The invention discloses a multi-modal ground data acquisition unmanned vehicle platform, which is characterized in that a mobile carrying platform of the platform is divided into three layers, a plurality of preformed holes are reserved on the mobile carrying platform, the positions of sensors can be adjusted as required, and different sensors are mounted on each layer of platform and comprise a bottom layer event camera, a binocular camera and a depth camera; the fisheye camera, the inertial measurement unit, the single-line laser radar and the microphone array are arranged on the middle layer, the GNSS-RTK positioning module, the UWB positioning module, the environment sensor and the monocular camera pointing to the sky are arranged on the top layer, time synchronization is carried out on data collected by all the sensors through timestamps, space synchronization is carried out by recording pose information, and the single-line laser radar and the microphone array are arranged on the top layer. The system further comprises an NUC control module and a power supply device. Each sensor is connected to the main control unit through a data line for power supply, data transmission and data acquisition. The data acquisition platform solves the problems that the number and scale of sensors of an existing data acquisition platform are small, and the position relation is not clear, has high environmental adaptability, and can improve the richness of acquired data.
本发明公开了一种多模态地面数据采集无人车平台,该平台的移动运载平台分为三层,上面留有多个预留孔,可按需求调节传感器的位置,在每层平台上安装不同的传感器,包括底层事件相机、双目相机和深度相机,中间层的鱼眼相机、惯性测量单元、单线激光雷达、麦克风阵列和顶层的GNSS‑RTK定位模块、UWB定位模块、环境传感器和一个指向天空的单目相机,各个传感器采集的数据通过时间戳进行时间同步,通过记录位姿信息进行空间同步,还包括NUC控制模块和供电装置。各个传感器通过数据线连接到主控单元进行供电和数据传输,进行数据采集。本发明解决了现有数据采集平台传感器数量规模较小、位置关系不明确的问题,具有较强的环境适应性,能提高采集数据的丰富性。
Multi-mode ground data acquisition unmanned vehicle platform
一种多模态地面数据采集无人车平台
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01V Geophysik , GEOPHYSICS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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