Research On Vehicle Multi-sensor 3D Data Acquisition Platform

For dimensional modeling data collection when sensors are cumbersome,difficult to move and other issues,this paper presents a program that a vehicle multi-sensor 3D data acquisition platform that moves on flat ground.The 3D data acquisition sensors(3D laser scanner,four head image acquisition system,GPS + IMU positioning navigation,panoramic three-dimensional camera system,etc.)are combined with the intelligent mobile robot which carries them to the designated target position,and the robot transmits signal to order sensors running to collect 3D modeling data.In this paper,the hardware and software architecture of the whole mobile data acquisition platform,hardware embedded circuit,embedded underlying software control system and human-computer interaction program on PC are studied in detail.In the embedded hardware circuit design,the platform selects STM32F4 series chip,which kernel is ARM Cortex-M4,as the core of the motion control system,and around the MCUI design the control circuit and use its various types of data interfaces for communication.In the embedded software system design,I transplant the embedded operating system ?C/OSII to switch tasks,so that the underlying control system tasks can be switched real-time to ensure the stability and accuracy of control system.The man-machine interaction interface of the host computer is designed in the framework of MFC,and the control mode of each function is interfaceed.It provides two kinds of control modes,namely direct control and path planning control,and designs the wireless controller control mode on the basis of direct control.In the mobile data acquisition platform motion control design,this paper proposes a solution for it in the process of path planning and the stability of deceleration before stopping.Combining the fuzzy control theory with the conventional PID control theory,the fuzzy control theory is used to calculate the variation of P,I and D parameters in the conventional PID algorithm,and then the PID parameters are calculated and calibrated to achieve the purpose of PID adaptive control.In the process of motion control,the relative position coordinates of the mobile data acquisition platform are obtained by using the gyroscope and the encoder motion data sensing device in real time to achieve the purpose of rapid and stable motion control of the mobile data acquisition platform.Verify the correctness and practicability of the control algorithm by using the computer simulation software MATLAB to simulate the fuzzy PID control algorithm and the acquisition and analysis of the actual motion experiment data of the mobile platform.From the analysis of the experimental data,we can draw the conclusion that the speed control accuracy is ± 10mm/s,the positioning accuracy is ± 10mm of the X direction,± 50mm of the Y direction,and the rotation error is up to 4° one circle.Finally,the three-dimensional data acquisition is carried out by using the platform,and the practicality of the mobile platform is verified by 3D data modeling.