Embedded system and method capable of realizing positioning control of rail vehicle laser scanner

Abstract

The invention relates to an embedded system and method capable of realizing positioning control to a rail vehicle-mounted laser scanner. The system comprises a mobile device and photoelectric encoders arranged on the mobile device and used for positioning, and further comprises an embedded microprocessor motherboard, and a laser scanner, a signal conditioning circuit, a camera and an SD card, which are connected with the embedded microprocessor motherboard respectively; the photoelectric encoders, the industrial camera and the laser scanner are respectively connected with the embedded microprocessor motherboard through the signal conditioning circuit. Compared with the prior art, the embedded system has the advantages that since the microprocessor motherboard based on ARM system is used as the main system board, and the proper peripheral signal conditioning circuit is adopted, so that the size is reduced to be smaller than one tenth of that of an industrial personal computer system, the system is supplied with power by a 5 V USB interface, the power consumption is reduced to be lower than one tenth of that of the original industrial personal computer system, the cost is low, and the reliability is high.

Description

technical field [0001] The invention relates to the field of tunnel construction space information detection, in particular to an embedded system and method capable of realizing positioning control of a track-mounted laser scanner. Background technique [0002] With the development of urban rail transit operation and management work, it is necessary to digitally record the shape of the building space along the underground part of the tunnel line, which is used to maintain the spatial database of the security management information system, or to make a digital map of the line scene. A promising method is to set the 3D laser scanner in 2D scanning mode and install the camera on a mobile platform that can walk on the track to complete the collection of long-distance tunnel building space shape data. [0003] In order to convert the 2D cross-sectional data collected by mobile into 3D spatial data, it is necessary to synchronize the laser scanner and positioning components at the...

AI Technical Summary

Problems solved by technology

However, this method has the following problems: 1. The cost is high, and a high-end industrial computer needs to be purchased; 2, it takes up a lot of physical space, and a special rack needs to be installed; 3, energy consumption, it is necessary to maintain the power supply of the controller and interface board in the industrial computer ; 4. The reliability is low, and there are many connections between the connectors, which increases the difficulty of maintenance in the actual use process

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