CN113203428A - Mileage counting device, data counting method based on same and interface - Google Patents
Mileage counting device, data counting method based on same and interface Download PDFInfo
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Abstract
The application discloses a mileage statistics device, a data statistics method based on the mileage statistics device and an interface, relates to the technical field of automation control, realizes software and hardware integration, is based on single interface and equipment interaction, and is strong in expandability and good in universality. The mileage statistics apparatus includes: the system comprises a speed acquisition module, a mileage statistics module and a data fusion module; the speed acquisition module acquires speed parameters of the movable equipment and transmits the speed parameters to the data fusion module based on the data link between the speed acquisition module and the data fusion module; the mileage counting module collects mileage parameters of the mobile equipment, and transmits the mileage parameters to the data fusion module based on the data link between the mileage counting module and the data fusion module; the data fusion module receives the speed parameters transmitted by the speed acquisition module and the mileage parameters transmitted by the mileage statistics module, fuses the speed parameters and the mileage parameters to obtain mileage statistics data, and transmits the mileage statistics data to the mobile equipment through a preset interface.
Description
Technical Field
The application relates to the technical field of automation control, in particular to a mileage statistic device, a data statistic method based on the mileage statistic device and an interface.
Background
With the continuous development of automation control technology, social life is continuously promoted towards the direction of intellectualization, and robots are applied to various fields such as warehousing, express delivery, takeout, home administration and the like, and can automatically complete tasks such as delivery, inspection, cleaning and the like. In order to ensure the safety of the robot in the process of traveling and facilitate the control, maintenance and the like of the robot, mileage statistics needs to be carried out in the process of robot movement, so that the positioning and performance analysis of the robot are realized.
In the correlation technique, the robot is in butt joint with a plurality of sensors with different functions, the sensors transmit acquired sensor data to the robot, all the sensor data are summarized by a main control module of the robot, mileage statistics is uniformly calculated, and mileage data of the robot is output.
In carrying out the present application, the applicant has found that the related art has at least the following problems:
the type of the interface of the robot and the external is fixed and single, the type of the butted sensor is limited, only sensor data provided by the fixed sensor can be adopted for mileage statistics, and the universality is poor.
Disclosure of Invention
In view of this, the present application provides a mileage statistics apparatus, a data statistics method based on the mileage statistics apparatus, and an interface, and mainly aims to solve the problem that currently, only sensor data provided by a fixed type of sensor can be used for mileage statistics, and the universality is poor.
According to a first aspect of the present application, there is provided a mileage statistics apparatus including: the system comprises a speed acquisition module, a mileage statistics module and a data fusion module;
the speed acquisition module acquires speed parameters of the movable equipment and transmits the speed parameters to the data fusion module based on the data link between the speed acquisition module and the data fusion module;
the mileage counting module collects mileage parameters of the mobile equipment and transmits the mileage parameters to the data fusion module based on the data link between the mileage counting module and the data fusion module;
the data fusion module receives the speed parameter transmitted by the speed acquisition module and the mileage parameter transmitted by the mileage statistics module, fuses the speed parameter and the mileage parameter to obtain mileage statistics data, and transmits the mileage statistics data to the mobile equipment through a preset interface, wherein the preset interface is used for interaction between the mileage statistics device and the mobile equipment.
Optionally, the speed acquisition module comprises: an acceleration acquisition unit and an angular velocity acquisition unit;
the acceleration acquisition unit acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as the speed parameter to the data fusion module;
the angular velocity acquisition unit acquires the angular velocity of the movable equipment at each moment in real time, and transmits the acquired angular velocity serving as the velocity parameter to the data fusion module.
Optionally, before the data fusion module fuses the speed parameter and the mileage parameter to obtain mileage statistic data, the data fusion module is further configured to:
analyzing the speed parameter and the mileage parameter to determine an abnormal parameter;
and filtering the abnormal parameters in the speed parameters and the mileage parameters, and performing fusion processing based on the filtered speed parameters and mileage parameters.
Optionally, the determining an abnormal parameter includes:
reading the speed parameters, determining the acceleration and the angular speed at each moment, calculating the acceleration difference and the angular speed difference of every two adjacent moments, and taking the acceleration difference or the angular speed difference of the two adjacent moments with the angular speed difference larger than a difference threshold value as the abnormal parameters; and/or the presence of a gas in the gas,
determining pose data of the movable equipment on a preset virtual map at each moment, respectively comparing the pose data at each moment with the acceleration and the angular velocity at each moment, determining a first target moment at which the acceleration or the angular velocity is not matched with the pose data, and taking the acceleration and the angular velocity at the first target moment as the abnormal parameters; and/or the presence of a gas in the gas,
reading the mileage parameters, determining at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determining a second target moment with inconsistent values of the at least two device mileage, and taking the at least two device mileage corresponding to the second target moment as the abnormal parameters; and/or the presence of a gas in the gas,
determining actual mileage data of the mobile equipment on the preset virtual map at each moment, comparing the actual mileage data at each moment with the at least two device miles at each moment, determining a third target moment at which the at least two device miles are not matched with the actual mileage data, and taking the at least two device miles at the third target moment as the abnormal parameters.
Optionally, the data fusion module fuses the speed parameter and the mileage parameter to obtain mileage statistic data, including:
analyzing the speed parameters, and determining the acceleration and the angular speed at each moment;
performing integration processing on the acceleration and the angular velocity at each moment to obtain an integration result;
and based on an Extended Kalman Filter (EKF) algorithm, fusing the integration result and the mileage parameter to obtain the mileage statistical data.
According to a second aspect of the present application, there is provided a data statistics method based on a mileage statistics apparatus, the method including:
the speed acquisition module acquires speed parameters of the movable equipment and transmits the speed parameters to the data fusion module;
the mileage counting module collects mileage parameters of the movable equipment and transmits the mileage parameters to the data fusion module;
the data fusion module fuses the received speed parameters and the mileage parameters to obtain mileage statistical data;
and the data fusion module transmits the mileage statistic data to the movable equipment through a preset interface, and the preset interface is used for interacting the mileage statistic device with the movable equipment.
Optionally, the acquiring the speed parameter of the mobile device by the speed acquiring module, and transmitting the speed parameter to the data fusion module includes:
the acceleration acquisition unit acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as the speed parameter to the data fusion module;
the angular velocity acquisition unit acquires the angular velocity of the movable equipment at each moment in real time, and transmits the acquired angular velocity serving as the velocity parameter to the data fusion module.
Optionally, before the data fusion module fuses the received speed parameter and the mileage parameter to obtain mileage statistic data, the method further includes:
the data fusion module analyzes the speed parameter and the mileage parameter and determines an abnormal parameter;
the data fusion module filters the abnormal parameters in the speed parameters and the mileage parameters, and performs fusion processing based on the filtered speed parameters and mileage parameters.
Optionally, the determining an abnormal parameter includes:
reading the speed parameters, determining the acceleration and the angular speed at each moment, calculating the acceleration difference and the angular speed difference of every two adjacent moments, and taking the acceleration difference or the angular speed difference of the two adjacent moments with the angular speed difference larger than a difference threshold value as the abnormal parameters; and/or the presence of a gas in the gas,
determining pose data of the movable equipment on a preset virtual map at each moment, respectively comparing the pose data at each moment with the acceleration and the angular velocity at each moment, determining a first target moment at which the acceleration or the angular velocity is not matched with the pose data, and taking the acceleration and the angular velocity at the first target moment as the abnormal parameters; and/or the presence of a gas in the gas,
reading the mileage parameters, determining at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determining a second target moment with inconsistent values of the at least two device mileage, and taking the at least two device mileage corresponding to the second target moment as the abnormal parameters; and/or the presence of a gas in the gas,
determining actual mileage data of the mobile equipment on the preset virtual map at each moment, comparing the actual mileage data at each moment with the at least two device miles at each moment, determining a third target moment at which the at least two device miles are not matched with the actual mileage data, and taking the at least two device miles at the third target moment as the abnormal parameters.
Optionally, the data fusion module fuses the received speed parameter and the mileage parameter to obtain mileage statistic data, including:
analyzing the speed parameters, and determining the acceleration and the angular speed at each moment;
performing integration processing on the acceleration and the angular velocity at each moment to obtain an integration result;
and based on an EKF algorithm, carrying out fusion processing on the integration result and the mileage parameter to obtain the mileage statistical data.
According to a third aspect of the present application, there is provided an interface of a mileage statistics apparatus, the interface including:
the first data transmission interface is used for butting a speed acquisition module and a data fusion module, constructing a data link between the speed acquisition module and the data fusion module, and transmitting the speed parameters of the movable equipment acquired by the speed acquisition module to the data fusion module;
the second data transmission interface is used for butting a mileage statistic module and the data fusion module, constructing a data link between the mileage statistic module and the data fusion module, and transmitting the mileage parameters of the mobile equipment, which are acquired by the mileage statistic module, to the data fusion module;
and the preset interface is used for interacting the mileage counting device and the movable equipment so that the data fusion module can transmit the mileage counting data obtained by fusing the speed parameter and the mileage parameter to the movable equipment.
Optionally, the first data transmission interface is configured to transmit, to the data fusion module, the acceleration of the mobile device at each moment, which is acquired in real time by the acceleration acquisition unit in the speed acquisition module, as the speed parameter;
the first data transmission interface is used for acquiring the angular speed of the movable equipment at each moment in real time by the angular speed acquisition unit in the speed acquisition module, and transmitting the acquired angular speed as the speed parameter to the data fusion module.
By means of the technical scheme, the mileage counting device, the data counting method based on the mileage counting device and the interface are characterized in that interaction is carried out on the movable equipment through a single preset interface, the speed parameters and the mileage parameters of the movable equipment are collected in real time, the speed parameters and the mileage parameters are collected and are subjected to unified fusion operation, the mileage counting data of the movable equipment are obtained, the mileage counting data are transmitted to the movable equipment through the preset interface, the mileage counting device can independently collect the data and perform fusion calculation on the data, the fused result is provided for the movable equipment, mileage counting is not needed for the movable equipment, software and hardware integration is achieved, interaction with the movable equipment can be achieved based on the single preset interface, expandability is strong, and universality is good.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram illustrating a mileage statistics apparatus provided in an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a data statistics method based on a mileage statistics apparatus according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the application provides a mileage statistic device, which can interact with a mobile device through a single preset interface, collect the speed parameter and the mileage parameter of the mobile device in real time, collect the speed parameter and the mileage parameter, perform fusion operation uniformly to obtain the mileage statistic data of the mobile device, transmit the mileage statistic data to the mobile device through the preset interface, the mileage counting device can independently collect data and perform fusion calculation on the data, provides the fused result to the mobile equipment, does not need the mobile equipment to perform mileage counting again, realizes software and hardware integration, and can interact with the mobile device based on a single preset interface, has stronger expandability and better universality, as shown in figure 1, the mileage statistic device comprises a speed acquisition module 101, a mileage statistic module 102 and a data fusion module 103.
Before explaining the mileage statistics apparatus in detail, the mobile device will be briefly described. The movable equipment is equipment which is provided with one or more than one driving device and moves based on the driving device, such as a food delivery robot, an express delivery robot, an unmanned delivery vehicle, a sweeping robot and the like. The mobile equipment has a communication function, can realize data transmission based on a local area network, or can be externally connected with data acquisition and transmission equipment, so that data and behavior interaction is carried out with an external device. Further, the mobile device may be provided with a device master controller, receive data transmitted from the outside based on the device master controller, and perform other operations such as storage and broadcasting on the received data.
Speed acquisition module 101
The speed acquisition module 101 and the data fusion module 103 are in data linkage, and can acquire the speed parameters of the mobile device in real time and transmit the speed parameters to the data fusion module in real time based on the data linkage. The speed acquisition module 101 comprises an acceleration acquisition unit 1011 and an angular speed acquisition unit 1012, wherein the acceleration acquisition unit 1011 acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as a speed parameter to the data fusion module 103; the angular velocity acquisition unit 1012 acquires the angular velocity of the mobile device at each time in real time, and transmits the acquired angular velocity as a velocity parameter to the data fusion module 103. Thus, in practice, the velocity parameters received by the data fusion module are divided into two types, one being the acceleration of the movable device at each instant and the other being the angular velocity of the movable device at each instant.
Specifically, the acceleration acquisition unit 1011 may be an acceleration sensor, and is composed of a mass block, a damper, an elastic element, a sensing element, an adaptation circuit, and the like, and the acceleration is obtained by measuring the inertial force applied to the mass block. In order to improve the accuracy of the mileage statistic data, in the embodiment of the present application, a three-axis acceleration sensor is selected as the acceleration acquisition unit 1011, and the three-axis acceleration sensor has the characteristics of small volume and light weight, and can measure the spatial acceleration of the mobile device, thereby comprehensively and accurately reflecting the operation property of the mobile device. Further, since the acceleration acquisition unit 1011 needs to transmit the acquired acceleration to the data fusion module 103, an IIC (Inter-Integrated Circuit) may be established between the acceleration acquisition unit 1011 and the data fusion module 103, and the speed parameter is transmitted based on the IIC.
The angular velocity acquisition unit 1012 may be a gyro sensor, a device capable of measuring the rotation angle or angular velocity of an object in a relative inertial space. In this application embodiment, choose triaxial gyroscope sensor for use as angular velocity acquisition unit 1012, the angular velocity of 6 directions can be surveyed simultaneously to triaxial gyroscope sensor, and is small, light in weight, and simple structure, and the reliability is better. Further, since the angular velocity acquisition unit 1012 needs to transmit the acquired angular velocity to the data fusion module 103, an SPI (Serial Peripheral Interface) may be set between the angular velocity acquisition unit 1012 and the data fusion module 103, and further, the speed parameter is transmitted based on the SPI.
It should be noted that, in order to avoid that the data fusion module 103 limits the data format of the received data, no matter the acceleration acquisition unit 1011 or the angular velocity acquisition unit 1012, the acceleration or the angular velocity may be converted into a data signal by using a preset protocol, and data transmission is performed in the form of the data signal, so that the data fusion module encodes the received data signal according to the preset protocol to obtain the acceleration or the angular velocity. The method for transmitting the speed parameter is not particularly limited in the present application.
Mileage statistics module 102
A data link exists between the mileage statistics module 102 and the data fusion module 103. The mileage statistics module 102 collects mileage parameters of the mobile device, and transmits the mileage parameters to the data fusion module 103 based on the data link with the data fusion module 103. The mileage counting module 102 may be a mileage meter capable of measuring a trip, and may be a wheel type mileage meter, and outputs a mileage parameter of the mobile device by counting device mileage of at least two driving devices of the mobile device. Since the mileage statistics module 102 needs to transmit the collected mileage parameters to the data fusion module 103, a USART (Universal Synchronous/Asynchronous Receiver/Transmitter, Universal Synchronous/Asynchronous serial Receiver/Transmitter) may be set between the mileage statistics module 102 and the data fusion module 103, and a data link between the mileage statistics module 102 and the data fusion module 103 is established based on the USART.
It should be noted that, when the mileage parameter is transmitted, the mileage statistic module 102 may also convert the mileage parameter into a data signal, and perform data transmission in the form of the data signal.
Data fusion module 103
The data fusion module 103 receives the speed parameter transmitted by the speed acquisition module 101 and the mileage parameter transmitted by the mileage statistics module 102, fuses the speed parameter and the mileage parameter to obtain mileage statistics data, and transmits the mileage statistics data to the mobile device through a preset interface. The data fusion module 103 may be specifically an MCU (Micro Controller Unit), and can perform different processing and control on data according to different application scenarios. The preset interface is used for interacting the mileage statistics device with the mobile equipment, namely, the whole mileage statistics device is externally connected with the mobile equipment based on the single preset interface, the mileage statistics device obtains mileage statistics data of the mobile equipment through a series of operations such as collection and fusion and transmits the mileage statistics data to the mobile equipment through the preset interface, the interaction between the movable equipment and the single interface is realized while operation resources of the mobile equipment are liberated, and the expandability and the universality are strong. The preset interface may be a physical interface, such as a USB (Universal Serial Bus) interface, where the mileage counting device is externally connected to the mobile device, or may also be a virtual interface, such as an Ethernet (Ethernet), where the mileage counting device and the mobile device are located in the same lan to implement data communication.
Specifically, the data interaction between the modules may be implemented based on an interface, and the interface of the mileage statistics apparatus includes a first data transmission interface, a second data transmission interface, and a preset interface. The first data transmission interface is used for interfacing the speed acquisition module 101 and the data fusion module 103, constructing a data link between the speed acquisition module 101 and the data fusion module 103, and transmitting the speed parameters of the mobile device acquired by the speed acquisition module 101 to the data fusion module 103. Further, the first data transmission interface is configured to transmit the acceleration of the mobile device, which is acquired by the acceleration acquisition unit in the speed acquisition module 101 in real time, at each moment as a speed parameter to the data fusion module 103; and the first data transmission interface is used for acquiring the angular speed of the mobile equipment at each moment in real time by the angular speed acquisition unit in the speed acquisition module 101, and transmitting the acquired angular speed as a speed parameter to the data fusion module 103.
And the second data transmission interface is used for butting the mileage statistics module 102 and the data fusion module 103, constructing a data link between the mileage statistics module 102 and the data fusion module 103, and transmitting the mileage parameters of the mobile equipment, which are acquired by the mileage statistics module 102, to the data fusion module 103.
And the preset interface is used for interacting the mileage counting device with the mobile equipment, so that the data fusion module 103 transmits mileage counting data obtained by fusing the speed parameter and the mileage parameter to the mobile equipment.
In the practical application process, considering that the speed statistics module 101 and the mileage statistics module 102 may acquire some abnormal data with large errors when acquiring data, such as the counted mileage parameter being larger than the actual mileage of the mobile device, sudden change of acceleration or angular velocity, inconsistent driving device mileage of the mobile device, inconsistent actual pose data of the mobile device and the speed parameter fed back by the speed statistics module 101, and so on, the abnormal data may affect the accuracy of the mileage statistic data to be output subsequently, so that the data fusion module 103 may analyze the speed parameter and the mileage parameter after receiving the speed parameter and the mileage parameter, determine the abnormal parameter, filtering the abnormal parameters in the speed parameters and the mileage parameters, and performing fusion processing based on the filtered speed parameters and mileage parameters, and several ways of determining the abnormal parameters are described below:
the data fusion module 103 reads the speed parameters, determines the acceleration and the angular velocity at each moment, calculates the acceleration difference and the angular velocity difference between every two adjacent moments, and takes the acceleration difference or the angular velocity difference between the two adjacent moments, which is greater than the difference threshold, as the abnormal parameters. In this way, the abrupt acceleration or angular velocity is determined, and the abrupt velocity is filtered.
Secondly, the data fusion module 103 determines pose data of the mobile device on a preset virtual map at each moment, compares the pose data at each moment with the acceleration and the angular velocity at each moment, determines a first target moment at which the acceleration or the angular velocity does not match the pose data, and takes the acceleration and the angular velocity at the first target moment as abnormal parameters. In this way, speed parameters which are inconsistent with actual pose data and fed back by the speed statistic module 101 are determined, and the speed parameters are filtered.
Thirdly, the data fusion module 103 reads the mileage parameters, determines at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determines a second target moment with inconsistent values of the at least two device mileage, and takes the at least two device mileage corresponding to the second target moment as an abnormal parameter. The driving device is also the wheel of the movable equipment, and the mileage parameters of the left wheel, the right wheel or the four wheels which are inconsistent can be determined in such a way, and the mileage parameters are filtered, so that the inconsistency of the subsequently output mileage statistical data and the actual angle of the movable equipment is avoided.
Fourthly, the data fusion module 103 determines actual mileage data of the mobile device on a preset virtual map at each moment, compares the actual mileage data at each moment with at least two device miles at each moment, determines a third target moment at which the at least two device miles are unmatched with the actual mileage data, and takes the at least two device miles at the third target moment as abnormal parameters. This way it is possible to determine mileage data that is inconsistent with the actual mileage of the mobile device and to filter the mileage data.
It should be noted that the data fusion module 103 may determine the abnormal parameter and filter the abnormal parameter in any one or more manners described above, so as to improve the accuracy of the mileage statistic data to be output subsequently.
Next, consider that the odometry module 102 may encounter accuracy problems, such as wheel slippage causing the actual distance the mobile device moves to be inconsistent with the number of revolutions of the wheel. In addition, when the mobile device is moving on a non-smooth surface, errors are a mixture of factors and, as errors accumulate over time, the output mileage statistics become increasingly unreliable over time. Therefore, in the present application, when determining the mileage statistic data of the mobile device, the data fusion module 103 fuses the speed parameter and the mileage parameter, compensates the mileage parameter by using the result of integrating the speed parameter, corrects the problem that the mileage parameter fed back by the mileage statistic module 102 is abnormal due to the sliding of the mobile device on a smooth road surface or the threshold crossing, and obtains the mileage statistic data, wherein the process of specifically generating the mileage statistic data is as follows:
first, the data fusion module 103 analyzes the velocity parameter and determines the acceleration and angular velocity at each time. Subsequently, the acceleration and the angular velocity at each time are integrated to obtain an integration result. And finally, fusing the integration result and the mileage parameter based on an EKF (Extended Kalman Filter) algorithm to obtain mileage statistical data. And then, the data fusion module transmits the mileage statistic data to the mobile equipment based on a preset interface so that the mobile equipment can directly use the mileage statistic data without summarizing calculation. Furthermore, the data fusion module 103 may also interface a motor encoder, and calculate the acceleration and the angular velocity using the motor encoder to obtain the current velocity of the mobile device. Alternatively, the data fusion module 103 may interface a current feedback module such as an ADC (Analog-to-Digital Converter), and the information fed back by the current feedback module is the current torque condition of the mobile device. Therefore, the speed information and the mileage information are collected in a large quantity and then used for training the model, the trained model can deduce the current road condition according to the speed information and the mileage information, and the movable equipment can perform more refined motion control on the current road condition.
In conclusion, mileage statistics device in this application is through in solidifying a module with all kinds of supplementary sensors, realized that the module independently gathers, fuses and has interacted with mobile device based on single interface after the operation, plug-and-play makes things convenient for mobile device extension and upgrading, and the commonality is higher. And this application's mileage statistics device adopts wheeled odometer, utilizes the high accuracy magnetic encoder of wheeled odometer very big reduction the error of mileage parameter, and utilizes the structure compensation mileage parameter after acceleration and the angular acceleration integration, prevents that the mobile device from crossing under the threshold or the smooth ground condition such as skid the unusual problem of mileage statistics, has promoted mileage statistics data's precision.
The embodiment of the application provides a mileage statistics device, interact with mobile device through single interface of predetermineeing, gather mobile device's speed parameter and mileage parameter in real time, summarize speed parameter and mileage parameter, unify and fuse the operation, obtain mobile device's mileage statistics data, and give mobile device with mileage statistics data through predetermineeing the interface transmission, this mileage statistics device can independently gather data and fuse the calculation with data, provide mobile device with the result after will fusing, need not mobile device and carry out mileage statistics again, software and hardware integration has been realized, and just can interact with mobile device based on single interface of predetermineeing, scalability is stronger, the commonality is better.
The embodiment of the application provides a data statistics method based on a mileage statistics device, as shown in fig. 2, the method includes:
201. the speed acquisition module acquires the speed parameters of the movable equipment and transmits the speed parameters to the data fusion module.
In the embodiment of the present application, the movable equipment is equipment which is configured with one or more driving devices and moves based on the driving devices, such as a meal delivery robot, an express delivery robot, an unmanned delivery vehicle, a sweeping robot, and the like. The mobile equipment has a communication function, can realize data transmission based on a local area network, or can be externally connected with data acquisition and transmission equipment, so that data and behavior interaction is carried out with an external device. Further, the mobile device may be provided with a device master controller, receive data transmitted from the outside based on the device master controller, and perform other operations such as storage and broadcasting on the received data.
The data link exists between the speed acquisition module and the data fusion model, so that the speed parameters of the movable equipment can be acquired in real time, and the speed parameters are transmitted to the data fusion module in real time based on the data link. The speed acquisition module comprises an acceleration acquisition unit and an angular speed acquisition unit. The acceleration acquisition unit acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as a speed parameter to the data fusion module; the angular velocity acquisition unit acquires the angular velocity of the movable equipment at each moment in real time, and transmits the acquired angular velocity serving as a velocity parameter to the data fusion module. Thus, in practice, the velocity parameters received by the data fusion module are divided into two types, one being the acceleration of the movable device at each instant and the other being the angular velocity of the movable device at each instant.
202. The mileage counting module collects mileage parameters of the movable equipment and transmits the mileage parameters to the data fusion module.
In the embodiment of the application, a data link exists between the mileage statistics module and the data fusion module. The mileage counting module collects mileage parameters of the mobile equipment, and transmits the mileage parameters to the data fusion module based on the data link between the mileage counting module and the data fusion module.
203. And the data fusion module fuses the received speed parameters and the mileage parameters to obtain mileage statistical data.
In the embodiment of the application, the data fusion module receives the speed parameter transmitted by the speed acquisition module and the mileage parameter transmitted by the mileage statistics module, fuses the speed parameter and the mileage parameter to obtain the mileage statistics data, and transmits the mileage statistics data to the mobile device through the preset interface.
Considering that the speed statistics module and the mileage statistics module may acquire some abnormal data with large errors when acquiring data, for example, the statistical mileage parameter is larger than the actual mileage of the mobile device, the sudden change of the acceleration or the angular velocity, the mileage of the driving device of the mobile device is inconsistent, the actual pose data of the mobile device is inconsistent with the speed parameter fed back by the speed statistics module, and the like, and the abnormal data may affect the precision of the mileage statistics data to be output subsequently, therefore, the data fusion module may analyze the speed parameter and the mileage parameter after receiving the speed parameter and the mileage parameter, determine the abnormal parameter, filter the abnormal parameter in the speed parameter and the mileage parameter, and perform fusion processing based on the filtered speed parameter and mileage parameter, and several ways of determining the abnormal parameter are described below:
the data fusion module reads the speed parameters, determines the acceleration and the angular speed of each moment, calculates the acceleration difference and the angular speed difference of every two adjacent moments, and takes the acceleration difference or the angular speed difference of the two adjacent moments with the angular speed difference larger than the difference threshold value as abnormal parameters. In this way, the abrupt acceleration or angular velocity is determined, and the abrupt velocity is filtered.
The data fusion module determines pose data of the movable device on a preset virtual map at each moment, compares the pose data at each moment with the acceleration and the angular velocity at each moment respectively, determines a first target moment at which the acceleration or the angular velocity does not match with the pose data, and takes the acceleration and the angular velocity at the first target moment as abnormal parameters. In this way, speed parameters which are inconsistent with actual pose data and fed back by the speed statistic module 101 are determined, and the speed parameters are filtered.
Reading the mileage parameters by the data fusion module, determining at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determining a second target moment with inconsistent values of the at least two device mileage, and taking the at least two device mileage corresponding to the second target moment as an abnormal parameter. The driving device is also the wheel of the movable equipment, and the mileage parameters of the left wheel, the right wheel or the four wheels which are inconsistent can be determined in such a way, and the mileage parameters are filtered, so that the inconsistency of the subsequently output mileage statistical data and the actual angle of the movable equipment is avoided.
And fourthly, the data fusion module determines actual mileage data of the mobile equipment on a preset virtual map at each moment, compares the actual mileage data at each moment with at least two device miles at each moment, determines a third target moment at which the at least two device miles are not matched with the actual mileage data, and takes the at least two device miles at the third target moment as abnormal parameters. This way it is possible to determine mileage data that is inconsistent with the actual mileage of the mobile device and to filter the mileage data.
It should be noted that the data fusion module may determine the abnormal parameter and filter the abnormal parameter in any one or more manners, so as to improve the accuracy of the subsequently output mileage statistic data.
Next, it is considered that the mileage statistics module may encounter accuracy problems, such as wheel slippage causing the actual distance the mobile device moves to be inconsistent with the number of revolutions of the wheel. In addition, when the mobile device is moving on a non-smooth surface, errors are a mixture of factors and, as errors accumulate over time, the output mileage statistics become increasingly unreliable over time. Therefore, in the application, when determining the mileage statistic data of the mobile device, the data fusion module fuses the speed parameter and the mileage parameter, compensates the mileage parameter by adopting the result of integrating the speed parameter, corrects the problem that the mileage parameter fed back by the mileage statistic module is abnormal due to the fact that the mobile device slips on a smooth road surface or crosses a threshold, and obtains the mileage statistic data, wherein the process of specifically generating the mileage statistic data is as follows:
first, the data fusion module 103 analyzes the velocity parameter and determines the acceleration and angular velocity at each time. Subsequently, the acceleration and the angular velocity at each time are integrated to obtain an integration result. And finally, fusing the integration result and the mileage parameter based on an EKF (Extended Kalman Filter) algorithm to obtain mileage statistical data.
204. The data fusion module transmits the mileage statistic data to the mobile equipment through a preset interface, and the preset interface is used for interaction between the mileage statistic device and the mobile equipment.
In the embodiment of the application, the data fusion module transmits the mileage statistic data to the mobile equipment based on the preset interface so that the mobile equipment can directly use the mileage statistic data without summarizing and calculating. The preset interface may be a physical interface, such as a USB interface, and the mileage statistics apparatus is externally connected to the mobile device, or may also be a virtual interface, such as Ethernet, and the mileage statistics apparatus and the mobile device are located in the same local area network to implement data communication.
The method provided by the embodiment of the application comprises the steps of interacting with the mobile equipment through a single preset interface, collecting the speed parameters and the mileage parameters of the mobile equipment in real time, summarizing the speed parameters and the mileage parameters, performing fusion operation uniformly to obtain the mileage statistical data of the mobile equipment, transmitting the mileage statistical data to the mobile equipment through the preset interface, independently collecting the data and performing fusion calculation on the data by the mileage statistical device, providing a fused result to the mobile equipment, performing mileage statistics without the mobile equipment, realizing software and hardware integration, interacting with the mobile equipment based on the single preset interface, and being strong in expandability and good in universality.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application.
Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios.
The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (10)
1. A mileage statistics apparatus, characterized in that the mileage statistics apparatus comprises: the system comprises a speed acquisition module, a mileage statistics module and a data fusion module;
the speed acquisition module acquires speed parameters of the movable equipment and transmits the speed parameters to the data fusion module based on the data link between the speed acquisition module and the data fusion module;
the mileage counting module collects mileage parameters of the mobile equipment and transmits the mileage parameters to the data fusion module based on the data link between the mileage counting module and the data fusion module;
the data fusion module receives the speed parameter transmitted by the speed acquisition module and the mileage parameter transmitted by the mileage statistics module, fuses the speed parameter and the mileage parameter to obtain mileage statistics data, and transmits the mileage statistics data to the mobile equipment through a preset interface, wherein the preset interface is used for interaction between the mileage statistics device and the mobile equipment.
2. The mileage statistics apparatus of claim 1, wherein the speed acquisition module comprises: an acceleration acquisition unit and an angular velocity acquisition unit;
the acceleration acquisition unit acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as the speed parameter to the data fusion module;
the angular velocity acquisition unit acquires the angular velocity of the movable equipment at each moment in real time, and transmits the acquired angular velocity serving as the velocity parameter to the data fusion module.
3. The mileage statistics apparatus according to claim 1, wherein the data fusion module is further configured to, before the data fusion module fuses the speed parameter and the mileage parameter to obtain the mileage statistics data:
analyzing the speed parameter and the mileage parameter to determine an abnormal parameter;
and filtering the abnormal parameters in the speed parameters and the mileage parameters, and performing fusion processing based on the filtered speed parameters and mileage parameters.
4. The mileage statistics apparatus according to claim 3, wherein the determining of the abnormal parameter includes:
reading the speed parameters, determining the acceleration and the angular speed at each moment, calculating the acceleration difference and the angular speed difference of every two adjacent moments, and taking the acceleration difference or the angular speed difference of the two adjacent moments with the angular speed difference larger than a difference threshold value as the abnormal parameters; and/or the presence of a gas in the gas,
determining pose data of the movable equipment on a preset virtual map at each moment, respectively comparing the pose data at each moment with the acceleration and the angular velocity at each moment, determining a first target moment at which the acceleration or the angular velocity is not matched with the pose data, and taking the acceleration and the angular velocity at the first target moment as the abnormal parameters; and/or the presence of a gas in the gas,
reading the mileage parameters, determining at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determining a second target moment with inconsistent values of the at least two device mileage, and taking the at least two device mileage corresponding to the second target moment as the abnormal parameters; and/or the presence of a gas in the gas,
determining actual mileage data of the mobile equipment on the preset virtual map at each moment, comparing the actual mileage data at each moment with the at least two device miles at each moment, determining a third target moment at which the at least two device miles are not matched with the actual mileage data, and taking the at least two device miles at the third target moment as the abnormal parameters.
5. The mileage statistics apparatus according to claim 1, wherein the data fusion module fuses the speed parameter and the mileage parameter to obtain mileage statistics data, and comprises:
analyzing the speed parameters, and determining the acceleration and the angular speed at each moment;
performing integration processing on the acceleration and the angular velocity at each moment to obtain an integration result;
and based on an Extended Kalman Filter (EKF) algorithm, fusing the integration result and the mileage parameter to obtain the mileage statistical data.
6. A data statistics method based on a mileage statistics apparatus, the method comprising:
the speed acquisition module acquires speed parameters of the movable equipment and transmits the speed parameters to the data fusion module;
the mileage counting module collects mileage parameters of the movable equipment and transmits the mileage parameters to the data fusion module;
the data fusion module fuses the received speed parameters and the mileage parameters to obtain mileage statistical data;
and the data fusion module transmits the mileage statistic data to the movable equipment through a preset interface, and the preset interface is used for interacting the mileage statistic device with the movable equipment.
7. The method of claim 6, wherein the speed acquisition module acquires a speed parameter of the mobile device, and transmitting the speed parameter to the data fusion module comprises:
the acceleration acquisition unit acquires the acceleration of the movable equipment at each moment in real time, and transmits the acquired acceleration as the speed parameter to the data fusion module;
the angular velocity acquisition unit acquires the angular velocity of the movable equipment at each moment in real time, and transmits the acquired angular velocity serving as the velocity parameter to the data fusion module.
8. The method of claim 6, wherein before the data fusion module fuses the received speed parameter and the mileage parameter to obtain mileage statistics, the method further comprises:
the data fusion module analyzes the speed parameter and the mileage parameter and determines an abnormal parameter;
the data fusion module filters the abnormal parameters in the speed parameters and the mileage parameters, and performs fusion processing based on the filtered speed parameters and mileage parameters.
9. The method of claim 8, wherein determining an anomaly parameter comprises:
reading the speed parameters, determining the acceleration and the angular speed at each moment, calculating the acceleration difference and the angular speed difference of every two adjacent moments, and taking the acceleration difference or the angular speed difference of the two adjacent moments with the angular speed difference larger than a difference threshold value as the abnormal parameters; and/or the presence of a gas in the gas,
determining pose data of the movable equipment on a preset virtual map at each moment, respectively comparing the pose data at each moment with the acceleration and the angular velocity at each moment, determining a first target moment at which the acceleration or the angular velocity is not matched with the pose data, and taking the acceleration and the angular velocity at the first target moment as the abnormal parameters; and/or the presence of a gas in the gas,
reading the mileage parameters, determining at least two device mileage corresponding to at least two driving devices of the movable equipment at each moment, determining a second target moment with inconsistent values of the at least two device mileage, and taking the at least two device mileage corresponding to the second target moment as the abnormal parameters; and/or the presence of a gas in the gas,
determining actual mileage data of the mobile equipment on the preset virtual map at each moment, comparing the actual mileage data at each moment with the at least two device miles at each moment, determining a third target moment at which the at least two device miles are not matched with the actual mileage data, and taking the at least two device miles at the third target moment as the abnormal parameters.
10. An interface for a mileage statistics apparatus, comprising:
the first data transmission interface is used for butting a speed acquisition module and a data fusion module, constructing a data link between the speed acquisition module and the data fusion module, and transmitting the speed parameters of the movable equipment acquired by the speed acquisition module to the data fusion module;
the second data transmission interface is used for butting a mileage statistic module and the data fusion module, constructing a data link between the mileage statistic module and the data fusion module, and transmitting the mileage parameters of the mobile equipment, which are acquired by the mileage statistic module, to the data fusion module;
and the preset interface is used for interacting the mileage counting device and the movable equipment so that the data fusion module can transmit the mileage counting data obtained by fusing the speed parameter and the mileage parameter to the movable equipment.
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