CN107478213A - Mobile device and data acquisition Active Control Method and device for mobile device - Google Patents
Mobile device and data acquisition Active Control Method and device for mobile device Download PDFInfo
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- CN107478213A CN107478213A CN201610397494.0A CN201610397494A CN107478213A CN 107478213 A CN107478213 A CN 107478213A CN 201610397494 A CN201610397494 A CN 201610397494A CN 107478213 A CN107478213 A CN 107478213A
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- mobile device
- data acquisition
- data
- active control
- equipments
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
Abstract
The invention discloses a kind of Active Control Method of the data acquisition for mobile device, including：At least one feature locations are selected from the three-dimensional map of target environment, record the related data of at least one feature locations；When mobile device moves in target environment, according to mobile device to the positioning result of itself, the one or more data acquisition equipments carried on the mobile device are controlled, so that one or more of data acquisition equipments gather the related data of at least one feature locations.The invention also discloses a kind of active control device of data acquisition for mobile device and a kind of mobile device.Mobile device based on the embodiment of the present invention can carry out active control to the acquisition mode of data, the data that active obtaining needs, be accurately positioned available for itself.
Description
Technical field
The present invention relates to mobile device, and in particular to a kind of mobile device and the data acquisition active for mobile device
Control method and device.
Background technology
Mobile device refers to the appliance arrangement with positioning and/or navigation feature, such as mobile robot, manned
Device, unmanned plane etc..By taking mobile robot as an example, mobile robot needed in moving process constantly to its local environment and
The position of itself is positioned, adoptable sensor have it is a variety of, as mobile robot itself internal sensor (mileage gauge,
Gyro, compass, accelerometer etc.), the external sensor (laser range finder, vision sensor etc.) that also mobile robot carries.
Most of mobile robots are provided simultaneously with a variety of alignment sensors, and different sensor combinations use different location algorithms, all
It can be used by localization for Mobile Robot.
Immediately positioning refers to map structuring (Simultaneous Localization and Mapping, SLAM) technology
Mobile robot creates map, while carry out independently using map under the conditions of self-position is uncertain in circumstances not known
Positioning and navigation.SLAM problems can also be described as：Mobile robot moves in circumstances not known since a unknown position,
Self poisoning is carried out according to location estimation and sensing data in moving process, while builds increment type map.SLAM problems
Mainly include four basic sides：First, the method for expressing of environment description, i.e. environmental map how is carried out；2nd, how environment is obtained
Information, mobile robot roam and record the perception data of sensor in the environment, this be related to the positioning of mobile robot with
Environmental characteristic extracts problem；3rd, the environmental information obtained how is represented, and map is updated according to environmental information, this needs to solve
Description and processing method to uncertain information；4th, development stability, reliable SLAM methods.For above-mentioned second aspect,
There is research to point out, with the development of visual pattern treatment technology, vision sensor can be preferably applied to the same of mobile robot
Shi Dingwei and figure is built, cause ground to solve that enough view data can not be obtained to video camera before conventional mobile robot is carried
The problem of figure structure is difficult, also research and development camera optical axis of sening as an envoy to is vertical with indoor ceiling, obtains the visual pattern of ceiling, logical
Cross to the angle point that rule on ceiling is distributed using certain algorithm structure three-dimensional scenic map, for localization for Mobile Robot and road
Plan in footpath.
But found by lot of experiments, no matter the video camera that mobile robot is carried also is directed towards towards front
Ceiling, the equal existing defects in mobile robot roams position fixing process, for smallpox board positioning method, mobile robot is only
It is the passive ceiling visual information for receiving video camera shooting, if angle point distribution is irregular on ceiling, or does not have completely
There is angle point, locating effect will be directly affected.
The content of the invention
In view of this, the present invention proposes a kind of mobile device and the data acquisition Active Control Method for mobile device
And device, data acquisition equipment is carried on the mobile device, and data acquisition equipment is controlled as needed in moving process
And regulation, useful feature position data in environment is obtained on one's own initiative.
On the one hand, the present invention provides a kind of Active Control Method of data acquisition for mobile device, including：From target
At least one feature locations are selected in the three-dimensional map of environment, record the related data of at least one feature locations；Work as shifting
When dynamic device moves in target environment, according to mobile device to the positioning result of itself, to carrying one on the mobile device
Individual or multiple data acquisition equipments are controlled, so that one or more of data acquisition equipments gather at least one spy
Levy the related data of position.
Preferably, the number related at least one feature locations is gathered in one or more of data acquisition equipments
According to afterwards, methods described also includes：Data that one or more of data acquisition equipments are collected with from target ring
The data recorded in the three-dimensional map in border are compared；According to positioning knot of the comparative result amendment mobile device to itself
Fruit.
Preferably, wherein when mobile device is moved to the second place from first position, one or more of data are adopted
Collect related data of the equipment through control collection fisrt feature position, when mobile device is moved to three positions from the second place,
One or more of data acquisition equipments are changed into gathering the related data of fisrt feature position again through control from current state.
Preferably, wherein when mobile device is moved to the second place from first position, one or more of data are adopted
Collect related data of the equipment through control collection fisrt feature position, when mobile device is moved to three positions from the second place,
One or more of data acquisition equipments are changed into the related data of collection second feature position through controlling from current state.
Preferably, wherein the feature locations refer to be identified by mobile device in target environment and will not be with the time
The position to change.
Preferably, wherein the feature locations include at least one in the following：Indoor any two face wall and smallpox
Plate shape into corner, doorframe, wall, wall fitting, ceiling decoration, outdoor fixed buildings.
Preferably, wherein the installation of one or more of data acquisition equipments on the mobile device, it is one during work
Or multiple data acquisition equipments are through controlling change data acquisition mode.
Preferably, wherein one or more of data acquisition equipments are set including at least one of following various equipment
It is standby：Camera, thermal camera, radar, ultrasonic sensing device, laser range finder.
On the other hand, the present invention also provides a kind of active control device of the data acquisition for mobile device, including：It is special
Position determination module is levied, for selecting at least one feature locations from the three-dimensional map of target environment, at least one described in record
The related data of individual feature locations；Data acquisition equipment control module, for when mobile device moves in target environment, root
According to mobile device to the positioning result of itself, the one or more data acquisition equipments carried on the mobile device are controlled
System, so that one or more of data acquisition equipments gather the related data of at least one feature locations.
Another further aspect, the present invention also provide a kind of mobile device, including：Mobile device body；Installed in mobile device sheet
One or more data acquisition equipments on body；Processor；And for storing the memory of processor-executable instruction；Its
In, the processor is used to select at least one feature locations from the three-dimensional map of target environment, records described at least one
The related data of feature locations；When mobile device body moves in target environment, according to mobile device body to itself
Positioning result, the one or more data acquisition equipments being mounted on mobile device body are controlled, so that one
Or multiple data acquisition equipments gather the related data of at least one feature locations.
Embodiments of the invention are that mobile device introduces active control and adjusts the concept of data acquisition modes, are filled to be mobile
Put and carry a variety of data acquisition equipments, change data acquisition mode is controlled according to itself present position, goes to look on one's own initiative to help
In the information of self poisoning.It is single towards front or towards ceiling, the passive visual information that receives relative to conventional video camera
Scheme, data acquisition modes of the embodiment of the present invention are flexible, are not easily affected by environmental factors, later stage good positioning effect.
Brief description of the drawings
Fig. 1 is the Active Control Method flow chart of the data acquisition for mobile device of the embodiment of the present invention.
Fig. 2 is the schematic diagram of a scenario of one embodiment of the invention.
Fig. 3 is the schematic diagram of a scenario of another embodiment of the present invention.
Fig. 4 is the Active Control Method flow chart of the data acquisition for mobile device of another embodiment of the present invention.
Fig. 5 is the structured flowchart of the active control device of the embodiment of the present invention.
Fig. 6 is the structured flowchart of the active control device of another embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical scheme is described in detail.
Fig. 1 shows the data acquisition Active Control Method flow chart of the embodiment of the present invention, including：
S101, at least one feature locations are selected from the three-dimensional map of target environment, record at least one feature
The related data of position；
S102, when mobile device moves in target environment, according to mobile device to the positioning result of itself, to carrying
One or more data acquisition equipments on the mobile device are controlled, so that one or more of data acquisition equipments are adopted
Collect the related data of at least one feature locations.
Based on such scheme, the one or more data carried can be adopted according to the location of mobile device itself
Collect equipment carry out active control, for example, by adjust collecting device data acquisition direction, change collecting device combining form,
The modes such as some collecting devices of unlatching/closing, to change the overall data acquisition modes of mobile device on one's own initiative, so as in movement
During constantly obtain feature locations data.
In an embodiment of the present invention, feature locations refer to that those can be identified and will not be occurred with the time by mobile device
The position of change, for example, for the mobile device (such as mobile robot) of interior, feature locations can be interior any two
Corner, doorframe, wall, wall fitting and/or the ceiling decoration that face wall is formed with ceiling；For the mobile device of outdoor
For (such as aircraft), feature locations can be fixed buildings.
Below by way of the implementation process of multiple specific embodiments description present invention.
In an embodiment of the present invention, data acquisition equipment that is any existing or not yet emerging can be selected in principle, only
It can be mounted on mobile device body.Common data acquisition equipment has various cameras, infrared video camera, radar to set
Standby, ultrasonic sensing device, laser range finder etc..
With reference to figure 2, by taking the mobile robot of data acquisition equipment needed for being equipped with as an example, it is moved indoors, it is assumed that from A
Position is moved to B location, is further continued for being moved to location of C.Fig. 2 midpoints P represents the corner that metope is formed with ceiling.
According to an embodiment of the invention, before the indoor feature locations of selection are started, mobile robot need to obtain at least
The three-dimensional map data of a part of indoor scene, it can be replicated from third party or download existing data, can also voluntarily drawn
Three-dimensional map.
After the three-dimensional map data for obtaining at least a portion indoor scene, at least one feature is selected from three-dimensional map
Position, and the data of selected feature locations are recorded, in case subsequent step uses.Fig. 2 embodiments are selected with metope and day
The corner P that card is formed is a feature locations, and it is another feature locations that Fig. 3 embodiments, which also select one jiao of Q of doorframe,.
In the moving process of mobile robot, constantly the position of itself will be positioned, according to self poisoning knot
Fruit can be controlled to the data acquisition equipment of carrying, data acquisition equipment is collected the data of needs.
Assuming that being equipped with camera in mobile robot, it is freely rotatable.For Fig. 2 embodiments, in mobile robot from A
During position is moved to B location and continues to move to location of C, camera is controlled towards point P, to hold all the time according to self poisoning
Continuous collection point P position data.For Fig. 3 embodiments, in mobile robot from during location A is moved to B location, according to
Self poisoning control camera is all the time towards point P, continuous collecting point P position data；Continue to move from B location in mobile robot
During moving location of C, control camera is not re-directed towards point P, and is directed towards point Q, continuous collecting point Q position data.
In the above two embodiments, because mobile robot has grasped the three-dimensional map of indoor scene, therefore
Can be according to the orientation of self poisoning judging characteristic position in moving process.For the data of acquisition characteristics position, mobile machine
People can control camera to rotate, and camera is carried out data acquisition towards selected feature locations (such as P or Q) all the time, so as to
Complete active control process of the embodiment of the present invention to data acquisition.
In other embodiments of the invention, mobile robot is also an option that wall, wall fitting and/or ceiling dress
Decorations etc. are characterized position, then are position for different features, mobile robot can start different data acquisition equipments, enter
Row data acquisition.For example, mobile robot carries camera, thermal camera, radar, ultrasonic sensing device, laser
Any combination of rangefinder or above those, used as one or a set of data acquisition equipment, in mobile robot body
The upper suitable position installation of selection is fixed.
During work, various modes below (being not limited to) or its combination control data collecting device can be used, enters line number
According to collection.
● four cameras respectively for east, south, west, north are carried, by the camera of the different directions of unlatching/closing,
Shoot the image data of the feature locations of different directions.
● when known features opening position meeting infrared radiation, the infrared probe alignment characteristicses position of carrying is received red
UV radiation data.
● when feature locations are the wall on certain side such as right side, ultrasonic sensing device to the right is opened in good time to obtain
Mobile robot and the range data of right side wall.
● the radar carried is opened when reaching precalculated position, actively finds predeterminated target thing.
Some specific embodiments based on more than, it will be understood that the purpose of the embodiment of the present invention is to carry for mobile device
Variety classes, varying number, the camera installed in diverse location and/or inductor etc. are used as data acquisition equipment, work as movement
When device is moved in target environment, it can be selected by control data collecting device come active and formulate Data Collection side
Case, realize the active control to data acquisition.
It should be noted that the precondition of active gathered data of the embodiment of the present invention is at least a portion mesh known to needs
The three-dimensional map data of environment is marked, then feature locations could be determined according to three-dimensional map data, carry out follow-up active control number
The step of according to collecting device acquisition characteristics position data.That is, the embodiment of the present invention is actively set according to data with existing
Count, produce new data acquisition modes.Compared with past mobile device, past mobile device is all simple data acquisition
To data processing, and the mobile device of the embodiment of the present invention can be in a manner of active control data gathers.
Further, on the basis of Fig. 1 embodiments, can be positioned oneself by following steps auxiliary moving device,
With reference to figure 4：
S101, at least one feature locations are selected from the three-dimensional map of target environment, record at least one feature
The related data of position.
S102, when mobile device moves in target environment, according to mobile device to the positioning result of itself, to carrying
One or more data acquisition equipments on the mobile device are controlled, so that one or more of data acquisition equipments are adopted
Collect the related data of at least one feature locations.
S103, the data that one or more of data acquisition equipments are collected with from target environment dimensionally
The data recorded in figure are compared.
S104, according to comparative result amendment mobile device to the positioning result of itself.
Given data and current measured data of Fig. 4 embodiments using feature locations, can be to the current fixed of mobile device
Position is modified, such as：The plane parameter of wall can be obtained based on two angled laser range finders, accordingly adjustable from
The position and direction of body.Relative in the past based on the single mode for passively receiving data towards front or straight up, this implementation
Example is positioned using the data of active collection, and positioning result is not easily affected by environmental factors, good positioning effect, positioning precision
It is high.Wherein, specific calibration process can be selected suitable algorithm and calculate, because specific algorithm is not that technical solution of the present invention is concerned about
The problem of, it is not described here in detail.
In addition, the data actively gathered using the embodiment of the present invention, it may also be used for draw complete indoor scene dimensionally
Figure.For example, mobile robot can complete the active collection of data according to a part of indoor scene figure and self position in real time, work as shifting
When mobile robot continues on, it can walk while gather unknown environmental data, record and mapped.Citing comes
Say, it is assumed that there are a feature locations outside a passageway at one meter, be may continue to using this passageway and feature locations one outside passageway
At rice, the data outside one meter of collection are then proceeded to, it is possible to find also have a new feature locations at three meters, may continue to three accordingly
At rice, so realize using the new position data of existing station acquisition, mapped during traveling according to the data of collection, can
Obtain complete indoor scene three-dimensional map.
Based on aforementioned embodiment, the present invention also provides a kind of active control dress of data acquisition for mobile device
100 are put, with reference to figure 5, it includes：
Feature locations determining module 101, for selecting at least one feature locations from the three-dimensional map of target environment, note
The related data of at least one feature locations is recorded, and
Data acquisition equipment control module 102, for when mobile device moves in target environment, according to mobile device
To the positioning result of itself, the one or more data acquisition equipments carried on the mobile device are controlled, so that described
One or more data acquisition equipments gather the related data of at least one feature locations.
Further, can also include with reference to figure 6, active control device 100：
Comparison process module 103, for the data that collect one or more of data acquisition equipments with from
The data recorded in the three-dimensional map of target environment are compared, and
Calculate processing module 104, for according to comparative result amendment mobile device to the positioning result of itself.
Based on aforementioned embodiment, the present invention also provides a kind of mobile device, and it includes：Mobile device body, installation
One or more data acquisition equipments, processor on mobile device body and for storing processor-executable instruction
Memory；Wherein, the processor is used to select at least one feature locations from the three-dimensional map of target environment, described in record
The related data of at least one feature locations；When mobile device body moves in target environment, according to mobile device body
To the positioning result of itself, the one or more data acquisition equipments being mounted on mobile device body are controlled, so that
One or more of data acquisition equipments gather the related data of at least one feature locations.
Technical scheme is described in detail above in association with specific embodiment, described specific embodiment
It is used to help understand the thought of the present invention.Derivation that those skilled in the art make on the basis of the specific embodiment of the invention and
Modification is fallen within the scope of the present invention.
Claims (17)
- A kind of 1. Active Control Method of data acquisition for mobile device, it is characterised in that including：At least one feature locations are selected from the three-dimensional map of target environment, record the correlation of at least one feature locations Data；When mobile device moves in target environment, according to mobile device to the positioning result of itself, to being mounted in mobile dress The one or more data acquisition equipments put are controlled, so that described in the collection of one or more of data acquisition equipments extremely The related data of few feature locations.
- 2. it is used for the Active Control Method of the data acquisition of mobile device as claimed in claim 1, it is characterised in that described After one or more data acquisition equipments gather the data related at least one feature locations, methods described is also wrapped Include：The data that one or more of data acquisition equipments are collected from the three-dimensional map of target environment with recording The data be compared；According to comparative result amendment mobile device to the positioning result of itself.
- 3. as claimed in claim 1 for mobile device data acquisition Active Control Method, it is characterised in that wherein when When mobile device is moved to the second place from first position, one or more of data acquisition equipments are special through control collection first Levy the related data of position, when mobile device is moved to three positions from the second place, one or more of data acquisitions Equipment is changed into gathering the related data of fisrt feature position again through control from current state.
- 4. as claimed in claim 1 for mobile device data acquisition Active Control Method, it is characterised in that wherein when When mobile device is moved to the second place from first position, one or more of data acquisition equipments are special through control collection first Levy the related data of position, when mobile device is moved to three positions from the second place, one or more of data acquisitions Equipment is changed into the related data of collection second feature position through controlling from current state.
- 5. the Active Control Method of the data acquisition for mobile device as any one of claim 1-4, its feature It is, wherein refer in target environment can be by mobile device identifies and will not be changed with the time for the feature locations Position.
- 6. it is used for the Active Control Method of the data acquisition of mobile device as claimed in claim 5, it is characterised in that wherein institute Stating feature locations includes at least one in the following：The corner of indoor any two face wall and ceiling formation, doorframe, wall Wall, wall fitting, ceiling decoration, outdoor fixed buildings.
- 7. the Active Control Method of the data acquisition for mobile device as any one of claim 1-4, its feature It is, wherein the installation of one or more of data acquisition equipments is on the mobile device, one or more of data during work Collecting device is through controlling change data acquisition mode.
- 8. it is used for the Active Control Method of the data acquisition of mobile device as claimed in claim 7, it is characterised in that wherein institute Stating one or more data acquisition equipments includes at least one of following various equipment equipment：Camera, thermal camera, thunder Reach, ultrasonic sensing device, laser range finder.
- A kind of 9. active control device of data acquisition for mobile device, it is characterised in that including：Feature locations determining module, for selecting at least one feature locations from the three-dimensional map of target environment, described in record The related data of at least one feature locations；Data acquisition equipment control module, for when mobile device moves in target environment, according to mobile device to itself Positioning result, be controlled to carrying one or more data acquisition equipments on the mobile device so that it is one or Multiple data acquisition equipments gather the related data of at least one feature locations.
- 10. it is used for the active control device of the data acquisition of mobile device as claimed in claim 9, it is characterised in that described Device also includes：Comparison process module, for the data that collect one or more of data acquisition equipments with from target environment Three-dimensional map in the data that record be compared；Calculate processing module, for according to comparative result amendment mobile device to the positioning result of itself.
- 11. it is used for the active control device of the data acquisition of mobile device as claimed in claim 9, it is characterised in that wherein When mobile device is moved to the second place from first position, one or more of data acquisition equipments are through the data acquisition The related data of device control module control collection fisrt feature position, when mobile device is moved to the 3rd position from the second place When, one or more of data acquisition equipments are controlled from current state through the data acquisition equipment control module to be changed into again Gather the related data of fisrt feature position.
- 12. it is used for the active control device of the data acquisition of mobile device as claimed in claim 9, it is characterised in that wherein When mobile device is moved to the second place from first position, one or more of data acquisition equipments are through the data acquisition The related data of device control module control collection fisrt feature position, when mobile device is moved to the 3rd position from the second place When, one or more of data acquisition equipments are controlled from current state through the data acquisition equipment control module to be changed into gathering The related data of second feature position.
- 13. the active control device of the data acquisition for mobile device as any one of claim 9-12, it is special Sign is, wherein the feature locations refer to be identified and will not be changed with the time by mobile device in target environment Position.
- 14. it is used for the active control device of the data acquisition of mobile device as claimed in claim 13, it is characterised in that wherein The feature locations include at least one in the following：The corner of indoor any two face wall and ceiling formation, doorframe, wall Wall, wall fitting, ceiling decoration, outdoor fixed buildings.
- 15. the active control device of the data acquisition for mobile device as any one of claim 9-12, it is special Sign is, wherein the installation of one or more of data acquisition equipments is on the mobile device, one or more of numbers during work According to collecting device change data acquisition mode is controlled through the data acquisition equipment control module.
- 16. it is used for the active control device of the data acquisition of mobile device as claimed in claim 15, it is characterised in that wherein One or more of data acquisition equipments include at least one of following various equipment equipment：Camera, thermal camera, Radar, ultrasonic sensing device, laser range finder.
- A kind of 17. mobile device, it is characterised in that including：Mobile device body；One or more data acquisition equipments on mobile device body；Processor；AndFor storing the memory of processor-executable instruction；Wherein,The processor is used to select at least one feature locations from the three-dimensional map of target environment, records described at least one The related data of feature locations；When mobile device body moves in target environment, according to mobile device body to itself Positioning result, the one or more data acquisition equipments being mounted on mobile device body are controlled, so that one Or multiple data acquisition equipments gather the related data of at least one feature locations.
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| CN107478213B (en) | 2021-08-06 |
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