All-terrain multi-sensor data acquisition platform for unmanned equipment

A technology of unmanned driving equipment and multi-sensors, which is applied in the direction of instruments, measuring instrument components, radio wave measurement systems, etc., can solve the problems of unclear geometric positions of sensors, poor versatility of data acquisition platforms, single sensor types, etc., and achieve data types Rich, versatile, and geometrically defined effects

Inactive Publication Date: 2020-04-21
HARBIN INST OF TECH
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Problems solved by technology

[0006] The invention provides an all-terrain multi-sensor data acquisition platform, which solves the problems of poor versatility, single sensor type and unclear geometric positions between the existing data acquisition platforms, and can improve the versatility of the data acquisition platform and the accuracy of data acquisition. richness

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  • All-terrain multi-sensor data acquisition platform for unmanned equipment
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  • All-terrain multi-sensor data acquisition platform for unmanned equipment

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specific Embodiment approach 1

[0027] Specific implementation mode one: see Figure 1-7 This embodiment will be described. An all-terrain multi-sensor data acquisition platform for unmanned equipment described in this embodiment includes a mobile carrier platform 1, an adjustable support frame 2 and a multi-sensor integration platform 3, and the mobile carrier platform 1 is equipped with An adjustable support frame 2, a multi-sensor integrated platform 3 is installed on the adjustable support frame 2, a motor is provided inside the mobile carrying platform 1, and at least two wheels are respectively provided on the left and right sides, and the multi-sensor integrated platform 3 Including multi-line laser sensor 4, binocular vision sensor 5, inertial measurement unit 6, global positioning system receiver 7, sensor lead wire 13, sensor bracket 14 and main control box 15, described multi-line laser sensor 4, binocular Vision sensor 5, inertial measurement unit 6 and global positioning system receiver 7 are r...

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Abstract

The invention provides an all-terrain multi-sensor data acquisition platform for unmanned equipment. The all-terrain multi-sensor data acquisition platform comprises a movable carrying platform, wherein the movable carrying platform is provided with an adjustable supporting frame, a multi-sensor integrated platform is mounted on the adjustable supporting frame; a multi-line laser sensor, a binocular vision sensor, an inertial measurement unit and a global positioning system receiver of the multi-sensor integrated platform are respectively connected with a main control box by means of sensor leading cables; centers of the laser radar sensor, the binocular vision sensor and the inertial measurement unit are on the same line, and the distance between the centers is fixed in the Z direction; the centers are set to be initial values of data fusion, data registration is performed between the laser sensor and the binocular vision sensor, timestamp synchronization is performed between the data, and the data acquisition frequency is 1-30 HZ. The all-terrain multi-sensor data acquisition platform sovles the problems that an existing data acquisition platform is poor in universality, single in sensor type and unclear in geometric positions between sensors, and can improve the universality of the data acquisition platform and the richness of acquired data.

Description

technical field [0001] The invention specifically relates to an all-terrain multi-sensor data acquisition platform for unmanned driving equipment, and belongs to the technical field of mobile robots and data acquisition platforms. Background technique [0002] With the development of science and technology, autonomous navigation technology and unmanned driving technology are the future development trend. Nowadays, deep learning has been widely used in the field of robot autonomous navigation and unmanned driving, but deep learning requires a large amount of data for training, so the data collection of sensors is a very important link. The existing data collection platform has the following defects: [0003] 1. Existing autonomous driving data collection platforms include Google, HERE, TomTom, Baidu, AutoNavi and other road map collection devices that are mounted on cars and can only be collected on roads with flat terrain; data collection systems for indoor robots , is to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/45G01S19/47G01D11/30
CPCG01C21/005G01C21/165G01D11/30G01S19/45G01S19/47
Inventor 叶东王硕王博雅吕旭冬
Owner HARBIN INST OF TECH
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