CN104089649B - A kind of indoor environment data collecting system and acquisition method - Google Patents
A kind of indoor environment data collecting system and acquisition method Download PDFInfo
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- CN104089649B CN104089649B CN201410319730.8A CN201410319730A CN104089649B CN 104089649 B CN104089649 B CN 104089649B CN 201410319730 A CN201410319730 A CN 201410319730A CN 104089649 B CN104089649 B CN 104089649B
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Abstract
The present invention relates to a kind of indoor environment data collecting system, including being built-in with the host computer of Data Management Unit, having the robot of running gear, robot built-in has central controller, communication module, data processing module, travelling control module, environment information acquisition module.This indoor environment data collecting system can automatically control the walking of machine people and the collection to indoor environment data, greatly reduces workload, decreases human cost.The invention still further relates to a kind of acquisition method utilizing this indoor environment data collecting system, the method utilizes the patrol track formulated to carry out travelling control, can the walking path of planning control robot accurately, thus gather the environmental information data obtaining indoor appointment position accurately, the degree of accuracy of information and with a high credibility, greatly facilitates user and utilizes this information data quickly to process relevant issues.
Description
Technical field
The present invention relates to a kind of indoor environment data collecting system, the invention still further relates to a kind of indoor environment data collecting system
Acquisition method.
Background technology
Commonly using and developing and people's requirement to life convenience along with electronic chart, carries the use function of map
Having gone out higher requirement, the map only with geographical location marker function can not meet the use requirement of people.But more
New map function needs to gather substantial amounts of data, and by manually gathering data, workload is big, inefficiency.In addition existing
Have to utilize map to be acquired the GPS navigation ratio of precision of device poor, the data that corresponding harvester collects exist
Directive function on map is had a greatly reduced quality, and user occurs error the most unavoidably, thus affects use.
Summary of the invention
To be solved by this invention first technical problem is that for above-mentioned prior art provide one can automatically gather room
The indoor environment data collecting system of interior environment data message.
To be solved by this invention second technical problem is that for above-mentioned prior art provide one utilize indoor environment number
The acquisition method of the indoor environment data message of position is specified according to acquisition system precise acquisition.
The present invention solves the technical scheme that above-mentioned first technical problem used: a kind of indoor environment data acquisition system
System, it is characterised in that: include
Host computer, a built-in Data Management Unit, for data transmission, data process, data management and Data Integration；
Robot, communicates to connect with host computer, is active in indoor collection site for gathering data；
Described robot has a running gear and is built-in with:
Central controller, for sending and processing controls order；
Communication module, is connected to central controller, for realizing and the communication connection of host computer；
Data processing module, is connected to central controller, for processing the data that host computer transmits；
Travelling control module, is connected to central controller and running gear, for controlling the walking of running gear；
Environment information acquisition module, is connected to central controller, is used for gathering indoor environment data.
In order to control the accurate walking path of robot, described travelling control module includes:
Drive module, be connected to central controller, be used for driving running gear；
Travel direction control module, is connected to central controller, controls the direction of travel of robot；
Distance-measurement module, is connected to central controller, calculates and control the operating range of robot；
Compass module, is connected to central controller, gathers, calculates and judge to control the direction of travel of robot；
Video camera, is connected to central controller, gathers robot surrounding enviroment image；
Tracking module, is connected to central controller, coordinates the direction of travel adjusting robot with video camera.
Occurring that robot in use goes wrong for convenience, described robot is also built-in with and is connected to the control of described central authorities
The alarm module of device.
Preferably, described central controller is single-chip microcomputer.
Easily, the artificial dolly of described machine, described running gear is the driving wheel of dolly.
According to different demands, described environment information acquisition module include WiFi signal information acquisition device, temperature sensor,
Humidity sensor, air mass sensor.
The present invention solves the technical scheme that above-mentioned second technical problem used: utilize indoor environment data collecting system
Acquisition method, it is characterised in that: comprise the steps:
Step one, by Data Management Unit, need the architectural plan carrying out indoor environment data acquisition at host computer
On open, after architectural plan is opened, set architectural plan direct north；
Architectural plan is formulated patrol track to should be used as the robot run trace at Indoor environment；
On patrol track, labelling multiple track node is to form multiple line segment tracks, corresponding to the line segment on architectural plan
Track, forms the multiple walking sections 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 Indoor environment correspondence datum node the corresponding reference point of labelling；
Step 2, host computer have the architectural plan of patrol track labeled track node data to lead to by formulating in step one
Crossing communication module to be sent in the data processing module of robot, this architectural plane is analyzed processing by data processing module
And form the control instruction that central controller is capable of identify that and be sent in central controller；
Step 3, described robot built-in have the alarm module being connected to described central controller；
Robot is placed on the starting point of run trace and ensures that robot initiates travel direction with initial segment track
Angle is identical, and this starting point correspond to go on patrol on architectural plan the start node on track, according to the control of central controller
System instruction, robot starts according to the speed of the node data on patrol track and setting under the control of walking control module
Walking；
In the walking process of robot, at interval of the set time, the magnetic field induction function calculating of compass module is utilized to judge
Angle error between robot direction of advance and this line segment course bearing, if angle error is beyond going on patrol the permission of track by mistake
Difference, then go to step four, if angle error is without departing from the allowable error of patrol track, goes to step five；
Step 4, robot halt, and detect datum node data, utilize datum node data and coordinate utilization shooting
The reference point of labelling in run trace found by machine；
If searching out reference point, then tracking module is utilized to control to adjust the direction of travel of robot, simultaneously in travel direction
The lower robot ambulation that controls of cooperation control of control module, to reference point, then goes to step six；
If found within the time specified less than reference point, then central controller controls alarm module is reported to the police, and handle
Warning message is sent in host computer by communication module, host computer according to warning message, prompting monitoring personnel robot
Position, thus process；
Step 5, utilize the travel distance of distance-measurement module calculating robot, compare travel distance and line segment track away from
From, when the travel distance of robot is equal to the distance of line segment track, i.e. robot ambulation is tied to track on architectural plan
The position of point；
Step 6, robot stop mobile under the control of walking control module, and utilize environment information acquisition module to room
Interior environmental data is acquired；
The indoor environment data of track node data and correspondence are sent to host computer by communication module by step 7, robot
Data Management Unit in, Data Management Unit is by the Data Integration that receives to architectural plan, at architectural plan
In paper, the position of corresponding node forms the indoor environment information that can check；
The final node of step 8, the robot the most corresponding patrol in detection present position track, if not returning step 3,
If it is, periods of robot operation stop, walking terminates.
Easily, in described step one, the formulation process of patrol track is as follows:
Planning patrol track, and set gradually multiple node and be respectively labeled as on the patrol track of planning
p1,p2,p3,...pi,...,pn-1,pn, patrol track is divided into multiple line segment track by these nodes, then these line segment tracks are constituted
The vectorial array of one group of robot ambulation track, is [P1,P2,P3,...,Pi,...,Pn-1,Pn]；
Data Management Unit calculate respectively each line segment track distance and with the angle clockwise of direct north, corresponding to line
Section track vector P1,P2,P3,...,Pi,...,Pn-1,Pn, the actual range of the run trace that its line segment track is corresponding is respectively
d1,d2,d3,...,di,...,dn-1,dn, its line segment track is respectively with the angle clockwise of direct north
α1,α2,α3,...,αi,...,αn-1,αn；
Then Pi=[pi-1,pi,di,αi, f], wherein i=[1,2,3 ..., n-1, n], f=[0,1], f be datum node mark, as
Really pi-1Or piFor datum node, then f=1, if pi-1Or piIt is not datum node, then f=0.
Compared with prior art, it is an advantage of the current invention that: this indoor environment data collecting system can automatically control machine
The walking of people and the collection to indoor environment data, greatly reduce workload, decrease human cost.
Meanwhile, the acquisition method utilizing this indoor environment data collecting system can the walking of planning control robot accurately
Path, thus gather the environmental information data obtaining indoor appointment position accurately, the degree of accuracy of information and with a high credibility,
Greatly facilitating user utilizes this information data quickly to process relevant issues.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of indoor environment data collecting system in the embodiment of the present invention.
Fig. 2 is the flow chart of the acquisition method utilizing indoor environment data collecting system in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
As it is shown in figure 1, a kind of indoor environment data collecting system in the present embodiment, including:
Host computer 1, a built-in Data Management Unit 11, whole for data transmission, data process, data management and data
Close；
Robot 2, communicates to connect with host computer 1, is active in indoor collection site for gathering 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 uses Arm mono-
Sheet movement sheet；
Communication module 23, is connected to central controller 22, for realizing and the communication connection of host computer 1, the present embodiment
Middle communication module uses WiFi module；
Data processing module 24, is connected to central controller 22, for processing the data that host computer 1 transmits；
Travelling control module 25, is connected to central controller 22 and running gear 21, for controlling running gear 21
Walking；
Environment information acquisition module 26, is connected to central controller 22, is used for gathering indoor environment data, the present embodiment
Middle environmental information acquisition module 26 includes WiFi signal information acquisition device, temperature sensor, humidity sensor, air matter
Quantity sensor, the information such as intensity and the address that can gather WiFi respectively, temperature data information, humidity data information,
Various component contents and strength information etc. in air.According to different application demands, this environment information acquisition module 26 is also
Other information acquisition modules can be increased.
The accurate control of robot 2 walking path for convenience, described travelling control module 25 includes:
Drive module 251, be connected to central controller 22, be used for driving running gear 21；
Travel direction control module 252, is connected to central controller 22, controls the direction of travel of robot 2；
Distance-measurement module 253, is connected to central controller 22, calculates and control the operating range of robot 2；
Compass module 254, is connected to central controller 22, gathers, calculates and judge to control the direction of travel of robot 2；
Video camera 255, is connected to central controller 22, gathers robot 2 surrounding enviroment image, images in the present embodiment
Machine 255 uses CMOS camera；
Tracking module 256, is connected to central controller 22, coordinates the direction of travel adjusting robot 2 with video camera 255,
In the present embodiment, tracking module 256 uses infrared sensing module；
Alarm module 27, is connected to central controller 22, reports to the police for robot 2.
In the present embodiment, robot 2 is a dolly, and described running gear 21 is the driving wheel of dolly.
As in figure 2 it is shown, utilize the acquisition method of above-mentioned indoor environment data collecting system, comprise the steps:
Step one, by Data Management Unit 11, need the architectural plan carrying out indoor environment data acquisition upper
Open on the machine 1 of position, after architectural plan is opened, set the direct north of architectural plan；
Architectural plan is formulated patrol track to should be used as the robot 2 run trace at Indoor environment；
And set gradually multiple node on the patrol track formulated on patrol track to be respectively labeled as
p1,p2,p3,...pi,...,pn-1,pn, patrol track is divided into multiple line segment track by these nodes, then these line segment tracks are constituted
The vectorial array of one group of robot 2 run trace, is [P1,P2,P3,...,Pi,...,Pn-1,Pn]；
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 Indoor environment correspondence datum node the corresponding reference point of labelling, can be in Indoor environment reference
The labelling of cross hairs as black in white background is coated in the position of point；
Data Management Unit 11 calculate respectively each line segment track distance and with the angle clockwise of direct north, corresponding
In line segment track vector P1,P2,P3,...,Pi,...,Pn-1,Pn, the actual range of the run trace that its line segment track is corresponding is respectively
d1,d2,d3,...,di,...,dn-1,dn, its line segment track is respectively with the angle clockwise of direct north
α1,α2,α3,...,αi,...,αn-1,αn；
Then Pi=[pi-1,pi,di,αi, f], wherein i=[1,2,3 ..., n-1, n], f=[0,1], f be datum node mark, as
Really pi-1Or piFor datum node, then f=1, if pi-1Or piIt is not datum node, then f=0；
Arrange according to different patrol tracks, the vector data P of robot 2 run traceiIn, pi-1,piTwo nodes can
With according to arranging rule arbitrarily selection；
Step 2, host computer 1 will formulate the vectorial array having patrol track and comprising robot 2 run trace in step one
The architectural plan of data, is sent in the data processing module 24 of robot 2 by communication module 23, and data process
This architectural plane is analyzed processing and formed during the control instruction that central controller 22 is capable of identify that is sent to by module 24
In the controller 22 of centre；
Step 3, robot 2 is placed on the starting point of run trace and ensures that robot 2 initiates travel direction with initial
The angle of line segment track is identical, and this starting point correspond to go on patrol on architectural plan the start node on track, i.e. robot
Run trace vector corresponding to 2 starting points is P1=[p0,p1,d1,α1, f], wherein p0Represent start node, p1Represent certainly
First node that node is started in fact, d1Represent p0Node and p1The run trace that between node, the first line segment track is corresponding
Actual range, α1Represent the direction of the first line segment track and the angle clockwise of direct north, generally initial knot
The datum node ident value that point is corresponding is 1, i.e. initial node is datum node；
According to the control instruction of central controller 22, robot 2 under the control of walking control module 25 according to walking rail
The speed of mark vector data and setting starts walking；
In the walking process of robot 2, at interval of the set time, the magnetic field induction function of compass module 254 is utilized to examine
Survey current robot 2 and entirely enter the angle clockwise in direction and direct north, and calculate judge robot 2 direction of advance and this
Run trace vector direction α that line segment track is correspondingiBetween angle error, if angle error beyond patrol track permission
Error, then go to step four, if angle error is without departing from the allowable error of patrol track, goes to step five；
Step 4, robot 2 halt, detection datum node mark data f, if datum node mark f=1,
Then according to the node data message in driving trace vector data, video camera 255 is utilized to find corresponding datum node corresponding
Reference point marker；If datum node mark f=0, then utilize the ginseng of video camera 255 searching machine people 2 position periphery
Examination point labelling；
If searching out reference point marker, then tracking module 256 is utilized to control to adjust the direction of travel of robot 2, simultaneously
Under the cooperation travelling direction controlling module 252 controls, control robot 2 run to reference point, then go to step six；
If found within the time specified less than reference point marker, then central controller 22 controls alarm module 27 and carries out
Reporting to the police, and warning message is sent in host computer 1 by communication module 23, host computer 1, according to warning message, carries
Show the position of monitoring personnel robot 2, thus process；
Step 5, utilize the travel distance of distance-measurement module 253 calculating robot 2, compare travel distance and line segment rail
The distance of mark, when the travel distance of robot 2 is equal to the distance of line segment track, i.e. robot 2 runs to architectural plane
The position of track node on figure；
Step 6, robot 2 stop mobile under the control of walking control module 25, and utilize environment information acquisition mould
Indoor environment data are acquired by block 26；
The indoor environment data of track node data and correspondence are sent to by step 7, robot 2 by communication module 23
In the Data Management Unit 11 of host computer 1, Data Management Unit 11 by the Data Integration that receives to architectural plan,
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 most corresponding patrol in present position track, if not returning step
Three, if it is, robot 2 quits work, walking terminates.
The architectural plan incorporating indoor environment data may be used in map, and then utilizes with indoor environment data letter
The map of breath carries out positioning the work such as security protection, it is also possible to carry out other work according to demand.
This indoor environment data collecting system and acquisition method can also be extended in other applied environments.
Claims (6)
1. the acquisition method of an indoor environment data collecting system, it is characterised in that: indoor environment data collecting system
Including
Host computer (1), a built-in Data Management Unit (11), for data transmission, data process, data management and data
Integrate；
Robot (2), communicates to connect with host computer (1), is active in indoor collection site for gathering 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 to central controller (22), for realizing and the communication connection of host computer (1)；
Data processing module (24), is connected to central controller (22), is used for processing the data that host computer (1) transmits；
Travelling control module (25), is connected to central controller (22) and running gear (21), is used for controlling running gear (21)
Walking；
Environment information acquisition module (26), is connected to central controller (22), is used for gathering indoor environment data；
Described travelling control module (25) including:
Drive module (251), be connected to central controller (22), be used for driving running gear (21)；
Travel direction control module (252), is connected to central controller (22), controls the direction of travel of robot (2)；
Distance-measurement module (253), is connected to central controller (22), calculates and control the operating range of robot (2)；
Compass module (254), is connected to central controller (22), gathers, calculates and judge to control the walking side of robot (2)
To；
Video camera (255), is connected to central controller (22), gathers robot (2) surrounding enviroment image；
Tracking module (256), is connected to central controller (22), coordinates the walking side adjusting robot (2) with video camera (255)
To；
The acquisition method of described indoor environment data collecting system, comprises the steps:
Step one, by Data Management Unit (11), need the architectural plan carrying out indoor environment data acquisition upper
Open on position machine (1), after architectural plan is opened, set the direct north of architectural plan；
Architectural plan is formulated patrol track to should be used as the robot (2) run trace at Indoor environment；
On patrol track, labelling multiple track node is to form multiple line segment tracks, corresponding to the line segment on architectural plan
Track, forms the multiple walking sections 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 Indoor environment correspondence datum node the corresponding reference point of labelling；
Step 2, host computer (1) have patrol track the architectural plan of labeled track node data by formulating in step one
Being sent in the data processing module (24) of robot (2) by communication module (23), this building is put down by data processing module (24)
Face is analyzed processing and formed the control instruction that central controller (22) is capable of identify that and is sent in central controller (22)；
Step 3, described robot (2) are built-in with the alarm module (27) being connected to described central controller (22)；
Robot (2) is placed on the starting point of run trace and ensures that the initial travel direction of robot (2) is with initial segment rail
The angle of mark is identical, and this starting point correspond to go on patrol on architectural plan the start node on track, according to central controller
(22) control instruction, robot (2) walking control module (25) control under according to patrol track on node data and
The speed set starts walking；
In the walking process of robot (2), at interval of the set time, utilize the magnetic field induction function of compass module (254)
Calculate the angle error judging between robot (2) direction of advance and this line segment course bearing, if angle error is beyond patrol rail
The allowable error of mark, then go to step four, if angle error is without departing from the allowable error of patrol track, goes to step five；
Step 4, robot (2) halt, and detect datum node data, utilize datum node data and coordinate utilization to take the photograph
Camera (255) finds the reference point of labelling in run trace；
If searching out reference point, then utilize tracking module (256) to control to adjust the direction of travel of robot (2), exist simultaneously
The cooperation of travel direction control module (252) controls robot (2) under controlling and runs to reference point, then goes to step six；
If found within the time specified less than reference point, then central controller (22) control alarm module (27) is reported
Alert, and warning message is sent in host computer (1) by communication module (23), host computer (1) is according to warning message, prompting
The position of monitoring personnel robot (2), thus process；
Step 5, utilize the travel distance of distance-measurement module (253) calculating robot (2), compare travel distance and line segment
The distance of track, when the travel distance of robot (2) is equal to the distance of line segment track, i.e. robot (2) runs to building
The position of track node on plane graph；
Step 6, robot (2) stop mobile under the control of walking control module (25), and utilize environment information acquisition mould
Indoor environment data are acquired by block (26)；
Track node data and corresponding indoor environment data are sent to by step 7, robot (2) by communication module (23)
In the Data Management Unit (11) of host computer (1), Data Management Unit (11) by the Data Integration that receives to architectural plan
In, in architectural plane drawing, the position of corresponding node forms the indoor environment information that can check；
The final node of step 8, robot (2) the most corresponding patrol in detection present position track, if not returning step
Three, if it is, robot (2) quits work, walking terminates.
The acquisition method of indoor environment data collecting system the most according to claim 1, it is characterised in that: described
In step one, the formulation process of patrol track is as follows:
Planning patrol track, and set gradually multiple node and be respectively labeled as on the patrol track of planning
p1,p2,p3,...pi,...,pn-1,pn, patrol track is divided into multiple line segment track by these nodes, then these line segment tracks are constituted
The vectorial array of one group of robot (2) run trace, is [P1,P2,P3,...,Pi,...,Pn-1,Pn]；
Data Management Unit (11) calculate respectively each line segment track distance and with the angle clockwise of direct north, corresponding
In line segment track vector P1,P2,P3,...,Pi,...,Pn-1,Pn, the actual range of the run trace that its line segment track is corresponding is respectively
d1,d2,d3,...,di,...,dn-1,dn, its line segment track is respectively with the angle clockwise of direct north
α1,α2,α3,...,αi,...,αn-1,αn；
Then Pi=[pi-1,pi,di,αi, f], wherein i=[1,2,3 ..., n-1, n], f=[0,1], f be datum node mark, as
Really pi-1Or piFor datum node, then f=1, if pi-1Or piIt is not datum node, then f=0.
The acquisition method of indoor environment data collecting system the most according to claim 1, it is characterised in that: described
Robot (2) is also built-in with the alarm module (27) being connected to described central controller (22).
4. according to the acquisition method of the indoor environment data collecting system described in claims 1 to 3 any claim, its
It is characterised by: described central controller (22) is single-chip microcomputer.
5. according to the acquisition method of the indoor environment data collecting system described in claims 1 to 3 any claim, its
Being characterised by: described robot (2) is a dolly, described running gear (21) is the driving wheel of dolly.
6. according to the acquisition method of the indoor environment data collecting system described in claims 1 to 3 any claim, its
It is characterised by: described environment information acquisition module (26) includes that WiFi signal information acquisition device, temperature sensor, humidity pass
Sensor, air mass sensor.
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2014
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