete, and that the scope of the invention to those skilled in the art will fully convey. Like numbers refer to like elements throughout. Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular forms also include the plural unless specifically stated otherwise in the text. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations, and / or elements that are mentioned. Or does not exclude additions.

In addition, "part" to "module" generally refer to components, such as software (computer program) and hardware which are logically separable. Therefore, the module in the present embodiment indicates not only the module in the computer program but also the module in the hardware configuration. Therefore, in the present embodiment, a computer program for making them function as a module (a program for executing each step of the computer, a program for making the computer function as each means, a program for realizing each function in the computer) And a description of the system and method. However, for the sake of explanation, the words "save", "save", and the like are used. However, these words are stored in the storage device or stored in the storage device when the embodiment is a computer program. It means to control as if to make. In addition, although the "part" to the module may correspond to a function one-to-one, in implementation, one module may be comprised by one program, multiple modules may be comprised by one program, and conversely, even if one module is comprised by multiple programs, do. The multiple modules may be executed by one computer, or one module may be executed by multiple computers by a computer in a distributed or parallel environment. In addition, another module may be included in one module. In addition, below, "connection" is employed also in the case of a logical connection (data exchange, instruction, reference relationship between data, etc.) in addition to the physical connection. The term " predetermined " means that it is determined before the target process, and not only before the process according to the present embodiment is started but also before the target process even after the process according to the present embodiment starts. It is used to include the meaning of what is determined according to the situation or state of the time, or the situation and state until then.

In addition, a system or apparatus means that a plurality of computers, hardware, devices, and the like are connected and configured by a communication means such as a network (including a one-to-one communication connection). This is also the case when it is realized. The terms "device" and "system" are used as terms of mutual agreement. Of course, "system" does not include thing which is only social "institution" (social system) that is artificial decision.

In the case where a plurality of processes are performed by each unit or each module or in a plurality of units within each module or module, the target information is read out from the storage device for each processing, and after the processing, the processing result is displayed. To write to the memory device. Therefore, the description may be omitted for reading input from the storage device before the processing and writing to the storage device after the processing. The storage device here may include a hard disk, a random access memory (RAM), an external storage medium, a storage device via a communication line, a register in a central processing unit (CPU), and the like.

Hereinafter, a network type mobile sensor data recording apparatus according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.

1 is a block diagram of a system in which a network type mobile sensor data recording apparatus and an external computer are connected according to an embodiment of the present invention, and FIG. 2 is a block diagram of a master node module.

A system for acquiring sensor data from heterogeneous sensors and generating geographic information based thereon is mounted on platforms such as ground and / or aerial vehicles, and used as a mobile mapping system or a system for autonomous driving depending on the purpose. Can be.

Hereinafter, a node module including a external computer 10, a master node module 102 and a plurality of slave node modules 104 to 108 connected thereto, a master and at least one slave node module 102 to 108. By including a plurality of heterogeneous sensors (110 to 122) connected directly or indirectly to) will be described by way of example. However, the present invention is not limited thereto, and the system may be configured by omitting only the external computer 10 in the above-described member, or may be composed of the master node module 102 and at least one sensor.

In the present specification, "direct" means that a member is connected to another member by wire or wirelessly without passing through any member, and data is mutually transmitted, and "indirect" means that the member is connected to another member via at least one member. It means that data is transmitted to each other by access.

As shown in FIG. 1, the system may include an external computer 10 and a network type mobile sensor data recording apparatus 100 that analyze and process sensor data to generate drawing data and map information as geographic information.

The external computer 10 receives the sensor data obtained from the heterogeneous sensors 110 to 122 from the network type mobile sensor data recording apparatus 100, analyzes and processes the internal data, the external geometry, the unique data, and the acquisition time. Geographic information including map information and map data may be generated such as information, acquisition environment information, probability information related to an error of sensor data, point group data related information, geocoding image data related information, and object information.

The mobile sensor data recording apparatus 100 may include first to third devices directly or indirectly connected to the master node module 102, the master node module 102, or the external computer 10 directly connected to the external computer 10. Slave node modules 104-108, and heterogeneous sensors 110-122 connected directly or indirectly to master node module 102 and slave node modules 104-108.

The master node module 102 is the top node of the sensor network, and the slave node modules 104 to 108 or at least one sensor (by the acquisition storage signal generated by the external computer 10 or the master node module 102). For example, at least one of sensor data acquired by the image sensor 122 and processed by the data processing signal generated by the external computer 10 or the master node module 102 by further processing. To the external computer 10.

Specifically, referring to FIG. 2, the master node module 102 defines a sensor acquisition condition for further processing such as synchronization with the slave node modules 104 to 108, acquisition of sensor data, transmission, filtering or format conversion, and the like. A core unit 124 for receiving or generating a signal for controlling operations of a preprocessing sensor or the like from the external computer 10 to implement the above-listed functions according to the signal, and an input unit 136 for receiving a user's specific command. , A display unit 138, an external connection unit 140 that interfaces with the external computer 10, a sensor connection unit 132 to which at least one sensor 110 to 122 is connected, and slave node modules 104 to 108. It may include a node module connection unit 134 to be connected.

The core unit 124 may include a control signal processor 126, a processor unit 128, and a permanent storage unit 130.

The control signal processing unit 126 acquires a time synchronization signal for synchronizing with the slave node modules 104 to 108, an acquisition storage signal for acquiring and storing the sensed data in the permanent storage unit 130, and data for transmitting sensor data. Receive from the external computer 10 by the external connection unit 140 a signal for controlling operations such as a transfer signal, a further processing related signal such as filtering or format conversion of sensor data, a preprocessing sensor defining a sensor acquisition condition, or the like. For each operation, it can be created. Each signal may be automatically generated by a program set by the external computer 10 or the like, or may be generated by a user by a command by the input unit 136 of the external computer 10 or the master node module 102.

In addition, the data transfer signal may be initiated after the acquisition storage signal is stopped, for example, the user inputs 136 of the external computer 10 or the master node module 102 while monitoring the amount of data transmitted to the predetermined device. By inputting a command for data transfer through, a data transfer signal may be generated. Of course, even when automatically generated by the program, the data transfer signal may occur as described above. Accordingly, the data transmission signal is generated at a time interval from the acquisition storage signal, so that the amount of data transmitted to the predetermined device is adjusted to be reduced as compared with the conventional one, and the sensor data has a margin for the transmission bandwidth of the predetermined device. Can be delivered.

With regard to time synchronization, the master node module 102 and the slave node modules 104-108 are implemented in a time synchronization method with a server-client hierarchy. Specifically, the time synchronization method may use a network time protocol (NTP), a precision time protocol (PTP), or the like. In this case, when the time synchronization signal is initiated, one or more node modules of the master node module 102 and the slave node modules 104 to 108 function as the upper time server stratum 1, and the other nodes serve as lower client roles. With stratum 2), the time in each node module can be precisely synchronized. For example, as the navigation sensor 112 receives GPS data and obtains standard time information, the second slave node module 106 connected to the navigation sensor 112 and obtained standard time information provides a reference time. Set to stratum 1 as a module, the master node module 102 and other slave node modules 104 and 108 are synchronized to the reference time of the second slave node module 106.

As a result, the slave node modules 104 to 108 and the master node module 102 are synchronized with the reference time, and the acquisition time of the sensor data may be set according to the reference time. Therefore, despite utilizing a plurality of physically distinguished slave node modules, the time at which the sensor data is acquired can be accurately recorded and transmitted in the sensor data.

The processor unit 128 acquires and stores sensor data from the sensors 110 to 122 connected to each slave node module 104 to 108 by transmitting an acquisition storage signal to the slave node modules 104 to 108. In addition, sensor data is also acquired for the sensor 122 connected to the master node module 102 and stored in the permanent storage unit 130.

In addition, the processor 128 transmits a data transfer signal to the slave node modules 104 to 108 after the acquisition storage signal is stopped by the user's individual command or program, and according to the user's setting conditions, each slave node. The sensor data stored in the modules 104 to 108 may be transferred only to the master node module 102 or immediately transferred to the external computer 10 via the master node module 102. In the case of transmitting only to the master node module 102, the sensor data can be transmitted to the external computer 10 by the data transmission signal according to the user's separate command, so that analysis and processing of the sensor data can be performed later. have.

In addition, the processor 128 may acquire the node modules 102 to 108 for acquiring the sensor data when the load of the additional processing on the sensor data acquired by the master and slave node modules 104 to 108 exceeds a threshold. The sensor data may be processed at the same time or additionally at the same time as the acquisition to process the sensor data, and the processed sensor data may be stored in the permanent storage unit 130.

In this case, the load diagram of the further processing may be, for example, a calculation diagram for further processing such as filtering or format conversion in the case where the external computer 10 proceeds.

In addition, the processor 128 operates the node modules 102 to 108 storing the processed sensor data to transmit the processed sensor data to the external computer 10 or the master node module 102 according to the data transmission signal. Let's do it.

As a specific example with respect to further processing, a lidar as a navigation sensor 112, an image sensor 122, and a three-dimensional survey sensor 110 that acquires three-dimensional geographic data as heterogeneous sensors (Light Detection and Ranging) ; LiDAR) sensor, filtering the sensor data, converting the file format of the sensor data, color correction by applying HDR to the image sensor 122, removal of data related to the object at an excessively close distance from the lidar sensor For example, removal associated with a dynamic object recognized by a lidar sensor.

During the above-described further processing, further processing exceeding the threshold value is filtering of sensor data, such as image smoothing filtering, image sharpen filtering, signal log filtering, Extracting sensor data at a specific time, adjusting image brightness, removing noise, and the like may be performed. The format conversion of sensor data may include converting ROSBAG to CSV, converting binary to Ascii, and the like.

When the additional processing load is less than the threshold, the processor 128 transmits a data transfer signal to the corresponding node modules 102 to 108 to transmit sensor data to the external computer 10 or the master node module 102. In addition, the external computer 10 may be configured to perform further processing on the sensor data.

When the preprocessing sensor for acquiring the preliminary data for controlling the specific sensor is directly or indirectly connected to the node modules 102 to 108 before acquiring the data of the specific sensor, the processor 128 sends a signal to the corresponding node module. By transmitting, the processor 128 of the node modules 102 ˜ 108 may acquire the preceding data from the preprocessing sensor and transmit the preceding data to the node module to which the specific sensor is connected. In addition, the processor 128 may acquire the sensor data by controlling the specific sensor based on the preceding data by the processor of the node module connected to the specific sensor.

The permanent storage unit 130 stores sensor data acquired from the sensor 122 connected to the master node module 102. The permanent storage unit 130 is storage capable of permanently storing sensor data, unless it is intentionally deleted, and may be an HDD, an SSD, a flash drive, or an SD card. The reason for the permanent storage is to avoid the time when a large amount of data is transmitted to the external computer 10 so that the user or the like sequentially transmits the sensor data in accordance with a time when the transmission bandwidth of the external computer 10 is relaxed. Accordingly, the sensor data stored without loss in the permanent storage 130 may be stably transmitted to the external computer 10.

The input unit 136 is a part for receiving a user's command, and may be configured as a soft key in the case of the display unit 138 having a hard key or a touch screen function.

The external connection unit 140 may communicate with the external computer 10 using a serial connection such as UDP, TCPIP, RS232 or RS485, WIFI, or the like.

The sensor connection unit 132 may be networked with the sensors 110 to 122, or may be configured as a pulse-per-signal (PPS), a camera shutter signal line line of the image sensor 122, a flash signal line line of the image sensor 122, or the like. Can be.

The node module connection unit 134 may be connected to the slave node modules 104 to 108 through a network connection or a physical line.

On the other hand, each of the slave node modules (104 ~ 108) is a control signal processor, a processor, a permanent storage, an input, a display, an external connection, a sensor connection of the master node module 102 except the node module connection unit 134 It may include in common. Each part functions substantially the same as the corresponding part of the master node module 102, and only the difference with the master node module 102 is demonstrated.

The control signal processor of the slave node modules 104 to 108 receives a signal from the processor unit 128 of the master node module 102 and transmits the signal to the processor unit and the permanent storage unit of the slave node modules 104 to 108. The processor performs acquisition, storage, transmission, further processing, operation of a preprocessing sensor, and the like corresponding to the signal.

The sensor may include a three-dimensional survey sensor 110, a navigation sensor 112, a light quantity sensor 114, a wheel sensor 116, a inertia sensor 118, and a travel distance sensor for acquiring three-dimensional geographic data. It may be composed of a gyro sensor 120, an image sensor 122 and a thermal imaging camera sensor.

The 3D survey sensor 110 is an active remote sensing sensor that is mounted on a platform and acquires 3D geographic data related to an object around it, for example, terrain and feature data, and acquires observation data for 3D surveying. . For example, the 3D survey sensor 104 may be a laser or an ultrasonic sensor or the like, and in the case of a laser sensor, may be a lidar sensor. The lidar sensor scans a laser beam on an object to acquire data, detects parallax and energy change of electromagnetic waves reflected from the object, and calculates distance and reflection intensity of the object.

Navigation sensor 112 is a sensor that detects navigation information such as positioning information, platform position, attitude, and speed to obtain navigation observation data, and acquires a position to acquire a moving position of the platform through a satellite navigation device (GPS). The apparatus may be configured to include an apparatus, an inertial measurement unit (IMU), an attitude acquisition apparatus for acquiring an attitude of the mobile platform through an inertial navigation system (INS), and the like.

The image sensor 114 is a sensor that is mounted on a moving ground or an aerial platform and acquires observation data for an image by capturing an image of a surrounding object such as a terrain or a feature around it, and is used for surveying or non-measuring camera or stereo camera. It may be, but is not limited thereto.

Of these sensors, a preprocessing sensor for acquiring the preceding data for controlling the sensor before data acquisition can be connected to the node module 108.

For example, in the case of an image sensor, the preprocessing sensor is a light quantity sensor for controlling the shutter exposure time of the image sensor, and in the case of a Lidar sensor as the three-dimensional measurement sensor, the preprocessing sensor is a wheel sensor for measuring a driving distance. Can be.

Each sensor 110 to 122 may be mounted on the same platform, but may be distributed and mounted on a ground platform and an aerial platform such as satellite, aviation, or drone. In this case, the node modules 102 to 108 may include a sensor. It can also be installed on a mounted platform.

According to the present embodiment, unlike the conventional method in which a sensor is directly connected to the external computer 10 to transmit sensor data, the sensor data is stored in the node modules 102 to 108 to which the sensor data are connected, and when the user or the like desires the data. For example, the sensor data stored in the node modules 102 ˜ 106 may be transmitted to the external computer 10 without loss in accordance with a time when the amount of transmission data to the external computer 10 is small. As a result, the transmission bandwidth of the sensor data actually transmitted to a predetermined device such as the external computer 10 can be significantly reduced, and can be transmitted to the device without missing data. Thereby, a system for recording and transmitting sensor data to a low specification device can be constructed. Further, the processing speed is remarkably improved by reducing the computational load required for the further processing of the sensor data or the interoperability between the plurality of sensors.

In the present embodiment, the description has been made mainly on a system including the external computer 10, the present invention can implement the above-described function also in the device consisting of the master node module 102 and the slave node module (104 ~ 108), the master Even when the node module 102 is alone, the sensor data may be received and stored without omission.

Hereinafter, a process of storing and transmitting sensor data implemented in a network type mobile sensor data recording apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.

 3 is a flowchart illustrating a process of storing and transmitting sensor data implemented in a network type mobile sensor data recording apparatus according to an embodiment of the present invention.

In the embodiments of FIGS. 3 to 5 below, the external computer 10 generates most of the signals and transmits them to the control signal processor 126 of the master node module 102, and performs the operation based on the transmitted signals. Although described, the embodiment in which the master node module 102 generates a signal to perform each operation is also implemented in substantially the same manner as described below.

First, the control signal processing unit 126 of the master node module 102 generates a time synchronization signal, thereby synchronizing the time between the node modules 102 to 108, and connecting to the node modules 102 to 108. Initialize the sensor (110 ~ 122) (S305).

Thereby, even if the node modules 102 to 108 are configured as separate devices, the acquisition time of the sensor data can be recorded accurately.

Next, the control signal processing unit 126 of the master node module 102 receives the acquisition storage signal from the external computer 10 and transmits it to the processing unit 128 of the master node module 102, and the master node module 102. According to the acquisition storage signal, the processor unit 128 of the node 128 causes the processor unit 128 of the node modules 102 to 108 to which the sensors 110 to 122 are directly and indirectly connected to each node module 102 to 108. The sensor data is acquired from the sensors 110 to 122 of (S310).

Subsequently, the process unit 128 of the master node module 102 causes the process unit 128 of the node modules 102 to 108 to permanently store the 130 of the node modules 102 to 108 according to the acquisition storage signal. To store the sensor data in (S315).

Subsequently, the control signal processing unit 126 of the master node module 102 receives the data transfer signal initiated from the external computer 10 or the user individual command after the acquisition storage signal is stopped, thereby processing the process unit of the master node module 102. And the process unit 128 of the master node module 102 causes the process unit 128 of the node modules 102 to 108 to pass through the master node module 102 in accordance with the data transfer signal. The sensor data stored in the persistent storage 130 of each node module 102 to 108 is transmitted to a previously stored device, such as an external computer 10 or a master node module 102 (S320).

 As the data transfer signal is started after the acquisition storage signal is stopped, for example, the user transfers data through the input unit 136 of the external computer 10 or the master node module 102 while monitoring the amount of data transmitted to the predetermined device. By inputting a command for, a data transfer signal can be generated. Of course, even when automatically generated by the program, the data transfer signal may occur as described above. Accordingly, the data transmission signal is generated at a time interval from the acquisition storage signal, so that the amount of data transmitted to the predetermined device is adjusted to be reduced as compared with the conventional one, and the sensor data has a margin for the transmission bandwidth of the predetermined device. Can be delivered.

In addition, the master node module 102 may adjust the amount of transmission of sensor data to each node module 102 to 108 so that the sensor data is sequentially transmitted to the external computer 10. In addition, after the node modules 102-108 deliver the sensor data, the sensor data may be deleted from the persistent storage 130 of the node modules 102-108 by individual instructions or programming of the user.

According to the present embodiment, unlike the conventional method in which a sensor is directly connected to the external computer 10 to transmit sensor data, the sensor data is stored in the node modules 102 to 108 to which the sensor data are connected, and when the user or the like desires the data. For example, the sensor data stored in the node modules 102 ˜ 106 may be transmitted to the external computer 10 without loss in accordance with a time when the amount of transmission data to the external computer 10 is small. As a result, the transmission bandwidth of the sensor data actually transmitted to a predetermined device such as the external computer 10 can be significantly reduced, and can be transmitted to the device without missing data.

Hereinafter, with reference to FIGS. 1, 2 and 4, the additional processing of the sensor data implemented in the network type mobile sensor data recording apparatus according to an embodiment of the present invention and the storing and transmitting process of the related data will be described. do.

FIG. 4 is a flowchart illustrating an additional process of sensor data and storage and transmission of related data implemented in a network type mobile sensor data recording apparatus according to an exemplary embodiment of the present invention.

The embodiment according to FIG. 4 is an implementation in which further processing on the sensor data is carried out simultaneously with the acquisition.

First, the control signal processing unit 126 of the master node module 102 receives the acquisition storage signal from the external computer 10 and transmits it to the processing unit 128 of the master node module 102, and then the master node module 102. The process unit 128 of the node module 102 causes the process unit 128 of the node modules 102 to 108 to which the sensors 110 to 122 are directly and indirectly connected according to the acquired storage signal. The sensor data is acquired from the sensors 110 to 122 (S405).

Next, the process unit 128 of the master node module 102 determines whether the sensor data acquired by each node module 102 to 108 needs further processing (S410).

Specific examples relating to further processing include filtering of the sensor data, conversion of the file format of the sensor data, color correction by applying HDR to the image sensor 122, and of the data related to the object at an excessively close distance from the lidar sensor. Removal, removal associated with a dynamic object recognized by the lidar sensor.

As a result of the determination, if there is no further processing, as in FIG. 3, the process unit 128 of the master node module 102 stores sensor data in the permanent storage unit 130 of each node module 102 to 108 (S430). As a result of the determination, if additional processing is required, it is determined whether the load of the additional processing exceeds a threshold value (S410).

In the case where the additional processing is executed at the same time as the acquisition of the sensor data as shown in FIG. 4, the additional processing exceeding the threshold value is the filtering of the sensor data as image smoothing filtering and image sharpening filtering of the sensor data. sharpen filtering, signal log filtering, sensor data extraction at a specific time, image brightness adjustment, noise removal processing, and the like.

When the additional processing load exceeds the threshold, the processor unit 128 of the master node module 102 causes the processor unit 128 of the node modules 102 to 108 that have acquired the sensor data to simultaneously acquire the sensor data. Further processing to process the sensor data, and to store the processed sensor data in the permanent storage unit 130 of the node module (102 ~ 108) (S420),

In this case, the sensor data before processing may also be stored in the permanent storage unit 130 according to the setting condition.

Next, the control signal processing unit 126 of the master node module 102 receives the data transfer signal from the external computer 10 and transmits it to the processor 128 of the master node module 102, and the master node module 102. Process unit 128 of the node module 102 allows the processor unit 128 of the node modules 102 to 108 to permanently store the node modules 102 to 108 via the master node module 102 according to the data transfer signal. The processed sensor data stored in the 130 is transmitted to a previously stored device, for example, the external computer 10 or the master node module 102 (S425).

In this case, the sensor data before processing may also be transmitted to the predetermined device according to the setting conditions.

If the additional processing load is less than or equal to the threshold value in step S415, the process unit 128 of the master node module 102 transmits sensor data to the permanent storage unit 130 of the corresponding node modules 102 to 108, as shown in FIG. 3. Store in (S435).

Subsequently, the processor unit 128 of the master node module 102 causes the processor unit 128 of the node modules 102 to 108 to pass through the master node module 102 to each node module 102 in accordance with the data transfer signal. 108 transmits the processed sensor data stored in the permanent storage unit 130 to a pre-stored device (S440).

Next, the pre-stored device further processes the received sensor data to generate processed sensor data (S445).

In another embodiment, the sensor data may be stored in the persistent storage 130 of the node modules 102 to 108, and then further processed on the sensor data.

Here, the additional processing exceeding the threshold may further include file format conversion of the sensor data in addition to the filtering processing.

Specifically, the process unit 128 of the master node module 102 acquires the sensor data from the node modules 102 to 108 which have acquired the sensor data, stores the sensor data in the permanent storage, and then additionally processes the sensor data. May be processed, stored in the permanent storage unit 130 of the node modules 102 to 108, and the processed sensor data may be transmitted to a predetermined device.

According to the above embodiment, the processing speed is remarkably improved by reducing the computational load required for further processing of the sensor data.

Hereinafter, referring to FIGS. 1, 2, and 5, a process through the preceding and the following processing sensors implemented in the network type mobile sensor data recording apparatus according to an embodiment of the present invention will be described.

FIG. 5 is a flowchart illustrating a process through the preceding and the following process sensors implemented in the network type mobile sensor data recording apparatus according to an embodiment of the present invention.

Examples of acquiring sensor data through linkage of the preceding and the following processing sensors include control of the image sensor based on the preceding data of the light quantity sensor controlling the shutter exposure time of the image sensor, and the preceding of the wheel sensor measuring the driving distance. Control of a lidar sensor, which is a three-dimensional measurement sensor based on data. Hereinafter, the case where the preceding sensor and the post processing sensor are the wheel sensor (odometry sensor) 116 and the lidar sensor 110 will be described mainly.

First, the control signal processing unit 126 of the master node module 102 receives the acquisition storage signal from the external computer 10 and transmits it to the processing unit 128 of the master node module 102, and then the master node module 102. The process unit 128 of the node module 102 causes the process unit 128 of the node modules 102 to 108 to which the sensors 110 to 122 are directly and indirectly connected according to the acquired storage signal. Sensor data is acquired from the sensors 110 to 122 (S505).

After the process unit 128 of the master node module 102 determines whether the sensor data is normally acquired, if it is normally acquired, it is determined that the operation of the preprocessing sensor is unnecessary and the flow proceeds to step S530, and the specific sensor is a lidar sensor 110. When notified from the process unit of the first slave node module 104 that the sensor data is not acquired, it is determined whether the preceding data of the wheel sensor 116, which is a preprocessing sensor, is required to be acquired (S510).

As a result of the determination, when acquisition of the preceding data is required, the process unit 128 of the master node module 102 sends the preceding data to the process unit 128 of the third slave node module 108 to which the wheel sensor 116 is connected. Acquire and transmit the Lidar sensor 110 to the process unit 128 of the connected first slave node module 515 (S515).

Next, the process unit of the first slave node module 104 controls the LiDAR sensor 110, which is a post-processing sensor, based on the preceding data to acquire sensor data to obtain the permanent data storage unit of the first slave node module 104. In operation 130, it is stored in step S520.

Subsequently, the processor unit 128 of the master node module 102 causes the processor unit of the first slave node module 104 to transmit the sensor data stored in the permanent storage via the master node module 102 according to the data transfer signal. It transmits to the previously stored device, for example, the external computer 10 or the master node module 102 (S525).

According to the present embodiment, the processing speed is remarkably improved by reducing the computational load required for the interlocking processing between the plurality of sensors.

Although the present invention has been described in detail through the representative embodiments, those skilled in the art to which the present invention pertains can make various modifications without departing from the scope of the present invention. Will understand. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by all changes or modifications derived from the claims and the equivalent concepts as well as the following claims.

100: network type mobile sensor data recording device
102: master node module
104, 106, 108: first to third slave node modules
124: core portion 126: control signal processing unit
128: processor 130: permanent storage
132: sensor connection 134: node module connection
136: input unit 138: display unit
140: external connection

Claims (10)

A permanent storage unit which is directly or indirectly connected to at least one sensor in accordance with an acquisition storage signal, acquires data of the sensor for moving observation in order to generate geographic information, and stores the acquired sensor data; At least one node module having a processor configured to directly or indirectly transmit the sensor data to an externally designated device according to a data transmission signal initiated after the stop of
The node module is configured in the form of a sensor network,
A master node module which is a top node of the sensor network and transmits the sensor data to the predetermined device by the data transfer signal; And
Directly connected to the master node module and the sensor, receiving the acquisition storage signal and storing the sensor data acquired from the sensor in the permanent storage, and receiving the data transfer signal to at least the sensor data Network type mobile sensor data recording device comprising at least one slave node module for transmitting to the node module. delete The method of claim 1,
The network type mobile sensor data recording apparatus, wherein one of the master node module and the slave node module functions as a module for providing a reference time. The method of claim 1,
The predetermined device is a network type mobile sensor data recording device that is an external device that receives the sensor data and generates and stores drawing data and map information as the geographic information. The method of claim 1,
The processing unit processes the sensor data by additionally processing the sensor data at the same time as acquiring the sensor data from the node module that acquired the sensor data, when the degree of load of additional processing on the acquired sensor data exceeds a threshold value. Networked mobile sensor data recording device is configured to store the processed sensor data in the permanent storage, and to transmit to the predetermined device. The method of claim 1,
The process unit acquires the sensor data from the node module that acquired the sensor data and stores the sensor data in the permanent storage in the case where the load of the additional processing on the acquired sensor data exceeds a threshold value. The network type mobile sensor data recording apparatus is set to process the sensor data by further processing, store the stored data in the permanent storage unit, and transmit the processed sensor data to the predetermined device. The method according to claim 5 or 6,
The processor is configured to transmit the sensor data to the predetermined device when the additional processing load is less than the threshold value, and the predetermined device is configured to execute additional processing on the sensor data. Recording device. The method according to claim 5 or 6,
The sensor comprises a navigation sensor, an image sensor and a three-dimensional survey sensor for obtaining three-dimensional geographic data,
Further processing above the threshold may include image smoothing filtering of the sensor data, image sharpen filtering, signal log filtering, extraction of sensor data at specific times, and image brightness. A network type mobile sensor data recording device comprising at least one of adjustment, noise reduction processing, and format conversion of the sensor data. The method of claim 1,
In case the preprocessing sensor which acquires the preliminary data for controlling the sensor before the data acquisition of the sensor is directly or indirectly connected to the node module,
The processor of the node module connected to the preprocessing sensor obtains the preceding data from the preprocessing sensor and transmits the preceding data to the node module to which the sensor is connected.
And a processor unit of the node module connected to the sensor to control the sensor based on the preceding data to obtain the sensor data. The method of claim 9,
The sensor includes a navigation sensor, an image sensor, a three-dimensional survey sensor for obtaining three-dimensional geographic data, a light amount sensor and a wheel sensor (odometry sensor),
When the sensor is the image sensor, the preprocessing sensor is a light amount sensor for controlling the shutter exposure time of the image sensor,
And said preprocessing sensor is a wheel sensor for measuring a traveling distance, when said sensor is a lidar sensor as said three-dimensional measurement sensor.

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