Multi-sensor positioning device

Abstract

The utility model provides a multi-sensor positioning device. The device comprises a sensor scanning module and a data transmission and power supply module, the sensor scanning module comprises a sensor integrated control box, a multi-line mechanical laser radar, a full-view-field mixed solid-state laser radar, an industrial camera, an I MU and a GNSS antenna. Wherein the industrial camera and the I MU are located inside the sensor integrated control box, and the multi-line mechanical laser radar, the full-view-field mixed solid-state laser radar and the GNSS antenna are located outside the sensor integrated control box; the data transmission and power supply module comprises a network switch, a wireless routing module, a laser radar junction box and a voltage conversion module; wherein the data transmission and power supply module is located in the sensor integrated control box. According to the scheme, the structure that multiple sensors are fused and integrated is adopted, the sensor scanning module can be independently disassembled and assembled, the device structure is simple, a large-range and multi-angle scanning space can be provided, and the problem that degradation is prone to occurring when a single sensor is directly used for positioning is solved.

Description

Technical Field

[0001] The utility model relates to the field of autonomous driving of unmanned ships, in particular to a multi-sensor positioning device. Background Technique

[0002] In the modern engineering field, the autonomous positioning technology of unmanned ships is one of the key technologies to realize their autonomous navigation and task execution. The technologies for single-sensor positioning generally include laser positioning, visual positioning, and ultrasonic positioning, etc. Although these technologies have obvious advantages in some aspects, they also have some inevitable disadvantages, such as high cost, many environmental restrictions, and affected accuracy, etc.

[0003] For example, although laser positioning has very high accuracy, usually reaching the centimeter level, the processing of laser data requires a certain amount of computing power and may not be very suitable for embedded systems. Visual positioning usually uses a camera to capture environmental images for position recognition. This technology has good effects in an environment with rich features and sufficient light, and the accuracy can reach the decimeter level. However, visual positioning is easily affected by factors such as lighting conditions and environmental textures, resulting in a decrease in positioning accuracy and stability. Ultrasonic positioning determines the position by emitting and receiving ultrasonic signals. The equipment cost is relatively low, but the sound wave propagation speed is lower than that of electromagnetic waves, the system capacity is limited, and it is easily affected by the multipath effect, resulting in low positioning accuracy.

[0004] In summary, although single-sensor positioning has advantages such as simple implementation and low cost, single-sensor positioning is prone to degradation. Therefore, in an automatic navigation system such as an unmanned ship, there is an urgent need for a positioning device that can solve the above problems. Content of the Utility Model

[0005] The embodiment of the present application provides a multi-sensor positioning device, adopting a multi-sensor fusion and integration structure, which solves the problem that direct positioning using a single sensor is prone to degradation.

[0006] The embodiment of the present application provides a multi-sensor positioning device, the device includes: a sensor scanning module and a data transmission and power supply module; the sensor scanning module includes: a sensor integrated control box, a multi-line mechanical lidar, a full-field hybrid solid-state lidar, an industrial camera, an inertial measurement unit IMU, and a global navigation satellite system GNSS antenna; wherein, the industrial camera and IMU are located inside the sensor integrated control box, and the multi-line mechanical lidar, the full-field hybrid solid-state lidar, and the GNSS antenna are located outside the sensor integrated control box; the data transmission and power supply module includes: a network switch, a wireless routing module, a lidar junction box, and a voltage conversion module; wherein, the data transmission and power supply module is located inside the sensor integrated control box.

[0007] In one embodiment, the multi-line mechanical lidar is located on top of the sensor integrated control box, and the panoramic hybrid solid-state lidar is located in front of the sensor integrated control box.

[0008] In one embodiment, the industrial camera is located on the inner wall of the sensor integrated control box, and the lens of the industrial camera protrudes outside the sensor integrated control box; the sensor scanning module includes two industrial cameras, and the two industrial cameras are symmetrically arranged along the longitudinal central axis of the sensor integrated control box.

[0009] In one embodiment, the IMU includes a gyroscope and an accelerometer.

[0010] In one embodiment, the GNSS antenna is located behind the sensor integrated control box.

[0011] In one embodiment, the network switch is located on the back of the sensor integrated control box, and is connected to the multi-line mechanical lidar and the panoramic hybrid solid-state lidar through multiple network cables, and is connected to the control unit through one network cable.

[0012] In one embodiment, the wireless routing module is located on the back of the sensor integrated control box and is used for real-time kinematic (RTK) positioning measurement.

[0013] In one embodiment, the lidar junction box is located at the bottom of the sensor integrated control box and is used for power supply and data feedback of the multi-line lidar.

[0014] In one embodiment, the voltage conversion module is located at the bottom of the sensor integrated control box and is used for power supply of the panoramic hybrid solid-state lidar, network switch, wireless routing module and lidar junction box.

[0015] In one embodiment, the industrial camera and the IMU transmit data to the control unit through cables and are powered.

[0016] The solution provided in the above embodiments of the present application adopts a structure in which multiple sensors (IMU, vision, multi-line lidar and RTK) are fused and integrated in a multi-sensor positioning device. The sensor scanning module can be separately disassembled and installed. The device has a simple structure and can provide a large-range and multi-angle scanning space, solving the problem that direct positioning using a single sensor is prone to degradation. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below.

[0018] Figure 1It is the three - dimensional view of the multi - sensor positioning device provided by the embodiment of the present application;

[0019] Figure 2 It is the external side view of the multi - sensor positioning device provided by the embodiment of the present application;

[0020] Figure 3 It is the internal side view of the multi - sensor positioning device provided by the embodiment of the present application;

[0021] Figure 4 It is the front view of the multi - sensor positioning device provided by the embodiment of the present application;

[0022] Figure 5 It is the top view of the multi - sensor positioning device provided by the embodiment of the present application. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application.

[0024] Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0025] Such as Figures 1-5 They are various views of the multi - sensor positioning device of the embodiment of the present application, including three - dimensional view, external and internal side views, front view, and top view. The multi - sensor positioning device includes a sensor scanning module and a data transmission and power supply module, and the sensor scanning module can be detachably installed separately.

[0026] The sensor scanning device includes a sensor integrated control box 100 and each sensor. Each sensor includes: a multi - line mechanical lidar 101, a full - field hybrid solid - state lidar 102, an industrial camera 103, an inertial measurement unit (IMU) 104, and a global navigation satellite system (GNSS) antenna 105.

[0027] The industrial camera 103 and the IMU 104 are located inside the sensor integrated control box 100, and the multi - line mechanical lidar 101, the full - field hybrid solid - state lidar 102, and the GNSS antenna 105 are located outside the sensor integrated control box 100. The sensor integrated control box 100 encloses some sensors and can play a certain role in preventing water splash.

[0028] The multi-line mechanical lidar 101 is installed and fixed on the top of the sensor integrated control box 100 to ensure that the radar scanning field of view is not blocked. It is used to send laser to the environment and measure the distance and reflection intensity information of the laser emission azimuth during movement to obtain spatial point cloud data.

[0029] The panoramic hybrid solid-state lidar 102 is installed and fixed in front of the sensor integrated control box 100 to ensure that the radar scanning field of view is not blocked and sense the information of a large field of view angle in space.

[0030] The industrial camera 103 is installed inside the sensor integrated control box 100, and the lens of the industrial camera 103 is exposed outside to ensure that the field of view is not blocked. One industrial camera 103 is installed symmetrically on the left and right along the longitudinal central axis of the sensor integrated control box 100 to obtain visual information in a larger range.

[0031] The IMU ********** is fixed inside the sensor integrated control box 100, integrating a gyroscope and an accelerometer, and can measure its own three-dimensional linear acceleration and three-dimensional attitude angular velocity, so as to obtain instantaneous linear displacement and attitude angle.

[0032] The GNSS antenna 105 is fixed at the rear of the sensor integrated control box 100 to obtain GNSS positioning information.

[0033] The relative positions of the sensors are kept fixed for subsequent calibration work.

[0034] The sensor integrated control box 100 also includes a data transmission and power supply device inside. The data transmission and power supply device includes a network switch 201, a wireless routing module 202, a lidar junction box 203 and a voltage conversion module 204.

[0035] The network switch 201 is fixed on the back of the sensor integrated control box 100 and is connected to the multi-line mechanical lidar 101 and the panoramic hybrid solid-state lidar 102 through multiple network cables, and is connected to a control unit (not shown in Figures 1-5 to meet the multi-radar data acquisition requirements.

[0036] The wireless routing module 202 is fixed on the back of the sensor integrated control box 100, which can provide Internet services such as 4G and 5G to ensure communication with the ground station and realize real-time kinematic (RTK) measurement and positioning.

[0037] The lidar junction box 203 is fixed at the bottom of the sensor integrated control box 100 and is used for power supply and data feedback of the multi-line mechanical lidar 101.

[0038] Note: There seems to be an incomplete or incorrect part in the description of "IMU104" in the original text where "**********" is shown. It should be corrected for a more accurate translation. The above translation is based on the existing content as much as possible.The voltage conversion module 204 is fixed to the bottom of the sensor integrated control box 100 and is used to supply power to the panoramic hybrid solid-state lidar 102, network switch 201, wireless routing module 202, and lidar junction box 203.

[0039] The industrial camera 103 and the IMU 104 transmit data to the control unit through cables and are powered.

[0040] In the embodiment of the present application, a structure in which multiple sensors (IMU, vision, multi-line laser, and RTK) are fused and integrated in a multi-sensor positioning device is adopted. The sensor scanning module can be detachably installed. The device has a simple structure and can provide a large-range and multi-angle scanning space, solving the problem that direct positioning using a single sensor is prone to degradation.

[0041] The above-mentioned sensor integration method is only a preferred embodiment of the present application and is not intended to limit the solution of the present application. As long as the relative positions of the sensors are fixed, the algorithm can work properly after calibrating the external parameters. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0042] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0043] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0044] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0045] As described above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims described above.

Claims

1. A multi-sensor positioning device, characterized in that, The device includes: a sensor scanning module and a data transmission and power supply module; The sensor scanning module includes: a sensor integrated control box, a multi-line mechanical lidar, a panoramic hybrid solid-state lidar, an industrial camera, an inertial measurement unit IMU, and a global navigation satellite system GNSS antenna; wherein, the industrial camera and the IMU are located inside the sensor integrated control box, and the multi-line mechanical lidar, the panoramic hybrid solid-state lidar, and the GNSS antenna are located outside the sensor integrated control box; The data transmission and power supply module includes: a network switch, a wireless routing module, a lidar junction box, and a voltage conversion module; wherein, the data transmission and power supply module is located inside the sensor integrated control box.

2. The multi-sensor positioning device according to claim 1, wherein The multi-line mechanical lidar is located on the top of the sensor integrated control box, and the panoramic hybrid solid-state lidar is located in front of the sensor integrated control box.

3. The multi-sensor positioning device according to claim 1, wherein The industrial camera is located on the inner wall of the sensor integrated control box, and the lens of the industrial camera protrudes outside the sensor integrated control box; The sensor scanning module includes two industrial cameras, and the two industrial cameras are symmetrically arranged along the longitudinal central axis of the sensor integrated control box.

4. The multi-sensor positioning device according to claim 1, characterized in that, The IMU includes a gyroscope and an accelerometer.

5. The multi-sensor positioning device according to claim 1, characterized in that The GNSS antenna is located behind the sensor integrated control box.

6. The multi-sensor positioning device according to claim 1, wherein, The network switch is located on the back of the sensor integrated control box, and is connected to the multi-line mechanical lidar and the panoramic hybrid solid-state lidar through multiple network cables, and is connected to the control unit through one network cable.

7. The multi-sensor positioning device according to claim 1, characterized in that The wireless routing module is located on the back of the sensor integrated control box and is used for real-time kinematic carrier-phase differential RTK positioning.

8. The multi-sensor positioning device according to claim 1, characterized in that, The lidar junction box is located at the bottom of the sensor integrated control box and is used for power supply and data feedback of the multi-line mechanical lidar.

9. The multi-sensor positioning device according to claim 1, wherein The voltage conversion module is located at the bottom of the sensor integrated control box and is used for power supply of the panoramic hybrid solid-state lidar, the network switch, the wireless routing module, and the lidar junction box.

10. The multi-sensor positioning device according to claim 1, wherein, The industrial camera and the IMU transmit data to the control unit through cables and realize power supply.

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