CN104089649A - System and method for collecting indoor environment data - Google Patents
System and method for collecting indoor environment data Download PDFInfo
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- CN104089649A CN104089649A CN201410319730.8A CN201410319730A CN104089649A CN 104089649 A CN104089649 A CN 104089649A CN 201410319730 A CN201410319730 A CN 201410319730A CN 104089649 A CN104089649 A CN 104089649A
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Abstract
The invention relates to a system for collecting indoor environment data. The system comprises an upper computer internally provided with a data management unit and a robot with a traveling device. A central control unit, a communication module, a data processing module, a traveling control module and an environment information collecting module are arranged in the robot. By means of the system for collecting the indoor environment data, traveling of the robot and collection of the indoor environment data can be automatically controlled, workloads are greatly reduced, and the labor cost is reduced. The invention further relates to a collecting method implemented through the system for collecting the indoor environment data. By means of the method, traveling control is carried out through a set patrolling track, a traveling path of the robot can be accurately planned and controlled, the environment information data at the indoor designated position are accordingly and accurately collected and obtained, the accuracy and the credibility of information are high, and a user can conveniently process related affairs with the information data.
Description
Technical field
The present invention relates to a kind of indoor environment data acquisition system (DAS), the invention still further relates to a kind of acquisition method of indoor environment data acquisition system (DAS).
Background technology
Along with generally using and development and the requirement of people to life convenience of electronic chart, the use function of map to be had higher requirement, the map only with geographic position mark function can not meet people's request for utilization.But upgrade map function, need to gather a large amount of data, by artificial image data, workload is large, inefficiency.In addition the existing GPS navigation ratio of precision of utilizing map to carry out harvester is poor, and the directive function of the data that corresponding harvester collects on map had a greatly reduced quality, and error appears in user in use unavoidably, thereby impact is used.
Summary of the invention
First technical matters to be solved by this invention is to provide a kind of indoor environment data acquisition system (DAS) that can automatically gather indoor environment data message for above-mentioned prior art.
Second technical matters to be solved by this invention is to provide a kind of acquisition method that utilizes indoor environment data acquisition system (DAS) accurately to gather the indoor environment data message of assigned address for above-mentioned prior art.
The present invention solves the technical scheme that above-mentioned first technical matters adopts: a kind of indoor environment data acquisition system (DAS), is characterized in that: comprise
Host computer, a built-in Data Management Unit, for data transmission, data processing, data management and Data Integration;
Robot, with host computer communication connection, is active in indoor collection site for image data;
Described robot has a running gear and is built-in with:
Central controller, for sending and processing controls order;
Communication module, is connected in central controller, for realizing the communication connection with host computer;
Data processing module, is connected in central controller, the data that transmit for the treatment of host computer;
Walking control module, is connected in central controller and running gear, for controlling the walking of running gear;
Environment information acquisition module, is connected in central controller, for gathering indoor environment data.
For the accurate walking path of control, described walking control module comprises:
Driver module, is connected in central controller, for driving running gear;
Travel direction control module, is connected in central controller, the direction of travel of control;
Distance-measurement module, is connected in central controller, calculates the also operating range of control;
Compass module, is connected in central controller, gathers, calculates and judge the direction of travel of control;
Video camera, is connected in central controller, gathers robot surrounding enviroment image;
Tracking module, is connected in central controller, coordinates the direction of travel of adjusting robot with video camera.
In order conveniently to occur that robot in use goes wrong, described robot is also built-in with the alarm module that is connected in described central controller.
Preferably, described central controller is single-chip microcomputer.
Easily, the artificial dolly of described machine, the driving wheel that described running gear is dolly.
According to different demands, described environment information acquisition module comprises WiFi signal message collector, temperature sensor, humidity sensor, air mass sensor.
The present invention solves the technical scheme that above-mentioned second technical matters adopt: utilize the acquisition method of indoor environment data acquisition system (DAS), it is characterized in that: comprise the steps:
Step 1, architectural plan in Data Management Unit, that need to carry out indoor environment data acquisition is opened on host computer, after architectural plan is opened, set the direct north of architectural plan;
On architectural plan, formulate patrol track correspondence as robot the run trace at Indoor environment;
On patrol track, a plurality of track nodes of mark to be to form a plurality of line segment tracks, corresponding to the line segment track on architectural plan, form a plurality of walkings section in the run trace of robot;
According to the complexity of landform, according to certain density rule, corresponding selected part track node is datum node, and in the run trace of the corresponding datum node of Indoor environment the corresponding reference point of mark;
Step 2, host computer are sent to by communication module in the data processing module of robot formulating the architectural plan that has patrol track mark to cross track node data in step 1, and data processing module carries out analyzing and processing to this architectural plane and form the steering order that central controller can identify being sent in central controller;
Step 3, described robot built-in have the alarm module that is connected in described central controller;
Robot is placed on to the starting point of run trace and guarantees that the initial travel direction of robot is identical with the angle of initial segment track, this starting point correspondence and on architectural plan, is gone on patrol the start node on track, according to the steering order of central controller, robot starts walking according to the speed of the node data on patrol track and setting under the control of walking control module;
In the walking process of robot, at interval of the set time, utilize the magnetic field induction function calculating judgement robot working direction of compass module and the angle error between this line segment trajectory direction, if angle error exceeds the permissible error that goes on patrol track, go to step four, if angle error does not exceed the permissible error that goes on patrol track, go to step five;
Step 4, robot halt, and detect datum node data, utilize datum node data and coordinate the reference point of utilizing video camera to find mark in run trace;
If search out reference point, utilize tracking module controls to adjust the direction of travel of robot, under the cooperation of travel direction control module is controlled, control runs to reference point simultaneously, then goes to step six;
If found less than reference point within the time of appointment, central controller controls alarm module is reported to the police, and warning message is sent in host computer by communication module, and host computer is according to warning message, the position of prompting monitor staff robot, thus process;
Step 5, utilize distance-measurement module calculating robot's travel distance, the distance of travel distance and line segment track relatively, when the travel distance of robot equals the distance of line segment track, robot ambulation is to the position of track node on architectural plan;
Step 6, robot stop mobile under the control of walking control module, and utilize environment information acquisition module to gather indoor environment data;
Step 7, robot are sent to track node data and corresponding indoor environment data in the Data Management Unit of host computer by communication module, Data Management Unit is by the Data Integration receiving in architectural plan, and in architectural plane drawing, the position of corresponding node forms the indoor environment information that can check;
Step 8, robot detect the final node of the whether corresponding patrol track in present position, if not returning to step 3, if so, and periods of robot operation stop, walking finishes.
Easily, in described step 1, the formulation process of patrol track is as follows:
Planning patrol track, and on the patrol track of planning, set gradually a plurality of nodes and be labeled as respectively p
0, p
2, p
3... p
i..., p
n-1, p
n, these nodes are divided into a plurality of line segment tracks by patrol track, and these line segment tracks form the vectorial array of one group of robot ambulation track, are [P
1, P
2, P
3..., P
i..., P
n-1, P
n];
Data Management Unit calculate respectively each line segment track distance and with the clockwise angle of direct north, corresponding to line segment track vector P
1, P
2, P
3..., P
i..., P
n-1, P
n1, the actual range of the run trace that its line segment track is corresponding is respectively d
1, d
2, d
3..., d
i..., d
n-1, d
n, the clockwise angle of its line segment track and direct north is respectively α
1, α
2, α
3..., α
i..., α
n-1, α
n;
P
i=[p
i-1, p
i, d
i, α
i, f], i=[1 wherein, 2,3 ..., n-1, n], f=[0,1], f is datum node sign, if p
i-1or p
ifor datum node, f=1, if p
i-1or p
ibe not datum node, f=0.
Compared with prior art, the invention has the advantages that: walking and the collection to indoor environment data that this indoor environment data acquisition system (DAS) can robot brain device people, greatly reduce workload, reduced human cost.
Simultaneously, the acquisition method that utilizes this indoor environment data acquisition system (DAS) is the walking path of planning control robot accurately, thereby the accurate environmental information data of obtaining indoor assigned address that gather, the degree of accuracy of information and with a high credibility, greatly facilitates user and utilizes this information data fast processing relevant issues.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of indoor environment data acquisition system (DAS) in the embodiment of the present invention.
Fig. 2 utilizes the process flow diagram of the acquisition method of indoor environment data acquisition system (DAS) in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiment is described in further detail the present invention.
As shown in Figure 1, a kind of indoor environment data acquisition system (DAS) in the present embodiment, comprising:
Host computer 1, a built-in Data Management Unit 11, for data transmission, data processing, data management and Data Integration;
Robot 2, with host computer 1 communication connection, is active in indoor collection site for image data;
Described robot 2 has a running gear 21 and is built-in with:
Central controller 22, for sending and processing controls order, in the present embodiment, central controller 22 adopts Arm singlechip chip;
Communication module 23, is connected in central controller 22, and for realizing the communication connection with host computer 1, in the present embodiment, communication module adopts WiFi module;
Data processing module 24, is connected in central controller 22, the data that transmit for the treatment of host computer 1;
Walking control module 25, is connected in central controller 22 and running gear 21, for controlling the walking of running gear 21;
Environment information acquisition module 26, be connected in central controller 22, be used for gathering indoor environment data, in the present embodiment, environment information acquisition module 26 comprises WiFi signal message collector, temperature sensor, humidity sensor, air mass sensor, can gather respectively various component contents and strength information etc. in information, temperature data information, humidity data information, the air such as the intensity of WiFi and address.According to different application demands, this environment information acquisition module 26 can also increase other information acquisition modules.
In order to facilitate the accurate control of robot 2 walking paths, described walking control module 25 comprises:
Driver module 251, is connected in central controller 22, for driving running gear 21;
Travel direction control module 252, is connected in central controller 22, the direction of travel of control 2;
Distance-measurement module 253, is connected in central controller 22, calculates the also operating range of control 2;
Compass module 254, is connected in central controller 22, gathers, calculates and judge the direction of travel of control 2;
Video camera 255, is connected in central controller 22, gathers robot 2 surrounding enviroment images, and in the present embodiment, video camera 255 adopts CMOS camera;
Tracking module 256, is connected in central controller 22, coordinates the direction of travel of adjusting robot 2 with video camera 255, and in the present embodiment, tracking module 256 adopts infrared sensing module;
Alarm module 27, is connected in central controller 22, for robot 2, reports to the police.
In the present embodiment, robot 2 is a dolly, the driving wheel that described running gear 21 is dolly.
As shown in Figure 2, utilize the acquisition method of above-mentioned indoor environment data acquisition system (DAS), comprise the steps:
Step 1, architectural plan in Data Management Unit 11, that need to carry out indoor environment data acquisition is opened on host computer 1, after architectural plan is opened, set the direct north of architectural plan;
On architectural plan, formulate patrol track correspondence as robot 2 run trace at Indoor environment;
On patrol track and set gradually a plurality of nodes be labeled as respectively p on the patrol track of formulating
0, p
2, p
3... p
i..., p
n-1, p
n, these nodes are divided into a plurality of line segment tracks by patrol track, and these line segment tracks form the vectorial array of Yi Zu robot 2 run trace, are [P
1, P
2, P
3..., P
i..., P
n-1, P
n];
According to the complexity of landform, according to the density rule of a bit, corresponding selected part track node is datum node, and in the run trace of the corresponding datum node of Indoor environment the corresponding reference point of mark, can coat as the mark of the black cross curve of white background in the position of Indoor environment reference point;
Data Management Unit 11 calculate respectively each line segment track distance and with the clockwise angle of direct north, corresponding to line segment track vector P
1, P
2, P
3..., P
i..., P
n-1, P
n1, the actual range of the run trace that its line segment track is corresponding is respectively d
1, d
2, d
3..., d
i..., d
n-1, d
n, the clockwise angle of its line segment track and direct north is respectively α
1, α
2, α
3..., α
i..., α
n-1, α
n;
P
i=[p
i-1, p
i, d
i, α
i, f], i=[1 wherein, 2,3 ..., n-1, n], f=[0,1], f is datum node sign, if p
i-1or p
ifor datum node, f=1, if p
i-1or p
ibe not datum node, f=0;
The vector data P of robot 2 run trace is set according to different patrol tracks
iin, p
i-1, p
itwo nodes can be selected arbitrarily according to rule is set;
Step 2, host computer 1 will be formulated the architectural plan of the vectorial array data that has patrol track and comprise robot 2 run trace in step 1, by communication module 23, be sent in the data processing module 24 of robot 2,24 pairs of these architectural planes of data processing module carry out analyzing and processing and form the steering order that central controller 22 can identify being sent in central controller 22;
Step 3, robot 2 is placed on to the starting point of run trace and guarantees that the initial travel direction of robot 2 is identical with the angle of initial segment track, this starting point correspondence on architectural plan and is gone on patrol the start node on track, and run trace vector corresponding to robot 2 starting points is P
1=[p
0, p
1, d
1, α
1, f], p wherein
0represent start node, p
1represent from first node that node is started in fact, d
1represent p
0node and p
1the actual range of the run trace that between node, the first line segment track is corresponding, α
1represent the direction of the first line segment track and the clockwise angle of direct north, the datum node ident value that generally start node is corresponding is 1, and initial node is datum node;
According to the steering order of central controller 22, robot 2 starts walking according to the speed of run trace vector data and setting under the control of walking control module 25;
In the walking process of robot 2, at interval of the set time, utilize the magnetic field induction Function detection current robot 2 of compass module 254 entirely to enter the clockwise angle of direction and direct north, and calculate the judgement robot 2 working direction run trace vector direction α corresponding with this line segment track
ibetween angle error, if angle error exceeds the permissible error that goes on patrol track, go to step four, if angle error does not exceed the permissible error that goes on patrol track, go to step five;
Step 4, robot 2 halt, and detect datum node identification data f, if datum node sign f=1, according to the node data message in driving trace vector data, utilizes video camera 255 to find reference point marker corresponding to corresponding datum node; If datum node identifies f=0, utilize the reference point marker of video camera 255 searching machine people 2 position peripheries;
If search out reference point marker, utilize tracking module 256 to control the direction of travel of adjusting robot 2, under the cooperation of travel direction control module 252 is controlled, control 2 runs to reference point simultaneously, then goes to step six;
If found less than reference point marker within the time of appointment, central controller 22 control alarm modules 27 are reported to the police, and warning message is sent in host computer 1 by communication module 23, and host computer 1 is according to warning message, the position of prompting monitor staff robot 2, thus process;
Step 5, utilize distance-measurement module 253 calculating robots' 2 travel distance, the distance that compares travel distance and line segment track, when the travel distance of robot 2 equals the distance of line segment track, robot 2 runs to the position of track node on architectural plan;
Step 6, robot 2 stop mobile under the control of walking control module 25, and utilize 26 pairs of indoor environment data of environment information acquisition module to gather;
Step 7, robot 2 are sent to track node data and corresponding indoor environment data in the Data Management Unit 11 of host computer 1 by communication module 23, Data Management Unit 11 is by the Data Integration receiving in architectural plan, and in architectural plane drawing, the position of corresponding node forms the indoor environment information that can check;
Step 8, robot 2 detect the final node of the whether corresponding patrol track in present position, and if not returning to step 3, if so, robot 2 quits work, and walking finishes.
The architectural plan of having integrated indoor environment data can be in map, and then utilizes the map with indoor environment data message to position the work such as security protection, also can carry out according to demand other work.
This indoor environment data acquisition system (DAS) and acquisition method can also be extended in other applied environments.
Claims (8)
1. an indoor environment data acquisition system (DAS), is characterized in that: comprise
Host computer (1), a built-in Data Management Unit (11), for data transmission, data processing, data management and Data Integration;
Robot (2), with host computer (1) communication connection, is active in indoor collection site for image data;
Described robot (2) has a running gear (21) and is built-in with:
Central controller (22), for sending and processing controls order;
Communication module (23), is connected in central controller (22), for the communication connection of realization and host computer (1);
Data processing module (24), is connected in central controller (22), the data that transmit for the treatment of host computer (1);
Walking control module (25), is connected in central controller (22) and running gear (21), for controlling the walking of running gear (21);
Environment information acquisition module (26), is connected in central controller (22), for gathering indoor environment data.
2. indoor environment data acquisition system (DAS) according to claim 1, is characterized in that: described walking control module (25) comprising:
Driver module (251), is connected in central controller (22), for driving running gear (21);
Travel direction control module (252), is connected in central controller (22), the direction of travel of control (2);
Distance-measurement module (253), is connected in central controller (22), calculates the also operating range of control (2);
Compass module (254), is connected in central controller (22), gathers, calculates and judge the direction of travel of control (2);
Video camera (255), is connected in central controller (22), gathers robot (2) surrounding enviroment image;
Tracking module (256), is connected in central controller (22), coordinates the direction of travel of adjusting robot (2) with video camera (255).
3. indoor environment data acquisition system (DAS) according to claim 1, is characterized in that: described robot (2) is also built-in with the alarm module (27) that is connected in described central controller (22).
4. according to the indoor environment data acquisition system (DAS) described in the arbitrary claim of claim 1～3, it is characterized in that: described central controller (22) is single-chip microcomputer.
5. according to the indoor environment data acquisition system (DAS) described in the arbitrary claim of claim 1～3, it is characterized in that: described robot (2) is a dolly driving wheel that described running gear (21) is dolly.
6. according to the indoor environment data acquisition system (DAS) described in the arbitrary claim of claim 1～3, it is characterized in that: described environment information acquisition module (26) comprises WiFi signal message collector, temperature sensor, humidity sensor, air mass sensor.
7. the acquisition method that utilizes the indoor environment data acquisition system (DAS) described in right 2, is characterized in that: comprise the steps:
Step 1, architectural plan in Data Management Unit (11), that need to carry out indoor environment data acquisition is opened on host computer (1), after architectural plan is opened, set the direct north of architectural plan;
On architectural plan, formulate patrol track correspondence as robot (2) run trace at Indoor environment;
On patrol track, a plurality of track nodes of mark to be to form a plurality of line segment tracks, corresponding to the line segment track on architectural plan, form a plurality of walkings section in the run trace of robot (2);
According to the complexity of landform, according to the density rule of a bit, corresponding selected part track node is datum node, and in the run trace of the corresponding datum node of Indoor environment the corresponding reference point of mark;
Step 2, host computer (1) are sent to by communication module (23) in the data processing module (24) of robot (2) formulating the architectural plan that has patrol track mark to cross track node data in step 1, and data processing module (24) carries out analyzing and processing to this architectural plane and form the steering order that central controller (22) can identify being sent in central controller (22);
Step 3, described robot (2) are built-in with the alarm module (27) that is connected in described central controller (22);
Robot (2) is placed on to the starting point of run trace and guarantees that the initial travel direction of robot (2) is identical with the angle of initial segment track, this starting point correspondence and on architectural plan, is gone on patrol the start node on track, according to the steering order of central controller (22), robot (2) starts walking according to the speed of the node data on patrol track and setting under the control of walking control module (25);
In the walking process of robot (2), at interval of the set time, utilize magnetic field induction function calculating judgement robot (2) working direction of compass module (254) and the angle error between this line segment trajectory direction, if angle error exceeds the permissible error that goes on patrol track, go to step four, if angle error does not exceed the permissible error that goes on patrol track, go to step five;
Step 4, robot (2) halt, and detect datum node data, utilize datum node data and coordinate the reference point of utilizing video camera (255) to find mark in run trace;
If search out reference point, utilize tracking module (256) to control the direction of travel of adjusting robot (2), under the cooperation of travel direction control module (252) is controlled, control (2) runs to reference point simultaneously, then goes to step six;
If found less than reference point within the time of appointment, central controller (22) control alarm module (27) is reported to the police, and warning message is sent in host computer (1) by communication module (23), host computer (1) is according to warning message, the position of prompting monitor staff robot (2), thus process;
Step 5, utilize distance-measurement module (253) calculating robot's (2) travel distance, the distance that compares travel distance and line segment track, when the travel distance of robot (2) equals the distance of line segment track, robot (2) runs to the position of track node on architectural plan;
Step 6, robot (2) stop mobile under the control of walking control module (25), and utilize environment information acquisition module (26) to gather indoor environment data;
Step 7, robot (2) are sent to track node data and corresponding indoor environment data in the Data Management Unit (11) of host computer (1) by communication module (23), Data Management Unit (11) is by the Data Integration receiving in architectural plan, and in architectural plane drawing, the position of corresponding node forms the indoor environment information that can check;
Step 8, robot (2) detect the final node of the whether corresponding patrol track in present position, and if not returning to step 3, if so, robot (2) quits work, and walking finishes.
8. acquisition method according to claim 7, is characterized in that: in described step 1, the formulation process of patrol track is as follows:
Planning patrol track, and on the patrol track of planning, set gradually a plurality of nodes and be labeled as respectively p
0, p
2, p
3... p
i..., p
n-1, p
n, these nodes are divided into a plurality of line segment tracks by patrol track, and these line segment tracks form the vectorial array of Yi Zu robot (2) run trace, are [P
1, P
2, P
3..., P
i..., P
n-1, P
n];
Data Management Unit (11) calculate respectively each line segment track distance and with the clockwise angle of direct north, corresponding to line segment track vector P
1, P
2, P
3..., P
i..., P
n-1, P
n1, the actual range of the run trace that its line segment track is corresponding is respectively d
1, d
2, d
3..., d
i..., d
n-1, d
n, the clockwise angle of its line segment track and direct north is respectively α
1, α
2, α
3..., α
i..., α
n-1, α
n;
P
i=[p
i-1, p
i, d
i, α
i, f], i=[1 wherein, 2,3 ..., n-1, n], f=[0,1], f is datum node sign, if p
i-1or p
ifor datum node, f=1, if p
i-1or p
ibe not datum node, f=0.
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