CN106657745B - A kind of vehicular collecting system of multi-source GPS data and monocular image - Google Patents
A kind of vehicular collecting system of multi-source GPS data and monocular image Download PDFInfo
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- 230000002452 interceptive effect Effects 0.000 claims description 5
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- 238000013135 deep learning Methods 0.000 description 3
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- 230000003993 interaction Effects 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/765—Interface circuits between an apparatus for recording and another apparatus
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides the vehicular collecting systems of a kind of multi-source GPS data and monocular image, are related to vehicle imbedding type system technology.The present invention includes GPS, differential GPS, monocular cam mould group, embedded computer and memory；Embedded computer is provided with USB3.0 hub, for connecting multi-source GPS, monocular cam mould group；Memory uses based on M.2 interface solid hard disk, mode supplemented by SATA3 interface solid hard disk；The processing software installed in embedded computer, starts the signals collecting thread of corresponding number according to the quantity of GPS and differential GPS, and starts individual camera image collecting thread and user's exchange threads, and each thread is processed in parallel.Embedded computer of the invention has the advantage of small low-consumption, has outstanding versatility and replaceability using USB interface, solves the problems, such as embedded computer memory space inadequate, realize the synchronous acquisition of multi-source GPS data and monocular image.
Description
Technical field
The present invention relates to information technology, embedded system technology field more particularly to a kind of multi-source GPS data and monocular figures
The vehicular collecting system of picture.
Background technique
Vehicular collecting system is used for for vehicle operation and takes for related disciplines such as vehicle, traffic, automations
The integrated embedded system with functions such as acquisition, record, operations of the data generated in the sensor operational process of load.By
There are the advantages such as of simple structure and low cost in monocular vision, multisource information fusion technology passes through to similar or different characteristic letter
Breath carry out it is related with it is integrated, it can be achieved that multi-source information it is complementary, improve the precision and reliability of environment sensing.Carry out and is based on monocular
The key technology research and development of two aspects of visual environment perception and Multi-source Information Fusion, by camera, GPS (global positioning system
System) etc. multi-source informations merged, exploitation have precision height, strong real-time, environment comprehensive sensory perceptual system at low cost, promoted certainly
The intelligent level and the competitiveness of product in market of dynamic control loop, development and popularization to automatic driving vehicle have important meaning
Justice.
Existing acquisition system, if Chinese invention patent is " based on virtual and digital technology combination automobile instrument and vehicle-mounted more
Functional information platform " (Publication No. 1618647, publication date 2005.05.25), using based on Windows2000 operation system
The data collecting card of PC machine and PCI (Peripheral Component Interconnect standard) bus of system, is only capable of completing the acquisition to automotive interior data,
And ordinary PC is bulky, power consumption is high, and hard disk is easy to damage under vehicle-mounted vibration environment.
Another relevant vehicle GPS acquisition system, such as a kind of Chinese invention patent " vehicle GPS " (publication number
It is based on ARM9S2C2410 chip for 104656102A, publication date 2015.05.27), the processing capacity of this chip is weaker,
Be not suitable for needing to run the software systems of deep learning function.And the system only acquires single GPS signal, fails to acquire simultaneously more
Source GPS signal, including general GPS signal and differential GPS signal.The system can not synchronize reception monocular image, more without more
Source GPS data and monocular image data fusion ability.
Summary of the invention
The purpose of the present invention is being directed to the scientific research and the market demand of current Multi-source Information Fusion, a kind of multi-source GPS number is designed
According to the vehicular collecting system with monocular image, the reliable and full-featured vehicle-mounted acquisition for multi-source GPS data of hardware is developed
System solves the problems, such as that existing system exists.
The vehicular collecting system of a kind of multi-source GPS data and monocular image provided by the invention, comprising: multi-source GPS combination
Subsystem, monocular cam mould group, embedded computer and memory.It includes GPS and differential GPS that multi-source GPS, which combines subsystem,.
Embedded computer is provided with USB3.0 hub.Turn serial port connecting wire using one group of USB on the USB3.0 hub, even
Connect multi-source GPS combination subsystem.Embedded computer is plugged into monocular cam mould group by USB3.0 connecting line.Memory includes
M.2 interface solid hard disk and SATA3 interface solid hard disk, two hard disks are connect with embedded computer, wherein M.2 interface solid
Hard disk is main storage dish, and SATA3 interface solid hard disk is secondary storage dish.Data acquisition is installed in the embedded computer
Processing software, according to the signals collecting thread of GPS number corresponding with the starting of the quantity of differential GPS, and start individual camera
Image Acquisition thread and user's exchange threads, each thread are processed in parallel.
The embedded computer uses chip model for the embedded board of NVIDIA Jetson TX1.
The memory further includes the TF/SD card storage card being plugged on embedded computer, by based on embedded
Calculation machine operating system is upgraded.
The vehicular collecting system further includes vehicle-mounted interactive component, comprising: the use being plugged on USB3.0 hub
The keyboard and mouse that Universal USB connecting line is plugged into；The display screen using HDMI interface being plugged on embedded computer.
The embedded computer runs Ubuntu operating system.
The vehicular collecting system of multi-source GPS data and monocular image of the present invention, has the following advantages that and effect:
(1) embedded computer has the advantage of small low-consumption, uses chip model for NVIDIA Jetson TX1's
The preferred development platform that embedded board can be calculated as deep learning, computer vision, image procossing and GPU.
(2) it selects usb bus as sensor connecting port, there is outstanding versatility and replaceability using USB interface, insert
The structure for connecing formula can carry out easily expanding of system function and HardwareUpgring.
(3) M.2 interface solid hard disk is deposited as main storage dish, SATA3 interface solid hard disk as pair for present invention selection
Disk is stored up, solves the problems, such as embedded computer memory space inadequate, M.2 interface solid hard disk has sufficiently high lasting read-write
Speed, so that multi-source GPS data and monocular image are synchronized acquisition.Meanwhile the software that the present invention designs makes double solid-states hard
Disk can carry out redundancy backup, so that the data storage of vehicular collecting system is protected.
(4) present invention can acquire multi-source GPS signal, including general GPS signal and differential GPS signal simultaneously, and same simultaneously
Step receives monocular image, has multi-source GPS data and monocular image data fusion ability.The present invention uses the phase of USB3.0 interface
Machine, and non-traditional pci interface, allow same set of monocular cam mould group in embedding assembly generator terminal and Desktop Computing generator terminal
Directly switch, is not necessarily to conversion equipment.
(5) present invention selects embedded computer to run Ubuntu operating system, so that embedding assembly generator terminal and desktop
The exploitation environment of computer terminal is consistent, and code can avoid cumbersome inefficient directly in embedding assembly generator terminal compilation run
Cross compile process.
Detailed description of the invention
Fig. 1 is the hardware block diagram of one embodiment of vehicular collecting system of the present invention；
Fig. 2 is the mounting means of one embodiment of vehicular collecting system of the present invention；
Fig. 3 is the process flow diagram of the processing software of vehicular collecting system of the present invention operation.
Label declaration in Fig. 2:
1 is the monocular cam mould group for being mounted on position of rear view mirror above vehicle cab steering wheel；
2 be the vehicular collecting system main component being placed on vehicle cab copilot station；
3 be the antenna of one of GPS/DGPS receiver；
4 be the subscriber interaction component for being placed in vehicle heel row；
5 be the antenna of another receiver in GPS/DGPS.
Specific embodiment
In order to which the technical solution solved, technical problem and beneficial effect of the invention is more clearly understood, tie below
The drawings and the specific embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific implementation described herein
Mode is only used to explain the present invention, is not intended to limit the present invention.
Fig. 1 show the hardware block diagram of one embodiment of vehicular collecting system of the present invention, reality of the invention
Applying example includes embedded computer, USB3.0 hub, memory, vehicle-mounted interactive component, multi-source GPS combination and monocular camera shooting
Head mould group.Memory includes TF/SD card storage card, the solid state hard disk of SATA3 interface and the M.2 solid state hard disk of interface, vehicle-mounted friendship
Mutual component includes display screen, keyboard and mouse and one group of USB turns serial port connecting wire, multi-source GPS combination comprising general GPS with
Differential GPS.
In the embodiment of the present invention, the embedded computer uses chip model for the insertion of NVIDIA Jetson TX1
Formula development board, having a size of 170mm*170mm.The chip CPU part is four core, 64 ARM A57, GPU (image processor) parts
It is the Maxwell of 256 CUDA cores, it can 1,000,000 floating-point operations of progress per second.The embedded computer is powerful, energy
The preferred development platform calculated as deep learning, computer vision, image procossing and GPU.
The embedded computer runs Ubuntu operating system, which is one of free (SuSE) Linux OS
Release version, community's support is perfect, matches development platform demand of the invention.
In the embodiment of the present invention, the USB3.0 hub, also known as USB3.0Hub is based on the more of GL3520 chip
Interface expander tool, reading speed 80-130MB/s, writing speed 80-110MB/s.The present invention is based on USB3.0 interface conducts
Sensor input/output interface, so that sensor module has the replaceability and ease for use of height.
In the embodiment of the present invention, the TF/SD storage card passes through the plate of the embedded board of NVIDIA Jetson TX1
It carries interface to be attached, quickly embedded computer operating system can be upgraded based on TF/SD storage card.
In the embodiment of the present invention, the SATA3 solid state hard disk selects the model MZ-75E1T0B/CN- of Samsung
The solid state hard disk of 850EVO, 2.5 inch standard specifications, capacity 1TB, electric current 1.4A are fully loaded with power consumption substantially at 6-7 watts.Through
CrystalDiskMark test is crossed, the reading speed of the solid state hard disk reaches 541.1MB/ seconds, and writing speed reaches 521.8MB/
s.The present invention select solid state hard disk effectively meet 1920x1080 resolution ratio camera review data read-write requirement.
In the embodiment of the present invention, the M.2 solid state hard disk selects the model MZ-V5P512BW-950PRO of Samsung
Solid state hard disk, the solid hard disk interface be M.2, support NVMe specification, use PCI-E 3.0x4 system bus, theoretical interface
Speed is 32Gb/s, is tested by CrystalDiskMark, which continues reading speed and reach 2300MB/s, and writing speed reaches
To 951MB/s.
M.2 interface solid hard disk is as main storage dish for present invention selection, and SATA3 interface solid hard disk is as secondary storage
Disk solves the problems, such as embedded computer memory space inadequate, and the stablizing read-write speed that M.2 interface solid hard disk is supported makes
Multi-source GPS data and monocular image are synchronized acquisition.Meanwhile the invention enables double solid state hard disks to carry out redundancy backup, so that
The data storage of vehicular collecting system is protected.
In the embodiment of the present invention, the general GPS selects the receiver based on u-blox M8 chip.U-blox M8 can be simultaneously
Two GNSS (global navigation satellite) systems of row capture and tracking, default setting is GPS and GLONASS (global navigational satellite system
System) it is parallel.In use, GPS and Beidou can arbitrarily be selected to receive parallel or the parallel reception of GLONASS and Beidou.u-blox M8
The sensitivity of chip is -165dBm, and more number of satellite can be used under satellite-signal rugged environment.
Institute is continuously tracked by setting up GPS reference station receiver and wireless network on a known survey station in the differential GPS
There is visible satellite, and differential correcting data are sent to movement station by wireless network or data radio.Mobile station receiver passes through
Wireless network or movement station data radio receive the differential correcting data that base station transmitting comes, and inside mobile station receiver into
Row processing, to obtain the high precision position of movement station in real time.Differential GPS can be divided into pseudo range difference GPS and carrier phase difference
GPS.Pseudo range difference is also DGPS, and precision is sub-meter grade to meter level, and this mode is that base station obtains measurement on base station
Differential correctional is transferred to movement station by data-link, after movement station receives correction, is resolved, is obtained through difference automatically
Correct later coordinate.Carrier phase difference is also RTK, its Thoughts are similar to DGPS, only base station be by
Carrier phase correction is sent to movement station, after movement station receives correction, is resolved automatically, obtains correcting later ratio
The measurement result of DGPS higher precision.
In the embodiment of the present invention, the monocular cam mould group uses ash point company model for the industrial camera mould of FL3-U3
Group, the camera can be directly connected to USB3.0 hub by USB3.0 interface, and maximum output resolution ratio is 1920x1080, meet
The precision of images needed for vehicular collecting system at present.
Fig. 2 show the mounting means of one embodiment of vehicular collecting system of the present invention.
Label 1 is the monocular cam mould group for being mounted on position of rear view mirror above vehicle cab steering wheel in Fig. 2.The list
The installation site of mesh camera module will guarantee that the field range distalmost end that camera can be read is more than headstock front bumper 50
Meter or more.
Label 2 is the vehicular collecting system main component being placed on vehicle cab copilot station in Fig. 2, wherein wrapping
Include embedded computer, USB3.0 hub and memory etc..The component is assembled in cabinet, and the cabinet is in vehicle data collection
It is fixed on vehicle cab assistant driver seat seat using elastic bandage in the process, so that vehicle during vehicle data collection
Acquisition system main component is carried to work normally under stable Mechanical shock conditions.
Label 3 is the antenna of one of GPS/ differential GPS receiver in Fig. 2, and label 5 is in GPS/DGPS in Fig. 2
Another antenna of receiver.Sticking double faced adhesive tape can be used in roof hood table in the passive antenna small volume of general GPS
The passive antenna pedestal in face, differential GPS is epistasis magnet, can be adsorbed on roof hood surface.
The installation site of the antenna of GPS/ differential GPS is outside the corresponding roof of vehicle cab front and rear row intersection in Fig. 2
Shell surface is normally set up the centre of gravity of vehicle heart in the car, and installation makes to calculate antenna in the position and the position of centre of gravity of vehicle is inclined
Shifting facilitates feasible.
Label 4 is the subscriber interaction component for being placed in vehicle heel row in Fig. 2, specifically includes display screen, keyboard and mouse.It is real
It can choose display screen general in the market, keyboard, mouse, since the embodiment of the present invention is connect using general USB3.0 in applying
Mouthful, adaptation USB3.0 interface and USB2.0 interface have so that common apparatus replacement can be used in the equipment in subscriber interaction component
Effect reduces later maintenance, buys the cost of acknowledgment copy.
The overall flow figure that Fig. 3 runs for vehicular collecting system of the present invention, camera installation are calibrated and are debugged,
GPS, differential GPS installation and debugging are the premises of system worked well.The installation site and requirement of camera, GPS, differential GPS
As above-mentioned, camera calibration and adjustment method are demarcated using plane target drone, and the debugging of GPS, differential GPS are supplied using device
The upper computer software that quotient provides carries out.
Camera installation, calibration and debugging after the completion of GPS, differential GPS installation and debugging, connect the vehicle of label 2 in Fig. 2
The power supply of acquisition system main component is carried, the processing software being mounted in embedded computer brings into operation.
Processing software first initializes hardware module interface, specifically includes USB3.0 hub interface, display screen
Interface, keyboard USB interface, mouse USB interface, TF/SD memory card interface, SATA3 solid hard disk interface, M.2 solid state hard disk connects
Mouthful, multiple USB of multi-source GPS combination subsystem turn serial interface, camera USB interface.Wherein multi-source GPS combines subsystem
Multiple USB turn serial interface and call opening using the serial ports library of software library Qt5, and camera USB interface uses software library OpenCV
Camera bank interface call open.
The processing software that the present invention designs carries out a variety of operations, computerese " thread " used below parallel at runtime
Name.And for specific programming, which can be used multi-process (every process single thread), one process single thread
And the design of one process multi-threading is completed hardware module interface and is initialized, processing software can start according to number of sensors
Thread.The sensor includes a variety of GPS with serial interface connection embedded computer, is coupled with USB interface and is embedded in
The camera of formula computer, for vehicular collecting system of the present invention, camera quantity is one, and GPS quantity is one or more,
Multiple quantity, which are generally less than, in practice is equal to three.Fig. 3 show plugged into GPS and differential GPS and a list
The vehicular collecting system of mesh camera module.The processing software of vehicular collecting system operation of the present invention can plug into multiple simultaneously
GPS and differential GPS and 1 monocular cam mould group.The GPS and differential GPS specifically to plug into needs again program operation preceding in journey
It is set in sequence, then processing software can be according to the thread of GPS number corresponding with the starting of the quantity of differential GPS, and starts individual
Camera image collecting thread and user's exchange threads.
After processing software starts thread according to number of sensors, into major cycle.Major cycle can all startings of parallel processing
Thread.
The present invention uses multiple programming technology, overcomes cyclic query flag bit in a conventionally used principal function and handles
The shortcomings that each sensing data, such as data largely input and processing module it is time-consuming larger when, certain time segment data will leak receipts,
Latter time segment data can just be received processing.Each sensor also avoids the letter of common open source library such as Qt using a thread
Number mechanism slot cannot response data simultaneously arrival problem, to the gathering line of each sensor in the processing software that the present invention designs
Journey devises the mechanism of timely responding to, and the data that synchronization is reached trigger the processing function of corresponding thread simultaneously.
The processing of GPS signal collecting thread is turned the message information of the NMEA agreement of serial ports input by USB, is set to meet system
The function of meter needs, and often extracts RMC therein (Recommended Minimum Specific GNSS Data) data.GPS
After signals collecting thread reads RMC data, it can therefrom parse information needed and be stored in the corresponding data of GPS signal collecting thread and deposit
Storage area.
The processing of differential GPS signal collecting thread is turned the message information of serial ports input, the message by the corresponding USB of differential GPS
Information can be NMEA agreement or the agreement of differential GPS Vendor-specific.Different agreement uses need to adopt again with switching
It is just set in software systems before collecting system work.After differential GPS signal collecting thread reads corresponding agreement, can therefrom it parse
Information needed is stored in the corresponding data storage area of differential GPS signal collecting thread.
The image that the processing of camera image collecting thread is passed to by monocular cam mould group through camera USB interface, according to setting
Picture format (such as png format) be stored in the corresponding data storage area of camera image collecting thread.The resolution ratio of image can be with
It is set via software parameter, the maximum resolution that can be set depends on the maximum resolution of monocular cam mould group.Due to this hair
The bright solid state hard disk using M.2 interface, ensure that the quick storage of data.
Data storage area of the present invention corresponds to the memory device of embedded computer on hardware, for small-sized low
Fast data acquisition session, data are stored in embedded computer onboard storage device；(such as medium-and-large-sized high-speed data acquisition task
GPS and differential GPS and a monocular cam mould group are enabled simultaneously), data are stored in M.2 solid state hard disk.
The store path that the data storage area refers in software as the distribution of different threads task, i.e., according to special time period starting
Acquisition tasks by programming automatic generation folder path.
User's exchange threads are (to refer to the multi-source GPS data and monocular image designed using the present invention for handling user
The vehicle-mounted non-driver of vehicular collecting system) order to software systems, and convenient interactive form is provided.Pass through display screen
It shows the working condition and working condition of current software, and according to mouse and the order of keyboard real-time reception and provides respective response.
Data fusion area is corresponding with camera image collecting thread by GPS signal collecting thread, differential GPS signal collecting thread
The stored data of three kinds of data storage areas carry out merging for image and GPS data according to previously given format.Specifically,
The image data that given synchronization point obtains can be with synchronization or according to the GPS of given tolerable error obtained close to the moment
Data Matching, image data file name after record matching and corresponding GPS signal and differential GPS signal are simultaneously stored in this and melt
Close the independent memory space in area.
User's exchange threads the end acquisition tasks for receiving user program instruction, or according to the data of setting acquisition appoint
Business reaches mark to terminate main process task circulation.But the terminating program of the task starts to carry out, and the stopping first of data fusion area is handled
The number of GPS signal collecting thread, differential GPS signal collecting thread three kinds of data storage areas corresponding with camera image collecting thread
According to open file is all Saved and Closed.Following main process task will successively close GPS signal according to thread boot sequence and adopt
Collect thread, differential GPS signal collecting thread and camera image collecting thread, finally closes user's exchange threads.User interacts line
After journey is closed, entire EP (end of program), at this time if can be closed without running other tasks in the operating system of vehicular collecting system
Close entire acquisition system power supply.
Embedded computer of the invention runs Ubuntu operating system, so that embedding assembly generator terminal and desktop computer
The exploitation environment at end is consistent, and code can avoid cumbersome inefficient intersection and compile directly in embedding assembly generator terminal compilation run
Translate process.
The vehicular collecting system of multi-source GPS data and monocular image proposed by the present invention shows system by real vehicle operation
Hardware is reliable, has reached design object.
The above content is combine specific preferred embodiment to the further description of the invention made, and it cannot be said that this hair
Bright specific implementation is only limited to these instructions, and for the those of ordinary skill of technical field of the present invention, is not being taken off
Under the premise of from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention and is submitted
Claims determine protection scope.
Claims (7)
1. a kind of vehicular collecting system of multi-source GPS data and monocular image characterized by comprising multi-source GPS combines subsystem
System, monocular cam mould group, embedded computer and memory；It includes GPS and differential GPS, GPS that multi-source GPS, which combines subsystem,
Quantity with differential GPS is respectively one or more；Embedded computer is provided with USB3.0 hub, and embedded computer is adopted
The embedded board for being NVIDIA Jetson TX1 with chip model；Turned on the USB3.0 hub using one group of USB
Serial port connecting wire, connection multi-source GPS combine subsystem；Embedded computer is plugged into monocular cam mould by USB3.0 connecting line
Group；Memory is connect including M.2 interface solid hard disk and SATA3 interface solid hard disk, two hard disks with embedded computer,
In M.2 interface solid hard disk be main storage dish, SATA3 interface solid hard disk is secondary storage dish；In the embedded computer
The processing software of data acquisition is installed, starts the signals collecting thread of corresponding number according to the quantity of GPS and differential GPS, and
Start individual camera image collecting thread and user's exchange threads, each thread is processed in parallel；
The processing software of the embedded computer, signals collecting thread and camera figure to each GPS and differential GPS
Mechanism is timely responded to as collecting thread all designs, so that the data that synchronization reaches trigger the processing letter of corresponding thread simultaneously
Number；Wherein, the processing of GPS signal collecting thread is turned the message information of the NMEA agreement of serial ports input by USB, extracts RMC therein
Data therefrom parse information needed and are stored in the corresponding data storage area of GPS signal collecting thread；Differential GPS signal gathering line
Journey processing is turned the message information of serial ports input by the corresponding USB of differential GPS, is therefrom parsed information needed and is stored in differential GPS letter
Number corresponding data storage area of collecting thread；The processing of camera image collecting thread is by monocular cam mould group through camera USB interface
Incoming image is stored in the corresponding data storage area of camera image collecting thread according to the picture format of setting；In a week
It is after phase acquires data, GPS signal collecting thread, differential GPS signal collecting thread is corresponding with camera image collecting thread
Data storage area in the data deposited, carry out image and GPS data according to previously given format in data fusion area
Fusion.
2. vehicular collecting system according to claim 1, which is characterized in that the memory further includes being plugged on insertion
TF/SD card storage card on formula computer, for upgrading to embedded computer operating system.
3. vehicular collecting system according to claim 1, which is characterized in that the vehicular collecting system further includes vehicle-mounted
Interactive component, vehicle-mounted interactive component include: the keyboard plugged into using Universal USB connecting line that is plugged on USB3.0 hub with
Mouse；The display screen using HDMI interface being plugged on embedded computer.
4. vehicular collecting system according to claim 1, which is characterized in that the processing of the embedded computer is soft
Part after actuation first initializes hardware module interface, and hardware module interface includes: USB3.0 hub interface, shows
Display screen interface, keyboard USB interface, mouse USB interface, TF/SD memory card interface, SATA3 solid hard disk interface, M.2 solid-state is hard
The USB of disk interface, GPS and differential GPS turns serial interface, camera USB interface；Wherein the USB of general GPS and differential GPS turns
Serial interface is called using the serial ports library of software library Qt5 and is opened, and camera USB interface is connect using the phase hangar of software library OpenCV
Mouth, which calls, to be opened.
5. vehicular collecting system according to claim 1, which is characterized in that user's exchange threads are receiving user
End acquisition tasks program instruction, or reaching mark and terminate acquisition tasks according to the data acquisition session of setting；Knot
When beam acquisition tasks, first data fusion area stop processing data, open file is all Saved and Closed, then according to
Thread boot sequence successively closes GPS signal collecting thread, differential GPS signal collecting thread and camera image collecting thread, most
User's exchange threads are closed afterwards；After user's exchange threads are closed, entire processing software is closed.
6. vehicular collecting system according to claim 1, which is characterized in that the embedded computer runs Ubuntu
Operating system.
7. vehicular collecting system according to claim 1, which is characterized in that the SATA3 solid state hard disk selects model
For the solid state hard disk of MZ-75E1T0B/CN-850EVO, the M.2 solid state hard disk selects model MZ-V5P512BW-
The solid state hard disk of 950PRO.
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| CN109308750A (en) * | 2018-08-09 | 2019-02-05 | 北京航空航天大学 | A kind of Vehicular video data collection system for deep learning vehicle identification |
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