CN108549370A - Collecting method and harvester - Google Patents
Collecting method and harvester Download PDFInfo
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- CN108549370A CN108549370A CN201810246801.4A CN201810246801A CN108549370A CN 108549370 A CN108549370 A CN 108549370A CN 201810246801 A CN201810246801 A CN 201810246801A CN 108549370 A CN108549370 A CN 108549370A
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- harvester
- data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a kind of collecting methods, implement according to the following steps：Step 1：The map of environment residing for the data to be collected got is subjected to vectoring operations；Step 2：According to the map after vector quantization, determine that harvester acquires the acquisition path of data to be collected；Step 3：Harvester travels on acquisition path, and data acquisition is carried out when harvester is travelled to each collection point determining on acquisition path.The invention also discloses data acquisition devices used by above-mentioned collecting method.Collecting method and device provided by the invention so that operating error is small when obtained data to be collected, and improves the precision of data to be collected.
Description
Technical field
The invention belongs to computer systems technology fields, and in particular to a kind of collecting method further relates to the data and adopts
The harvester of set method.
Background technology
Along with the development of automatic control technology and computer technology, people are for equipment automatization and intelligentized requirement
It is higher and higher.For many experiments for needing measurement mass data, there is experimental sites mostly, and larger, needs repeatedly weigh
Multiple measurement data, and it also requires obtaining the data of more elaborate position, and manually carries out data acquisition, can not only expend people
The problems such as power, there is also operating error and relatively low accurate data degree.
Invention content
The object of the present invention is to provide a kind of collecting methods, are grasped when solving data acquisition existing in the prior art
Make the problem that error is big, accurate data degree is low.
The present invention also provides data acquisition devices used by above-mentioned collecting method.
The first technical solution of the present invention is：Collecting method is implemented according to the following steps：
Step 1：The map of environment residing for the data to be collected got is subjected to vectoring operations；
Step 2：According to the map after vector quantization, determine that harvester acquires the acquisition path of data to be collected；
Step 3：Harvester travels on acquisition path, is adopted when harvester is travelled to each of determining on acquisition path
Data acquisition is carried out when collection point.
The characteristics of the first technical solution of the present invention, also resides in：
In step 3 harvester acquisition path on when driving, harvester need carry out avoidance operation.
Step 3 is specially：
Step 3.1：Harvester when driving, waits for harvester by the way of ultrasonic ranging on acquisition path
Gathered data environment and barrier are detected；
Step 3.2：When detecting that harvester is less than predetermined warning value at a distance from barrier, according to harvester two
The surface conditions of side are adjusted the travel direction of harvester, while recording the travel direction of harvester adjustment, are used for
It is back to after clearing the jumps on the acquisition path of setting.
Step 1 is specially：
Step 1.1：The map of the environment of the data to be collected got is scanned, grille picture is obtained；
Step 1.2：The grille picture that step 1.1 obtains is registrated；
Step 1.3：Vector quantization is carried out to the grille picture after being registrated.
Step 2 is specially：
Step 2.1：According to the map initialization objective matrix map after vector quantization, and initialize pickup area；
Step 2.2：The position of collection point is chosen according to pickup area where data to be collected on objective matrix map；
Step 2.3：The acquisition path of data to be collected is determined according to collection point and objective matrix map, wherein determination waits for
The acquisition path of gathered data includes that determining harvester completes the time needed for acquisition and the travel speed of harvester；
Step 2.4：According to determining collection point and acquisition path, control harvester precisely stops after reaching collection point
At collection point on acquisition path, after harvester has acquired data to be collected, accurately controls harvester and continue on
At to next collection point.
Step 2.3 is specially：
Step 2.3.1：Set objective matrix map outer edge entrance and exit collection point as the starting point of harvester
And terminal；
Step 2.3.2：The shortest path obtained between each destination node is weights, and shortest path is found out with dynamic algorithm
Diameter, acquisition path of the shortest path as harvester.
Second of technical solution of the present invention be：Data acquisition device, including toter, toter top
It is provided with holder, collecting device is installed on holder, collecting device is connect with toter, terminal device respectively.
Second of technical solution feature of the present invention also resides in：
Toter uses the intelligent carriage based on Arduino.
Toter includes Arduino master control borads, and Arduino master control borads are passed with XBEE modules, DC power supply, ranging respectively
Sensor, motor drive module, steering engine, LED light connection, motor drive module are connect with direct current generator, and direct current generator is used for
Intelligent carriage wheel, XBEE modules is driven to be connect with collecting device.
Holder uses lifting support, for collecting device to be promoted to the height for acquiring data to be collected.
The beneficial effects of the invention are as follows：Collecting method and device provided by the invention, by handling map,
As the simple polar plot of connecting way and obstacle.After selecting collection point, cooking up best acquisition route, (distance is close, side
Just reach, data acquisition is complete), trolley carries out positioning determining position, starts to advance by fixed route, passes through combining cartographic information
With distance measuring sensor, reduce speed now when collection point will be reached, precisely reach collection point carry out data to be collected to get to
Operating error is small when data to be collected, and improves the precision of data to be collected.
Description of the drawings
Fig. 1 is the structural schematic diagram of data acquisition device of the present invention；
Fig. 2 is the structural schematic diagram of toter in data acquisition device of the present invention；
Fig. 3 is intelligent carriage motion model figure in the present invention；
Fig. 4 is the working timing figure of the distance measuring sensor of intelligent carriage in the present invention；
Fig. 5 is the path planning process figure of intelligent carriage in the present invention；
Fig. 6 is the path planning figure of intelligent carriage in the present invention；
Fig. 7 is the travel direction adjustment flow chart of intelligent carriage in the present invention.
In figure, 1. toters, 1-1.Arduino master control borads, 1-2.XBEE modules, 1-3. DC power supplies, 1-4. rangings
Sensor, 1-5. motor drive modules, 1-6. steering engines, 1-7. direct current generators, 1-8.LED indicator lights, 2. holders, 3. acquisitions are set
It is standby, 4. terminal devices.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The collecting method of the present invention is when being primarily adapted for use in indoor complex environment, need to be repeated several times measurement data to
Obtain more accurately data.
The collecting method of the present invention carries out the acquisition of data to be collected using data acquisition device.
The data acquisition device of the present invention, structure is as shown in Figure 1, include toter 1,1 top of toter is provided with
Holder 2 is equipped with collecting device 3 on holder 2, and collecting device 3 is connect with toter 2, terminal device 4 respectively, collecting device 3
It is attached with 2 generally use radio connection of toter, is not drawn into the company of collecting device 3 and toter 2 in Fig. 1
Wiring.
Wherein, the intelligent carriage based on Arduino may be used in toter 1.As shown in Fig. 2, toter 1 includes
Arduino master control borads 1-1, Arduino master control borad 1-1 respectively with XBEE modules 1-2, DC power supply 1-3, distance measuring sensor 1-4,
Motor drive module 1-5, steering engine 1-6, LED light 1-8 connections, motor drive module 1-5 are connect with direct current generator 1-7, directly
Galvanic electricity machine 1-7 is for driving intelligent carriage wheel, XBEE modules 1-2 to be connect with collecting device 3.
XBEE modules 1-2 is connect with the radio network gateway module of Arduino master control borads 1-1, and collecting device 3 is by passing through XBEE
Module 1-2 receives the acquisition that the acquisition instructions that Arduino master control borads 1-1 is sent out carry out data to be collected, Arduino master control borads
1-1 receives the control instruction of the collecting device 3 by the 1-2 transmission of XBEE modules, and each according to instructing requirement to complete intelligent carriage
The driving of function module.Distance measuring sensor 1-4 constantly acquires the distance between intelligent carriage and barrier value, and with predetermined police
Ring value is compared, and when the distance between intelligent carriage and barrier value are less than warning value, intelligent carriage is according to acquisition path
The acquisition for carrying out data to be collected, when the distance between intelligent carriage and barrier value be more than warning value when, to intelligent carriage into
Row avoidance operates.
The radio network gateway module of Arduino master control borads 1-1 passes through XBEE modules 1-2 (i.e. XBEE bluetooths moulds with collecting device 3
Block) and the class of corresponding function is called to establish therebetween using socket communications, and by inputoutput data with data flow
Form is transmitted by bluetooth serial ports SPP.Radio network gateway based on Arduino platforms is mainly real by XBEE modules 1-2
It is existing, the pin jack for realizing Bluetooth function is reserved on Arduino control panels.XBEE modules 1-2 has double 20 needle interface, circuit
It when connection, can be directly connected to according to the installation direction of XBee modules 1-2 on circuit board, XBEE modules 1-2 and Arduino is controlled
Plate 1-1 whether successful connection, can judge from LED light 1-8 states.
Distance measuring sensor 1-4 may be used ultrasonic ranging mode and carry out ranging, wherein Fig. 4 show distance measuring sensor
The working timing figure of 1-4.Distance measuring sensor 1-4 mainly completes range measurement, then by that can be detected with steering engine 1-6 cooperations
Distance within the scope of 0-180 °.In view of trolley speed during traveling and avoidance react the limitation to small vehicle speed, trolley
It should make a response in the range of away from barrier 10m, it in this way could be while smooth cut-through object, also to restore in next step
It prepares to projected route.When detecting front there are when barrier, according to front to the distance detection of barrier and speed
Detecting system reduces the speed of trolley to control direct current generator 1-7, and turning for trolley is realized by the speed difference of left and right wheels
To according to the detection of the obstacle to front, to adjust the angle of turning, after clearing the jumps, passing through the road to just having passed by
Memory, to return in original path.And the steering of control trolley is also realized in the turning travelled according to the map with this.
Four-wheel intelligent carriage may be used in intelligent carriage, and for four-wheel intelligent carriage, four wheels can provide dynamic
Power can realize steering, the speed one of left side two-wheeled when intelligent carriage needs to turn to by the speed difference of left and right wheels
It causes, and the speed of right side two-wheeled is also consistent, this avoid the complexity operated in Servo Control.
The structure of intelligent carriage is full symmetric, so its center of mass point is located at the centre of intelligent carriage.To carrying out
The processing of intelligent carriage kinematics, i.e., in known smart car wheel actuating speed, determine the speed and angle of intelligent carriage itself
Speed.Due to intelligent carriage straight trip when wheel actuating speed be to maintain it is consistent, thus, it is only required to discuss intelligent carriage when turning
Ontology speed and angular speed.Intelligent carriage is turned to using differential fashion, particular by adjusting intelligent carriage or so two
The faster rotating wheel of side is turned to realize, following hypothesis has been carried out before modeling：
1. Land leveling：Assuming that Land leveling is preferable；
2. wheel and ground are PURE ROLLING, velocity magnitude of the wheel center relative to the speed and wheel edge on ground
Identical, direction is consistent.
3. radius of wheel is identical.
Based on above-mentioned it is assumed that four wheels are all driving wheels before and after intelligent carriage, the barycenter of intelligent carriage is located at intelligence
The center of trolley.
When intelligent carriage is turned, two wheels in left side regard one as, and two wheels on right side regard one as,
Intelligent carriage moved in one extremely short time, as shown in figure 3, intelligent carriage central point position from A is moved at C, finally
It can obtain the motion state equation of trolley：
w1And w2The respectively left and right wheel angular speed of intelligent carriage；R is intelligent carriage radius of wheel；B is intelligent carriage
Spacing between left and right wheels；The speed in the directions x that derivation obtains is carried out for the displacement versus time in the directions x,For the displacement in the directions y
The speed in the directions y that derivation obtains is carried out to the time；θ is v and X-axis angle.
When using motor, motor can realize two kinds of functions：One is positive and negative rotations, another is the adjusting of speed.This
Motor is to realize that motor rotates and reverse by H bridge control circuits in invention, is by pulsewidth modulation (PWM) for motor speed
Come what is adjusted.
Wherein, lifting support may be used in holder 2, for collecting device 3 to be promoted to the height for acquiring data to be collected.
Wherein, terminal device 4 can be mobile phone, or PC terminals can also be tablet computer, personal digital assistant
Deng the electronic equipment with touch screen.
In data acquisition device, collecting device 3 is mounted on liftable support, collecting device 3 is mounted on liftable
On holder, when reaching the collection point of data to be collected, collecting device 3 is promoted to acquisition data to be collected using lifting support
Required height, collecting device 3 acquires data to be collected, and collected data are sent to terminal device 4, collecting device
3 can also be stored in data to be collected the memory block of collecting device 3, every a period of time by the data copy to be collected of storage extremely
Terminal device 4.
The collecting method of the present invention carries out the acquisition of data using above-mentioned data acquisition device, according to the following steps
Implement：
Step 1：The map of environment residing for the data to be collected got is subjected to vectoring operations, specially：
Step 1.1：The map of the environment of the data to be collected got is scanned, grille picture is obtained.
For example, the planar design map of the indoor complex environment got is scanned, i.e., paper map is scanned into grid
Trrellis diagram piece, this grille picture are not no spatial referencing informations, just as the picture that ordinary digital camera takes, only commonly
Picture.When checking these pictures in ArcGIS Desktop, it is found that its coordinate origin is from the picture lower left corner
It calculates, there is no real space reference informations for coordinate value.Since scanning grid map does not have spatial referencing information, so in vector quantization
Before, it needs first to be registrated grid map, i.e. following step 1.2.
Step 1.2：The grille picture that step 1.1 obtains is registrated.
Specifically, registration grid map needs accurate spatial coordinated information, these information sometimes can be from paper map
It reads.The coordinate value of four angle points of paper map is fabricated to the form of table by horizontal, ordinate, table is added to
ArcMap, co-ordinate system information appropriate in addition, you can.The grid scanning figure being registered will be needed to load into ArcMap again,
At this time since grid map does not have correct spatial referencing information, so grid map and control point possibly can not be shown under same view
Show.The direction of addition control point connection connection is that never accurate point (i.e. the angle point of grid map upper warp and woof frame or square rid frame) is drawn
To accurate point (the vector controlled point generated), after all control points have all been added, display may be updated, be registrated.
Step 1.3：Vector quantization is carried out to the grille picture after being registrated.
Specifically, by after operating be registrated raster data above, vector quantization can be carried out to it with ArcGis technologies.
The map of environment residing for data to be collected is subjected to vectoring operations, i.e., by part extra in complicated map
It neglects, the connecting way in map can be extracted the simple map to be formed and only be used for intelligent carriage with barrier,
Make following intelligent carriages route selection and apart from detect it is more convenient.
Step 2：According to the map after vector quantization, determine that harvester acquires the acquisition path of data to be collected, such as Fig. 5 institutes
Show.
Step 2.1：According to the map initialization objective matrix map after vector quantization, and initialize pickup area.
Step 2.2：The position of collection point is chosen according to pickup area where data to be collected on objective matrix map.
Step 2.3：The acquisition path of data to be collected is determined according to collection point and objective matrix map, wherein determination waits for
The acquisition path of gathered data includes that determining harvester completes the time needed for acquisition and the travel speed of harvester, specifically
For：
Step 2.3.1：Set objective matrix map outer edge entrance and exit collection point as the starting point of harvester
And terminal；
Step 2.3.2：The shortest path obtained between each destination node is weights, and shortest path is found out with dynamic algorithm
Diameter records node sequence, and is made as to weighted graph G (V, E), acquisition path of the shortest path as harvester.
The first stage of shortest path (following to be expressed as decision) is found out with dynamic algorithm：If to weighted graph G's
Vertex set V is divided into k disjoint subset Vi, 1≤i≤k, k >=2, ViFor i-th of subset so that any one in E
Side (u, v), wherein E is the set on two vertex on all sides, and u is the starting point on any bar side, and v is the terminal on any bar side, must
There are u ∈ Vi, v ∈ Vi+1, then such figure is referred to as Multistage Graph.Determine that all vertex j of -1 section of kth in Multistage Graph reach home t's
The access of least cost.The reach home accesses of the least cost of t of all vertex j are saved, eventually forming it is optimal certainly
It is used when plan.It is reached home the least cost of t with array cost [j] storages vertex j, is reached with array path [j] storages vertex j
Front vertex number on the least cost access of terminal t.
The second stage of decision:Determine the access of least costs of all vertex j of -2 sections of kth in Multistage Graph to terminal t.
At this moment, the result of decision is stored in array cost [j] and path by the information formed using the first stage to carry out decision
It in the respective element of [j], carries out successively, to the last the access of determining starting point s to the least cost of terminal t.The path of starting point s
It is exactly optimizing decision sequence in array.Then according to sequence, recommended route is generated；And feed back to user complete acquisition needed for when
Between.If user is dissatisfied, can select to regenerate route.
Information (engineer's scale) calculates the distance advanced required for length, that is, intelligent carriage of route according to the map.To each small
The distance of section accurately calculates the distance of its traveling respectively, then controls motor drive module 1-5 control direct current generators 1-7 and drives intelligence
The speed of energy car wheel, and run time at such speeds.
Step 2.4：According to determining collection point and acquisition path, control harvester precisely stops after reaching collection point
At collection point on acquisition path, after harvester has acquired data to be collected, accurately controls harvester and continue on
At to next collection point.
According to the collection point of above-mentioned determination and speed, the run time of acquisition path and intelligent carriage, intelligence can be controlled
Trolley, when that will reach collection point, stops, when intelligent carriage needs adjustment direction in time precisely according to acquisition route
When, by controlling the speed of intelligent carriage left and right wheels, speed difference is generated, corresponding speed is controlled according to the angle of route turning
Difference realizes the turning of intelligent carriage.Each collection point can accurately be stopped on acquisition path by completing intelligent carriage, work as acquisition
After complete data, intelligent carriage can be accurately controlled and march to next collection point progress data acquisition, as shown in Figure 6.
Step 3：Harvester travels on acquisition path, is adopted when harvester is travelled to each of determining on acquisition path
Data acquisition is carried out when collection point.
On acquisition path when driving, harvester also needs to carry out avoidance operation harvester, specially：
Step 3.1：Harvester acquisition path on when driving, using the side of the ultrasonic ranging of distance measuring sensor 1-4
Formula is detected the data environment and barrier to be collected of harvester, i.e., the barrier shown on map such as front
Wall etc. is detected into row distance.
Step 3.2：When detecting that harvester is less than predetermined warning value at a distance from barrier, according to harvester two
The surface conditions of side are adjusted the travel direction of harvester, while recording the travel direction of harvester adjustment, are used for
It is back to after clearing the jumps on the acquisition path of setting.
Wherein, the travel direction of harvester is adjusted according to the surface conditions of harvester both sides, flow chart is such as
Shown in Fig. 7, specially：
Trolley is driven entirely for four-wheel, in order to keep control simple, keeps left side two-wheeled and two wheel speed of right side consistent.
The angle of turn Δ α for setting trolley calculates wheel pulse at left and right sides of trolley according to the angle of turn Δ α of trolley and adopts
Collect the preset difference value of numberWherein, N is coding disk black line number (N=20)；B is the left and right of intelligent carriage
Spacing between wheel；R is intelligent carriage radius of wheel.
Then judging that trolley is to turn left or turn right, when if it is turning right, keeping the right wheel of trolley static, revolver rotates forward,
And when if it is turning left, keep the revolver of trolley static, right wheel rotates forward；Subsequent trolley rotation, according to wheel arteries and veins at left and right sides of trolley
The difference DELTA c=count of punching acquisition numberl- countr, wherein countlFor left side wheels pulse collection number, countrFor right-hand wheel
Pulse collection number stops direct current generator as Δ count=Δ c, i.e. trolley stops operating, and otherwise continues trolley rotation.
Intelligent carriage can be potentially encountered various fortuitous events in the process of moving, for unexpected feelings that may be present
Condition carries out it is assumed that and proposing corresponding solution to fortuitous event that may be present：
1. intelligent carriage may have electric power deficiency in the process of running, the case where leading to not work normally.
In the intelligent carriage course of work, the voltage that control system can provide the power supply of intelligent carriage is detected, with
Achieve the purpose that stable intelligent carriage working condition.When power supply can not provide rated voltage, data acquisition device controls first
Direct current generator 1-7 reduces speed and maintains the groundwork state of intelligent carriage, while sending out to terminal device 4 to save electric energy
It reminds and feedback, the current working condition of display intelligent carriage prompts user to safeguard intelligent carriage.
2. intelligent carriage is in the process of running when on fixed course, because occasional case leads to intelligent carriage deviation route,
How intelligent carriage to be made to be restored in fixed course.
When intelligent carriage in the process of running, can use distance measuring sensor 1-4 in front of travel route barrier carry out
Ranging, angle includes 180 °, and is compared with the information obtained from map, to check and ensure intelligent carriage traveling just
On true programme path, after generation occasional case makes intelligent carriage deviation route, it can occur at a distance from barrier huge
Change, intelligent carriage has deviated from route to learn, at this point, so that intelligent carriage is extensive by intelligent carriage route restoration methods
It answers into fixed course, the travel direction of intelligent carriage is adjusted according to the distance between intelligent carriage front and barrier
It is whole, so that it is restored at a distance from consistent with cartographic information and fixed course.The distance and normally travel of all directions detected
When distance it is consistent, that is, think that intelligent carriage has been restored among fixed course.
3. the intelligent carriage working time is long more than the predetermined time, intelligent carriage may be caused complete at the appointed time
At acquisition.
Intelligent carriage during the work time, can generate record report, to facilitate user to each single item workflow of itself
It is inquired.When the working time of intelligent carriage is long more than user's scheduled time, intelligent carriage can send a working day
Will is to terminal device 4, so that user timely checks intelligent carriage working condition and searches reason.
Above-mentioned collecting device 3 acquire RSSI signals, below with collecting device 3 use Temperature Humidity Sensor acquire humiture for
Example illustrates：
DHT11 digital hygro sensors may be used, the digital module acquisition technique and humiture of application specific pass
Sense technology, it is ensured that product has high reliability and remarkable long-time stability.DHT11 digital hygro sensors use 3-
The supply voltage of 5.5V.Tri- pins of VDD, GND, DATA of DHT11 digital hygro sensors be respectively connected to power supply, ground connection,
Data line.Using single bus data format, a communication time 4ms or so, data format position：8bit humidity integer data+
8bit humidity fraction data+8bit temperature integer data+8bit temperature fraction datas+8bit verifications and data.When transmitting correct
Verification and data are equal to " 8bit humidity integer data+8bit humidity fraction data+8bit temperature integer data+8bit temperature is small
8, the end of number data " acquired results.After receiving commencing signal, DHT11 is transformed into high-speed mode from low-power consumption mode, waits for master
After machine commencing signal, DHT11 sends response signal, sends out the data of 40bit, and trigger a signal acquisition, Yong Huke
Partial data is read in selection.Under slave pattern, DHT11 receives commencing signal and triggers a humiture collection, if do not received
Commencing signal is sent to host, DHT11 will not actively carry out humiture collection.Low-speed mode is transformed into after gathered data.
RSSI signal acquisitions are carried out by taking certain experimental site as an example below, providing data for positioning experiment place supports：
First, the plane drawing for obtaining certain experimental site, electronic edition is obtained after being scanned, and is passing through ArcGis's
ArcMap softwares carry out vectorized process to it.Meanwhile artificial treatment is carried out to it, its redundance is left out, barrier is only left
Hinder object profile and path information.
Secondly, gained map is passed to collecting device 3, intelligent carriage is transferred data to by collecting device 3, is being acquired
Equipment 3 carries out the setting of relevant information, and initial value is arranged to intelligent carriage, after collecting device 3 is to map information analysis,
User selects collection point, design acquisition route that route information, moving of car information are sent to trolley and are executed.Trolley is pressed
It advances according to the movable information that collecting device 3 is analyzed.
Then, intelligent barrier avoiding stops after driving to collection point in trolley driving process, runs RSSI signal strength tests
Program, and record.
Finally, it after acquisition time, continues to next collection point and continues data acquisition to be collected.
Collecting method and device provided by the invention become connecting way and obstacle by handling map
Simple polar plot.After selecting collection point, cooking up best acquisition route, (distance is close, and arrival, data is facilitated to acquire
It is whole), trolley carries out positioning determining position, starts to advance by fixed route, by combining cartographic information and distance measuring sensor, at once
Will reach collection point when reduce speed now, precisely reach collection point carry out data to be collected to get to data to be collected when operate
Error is small, and improves the precision of data to be collected.
Claims (10)
1. collecting method, which is characterized in that implement according to the following steps：
Step 1：The map of environment residing for the data to be collected got is subjected to vectoring operations；
Step 2：According to the map after vector quantization, determine that harvester acquires the acquisition path of data to be collected；
Step 3：Harvester travels on acquisition path, when harvester is travelled to each collection point determining on acquisition path
When carry out data acquisition.
2. collecting method according to claim 1, which is characterized in that harvester is on acquisition road in the step 3
On diameter when driving, harvester needs to carry out avoidance operation.
3. collecting method according to claim 2, which is characterized in that the step 3 is specially：
Step 3.1：Harvester acquisition path on when driving, to the to be collected of harvester by the way of ultrasonic ranging
Data environment and barrier are detected；
Step 3.2：When detecting that harvester is less than predetermined warning value at a distance from barrier, according to harvester both sides
Surface conditions are adjusted the travel direction of harvester, while recording the travel direction of harvester adjustment, for more
It is back on the acquisition path of setting after crossing barrier.
4. collecting method according to claim 1, which is characterized in that the step 1 is specially：
Step 1.1：The map of the environment of the data to be collected got is scanned, grille picture is obtained；
Step 1.2：The grille picture that step 1.1 obtains is registrated；
Step 1.3：Vector quantization is carried out to the grille picture after being registrated.
5. collecting method according to claim 1, which is characterized in that the step 2 is specially：
Step 2.1：According to the map initialization objective matrix map after vector quantization, and initialize pickup area；
Step 2.2：The position of collection point is chosen according to pickup area where data to be collected on objective matrix map；
Step 2.3：The acquisition path of data to be collected is determined according to collection point and objective matrix map, wherein determine to be collected
The acquisition path of data includes that determining harvester completes the time needed for acquisition and the travel speed of harvester；
Step 2.4：According to determining collection point and acquisition path, precisely stops at and adopt after control harvester arrival collection point
Collect at the collection point on path, after harvester has acquired data to be collected, accurately controls harvester and continue under
At one collection point.
6. collecting method according to claim 5, which is characterized in that the step 2.3 is specially：
Step 2.3.1：Set objective matrix map outer edge entrance and exit collection point as the starting point of harvester and end
Point；
Step 2.3.2：The shortest path obtained between each destination node is weights, and shortest path is found out with dynamic algorithm,
Acquisition path of the shortest path as harvester.
7. data acquisition device, which is characterized in that including toter (1), toter (1) top is provided with holder (2), branch
Collecting device (3) is installed, collecting device (3) is connect with toter (2), terminal device (4) respectively on frame (2).
8. data acquisition device according to claim 7, which is characterized in that the toter (1) uses and is based on
The intelligent carriage of Arduino.
9. data acquisition device according to claim 8, which is characterized in that the toter (1) includes Arduino master
Control plate (1-1), Arduino master control borads (1-1) respectively with XBEE modules (1-2), DC power supply (1-3), distance measuring sensor (1-
4), motor drive module (1-5), steering engine (1-6), LED light (1-8) connection, motor drive module (1-5) and direct current generator
(1-7) is connected, and direct current generator (1-7) is for driving intelligent carriage wheel, XBEE modules (1-2) to connect with the collecting device (3)
It connects.
10. data acquisition device according to claim 7, which is characterized in that the holder (2) uses lifting support, uses
In collecting device (3) to be promoted to the height for acquiring data to be collected.
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| JP2019053944A JP6895475B2 (en) | 2018-03-23 | 2019-03-21 | Data collection method |
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| JP2019194572A (en) | 2019-11-07 |
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