A vehicle-mounted test platform for multi-sensor fusion positioning

Abstract

The utility model relates to a kind of vehicle-mounted test platform for multi-sensor fusion positioning, including the longitudinal arrangement flat plate being connected with data acquisition module and being longitudinally arranged, the transverse arrangement of several horizontal plates is detachably connected on flat plate and is longitudinally arranged, horizontal plate is hinged with the backing plate supported on roof, and locking claw is equipped on the both ends of horizontal plate and is connected on car window.The utility model can realize high-precision positioning and high-precision electronic map construction by reasonable layout multiple sensors, combined satellite positioning, laser radar and inertial navigation data fusion, satisfy the demand of high-precision electronic map required by mobile robot motion path planning and navigation control;Horizontal plate, flat plate, locking claw, U bolt setting, ensure the stability of platform in the process of vehicle driving, avoid error produced by vibration of sensor;Locking claw can adapt to the roof shape of different vehicle models, improve the versatility and application range of platform.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot navigation and control technology, specifically to an on-board test platform for multi-sensor fusion positioning. Background Technology

[0002] With the continuous development of automated guided vehicles (AGV) technology, its application in logistics, warehousing, and industrial automation is becoming increasingly widespread. To achieve high-precision navigation and control, multi-sensor fusion positioning technology has become crucial. However, the current lack of a dedicated vehicle-mounted testing platform for multi-sensor fusion data acquisition, testing, calibration, and mapping limits the research and application of related technologies.

[0003] Existing vehicle-mounted testing platforms are typically simple in structure, unable to meet the installation requirements of various sensors, and lack in terms of sensor fixation stability. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing an on-board testing platform for multi-sensor fusion positioning. By using locking claws, the flat plate is fixed to the roof of the vehicle, thereby ensuring the stability of the data acquisition module.

[0005] This utility model is achieved through the following technical solution: an on-board test platform for multi-sensor fusion positioning, including a flat plate with a data acquisition module installed and arranged longitudinally, several horizontal plates detachably connected to the flat plate and arranged laterally and longitudinally, the horizontal plates are hinged to a pad plate supported on the roof of the vehicle, and both ends of the horizontal plates are provided with locking claws connected to the windows of the vehicle.

[0006] This invention uses a locking claw connection to fix the horizontal plate and the flat plate to the top surface of the vehicle body, thereby securing the flat plate to the roof and ensuring the stability of the data acquisition module.

[0007] Preferably, the locking claw includes a U-shaped hook that hooks onto the window beam, and a ratchet fixed to the hook and slidably connected to the transverse plate. The transverse plate is connected to a ratchet wheel that drives the ratchet wheel to slide via a pivot. The transverse plate is also provided with a ratchet claw that restricts the rotation of the ratchet wheel. The ratchet wheel has several ratchet holes that penetrate the ratchet wheel and engage with the ratchet teeth of the ratchet wheel. The ratchet holes extend longitudinally and are arranged transversely.

[0008] In use, the hook is placed on the window sill of the vehicle, and then the ratchet is driven to rotate. The ratchet teeth on the ratchet are inserted into the ratchet holes, thereby driving the ratchet to move laterally within the horizontal plate, so that the hook is hooked on the window sill. Since there are hooks at both ends of the horizontal plate, the horizontal plate and the flat plate are fixed on the roof by the two hooks. The ratchet setting restricts the ratchet from rotating in the opposite direction, thereby ensuring that the hook is hooked on the window sill.

[0009] Preferably, the outer side of the cross plate is also provided with a rotating rod with a hexagonal cross-section and coaxially connected to the rotating shaft. This preferred embodiment, by providing the rotating rod, facilitates the use of a ratchet wrench to rotate the ratchet by driving the rotating rod.

[0010] Preferably, the flat plate is connected to the horizontal plate by U-bolts.

[0011] Preferably, the data acquisition module includes a main satellite antenna located at the front of the vehicle and a secondary satellite antenna located at the rear of the vehicle.

[0012] Preferably, the data acquisition module includes a lidar, a Wheelfun N100 inertial navigation module, and a data processor.

[0013] Preferably, the flat plate is also equipped with a power divider.

[0014] The beneficial effects of this utility model are as follows: By connecting the locking claw to the vehicle body and window, the horizontal plate and the flat plate are fixed to the top surface of the vehicle body, thus fixing the flat plate to the roof and ensuring the stability of the data acquisition module; the hook is placed at the window beam, and then the ratchet is driven to rotate. The ratchet teeth on the ratchet are inserted into the ratchet hole, thereby driving the ratchet to move laterally in the horizontal plate, so that the hook is hooked on the window beam. Since there are hooks at both ends of the horizontal plate, the horizontal plate and the flat plate are fixed on the roof by the two hooks. The ratchet setting restricts the ratchet from rotating in the opposite direction, thus ensuring that the hook is hooked on the window beam. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of the present utility model;

[0016] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0017] Figure 3 for Figure 2 Enlarged view of point B in the middle;

[0018] Figure 4 This is a schematic diagram of the cross-section at the ratchet.

[0019] As shown in the figure:

[0020] 1. Horizontal plate, 2. Ratchet, 3. Claw, 4. Pad, 5. Ratchet, 6. Ratchet hole, 7. Flat plate, 8. U-bolt, 9. LiDAR, 10. Satellite main antenna, 11. Inertial navigation module, 12. Data processor, 13. Power divider, 14. Satellite secondary antenna, 15. Rotating rod, 16. Claw, 17. Rotating plate, 18. Fixed shaft. Detailed Implementation

[0021] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0022] See attached document Figure 1-4 This utility model discloses an on-board test platform for multi-sensor fusion positioning, including a flat plate 7 with a data acquisition module installed and arranged longitudinally, several horizontal plates 1 detachably connected to the flat plate 7 and arranged laterally and longitudinally, a pad plate 4 supported on the roof of the vehicle is hinged to the horizontal plate 1, and locking claws connected to the windows are provided at both ends of the horizontal plate 1. Two locking claws located on the same horizontal plate 1 are symmetrically arranged about the flat plate 7.

[0023] The locking pawl includes a U-shaped hook 3 that hooks onto the window frame, and a ratchet 5 fixed to the hook 3 and slidably mounted laterally within the cross plate 1. A ratchet 2, which drives the ratchet 5, is pivotally connected to the cross plate 1 via a rotating shaft. The cross plate 1 also has a pawl 16 that restricts the rotation of the ratchet 2. The pawl 16 is fixed to a fixed shaft 18, which is also pivotally connected to the cross plate 1. A rotating plate 17 extending upwards to the outer side of the cross plate 1 is fixed to the fixed shaft 18. Rotating the rotating plate 17 causes the fixed shaft 18 to rotate, thereby disengaging the pawl 16 from the ratchet 2 and releasing the restriction of the pawl 16 on the ratchet 2.

[0024] The ratchet 5 has several ratchet holes 6 that penetrate the ratchet 5 and engage with the ratchet teeth of the ratchet 2. The ratchet holes 6 extend longitudinally and are arranged laterally.

[0025] The outer side of the horizontal plate 1 is also provided with a rotating rod 15 with a hexagonal cross section and coaxially connected with the rotating shaft. The rotating rod 15 is driven to rotate by the ratchet 2 handle, thereby realizing the rotation of the ratchet 2.

[0026] Two horizontal plates 1 are provided, and the flat plate 7 is connected to the horizontal plate 1 by U-bolts 8.

[0027] The data acquisition module includes a satellite main antenna 10 located at the front of the vehicle and a satellite secondary antenna 14 located at the rear of the vehicle for receiving satellite signals and achieving high-precision satellite positioning.

[0028] The data acquisition module includes a lidar 9, a Lunqu N100 inertial navigation module 11, a data processor 12, and a power divider 13 is also provided on the tablet 7.

[0029] The lidar 9 is used to acquire three-dimensional point cloud data of the vehicle's surrounding environment in real time, providing an important basis for positioning and navigation. The main satellite antenna 10 and the secondary satellite antenna 14 are respectively installed at the front and rear ends of the slotted flat plate 7 to receive satellite signals and achieve high-precision satellite positioning.

[0030] The power divider 13 is installed near the satellite main antenna 10 to distribute the satellite signal to multiple receiving devices and improve signal utilization.

[0031] The inertial navigation module 11 is installed at the front end of the slotted plate 7. It is used to measure the vehicle's acceleration, angular velocity and other motion information, and to fuse with satellite positioning data to improve positioning accuracy.

[0032] The data processor 12 is electrically connected to the lidar 9, the satellite main antenna 10, the satellite secondary antenna 14, the power divider 13, and the Lunqu N100 inertial navigation module 11.

[0033] The vehicle body is equipped with a power supply module that supplies power to the data processor 12, lidar 9, satellite main antenna 10, satellite secondary antenna 14, power divider 13, and Wheelfun N100 inertial navigation module 11.

[0034] The data processor 12 is an industrial control computer with an Intel i7-5600u CPU, a CPU frequency of 2.6GHz, 8GB of RAM, and a Linux operating system. It is used to receive and process data from various sensors. The data processor 12 has powerful computing capabilities and can perform fusion processing on multi-sensor data to generate high-precision positioning information and map data.

[0035] The vehicle body is a self-made AGV trolley, with window beams on the body and the top surface of the window beams forming the roof.

[0036] In use, the hook 3 is placed on the window sill of the vehicle, and then the ratchet 2 is driven to rotate. The ratchet teeth on the ratchet 2 are inserted into the ratchet hole 6, thereby driving the ratchet 5 to move laterally within the horizontal plate 1, so that the hook 3 hooks onto the window sill. Since both ends of the horizontal plate 1 are equipped with hooks 3, the horizontal plate 1 and the flat plate 7 are fixed on the roof of the vehicle by the two hooks 3. The ratchet 16 is set to restrict the ratchet 2 from rotating in the opposite direction, thereby ensuring that the hook 3 hooks onto the window sill.

[0037] By strategically deploying various sensors and integrating data from satellite positioning, lidar, and inertial navigation, high-precision positioning and high-precision electronic map construction can be achieved, meeting the needs of mobile robots for motion path planning and navigation control.

[0038] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. An on-board test platform for multi-sensor fusion positioning, characterized in that: It includes a flat plate (7) with a data acquisition module installed and arranged vertically, and several horizontal plates (1) that are detachably connected to the flat plate (7) and arranged horizontally and vertically. The horizontal plates (1) are hinged to a pad plate (4) supported on the roof of the vehicle. Both ends of the horizontal plates (1) are provided with locking claws connected to the windows. The locking claw includes a U-shaped hook (3) that hooks onto the window beam of the vehicle window, and a ratchet (5) that is fixed to the hook (3) and slides laterally within the horizontal plate (1). The horizontal plate (1) is connected by a rotating shaft to a ratchet (2) that drives the ratchet (5) to slide. The horizontal plate (1) is also provided with a ratchet (16) that restricts the rotation of the ratchet (2). The ratchet (5) has several ratchet holes (6) that penetrate the ratchet (5) and engage with the ratchet teeth of the ratchet (2). The ratchet holes (6) extend longitudinally and are arranged laterally.

2. The vehicle-mounted test platform for multi-sensor fusion positioning according to claim 1, characterized in that: A rotating rod (15) with a hexagonal cross section and coaxially connected to the rotating shaft is also provided on the outside of the horizontal plate (1).

3. The vehicle-mounted test platform for multi-sensor fusion positioning according to claim 1, characterized in that: The flat plate (7) is connected to the horizontal plate (1) by U-bolts (8).

4. The vehicle-mounted test platform for multi-sensor fusion positioning according to claim 1, characterized in that: The data acquisition module includes a main satellite antenna (10) located at the front of the vehicle and a secondary satellite antenna (14) located at the rear of the vehicle.

5. The vehicle-mounted test platform for multi-sensor fusion positioning according to claim 4, characterized in that: The data acquisition module includes a lidar (9), a Wheelfun N100 inertial navigation module (11), and a data processor (12).

6. The vehicle-mounted test platform for multi-sensor fusion positioning according to claim 5, characterized in that: The flat plate (7) is also equipped with a power divider (13).

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